JP7809310B2 - Treatment device, robot equipped with said treatment device, medical robot, medical system, end effector, medical tool, forceps and tweezers - Google Patents

Description

The present invention relates to a surgical instrument that contacts and grasps a target site, and more particularly to a robot , medical robot, medical system, end effector, medical tool, forceps, and tweezers that are equipped with such a surgical instrument that is capable of grasping, incising, dissecting, coagulating (hemostasis), and cutting surgical operations.

For example, the basic operation in an excision surgery is a repetition of the steps of dissection, grasping, coagulation (hemostasis), and cutting. When grasping or cutting biological tissue (target area), as with the forceps described in Patent Document 1, high-frequency electromagnetic waves are irradiated onto the target area from electrodes attached to the contact point or cutting blade that come into contact with the biological tissue (target area), thereby coagulating or cutting the area.

JP 2017-060846 A

However, for example, during surgery, hemostasis is performed by irradiating the blood with electromagnetic waves (high frequency waves such as microwaves) from an electrode to coagulate the blood, but the hemostasis effect is weakened in liquids, pools of water, or pools of blood.
This is because when electromagnetic waves are irradiated while in contact with a substance with a high dielectric constant, such as liquid or blood, the electromagnetic waves are absorbed by the liquid or blood and attenuated, resulting in a decrease in the hemostatic effect at the bleeding site.

Therefore, an object of the present invention is to provide a surgical instrument that can reliably apply electromagnetic waves to a target area without leaking them even when the electromagnetic waves are irradiated in a liquid, a puddle of water, or a pool of blood, as well as a robot , a medical robot, a medical system, an end effector, a medical tool, forceps , and tweezers that are equipped with the surgical instrument.

The present invention is a treatment device having a first contact part that contacts a target site, a second contact part that is assembled to the first contact part so as to be openable and closable and that contacts the target site, and a contact part rotation means that rotates the second contact part relative to the first contact part, wherein electrodes for irradiating electromagnetic waves are provided at each of the contact points of the first contact part and the second contact part that contact the target site, and protrusions that protrude toward the second contact part are provided on both sides of the electrode of the first contact part at a position facing the second contact part when the electrodes are facing each other, and the protrusions are the second contact portion is made of a flexible resin having flexibility , and the outer side in the width direction that faces the first contact portion extends toward the protruding direction, and the inner leg in the width direction is formed to have a trapezoidal cross section that is inclined, and the electrode is provided on the inner side surface that is the inner side in the width direction and is formed with the trapezoidal cross section, and the second contact portion enters between the protruding portions in a closed state , and the second contact portion is made of a main body portion that is approximately square in cross section and a trapezoidal portion that has an isosceles trapezoidal cross section that tapers toward the first contact portion, and the width is tapered toward the tip , and the electrode is provided on the tip that faces the first contact portion and on the inclined side surface of the trapezoidal portion ,
By forming the inclination angle of the inclined side of the trapezoidal portion of the tapered second abutment portion at a wider angle than the inclination angle of the inner surface of the protrusion, the base end of the trapezoidal portion of the second abutment portion is formed with a length in the width direction that is wider than the distance between the tips of the protrusions, and when the tapered second abutment portion is inserted between the protrusions in the closed state, the first abutment portion deforms so that the tip side of the protrusion opens, and the tip of the second abutment portion is provided with a tip protrusion that protrudes toward the first abutment and covers the tip side of the first abutment in the gripping state .

According to this invention, even when electromagnetic waves are irradiated in a liquid, a puddle, a pool of blood, or the like, the electromagnetic waves can be surely applied to the target site without leaking.
More specifically, since the electrodes provided at the contact points of the first contact portion and the second contact portion that contact the target site are provided on both sides with protrusions that protrude toward the other contact portion, when the contact portions are in contact with the target site and gripped, the electrodes for irradiating electromagnetic waves are shielded by the protrusions on both sides in liquid, a puddle of water, a pool of blood, etc. In other words, it is possible to prevent the electrodes from being exposed in liquid, a puddle of water, a pool of blood, etc., and it is possible to reliably irradiate electromagnetic waves to the target site without attenuation.

Furthermore, since the protrusions are made of a flexible resin, they are flexible and therefore adhere more closely to the target area with which the contact portion abuts, and the protrusions located on both sides of the electrode can improve shielding. Furthermore, protrusions with high deformability and durability can be formed.

Furthermore, the protrusion is provided at a location on the first contact portion opposite the second contact portion, and the second contact portion enters between the protrusions in the closed state. Therefore, the second contact portion enters between the protrusions along with the target area, thereby further improving the shielding of the electrode by the protrusion, allowing electromagnetic waves to be more reliably irradiated onto the target area.

