JP4806750B2 - Remote control device used in a closed space - Google Patents

Description

  The present invention relates to a remote control device suitable for performing a desired work in a closed space by remote control from the outside in the closed space, for example, a medical remote suitable for supporting an intracorporeal surgery using an endoscope. It relates to an operating device.

  When performing remote control in a closed space that cannot be accessed directly by humans, such as an interior space such as an old tomb or a radioactively contaminated space in a nuclear power generation facility, in order to bring a remote control device into the closed space, Although it is necessary to form an opening through which the remote control device can pass through the wall of the closed space, it is desirable to make the size of such an opening as small as possible.

  On the other hand, when operating the affected part of the human body, it is necessary to incise or open the human body, and such an incision state or open state continues until the completion of the operation, which causes great stress on the patient, and as a result Recovery after surgery will be delayed. Endoscopic surgery has been developed as a method for performing surgery with as little stress as possible to the patient.

  For example, in surgery using a laparoscope as an endoscope, several holes are drilled in the abdomen, and an annular metal fitting called a trocar or trocar is attached to each hole, and then an appropriate gas such as carbon dioxide is introduced into the abdomen. As a result, the abdomen is inflated. Each trocar has a built-in check valve, which prevents gas from flowing out.

  In such a state, a laparoscope is inserted into one of the trocars, and forceps, a resection tool, etc. are inserted from the other trocars, whereby an operation on the affected area is performed, and a part of the affected area is removed from the surgical site. Extracted. Next, a small incision is made in the abdomen, the excised material is taken out of the body from the small incision, and then the small incision is sutured. According to such laparoscopic surgery, even if a small incision is made in the abdomen, the small incision is immediately sutured after removal of the excised material, so that stress applied to the patient is small and recovery after the operation is fast. It has been known.

  By the way, when the surgical site in the abdominal cavity is covered with an organ, it is necessary to exclude (temporarily push away) the organ so that forceps, a resection tool, etc. can access the surgical site. is there. Conventionally, a rod-like retraction device that can be inserted into a trocar is used, and as a rod-like retraction device, for example, a fan-shaped retractor, a snake retractor, a diamond grasping forceps, and the like are known.

  A plurality of elongate blades that can be opened and closed in a fan shape are provided on the tip side of the fan-shaped retractor, and these blades are dimensioned so that the trocar can be inserted when the blades are closed. When the blade is inserted into the abdominal cavity, the blade is expanded in a fan shape by an external operation, and the organ is removed by pressing the expanded portion against the organ. As a problem of the fan-shaped retractor, there is a point that an organ is injured by sandwiching a part of the organ when the blade is opened and closed.

  The snake retractor is provided with a deformable portion on the distal end side, and the deformable portion is composed of a plurality of elongated members pivotally attached to each other, and these elongated members have a linear shape when inserted into the trocar. ing. When the deformed portion is inserted into the abdominal cavity, the deformed portion is deformed into a loop shape by an external operation, and the organ is excluded by pressing the loop deformed portion against the organ. The problem with the snake retractor is that the loop-shaped deformable portion cannot obtain a shape suitable for various organs, and it is difficult to accurately perform the exclusion operation.

  The diamond grasping forceps was developed for the operation of excluding large organs, and a pair of deformable portions are provided at the tip thereof. Each deformable portion is composed of four elongated members, and these elongated members are mutually connected. They are pivotally attached to each other to form a diamond. The pair of deformable parts are in a linear form when inserted into the trocar, and when the pair of deformable parts are inserted into the abdominal cavity, each deformable member is deformed into a diamond shape by an external operation. Further, the pair of deformable parts can be opened and closed so as to be sandwiched between the organs, and the organ is evacuated by being pressed against the organs in the open state. The problem with the diamond grasping forceps is that a relatively large size and shape must be provided under the condition that the deformable part can be inserted into the trocar for the exclusion of large organs. This is because it is difficult to accurately perform the exclusion operation of a large organ because it cannot provide sufficient rigidity.

  In any case, the conventional rod-shaped exclusion device is limited in size and shape that must be inserted into the abdominal cavity through the trocar, and is therefore unsuitable particularly for the exclusion operation of large organs.

  For this reason, when it is difficult to perform the exclusion using the conventional rod-shaped exclusion device, the hand assist method is adopted. In the hand assist method, an incision having a length of 7 to 8 cm is made in the human abdomen, and a surgeon's hand is inserted through the incision portion to exclude a large organ. However, as already mentioned, opening such a large incision in the human abdomen places great stress on the patient.

  Accordingly, an object of the present invention is to provide a remote control device suitable for performing a desired work in a closed space by remote control from the outside in the closed space, and having a size and shape larger than a path leading from the outside to the closed space. Then, it is providing the remote control apparatus comprised so that the assembly could be performed within a closed space.

According to the first aspect of the present invention, the remote control device is detachable from the finger operating rod and the first component member having the finger operating rod and the first finger portion coupled to the finger operating rod. A second component member having a second finger, and the first component member can be inserted into the trocar when the first component member extends straight. When the second component member has a dimension and shape and extends in a straight line, the second component member has a dimension and shape that can be inserted into the trocar. In addition, the first finger portion has a form extending linearly with the finger operation rod when no external force is applied by the finger operation rod, and is bent when the external force is applied by the finger operation rod. The second finger part is not connected to the finger operation bar and is extended in a straight line when no external force is applied by the finger operation bar, and is connected to the finger operation bar and connected to the finger Bends when external force is applied by the operating rod. As a result, the first component member and the second component member can further reduce the passage leading to the closed space, and can connect and separate the second finger unit and the finger operation rod in the closed space.

  Next, a first embodiment of the remote control device according to the present invention will be described with reference to FIGS. In addition, this 1st Embodiment can be used as an exclusion apparatus for assisting the body cavity operation using an endoscope.

  First, referring to FIG. 1 which is a perspective view showing the remote control device in an exploded state, the remote control device is composed of constituent members 1 and 2, and these constituent members 1 and 2 are attached to and detached from each other as will be described later in the abdominal cavity, for example. It will be freely connected and assembled.

Component 1 consists finger operating rod 11 and the fingers 12, the fingers 12 are pivotally attached to the tip of the finger operating rod 11 so as to be rotatable about the axis of rotation A _1. On the other hand, the constituent member 2 includes a finger part 21 and a finger part 22, and in the disassembled state shown in FIG. 1, the finger part 21 and the finger part 22 are aligned along the central axis X, and the center axis X It is possible to rotate relatively around each other. As will be described later, each of the finger parts 12, 21, and 22 functions as one corresponding to the middle finger, index finger, and thumb of a person. Therefore, in the following description, as the middle finger part, the index finger part, and the thumb part, To be mentioned.

  In FIG. 1, for convenience of illustration, the finger operation rod 11 is illustrated to be shorter than the actual size, but in reality, the finger operation rod 11 is used to remotely operate the middle finger portion 12, the index finger portion 21, and the thumb portion 22. 11 is given a sufficient length dimension.

  The finger operation rod 11 includes a tubular portion 11a. A hollow tube 11b is rotatably inserted into the tubular portion 11a, and a rod 11c is rotatably inserted into the hollow tube 11b. Gears 11d and 11e are provided in the tubular portion 11a of the finger operating rod 11, and a part of these gears 11d and 11e is exposed to the outside from the side wall of the tubular portion 11a. The gear 11d is fixed to the front end surface so that the rotation axis thereof coincides with the center axis of the hollow tube 11b. For this reason, the gear 11d is rotated by rotating the hollow tube 11b around the center axis. become. Further, the gear 11e is fixed to the front end surface so that the rotation axis thereof coincides with the center axis of the rod 11c, and therefore the gear 11e is rotated by rotating the rod 11c around the center axis. . The gears 11d and 11e are used for driving the thumb portion 22 of the component 2 as will be described later.