In addition, the electrode is located at the tip of the second contact portion facing the first contact portion, and the width of the second contact portion tapers toward the tip, making it easier for the second contact portion to enter between the protrusions along with the target area.

Furthermore, because the angle at the base end of the tapered second contact portion is wider than the distance between the protrusions, when the second contact portion is inserted between the protrusions along with the target area, the second contact portion engages with the protrusions, causing the protrusions to deform outward in the width direction, further improving the electrode shielding provided by the protrusions and enabling electromagnetic waves to be more reliably applied to the target area.

The protrusions may be provided on both the first and second contact portions, with a pair of protrusions on the sides of the electrode, or on one of the first and second contact portions, with a pair of protrusions on the sides of the electrode. Furthermore, one of the first and second contact portions may have a protrusion on one side of the electrode, and the other contact portion may have a protrusion on the other side of the electrode, with the electrodes being provided on both sides in an opposing relationship.

Furthermore, the protrusions may be made of a rigid material that has rigidity, a flexible material that has flexibility, or a combination of a rigid material and a flexible material, as long as the protrusions can be in close contact with the target area that the abutting portion abuts and can be shielded by the protrusions arranged on both sides of the electrode.

As another aspect of the present invention, the electrodes may be provided along the longitudinal direction of the first contact portion and the second contact portion, and the protrusions may be provided along the longitudinal direction.
According to this invention, the protrusions provided along the longitudinal direction can further improve the shielding effect for the electrodes formed along the longitudinal direction, thereby ensuring that the electromagnetic waves radiated from the electrodes can act.

The present invention also provides a treatment device having a first contact part that contacts a target site, a second contact part that is assembled to the first contact part so as to be openable and closable and that contacts the target site, and a contact part rotation means that rotates the second contact part relative to the first contact part, wherein electrodes for irradiating electromagnetic waves are provided at each of the contact points of the first contact part and the second contact part that contact the target site, and when the electrodes are opposed to each other, protrusions that protrude toward the other contact part are provided on both sides of the electrodes and are positioned at the sides of the first contact part and the second contact part. the electrode is provided on at least one of the first and second contact portions, the protrusion is made of a flexible resin and is provided along the longitudinal direction, the protrusion is provided on both sides in the width direction of the first contact portion at a location facing the second contact portion, and the protrusion is provided on both sides in the width direction of the second contact portion at a location facing the first contact portion, and the second contact portion is provided on both sides in the width direction of the first contact portion when in a closed state, and the second contact portion enters between the protrusions provided on the first contact portions.
Treatment equipment.

According to this invention, even when electromagnetic waves are irradiated in a liquid, a puddle, a pool of blood, or the like, the electromagnetic waves can be surely applied to the target site without leaking.
More specifically, since at least one of the first and second contact portions has protrusions that protrude toward the other contact portion on both sides of the electrodes provided at the contact points of the first and second contact portions that contact the target area, when the contact portions are held in contact with the target area, the electrodes for irradiating electromagnetic waves are shielded by the protrusions on both sides in liquid, a puddle of water, a puddle of blood, etc. In other words, the electrodes can be prevented from being exposed in liquid, a puddle of water, a puddle of blood, etc., and electromagnetic waves can be reliably irradiated to the target area without being attenuated.

Furthermore, since the protrusions are made of a flexible resin, they are flexible and therefore adhere more closely to the target area with which the contact portion abuts, and the protrusions located on both sides of the electrode can improve shielding. Furthermore, protrusions with high deformability and durability can be formed.

Furthermore, since the electrodes are arranged along the longitudinal direction of the first and second contact portions, and the protrusions are arranged along the longitudinal direction, the protrusions arranged along the longitudinal direction further enhance the shielding properties of the electrodes formed along the longitudinal direction, ensuring that the electromagnetic waves radiated from the electrodes can be effectively applied.

Furthermore, the protrusion is provided at a location on the first contact portion opposite the second contact portion, and the second contact portion enters between the protrusions in the closed state. Therefore, the second contact portion enters between the protrusions along with the target area, thereby further improving the shielding of the electrode by the protrusion, allowing electromagnetic waves to be more reliably irradiated onto the target area.