Finger operating rod 11 is provided with a gear 11f that is pivotally attached at its distal end, the gear 11f is rotatable in a rotation about the axis A ₁ and parallel to the axis of rotation A _2, yet its part of the tubular portion 11a It is exposed to the outside from the side wall. On both sides of the gear 11f pulley 11f ₁ and 11f ₂ are formed integrally with, one end of the drive wire _{W 1} and _{W 2} are wound around the respective pulleys 11f ₁ and 11f _2, the drive wire _{W 1} and W The other end portion side of ₂ is inserted through the tubular portion 11a and pulled out to the outside. Wrapping one end of the drive wire _{W 1} and _{W 2} to the pulley 11f ₁ and 11f ₂ are opposite directions, by operating pull alternately other end of the drive wire _{W 1} and _{W 2,} the gear 11f rotates in about the axis a ₂ is rotated driven bidirectionally. The gear 11f is used to drive the index finger 21 on the component member 2 side as will be described later.

The side wall of the tubular portion 11a of the finger operating rod 11, screw holes 11g extending in a direction perpendicular to the axis of rotation A ₁ is formed, also the positioning holes 11h adjacent to the screw hole 11g is formed. As will be described later, the screw hole 11g and the positioning hole 11h are used when connecting the structural members 1 and 2 to each other.

Middle finger 12, a finger piece 12a which is axially attached rotatably by the rotation about the axis A ₁ to the distal end of the tubular portion 11a, perpendicular axis of rotation A relative to the axis of rotation A ₁ to the distal end side of the fingers 12a and fingers 12b which are pivotally attached rotatably on ₃ around fingers 12c which is rotatably journalled in a perpendicular about the axis of rotation a ₄ to the axis of rotation a ₁ to the distal end side of the fingers 12b It consists of. The middle finger portion 12 finger drive mechanism is incorporated, this finger driving mechanism bends the middle finger portion 12 only Not around the middle finger portion 12 the axis of rotation A ₃ and A ₄ is rotational movement about the rotational axis A ₁ Configured to exercise. Such finger drive mechanisms are described in 1992 by Robot Hands and the Mechanics of Manipulation by Manson MT (Manson MT) and Salisbury JK. Robot Analysis (ROBOT ANALYSIS) published by MIT Press, Cambridge, MA, and John Wiley & Sons, Inc. in 1999 It is disclosed.

As shown in FIG. 2 (A), the aforementioned finger driving mechanism, the pulley assembly 12d and fingers 12a and fingers fixed to fingers 12a so as to be rotatable about the rotational axis A ₁ pulley 12e or the like which is rotatable about the rotational axis a ₃ of the 12b includes. The pulley assembly 12d provided three pulleys of the same diameter coaxially, each of these same diameter pulleys wound one end portion of the drive wire W _3, W ₄ and W _5, drive wire W _3, W ₄ and the other end side of the W ₅ is pulled out to the outside are is inserted through the tubular portion 11a (see FIG. 1). Further, the pulley assembly 12d includes a small-diameter pulley with a diameter smaller than three of the same diameter pulley, this is the small-diameter pulley driving wire W ₆ is wound around a small diameter pulley through the drive wire W ₆ and a pulley 12e It comes to cooperate.

In short, according to the above-described finger drive mechanism, by selectively pulling the other end portions of the _three drive wires W ₃ , W ₄ and W ₅ drawn to the outside of the tubular portion 11a, the rotation axis A A forward and reverse rotation is performed around ₁ and A ₃ , and the rotational motion around the rotational axis A ₄ is linked to the rotational motion around the rotational axis A ₃ . In short, by the operation of the three drive wires W ₃ , W ₄ and W ₅ , the middle finger portion 12 is not only independently rotated about the rotation axis A ₁ but also bent about the rotation axes A ₃ and A _4. You can also do exercise.

Referring to FIG. 1 again, the index finger portion 21 includes a finger piece 21a coupled to the thumb portion 22 so as to be rotatable around the central axis X, and a distal end side of the finger piece 21a with respect to the central axis X. a rotatably journalled been fingers 21b at right angles around the rotation axis a _5, is rotatably journalled in a perpendicular around the rotation axis a ₆ to the central axis X on the tip side of the fingers 21b And a finger piece 21c. Incidentally, when the components 1 and 2 are connected to each other as described below, the fingers 21a and the axis of rotation A ₆ together rotation axis A of the rotational axis A ₅ and finger elements 21b and fingers 21c and fingers 21b Is perpendicular to ₁ .

In the fingers 21a of the index finger portion 21, a gear 21e which is rotatable about the rotational axis A ₇ became perpendicular to the rotational axis A ₅ and A ₆ and the center axis X is provided, the gear 21 e functions as a drive gear of a finger bending mechanism incorporated in the index finger part 21. This finger bending mechanism itself is configured as a conventional type composed of a pulley and a drive wire, whereby the rotational movement of the drive gear 21e is converted into the bending movement of the index finger 21. When the constituent members 1 and 2 are connected to each other as will be described later, the drive gear 21e is engaged with the gear 11f. That is, by operating the other end of the tubular portion 11a wire driving drawn to the outside from W ₁ and W ₂ are alternately driving gear 21e is rotated, thereby the index finger portion 21 is the axis of rotation A ₅ and A ₆ is bent. FIG. 1 shows a pulley 21f that is rotatable around the rotation axis of the finger piece 21a and the finger piece 21b as a part of the finger bending mechanism incorporated in the index finger part 21. Has been.

  A through screw hole 21g extending in a direction perpendicular to the central axis X is formed in the finger piece 21a of the index finger part 21. Although not visible in FIG. 1, the tubular part 11a is positioned on the side wall of the finger piece 21a. A protrusion adapted to fit into the hole 11h is formed adjacent to the through screw hole 21g. The screw holes 21g and the positioning holes (not shown) are used when connecting the constituent members 1 and 2 to each other.

  Further, in the side wall of the finger piece 21a of the forefinger 21, a positioning recess 21h is formed immediately above and directly below the through screw hole 21g. However, in FIG. 1, a positioning recess 21h immediately above the through screw hole 21g. Can only see.

The thumb portion 22 has a thumb support 22a that is rotatable around the central axis X with respect to the finger piece 21a of the index finger 21 and a rotation perpendicular to the central axis X on the tip side of the thumb support 22a. and fingers 22b rotatably journalled about the axis a _8, fingers rotatably journalled in perpendicular about the axis of rotation a ₉ to the distal end central axis toward X of the fingers 22b and 22c, composed of a rotatably journalled been fingers 22d around perpendicular axes of rotation a ₁₀ to the distal end central axis toward X of the fingers 22c. Incidentally, when the components 1 and 2 are connected to each other as described below, the thumb support 22a and the axis of rotation _{A 8} with fingers 22b, fingers 22b and the axis of rotation _{A 9} and fingers 22c and fingers 22c the rotational axis a ₁₀ of the fingers 22d will be both perpendicular to the axis of rotation a _1.

The thumb support 22a is rotatably provided with a gear 22e at the end of the index finger 21 that is close to the finger piece 21a, and this gear 22e functions as a drive gear for a finger bending mechanism incorporated in the thumb 22. The finger bending mechanism itself is also configured as a conventional type composed of a pulley and a drive wire. In FIG. 1, as a part of the finger bending mechanism incorporated in the thumb portion 22, a pulley that is rotatable around the rotation axis A ₈ between the thumb support 22 a and the finger piece 22 b. 22f and the pulley 22g which is rotatable about the rotational axis _{a 9} between fingers 22b and fingers 22c are shown.

As shown in FIG. 2 (B), a coaxial pulley 22e ₁ driving gear 22e is secured thereto coaxially, a pair of ₁ two cooperating coaxial pulleys 22e and a side pulley 22e _2, a pair The side pulley 22e ₂ is pivotally attached to the side wall of the thumb support 22a so as to be rotatable around a rotation axis perpendicular to the rotation axis of the drive gear 22e (coincident with the center axis X). In FIG. 1, only one of the pair of side pulleys 22e ₂ can be seen.

Further, as shown in FIG. 2B, a pulley 22f constituting a part of the finger bending mechanism incorporated in the thumb portion 22 is configured as a double pulley, and one groove of the double pulley 22f , a coaxial pulley 22e _1, a pair of side pulley 22e _2, drive wire _{W 7} of the closed loop is stretched between the pulley 22f, this time the pair of side pulley 22e ₂ the direction of the drive wire _{W 7} Functions as a conversion pulley. That is, the drive wire W ₇ is wound around the coaxial pulley 22e ₁ by one and a half turns, and is then turned around by the pair of side pulleys 22e ₂ and then passed over the pulley 22f. Although not shown in FIG. 2B, another drive wire is stretched over the other groove of the double pulley 22f and the pulley 22g (FIG. 1).

Referring to FIG. 1 again, when the constituent members 1 and 2 are connected to each other as will be described later, the drive gear 22e is engaged with the gear 11e on the finger operating rod 11 side. Therefore, when the gear 11e is rotated by the rotation operation of the rod 11c on the component member 1 side, the drive gear 22e is also rotated. When the rotational motion of the drive gear 22e is transmitted to the double pulley 22f ((B) in FIG. 2), the rotational motion of the double pulley 22f is converted into a bending motion of the thumb portion 22. That is, when the rod 11c is rotated, the thumb portion 22 is bent around the rotation axes A ₈ , A ₉ and A ₁₀ .

  A semicircular gear 22h is formed on one side wall portion of the thumb support 22a of the thumb portion 22, that is, the side wall portion directed toward the finger operating rod 11 (in FIG. 1, only a part of the semicircular gear is slightly The semicircular gear 22h is engaged with the gear 11d on the finger operating rod 11 side when the components 1 and 2 are connected. Therefore, when the gear 11d is rotated by the rotation operation of the hollow tube 11b, the thumb portion 22 rotates around the central axis X with respect to the index finger portion 21.

  In addition, spring means having an appropriate elastic force, for example, a torsion spring is incorporated in each of the axially attached portions of the finger pieces 12a, 12b and 12c of the middle finger portion 12, and any external force is applied to the middle finger portion 12 by the action of these torsion springs. When not added, the middle finger portion 12 is configured to extend in a straight line with respect to the finger operating rod 11 as shown in FIG. Similarly, spring means having an appropriate elastic force, for example, a torsion spring, is incorporated in each of the index finger part 21 and the shaft attachment part of the thumb part 22, and any external force is applied to the index finger part 21 and the thumb part 22 by the action of these torsion springs. When not added, the index finger 21 and the thumb 22 are configured to extend in a straight line with respect to each other as shown in FIG.

  FIG. 3 shows a connector 3 for connecting the constituent members 1 and 2 shown in FIG. 1 to each other. 3A is a partial perspective view of the connector 3, FIG. 3B is a partial side view of the connector 3 of FIG. 3A, and FIG. FIG. 4 is a partial side view similar to FIG.

  As shown in FIG. 3, the connector 3 includes a long connection operation rod 31 and a pair of flange portions 32 and 33 provided at the tip of the connection operation rod 31 so as to be freely opened and closed. In FIG. 3, for convenience of illustration, the connection operation rod 31 is illustrated to be shorter than the actual size, but in reality, the connection operation rod 31 is provided with a sufficient length.

As shown in FIG. 3A, the connection operation rod 31 includes a tubular body 31a, a hollow tube 31b that is slidably and rotatably inserted into the central through hole of the tubular body 31a, A rotating rod 31c that is rotatably inserted and held in the hollow tube 31b, and a pair of sliding rods 31d and 31e that are slidably inserted into both sides of the hollow tube 31b in the tubular body 31a. Consists of. The distal end of the hollow tube 31b is formed thick portion 31b _1, the tubular flange portion 31b ₂ is secured to the thick portion 31b _1.

As shown in (B) in and FIG. 3 (C) in FIG. 3, the tip of the rotary rod 31c is fixed is cross-sectional hexagonal protrusion 31c _1, in the projection portion 31c ₁ is connecting bolt 31c ₂ It is attached detachably. That is, although not visible in (C) (B) and FIG. 3 in FIG. 3, the head portion of the connecting bolt 31c ₂ is formed cross-section hexagonal recess, protrusion portions 31c ₁ within this recess It can be detachably fitted. In short, when the rotation rod 31c is rotated in a state of being fitted with a connecting bolt 31c ₂ to the protrusion 31c _1, connecting bolt 31c ₂ will be rotated together with the rotating rod 31c.

From the tip portion of the tubular body 31a pair of mounting portions 31a ₁ and 31a ₂ are brought integrally protrude, the mounting portions 31a ₁ and 31a ₂ are then positioned diametrically relative to the hollow tube 31b. Further, the inner surfaces of the attachment portions 31a ₁ and 31a ₂ are curved surfaces so as to contact the hollow tube 31b in a rotatable and slidable manner.

A pair of mounting pieces 32a and 32b from the beak portion 32 extends integrally, the pair of mounting pieces 32a and 32b are pivotally mounted by pivotally mounted pin 32c to the mounting portion 31a _1. That is, the distance between the pair of mounting pieces 32a and 32b corresponds to the thickness of the attachment portion 31a _1, pivot attachment piece 32a and 32b is carried out in such a manner as to sandwich the mounting portion 31a ₁ therebetween. In FIG. 3A, only a part of the attachment piece 32b can be seen slightly.

  The attachment piece 32a is extended longer than the attachment piece 32b, and an elongated slot 32d is formed therein, which cannot be seen in FIG. 3, but a protrusion formed at the tip of the sliding rod 31d in the elongated slot 32d. Are slidably engaged and the sliding rod 31d is pushed forward, so that the flange portion 32 is moved from the closed position shown in FIG. 3A to the position shown in FIGS. 3B and 3C. Rotated to the open position shown.

Similarly, it extends integrally a pair of mounting pieces 33a and 33b is from beak 33, the pair of mounting pieces 33a and 33b are pivotally mounted by pivotally mounted pin 33c to the mounting portion 31a _2. That is, the distance between the pair of mounting pieces 33a and 33b corresponds to the thickness of the mounting portion 31a _2, pivot attachment piece 33a and 33b is carried out in such a manner as to sandwich the mounting portion 31a ₂ therebetween. In FIGS. 3B and 3C, only a part of the attachment piece 33a can be seen slightly.