Furthermore, since the protrusions are provided on both sides in the width direction at locations facing the other abutment portions of the first abutment portion and the second abutment portion, electromagnetic waves can be irradiated from the electrode to the target area within a space approximately surrounded by the protrusions provided on both sides in the width direction at locations facing the other abutment portions of the first abutment portion and the second abutment portion.
As a further aspect of the present invention, the pair of protrusions provided on the first contact portion and the pair of protrusions provided on the second contact portion may face each other.

In another aspect of the present invention, one of the protrusion provided on the first contact portion and the protrusion provided on the second contact portion may be positioned outside the other in the width direction.
These inventions allow electromagnetic waves to be irradiated from the electrode to the target area within a space approximately surrounded by protrusions provided on both sides of the width at the point where the first abutment portion and the second abutment portion face each other.

Note that, as mentioned above, "one of the protrusions provided on the first abutment portion and the protrusions provided on the second abutment portion is arranged outside the other in the width direction" means that one of the pair of protrusions provided on the first abutment portion and the second abutment portion may be arranged inside the other pair of protrusions, or the protrusions provided on the first abutment portion and the second abutment portion may be arranged so that one and the other are alternately lined up in the width direction.

In another aspect of the present invention, the electrode is a coaxial electrode having a center electrode and an outer electrode surrounding the center electrode via an insulator, and a coaxial cable connecting the electrode to an irradiation device that irradiates the electromagnetic waves may be branched into multiple parallel branches, and each of the coaxial electrodes may be electrically connected to the center conductor and outer conductor of the coaxial cable.
According to this invention, electromagnetic waves can be irradiated from the coaxial electrode and acted on a target area.

As another aspect of the present invention, the coaxial electrode may be connected with a reverse polarity to the coaxial cable.
According to this invention, electromagnetic waves can be irradiated between the central conductor of one of the coaxial electrodes of the first contact portion and the second contact portion and the outer electrode of the other coaxial electrode, thereby acting on the target area.

The present invention also provides a treatment device having a first contact portion that contacts a target area, a second contact portion that is assembled to the first contact portion so as to be openable and closable and that contacts the target area, and a contact portion rotation means that rotates the second contact portion relative to the first contact portion, wherein electrodes for irradiating electromagnetic waves are provided at each of the contact points of the first contact portion and the second contact portion that contact the target area, and when the electrodes are facing each other, protrusions that protrude toward the other contact portion are provided on both sides of the electrodes and are attached to at least one of the first contact portion and the second contact portion. The protrusion is made of a flexible resin and is provided at a location on the first contact portion opposite the second contact portion. In the closed state, the second contact portion enters between the protrusions provided on both sides of the electrode on the first contact portion. The second contact portion has the electrode located at its tip opposite the first contact portion and is tapered in width toward the tip. At least one of the first contact portion and the second contact portion is configured as a cutting blade that cooperates with the other to cut the target area.

According to this invention, even when electromagnetic waves are irradiated in a liquid, a puddle, a pool of blood, or the like, the electromagnetic waves can be surely applied to the target site without leaking.
More specifically, since at least one of the first and second contact portions has protrusions that protrude toward the other contact portion on both sides of the electrodes provided at the contact points of the first and second contact portions that contact the target area, when the contact portions are held in contact with the target area, the electrodes for irradiating electromagnetic waves are shielded by the protrusions on both sides in liquid, a puddle of water, a puddle of blood, etc. In other words, the electrodes can be prevented from being exposed in liquid, a puddle of water, a puddle of blood, etc., and electromagnetic waves can be reliably irradiated to the target area without being attenuated.

Furthermore, since the protrusions are made of a flexible resin, they are flexible and therefore adhere more closely to the target area with which the contact portion abuts, and the protrusions located on both sides of the electrode can improve shielding. Furthermore, protrusions with high deformability and durability can be formed.

Furthermore, the protrusion is provided at a location on the first contact portion opposite the second contact portion, and the second contact portion enters between the protrusions in the closed state. Therefore, the second contact portion enters between the protrusions along with the target area, thereby further improving the shielding of the electrode by the protrusion, allowing electromagnetic waves to be more reliably irradiated onto the target area.

In addition, the electrode is located at the tip of the second contact portion facing the first contact portion, and the width of the second contact portion tapers toward the tip, making it easier for the second contact portion to enter between the protrusions along with the target area.

Furthermore, at least one of the first contact portion and the second contact portion is configured with a cutting blade that cooperates with the other contact portion to cut the target area, allowing the other contact portion and cutting blade to cut the target area.

In another aspect of the present invention, the electrode and the protrusion may be provided on the cutting blade.
With this invention, electromagnetic waves are irradiated from the electrode shielded by the protrusion between the cutting blade and the other abutment portion, and the target portion can be irradiated with electromagnetic waves and cut, for example, by coagulating blood and then cutting the blood vessel with the cutting blade.