  Although not visible in FIG. 3, like the attachment piece 32a, the attachment piece 33a is also extended longer than the attachment piece 33b, and an elongated slot similar to the elongated slot 32d is formed therein. The protrusion formed at the tip of the sliding rod 31e is slidably engaged, and the sliding rod 31e is pushed forward, whereby the flange 33 is moved from the closed position shown in FIG. It is rotated to the open position shown in (B) and (C) of FIG.

  As shown in FIG. 3B and FIG. 3C, positioning protrusions 32e and 33e are fixed inside the respective distal ends of the flange portions 32 and 33, and these positioning protrusions 32e and 33e. Is engaged with each of two positioning recesses 21h (FIG. 1) formed on the side wall of the finger piece 21a of the index finger part 21.

  Next, a method for assembling the remote control device shown in FIG. 1 will be described with reference to FIGS. 4 to 7, (A) is a perspective view, and (B) is a partial sectional side view.

  First, as shown in FIG. 4, the pair of flanges 32 and 33 of the connection operation rod 3 are rotated from the closed position to the open position by pushing the slide rods 31 d and 31 e forward, and then the pair of flanges 32 and 33 access the central part of the component 2.

Next, as shown in FIG. 5, the positioning projections 32e and 33e of the pair of collars 32 and 33 are fitted into the two positioning recesses 21h formed on the side wall of the finger piece 21a of the index finger 21. It is followed by rotating the rotating rod 31c, connecting bolts 31c ₂ is screwed into the through screw hole 21g.

Next, as shown in FIG. 6, the component member 2 is brought into contact with the component member 1 at a predetermined position. At this time, the component member 1 is inserted into the positioning hole 11h (see FIG. 1) of the tubular portion 11a on the component member 1 side. The projections (not visible in FIGS. 1 and 6) of the finger piece 21a on the second side are fitted, and the gears 11d and 11e on the component member 1 side are engaged with the gears 22h and 22e on the component member 2 side, respectively. It is done. When the rotating rod 31c in this state is rotated further, the connecting bolt 31c ₂ is screwed into the screw hole 11g of the component 1 side of the tubular section 11a after passing through the through screw hole 21g.

As shown in FIG. 7, after the connecting bolt 31c ₂ is completely screwed into the through screw hole 21g and the screw hole 11g, the connecting operation rod 3 is removed from the constituent member 2, thereby connecting the constituent members 1 and 2 to each other. Thus, the assembly of the remote control device is completed. In (B) of FIG. 7, the connecting bolt cross-section hexagonal recess formed in the head of 31c ₂ is indicated by reference numeral 31c _3, the protrusion 31c of the tip of the rotary rod 31c in the recess 31c _{3 1} is detachably fitted.

  Referring to FIG. 8 as a perspective view of the remote control device of FIG. 1 after completion of assembly, when the hollow tube 11b of the finger operating rod 11 is rotated, the gear 22h is rotated via the gear 11d. As a result, the thumb 22 is rotated around the central axis X (see FIG. 1) with respect to the index finger 21. When the rod 11c of the finger operating rod 11 is rotated, the gear 22e is rotated via the gear 11e, and this rotational motion is converted into a bending motion of the thumb portion 22.

On the other hand, when the drive wires W ₁ and W ₂ are alternately pulled, the gear 11 f is rotated, and this rotational motion is converted into a bending motion of the index finger 21. Further, when the driving wires W ₃ , W _4, and W ₅ are selectively pulled appropriately, the finger driving mechanism incorporated in the middle finger portion 12 is driven, whereby the middle finger portion 12 is rotated about the rotation axis A ₁ (FIG. 1). In addition, the middle finger portion 12 is also bent.

Although not shown, in practice, the hollow tube 11b and the rod 11c are rotated at the operator side end of the finger operation rod 11 for the operation of the middle finger portion 12, the index finger portion 21, and the thumb portion 22. And a lever for pulling the handle wires W ₁ , W ₂ , W ₃ , W _4, and W ₅ are provided. By appropriately operating these handles and levers, the middle finger portion 12 and the index finger portion 21 are provided. And the movement of the thumb part 22 is controlled.

  When the remote control device shown in FIG. 1 is assembled as an exclusion device, for example, in the abdominal cavity of a human body, the assembling work is performed while observing with a laparoscope. The assembling work of the exclusion device is performed using a human body model.

  Next, with reference to FIG. 9 and FIG. 10, an assembling procedure when assembling the remote control device shown in FIG. 9A, 9B, 9C, 10A, 10B, and 10C are schematic views of the abdomen of the human body model. It is a partial cross-sectional view.

First, referring to FIG. 9 (A), the abdomen of the human body model is indicated by reference numeral B, trocars T ₁ and T ₂ are provided on the abdomen B. Although not shown in FIG. 9A, the abdomen B is also provided with another trocar, which is used to insert a CCD (Charge Coupled Device) camera unit of the laparoscope. The laparoscope is connected to a TV monitor, and an image in the abdominal cavity is displayed as a moving image on the TV monitor, and the assembling work of the exclusion device is performed while viewing the image. The trocar is an annular metal fitting having an insertion port with a diameter of more than 10 mm and has a built-in check valve so that carbon dioxide introduced into the abdominal cavity does not flow out of the trocar.

The connecting operation rod 3 is inserted into the trocar T ₁ , while the component member 2 is partially inserted into the trocar T _2, and the connection bolt 31 c ₂ of the connection operation rod 3 is inserted into the through screw hole (21 g) of the component member 2. Screwed (see FIG. 5). For simplification of illustration, only the schematic shapes of the component member 2 and the connecting operation rod 3 are shown.

Next, as shown in (B) of FIG. 9, after the connecting bolt 31c ₂ of the connecting operation rod 3 is screwed into the screw through hole of the component 2 (21g), component 2 is intraperitoneally from the trocar T ₂ Fully drawn into.

Subsequently, as shown in (C) of FIG. 9, the components 1 are partially inserted into the trocar T _2, then component 2 is brought into contact at a predetermined position relative to the component 1 (see FIG. 6) . For simplification of illustration, only the schematic shape of the component 1 is shown.

Subsequently, as shown in (A) of FIG. 10, the connecting bolt 31c ₂ is screwed onto the component 1 side of the screw holes are passed through the through screw hole 21g (11g) (see FIG. 7), thereby constituting Members 1 and 2 are connected to each other.

Subsequently, as shown in (B) of FIG. 10, the retraction device is assembled connecting operation of the components 1 and 2 is ended, ligated operating rod 3 is drawn out through the trocar T _2.

Subsequently, as shown in FIG. 10C, the hollow tube (11b) and the rod (11c) or the drive wires (W ₁ , W ₂ , W ₃ , W ₄ and W ₅ ) of the finger operation rod 11 are connected. By appropriately operating as described above, the movements of the middle finger portion 12, the index finger portion 21, and the thumb portion 22 of the exclusion device are controlled, and it is possible to perform the exclusion operation within the abdominal cavity. In short, since the exclusion device is configured as a relatively large hand device including the middle finger portion 12, the index finger portion 21, and the thumb portion 22, it is possible to accurately remove a large organ. The middle finger portion 12, index finger portion 21 and thumb portion 22 of the exclusion device are preferably covered with a protective sheet made of a flexible resin material such as silicone rubber, so that the gears and the like do not directly contact the organ. To be.

The removal of the exclusion device from the abdominal cavity is achieved by performing the procedure shown in FIGS. 9 and 10 in reverse. That is, the their components 1 and 2 after decomposing the retraction device to components 1 and 2 are taken out through the trocar T _2.

  Next, with reference to FIG.11 and FIG.12, 2nd Embodiment of the remote control apparatus by this invention is described. Note that this second embodiment can also be used as an exclusion device for supporting an intracorporeal surgery using an endoscope.

  First, referring to FIG. 11A showing the remote operation device in an exploded state, the remote operation device is a finger operation rod 4 and a finger that is detachably connected to the finger operation rod 4. Parts 5 and 6. The finger operating rod 4 is composed of a tubular body 41, which cannot be seen in FIG. 11A, but has two openings for detachably connecting the finger portions 5 and 6 to the distal end portion of the tubular body 41. Are formed in the diameter direction.

  The finger part 5 is composed of three finger pieces 51, 52 and 53 which are axially attached to each other, and a finger bending mechanism for causing the finger pieces 51, 52 and 53 to perform bending motion is incorporated in the finger part 5, The finger bending mechanism itself is configured as a conventional type composed of a pulley and a drive wire. A fingernail 51a is attached to the finger piece 51, and the fingernail 51 is attached to one of the openings at the distal end of the tubular body 41 so that the finger part 5 is detachably tubular as shown in FIG. Connected to the body 41.

  Similarly, the finger part 6 is composed of three finger pieces 61, 62, and 63 that are axially attached to each other, and a finger bending mechanism for causing the finger pieces 61, 62, and 63 to perform a bending motion is also provided in the finger part 6. Incorporated, this finger bending mechanism is similar to the finger bending mechanism of the finger portion 5. A fingernail 61 a is attached to the finger piece 61, and the finger part 6 is detachably tubular as shown in FIG. 11 (B) by attaching this claw 61 a to the other of the openings at the distal end of the tubular body 41. Connected to the body 41.

  Referring to FIG. 12, which is a longitudinal sectional view of the finger operation rod 4 in FIG. 11, openings formed at the distal end portion of the tubular body 41 are indicated by reference numerals 41a and 41b. Inside the distal end portion of the tubular body 41, a pair of sliding pieces 42 and 43 are slidably provided along the central axis of the tubular body 41 at the openings 41a and 41b. Recesses 42a and 43a adapted to receive the claws 51a and 61a are formed in the sliding pieces 42 and 43, as will be described later.

  Further, a rod 44 that is movable along the central axis thereof is inserted into the tubular body 41, and a flange 44a is integrally fixed to the distal end surface of the rod 44. The flange 44a and the sliding piece Compression coil springs 45 and 46 are provided between 42 and 43, whereby the sliding pieces 42 and 43 are elastically pressed against the bottom wall on the distal end side of the tubular body 41.

  On the other hand, a flange 44b is integrally formed at the operator side end of the rod 44, and an annular flange 41c is integrally fixed to the operator side end of the tubular body 41, and the flange 44b and the annular flange 41c In between, a plurality of compression coil springs 47 are provided at equal intervals and restrained. A plurality of tightening bolts 48 are screwed to the flange 44b and the annular flange 41c at equal intervals.

  Next, the connection operation of the finger parts 5 and 6 to the finger operation rod 4 will be described with reference to FIG.

  First, referring to FIG. 13A, when the claw 51a of the finger piece 51 on the finger 5 side enters the recess 42a of the sliding piece 42 through the opening 41a, the edge forming the recess 42a is the claw 51a. Therefore, the sliding piece 42 is pushed up toward the flange 44 a against the elastic force of the compression coil spring 45.

  Next, as shown in FIG. 13 (B), when the claw 51a completely enters the recess 42a, the above-mentioned edge portion gets over the claw 51a, and the sliding piece 42 returns to the original position. The claw 51a is temporarily fixed to the sliding piece 42.

  After the claw 61a of the finger piece 61 on the finger portion 6 side is temporarily fixed to the sliding piece 43 in the same manner, as shown in FIG. 13C, when the tightening bolt 48 is tightened, The rod 44 is pushed toward the distal end side of the tubular body 41 against the elastic force of the compression coil springs 45, 46 and 47, and the claws 51a and 61a are securely locked by the sliding pieces 42 and 43, thereby The connection of the finger portions 5 and 6 to the finger operation rod 4 is completed.

  FIG. 12 does not show driving force transmission means for transmitting a driving force to a finger bending mechanism incorporated in each of the finger portions 5 and 6 to cause the finger portions 5 and 6 to perform a bending motion. Such a driving force transmission means can be appropriately provided on the finger operation rod 4.

  For example, in the distal end portion of the tubular body 41, gears are provided at locations adjacent to the sliding pieces 42 and 43, and pulleys that are rotated by a pair of drive wires are coaxially attached to each gear. It is done. In addition, the pair of drive wires are inserted through the tubular body 41 and pulled out from the operator side end of the tubular body 41. On the other hand, a driving gear is provided on the power input side of the finger bending mechanism incorporated in each of the finger parts 5 and 6, and this driving gear is connected to the finger parts 5 and 6 to the finger operating rod 4 respectively. Engaged with the gears described above. Thus, when the above-described gear is rotated by a pair of drive wires, the rotational motion is transmitted to the finger bending mechanism of the corresponding finger portion 5 or 6 via the drive gear and converted into the bending motion of the finger portion 5 or 6. Is done.

  As another driving force transmitting means for transmitting power to the finger bending mechanism incorporated in each of the finger portions 5 and 6, even if a ball-shaped terminal is attached to one end of the driving wire for driving force of the finger bending mechanism Good. In this case, an operation rod is inserted into the tubular body 41 of the finger operation rod 4, and the above-described ball-shaped terminal is connected to the tip of the operation rod when the finger portion 5 or 6 is connected to the finger operation rod 4. To be done. According to such a driving force transmission means, it is possible to cause the corresponding finger portion 5 or 6 to perform a bending motion by pulling the operation rod.

  Next, an assembling procedure when assembling the second embodiment of FIG. 11 as an exclusion device in the abdominal cavity of a human body model will be described with reference to FIGS.

First, referring to FIG. 14 (A), similarly to the case described in the first embodiment described above, the trocar T ₁ and T ₂ are provided in the abdomen B manikin. A finger operation rod 4 is inserted into the trocar T _1, and the finger operation rod 4 is operated so that the tip portion thereof approaches the inner end of the trocar T ₂ .

Next, as shown in FIG. 14 (B), the provisional fingers 5 from the claws 51a are partially inserted into the trocar T _2, then the fingers 5 with its claw 51a at the tip of the finger operating rod 4 It is stopped (see FIG. 6).

  Subsequently, as shown in FIG. 14C, the finger operation rod 4 is operated and the finger portion 5 is completely drawn into the abdominal cavity.

Subsequently, as shown in (A) of FIG. 15, the finger operating rod 4 is caused to half turn around its central axis, then the tip is manipulated to approach the inner end of the trocar T _2. Next, the finger portion 6 is partially inserted from the claw 61a to the trocar T _2, the finger portion 6 is temporarily fixed with its claw 61a at the tip of the finger operating rod 4. Thereafter, the tightening bolt 48 is tightened on the finger operation rod 4 side, and the finger portions 5 and 6 are securely locked to the finger operation rod 4 (see FIG. 13C). The connection of the fingers 5 and 6 to the heel 4 is completed, and the assembly of the exclusion device is completed.

  Subsequently, as shown in FIG. 15 (B), the finger part 6 is completely drawn into the abdominal cavity, and then the bending movement of the finger parts 5 and 6 is appropriately controlled, thereby performing the exclusion work within the abdominal cavity. Is possible.

  The removal of the exclusion device from the abdominal cavity is achieved by performing the procedure shown in FIGS. 14 and 15 in reverse.

In the second embodiment shown in FIG. 11, the finger portions 5 and 6 are connected to the finger operating rod 4 so as to extend in a direction perpendicular to the central axis thereof. One or both of them may be coupled to the tubular body 41 so as to extend obliquely from the finger operation rod 4.

  Next, with reference to FIG.16 and FIG.17, 3rd Embodiment of the remote control apparatus by this invention is described. Note that this third embodiment can also be used as an exclusion device for supporting an intra-body cavity operation using an endoscope.

  First, referring to FIG. 16, which is a perspective view showing the remote operation device in an exploded state, the remote operation device includes a finger operation rod 7 and a finger that is detachably connected to the finger operation rod 7. Part 8. As will be described later, three finger portions 8 are connected to the finger operation rod 7, but only one of them is representatively shown in FIG.

  The finger operating rod 7 is composed of a tubular body 71, and three attachment portions 72 having a T-shaped cross section are projected from the distal end surface of the tubular body 71, and the central portions of these attachment portions 72 are integrated. In addition, openings are provided at locations corresponding to the three attachment portions 72 on the peripheral side wall surface of the distal end portion of the tubular body 71, and the openings are normally closed by the movable plate 73.

  The finger part 8 is composed of three finger pieces 81, 82 and 83 which are axially attached to each other, and a finger bending mechanism for causing the finger pieces 81, 82 and 83 to perform bending motion is incorporated in the finger part 8, The finger bending mechanism itself is configured as a conventional type composed of a pulley and a drive wire.

  The finger piece 81 is formed with a groove portion 81a having a T-shaped cross section extending inward from an end surface thereof, and one of the attachment portions 72 on the finger operation rod 7 side is slidably received in the groove portion 81a. Yes. Also, a lever 81b with a claw is provided inside the finger piece 81, the tip of which protrudes from the end face wall of the finger piece, and one of the attachment portions 72 on the finger operating rod 7 side is completely accommodated in the groove 81a. When this is done, the claw portion of the lever 81b with claw is locked to the opening corresponding to the mounting portion 72, that is, the opening normally closed by the movable plate 73.

  Referring to FIG. 17A, the finger operation rod 7 is shown in a state where one of the attachment portions 72 is partially accommodated in the groove portion 81 a of the finger portion 8. In the figure, reference numeral 81c denotes a space formed in the finger piece 81, and one end portion of the lever 81b with the claw, that is, the end portion on the opposite side of the claw portion, is rotatable in the space 81c. Worn. A torsion spring 81d is attached to the shaft attachment portion of the lever with the claw. That is, one arm portion of the torsion spring 81d lies on the wall surface of the space 81c, and the other arm portion is hooked on the protrusion 81e of the lever 81d with the claw, so that the lever 81d with the claw is directed toward the groove 81a. And elastically biased.

  As shown in FIG. 17A, the movable plate 73 on the finger operating rod 7 side is attached to a pivot shaft 73a having a rotation axis perpendicular to the central axis of the tubular body 71, and is also movable. Is provided with a short shaft 73b integrally extending at a right angle therefrom. On the other hand, a movable rod 74 is inserted into the tubular body 71. The movable rod 74 can move along the central axis in the tubular body 71, and a hole 74a for receiving the short shaft 73b at the tip of the rod 74. Is formed.

  Referring to FIG. 17B, the finger operation rod 7 is illustrated in a state where one of the attachment portions 72 is completely accommodated in the groove portion 81 a of the finger portion 8. As shown in the figure, when the mounting portion 72 is completely received in the groove portion 81 a of the finger portion 8, the claw portion of the claw lever 81 b gets over the edge of the distal end portion of the tubular body 71 and engages with the movable plate 73. Thus, the movable plate 73 is pushed into the opening, and the claw portion of the claw lever 81b is locked to the opening. That is, the connection of the finger portion 8 to the finger operation rod 7 is completed.

  When releasing the connection of the finger portion 8 to the finger operating rod 7, the movable rod 74 is moved toward the distal end side of the tubular body. That is, when the movable rod 74 is moved in this way, the tip of the movable rod 72 pushes up the movable plate 73, whereby the hook of the claw portion of the claw lever 81 b is released, and the finger portion 8 is attached to the mounting portion 72. It becomes possible to remove from.

  Although FIG. 17 does not show the driving force transmission means for transmitting the driving force to the finger bending mechanism incorporated in the finger portion 8 to cause the finger portion 8 to perform the bending motion, the second embodiment described above is not shown. As in the case of the embodiment, such a driving force transmitting means can be appropriately provided on the finger operating rod 7.

  Next, with reference to FIG.18 and FIG.19, the assembly procedure at the time of assembling in the abdominal cavity of a human body model using 3rd Embodiment of FIG. 16 as an exclusion apparatus is demonstrated.

First, referring to (A) in FIG. 18, similarly to the case described in the first embodiment described above, the trocar T ₁ and T ₂ are provided in the abdomen B manikin. The finger portion 8 is appropriately connected to an appropriate insertion tool 9 so as to be in a straight line, and the finger portion 8 is inserted into the abdominal cavity through the trocar T ₁ by the rod-shaped insertion tool 9. On the other hand, the finger operating rod 7 is inserted into the abdominal cavity through the trocar T _2. The finger portion 8 is connected to the first of the three attachment portions 72 on the finger operation rod 7 side (see FIG. 17A), and then the claw lever 81b is locked (FIG. 17 ( B)). Thereafter, the connection of the rod-shaped insertion tool 9 to the finger portion 8 is released.

Next, as shown in FIG. 18B, the rod-shaped insertion tool 9 is taken out from the abdominal cavity through the trocar T ₁ , and then another finger portion 8 is connected to the rod-shaped insertion tool 9.

Subsequently, as shown in (C) of FIG. 18, the finger portion 8 is inserted into the abdominal cavity through a trocar T ₁ by bar-shaped insert 9.

  Subsequently, as shown in FIG. 19A, the finger portion 8 is connected to the second of the three attachment portions 72 on the finger operating rod 7 side, and then the lever 81b with the claw is locked, The connection of the rod-shaped insertion tool 9 to the finger portion 8 is released. Thereafter, by repeating the above operation once again, the finger portion 8 is connected to the last mounting portion 72 on the finger operation rod 7 side, and then the lever 81b with the claw is locked, and thus the three operations for the finger operation rod 7 are performed. The connection of the finger part 8 is completed, and the assembly of the exclusion device is completed.

Subsequently, as shown in (B) of FIG. 19, the rod-shaped insert 9 is completely withdrawn from the abdominal cavity through a trocar T _1. Thereafter, the bending movement of the three finger portions 8 is appropriately controlled, and it is possible to perform the exclusion work within the abdominal cavity.

  The removal of the retraction device from the abdominal cavity can be achieved by reversing the procedure shown in FIGS.

  Next, a fourth embodiment of the remote control device according to the present invention will be described with reference to FIG. In the same figure, (A) is a longitudinal sectional view showing the remote control device in an exploded state, and (B) is a longitudinal sectional view showing the remote control device in an assembled state. Note that the fourth embodiment can also be used as an exclusion device for supporting an intra-body cavity operation using an endoscope.

  First, referring to FIG. 20A, the remote operation device includes a finger operation rod 110 and a finger portion 120 that is detachably connected to the finger operation rod 110.

  The finger operating rod 110 is composed of a rod-shaped body 111, and a passage 112 through which the finger portion 120 can be inserted is formed at the tip of the rod-shaped body 111. The passage 112 approaches the end of the rod-shaped body 111. The central space 113 formed in this way is communicated. A central rod 114 and an eccentric rod 115 are slidably and rotatably inserted into the rod-shaped body 111, and both the rods 114 and 115 extend in parallel to each other. The distal end portion of the center rod 114 is formed as a threaded portion 114a, and this threaded portion 114a is usually positioned in the central space 113. The tip of the eccentric rod 115 is projected into the passage 112 as necessary.

  The finger 120 includes a central support 121 and finger pieces 122 and 123 that are pivotally attached to both ends of the central support 121, and pulleys 124 and 125 are attached to the respective pivotal portions of the finger pieces 122 and 123. It is provided rotatably. A central hole 121a is formed in the middle of the central support 121, and a block piece 126 is slidably received in the central hole 121a. A screw hole 126a is formed in the block piece 126, and a threaded portion 114a of the center rod 114 is screwed into the screw hole 126a as will be described later. The central support 121 is formed with a recess 121b adjacent to the central hole 121a, and the tip of the eccentric rod 115 is fitted into the recess 121b. Pulleys 127 and 128 are provided on both sides of the block piece 126, and these pulleys 127 and 128 are rotatably attached to the central support 121.

To perform a bending movement in the fingers 122, pulleys 124 and 127 is caused to cooperate with the drive wire _{W 20.} The drive wire W ₂₀ is fixed to the finger piece 122 at one end thereof, then wound around the pulley 124, and subsequently passed through the pulley 127 and then fixed to the block piece 126 at the other end.

  Although not shown in FIG. 20A, a torsion spring is incorporated in each of the shaft attachment portions of the pulleys 124 and 125, and the finger pieces 122 and 123 are usually center support members by the elastic action of these torsion springs. It is elastically held at a position that is straight with respect to 121.

On the other hand, the pulleys 125 and 128 are caused to cooperate with the drive wire W _{30 in} order to cause the finger piece 123 to perform a bending motion. The drive wire W ₃₀ is fixed to the finger piece 123 at one end thereof, then wound around the pulley 125, and subsequently passed through the pulley 128 and then fixed to the block piece 126 at the other end.

  Referring to FIG. 20B, the remote control device shown in FIG. 20A is assembled, and in this assembled state, the finger 120 is passed through the passage 112 of the finger operation rod 110. Later, the tip of the eccentric rod 115 is fitted into the recess 121b, and the threaded portion 114a of the center rod 114 is screwed into the screw hole 126a.

  Referring to FIG. 21, the operation of the remote control device after assembly is shown. When the center rod 114 is pulled, the block piece 126 is pulled up against the elastic force of the torsion spring incorporated in the shaft attachment portions of the pulleys 124 and 125, whereby the finger pieces 122 and 123 perform bending motion. It will be.

Referring to FIG. 22, a modification of the above-described fourth embodiment is shown. In this modification, an additional finger piece 122 ′ is pivotally attached to the finger piece 122, and a pulley 129 is rotatably provided at the pivotally attached portion. One end of the drive wire W ₂₀ is wound around the pulley 129 and then fixed to the finger piece 122 ′ at one end. Such additional finger pieces can be provided on the finger piece 123 side as needed.

  Next, with reference to FIG. 23, the assembly procedure when assembling the fourth embodiment of FIG. 20 as an exclusion device in the abdominal cavity of a human body model will be described.

First, referring to (A) in FIG. 23, similarly to the case described in the first embodiment described above, the trocar T ₁ and T ₂ are provided in the abdomen B manikin. Finger operating rod 120 is inserted into the abdominal cavity through a trocar T _1, whereas fingers 120 is partially inserted into the abdominal cavity through the trocar T _2. Finger operating rod 110 is the distal end is manipulated to approach the inner end of the trocar T _2.

  Next, as shown in FIG. 23B, the finger 120 is passed through the passage 112 (see FIG. 20A) at the tip of the finger operating rod 110, and the tip of the eccentric rod 115 is depressed 121b. (See FIG. 20B). Subsequently, the threaded portion 114a of the center rod 114 is screwed into the threaded hole 126a, thereby completing the assembly of the exclusion device.

Subsequently, as shown in (C) of FIG. 23, the fingers 120 are inserted into the abdominal cavity through the trocar _{T 2.} Thereafter, the bending motion of the finger part 120 is appropriately controlled by the pulling operation of the central rod 114, whereby the retraction work can be performed within the abdominal cavity.

  The removal of the exclusion device from the abdominal cavity is achieved by reversing the procedure shown in FIG.

Next, a fifth embodiment of the remote control device according to the present invention will be described with reference to FIG. Note that this fifth embodiment can also be used as an exclusion device for supporting an intracorporeal surgery using an endoscope.
Fourth embodiment

  Referring to FIG. 22 showing the remote control device in an exploded state, the remote control device is detachably connected to the finger operating rod 130 and the tip of the finger operating rod 130 in a direction perpendicular to the central axis thereof. And a finger portion 150 formed as an extension along the central axis at the tip of the finger operating rod 130. Although the finger operating rod 130 is formed of a tubular body 131 and cannot be seen in FIG. 24, an opening is formed on the side of the distal end portion of the tubular body 131 so that the finger portion 140 can be detachably connected. The detachable connection of the finger part 140 to the tubular body 131 can be performed in the same manner as in the second embodiment shown in FIG.

  The finger part 140 includes three finger pieces 141, 142, and 143 that are axially attached to each other, and a finger bending mechanism for causing the finger pieces 141, 142, and 143 to perform a bending motion is incorporated in the finger part 140, The finger bending mechanism itself is configured as a conventional type composed of a pulley and a drive wire. A fingernail 141a is attached to the finger piece 141, and this fingernail 141a is used for removably connecting through the opening on the side of the distal end portion of the tubular body 131 as in the case of the second embodiment shown in FIG. It is done.

  The finger part 150 is also composed of three finger pieces 151, 152, and 153 that are axially attached to each other, and a finger bending mechanism for causing the finger pieces 151, 152, and 153 to perform bending motion is also incorporated in the finger part 150, This finger bending mechanism is the same as the finger bending mechanism of the finger portion 140.

  The procedure for assembling the remote control device in the fifth embodiment as an exclusion device in the abdominal cavity can be performed in the same manner as in the second embodiment shown in FIG. 11 (see FIG. 14). That is, the finger operation rod 130 is inserted into the abdominal cavity through one trocar and the finger portion 140 is inserted into the abdominal cavity through the other trocar. Next, the finger portion 140 is detachably connected to the distal end portion of the tubular body 131 of the finger operating rod 130, whereby the assembly of the exclusion device is completed. Thereafter, the bending motion of the finger portions 140 and 150 is appropriately controlled through the finger operation rod 130, thereby enabling the exclusion work to be performed within the abdominal cavity.

  In FIG. 24, the finger portion 140 is connected to the finger operation rod 130 so as to extend in a direction perpendicular to the central axis thereof, but the finger portion 140 is attached to the tubular body 131 so as to extend obliquely from the finger operation rod 130. It may be connected.

  Referring to FIG. 25, a modified embodiment of the fifth embodiment is shown, in which the bendable finger 150 of FIG. 24 is replaced by a simple bar finger 150 ′. The rod-shaped finger portion 150 ′ cannot perform a bending motion, but by cooperating with the bendable finger portion 140, the exclusion work in the abdominal cavity can be performed without any trouble.

Referring to FIG. 26, another variation of the fifth embodiment is shown, in which the bendable finger 140 of FIG. 24 is replaced by a simple bar finger 140 ′. The rod-shaped finger portion 140 ′ cannot perform a bending motion, but by cooperating with the bendable finger portion 150, the exclusion work in the abdominal cavity can be performed without any trouble.

It is a disassembled perspective view which shows 1st Embodiment of the remote control apparatus by this invention. FIG. 2 is a partially enlarged perspective view of FIG. 1, (A) is a partially enlarged perspective view of a middle finger portion shown in FIG. 1, and (B) is a partially enlarged perspective view of a finger bending mechanism incorporated in the thumb portion of FIG. 1. It is. Is a connection tool for connecting two components of the remote control device of FIG. 1 to each other, (A) is a partial perspective view, (B) is a partial side view of the connection tool of (A), (C) is a partial side view similar to (B). It is explanatory drawing for demonstrating the assembly method of the remote control apparatus of FIG. 1, Comprising: (A) is a perspective view, (B) is a partial cross section side view. It is explanatory drawing for demonstrating the assembly method of the remote control apparatus of FIG. 1, Comprising: (A) is a perspective view, (B) is a partial cross section side view. It is explanatory drawing for demonstrating the assembly method of the remote control apparatus of FIG. 1, Comprising: (A) is a perspective view, (B) is a partial cross section side view. It is explanatory drawing for demonstrating the assembly method of the remote control apparatus of FIG. 1, Comprising: (A) is a perspective view, (B) is a partial cross section side view. It is a perspective view for demonstrating operation | movement of the remote control apparatus of FIG. 1 after completion of an assembly. It is a general | schematic fragmentary cross-sectional view for demonstrating the procedure for assembling the remote control apparatus of FIG. 1 in the abdominal cavity of a human body model as an exclusion apparatus. It is a general | schematic fragmentary cross-sectional view for demonstrating the procedure for assembling in the abdominal cavity of a human body model using the remote control apparatus of FIG. 1 as an exclusion apparatus. The 2nd Embodiment of the remote control apparatus by this invention is shown, (A) is a side view which shows a remote control apparatus in an exploded state, (B) is a side view which shows the remote control apparatus of (A) in an assembly state It is. It is a longitudinal cross-sectional view of the finger operation stick shown in FIG. It is a longitudinal cross-sectional view explaining the method for connecting a finger | toe part to the finger operating rod of FIG. It is a general | schematic fragmentary sectional view for demonstrating the procedure which assembles the remote control apparatus shown to (A) of FIG. 11 in the abdominal cavity of a human body model as an exclusion apparatus. It is a general | schematic fragmentary sectional view for demonstrating the procedure which assembles the remote control apparatus shown to (A) of FIG. 11 in the abdominal cavity of a human body model as an exclusion apparatus. It is a perspective view which shows 3rd Embodiment of the remote control apparatus by this invention in a disassembled state. It is a fragmentary longitudinal cross-section for demonstrating the connection method at the time of connecting a finger | toe part with the finger operation stick | rod of FIG. FIG. 17 is a schematic partial cross-sectional view for explaining a procedure for assembling the remote control device of FIG. 16 as an exclusion device within the abdominal cavity of a human body model. FIG. 17 is a schematic partial cross-sectional view for explaining a procedure for assembling the remote control device of FIG. 16 as an exclusion device within the abdominal cavity of a human body model. 4 shows a fourth embodiment of the remote control device according to the present invention, wherein (A) is a longitudinal sectional view showing the remote control device in an exploded state, and (B) is a longitudinal sectional view showing the remote control device in an assembled state. . It is a longitudinal cross-sectional view for demonstrating the operation | movement of 4th Embodiment of FIG. It is a fragmentary longitudinal cross-section which shows the deformation | transformation embodiment of 4th Embodiment of FIG. It is a general | schematic fragmentary cross-sectional view for demonstrating the procedure assembled in the abdominal cavity of a human body model using the remote control apparatus shown to (A) of FIG. 20 as an exclusion apparatus. It is a side view which shows 5th Embodiment of the remote control apparatus by this invention. It is a side view which shows the deformation | transformation embodiment of 5th Embodiment of FIG. FIG. 25 is a side view showing another modified embodiment of the fifth embodiment of FIG. 24.

Explanation of symbols

1: component 11: the finger operating rod 11a: tubular section 11b: hollow tube 11c: Rod 11d · 11e · 11f: gear _11f 1 · 11f _2: pulley 11g: thread hole 11h: positioning hole 12: middle finger portion 12a · 12b 12c: Finger piece 12d: Pulley assembly 12e: Pulley 2: Component member 21: Index finger 21a, 21b, 21c: Finger piece 21e: Gear 21f: Pulley 21g: Through screw hole 21h: Positioning recess 22: Thumb part 22a: thumb support 22b · 22c · 22d: fingers 22e: gear 22 g: pulley 22e _1: coaxial pulley 22e _2: lateral pulley 22f: double pulley 22 g: pulley 22h: semi-circular gear 3: connector 31: connecting the operating rod 31a: tubular body _31a 1 · _{31a 2:} mounting portion 31b: a hollow tube 31b _1: thickness portion 31b _2: tubular flange 31c: rotation b De 31c _1: protrusion 31c _2: connecting bolts 31d · 31e: sliding rod 32: beak 32a · 32 b: attaching piece 32c: pivot pin 32d: an elongated slot 32e: positioning protrusion 33: beak 33a · 33b: Mounting piece 33c: pivot pin 33e: positioning protrusion _{A 1 · A 2 · A 3} · A 4 · A 5 · A 6 · A 7 · A 8 · A 9 · A 10: rotation axis _W 1 · _W 2 · _{W 3 · W 4 · W 5 · W} 6 · W 7 · W 20 · W 30: drive wire X: center axis B: abdominal _T 1 · _{T 2:} trocar 4: finger operating rod 41: a tubular body 41a · 41b: opening 41c: annular flanges 42 and 43: sliding pieces 42a and 43a: concave portions 44: rods 44a and 44b: flanges 45, 46 and 47: compression coil springs 5: finger portions 51, 52 and 53: finger pieces 51a: claws 6: Finger part 61, 62, 63: Finger piece 61a : Claw

Claims (3)

A first component member (1) having a finger operation rod (11) and a first finger portion (12) coupled to the finger operation rod;
A second component member (2) having a second finger part (21) detachably attached to the finger operating rod;
The second component member has a dimension and shape so that the first component member can be inserted into a trocar (T ₁ , T ₂ ) when the first component member is in a straight line. Having a dimension and shape that allows the second component member to be inserted into the trocar when the straight line extends.
The first finger portion has a shape that extends in a straight line with the finger operation rod when no external force is applied by the finger operation rod, and bends when the external force is applied by the finger operation rod. ,
The second finger portion is not connected to the finger operation rod and has a shape that extends in a straight line when no external force is applied by the finger operation rod. A remote control device that bends when external force is applied. The remote control device according to claim 1, wherein the second component member is further connected to be rotatable about a central axis of the second finger portion. Have
The third finger portion extends in a straight line together with the second finger portion when the second finger portion is not connected to the finger operation rod and no external force is applied by the finger operation rod. A remote control device that exhibits and bends when the second finger is connected to the finger operating rod and an external force is applied by the finger operating rod. The remote control device according to claim 1, wherein the first finger (12) is bent about a rotation axis (A ₁ ) perpendicular to a rotation axis (A ₃ , A ₄ ) during bending motion. A remote control device in which the first finger is rotatable.

Images