The present invention also provides a treatment device having a first contact portion that contacts a target area, a second contact portion that is assembled to the first contact portion so as to be openable and closable and that contacts the target area, and a contact portion rotation means that rotates the second contact portion relative to the first contact portion, wherein electrodes for irradiating electromagnetic waves are provided at each of the contact points of the first contact portion and the second contact portion that contact the target area, and when the electrodes are facing each other, protrusions that protrude toward the other contact portion are provided on both sides of the electrodes on at least one of the first contact portion and the second contact portion, and the protrusions are made of flexible, flexible material. The device is made of a conductive resin, and the protrusion is provided at a location on the first contact portion opposite the second contact portion. In the closed state, the second contact portion enters between the protrusions provided on both sides of the electrode on the first contact portion. The second contact portion has the electrode located at its tip opposite the first contact portion and is tapered in width toward the tip. The device is characterized by being provided with a cutting blade that cooperates with at least one of the first contact portion and the second contact portion to cut the target area, and cutting blade rotation means that rotates the cutting blade relative to at least one of the first contact portion and the second contact portion.

According to this invention, even when electromagnetic waves are irradiated in a liquid, a puddle, a pool of blood, or the like, the electromagnetic waves can be surely applied to the target site without leaking.
More specifically, since at least one of the first and second contact portions has protrusions that protrude toward the other contact portion on both sides of the electrodes provided at the contact points of the first and second contact portions that contact the target area, when the contact portions are held in contact with the target area, the electrodes for irradiating electromagnetic waves are shielded by the protrusions on both sides in liquid, a puddle of water, a puddle of blood, etc. In other words, the electrodes can be prevented from being exposed in liquid, a puddle of water, a puddle of blood, etc., and electromagnetic waves can be reliably irradiated to the target area without being attenuated.

Furthermore, since the protrusions are made of a flexible resin, they are flexible and therefore adhere more closely to the target area with which the contact portion abuts, and the protrusions located on both sides of the electrode can improve shielding. Furthermore, protrusions with high deformability and durability can be formed.

Furthermore, the protrusion is provided at a location on the first contact portion opposite the second contact portion, and the second contact portion enters between the protrusions in the closed state. Therefore, the second contact portion enters between the protrusions along with the target area, thereby further improving the shielding of the electrode by the protrusion, allowing electromagnetic waves to be more reliably irradiated onto the target area.

In addition, the electrode is located at the tip of the second contact portion facing the first contact portion, and the width of the second contact portion tapers toward the tip, making it easier for the second contact portion to enter between the protrusions along with the target area.

In addition, a cutting blade that cooperates with at least one of the first and second contact portions to cut the target area, and a cutting blade rotation means that rotates the cutting blade relative to at least one of the first and second contact portions are provided. Therefore, for example, the target area can be cut with the cutting blade while being gripped between the first and second contact portions.

In another aspect of the present invention, the electrode and the protrusion may be provided on the cutting blade.
With this invention, while the target site is held between the first contact portion and the second contact portion, electromagnetic waves are irradiated from the electrode shielded by the protrusion between the cutting blade and the contact portion, and the target site can be irradiated with electromagnetic waves and cut, for example, by coagulating blood and then cutting the blood vessel with the cutting blade.

The present invention also provides a medical system having the above-mentioned treatment device, a drive unit that drives the contact portion rotation means, and a medical robot connected to apply a drive signal to the drive unit.
The present invention also provides a robot comprising: an input/output unit connected to the treatment device described above by wire and/or wirelessly; an input unit that receives operation signals in real time; a calculation unit that executes a predetermined operation program based on the operation signals; and an output unit that generates a grip drive signal for gripping the target site with the first abutment portion and the second abutment portion by the abutment portion rotating means based on the output from the calculation unit; or a robot comprising: an input/output unit connected to the treatment device described above by wire and/or wirelessly; an input unit that receives operation signals in real time; a calculation unit that executes a predetermined operation program based on the operation signals; and an output unit that generates a grip drive signal for gripping the target site with the first abutment portion and the second abutment portion by the abutment portion rotating means based on the output from the calculation unit and/or a cutting drive signal for cutting the target site with the cutting blade by longitudinal movement of the cutting blade rotating means.

The present invention also provides a medical robot including the above-described robot, wherein the output unit provides a drive signal to an external drive unit that mechanically drives the treatment instrument.
The present invention also provides a medical system comprising the above-described robot, wherein the output unit provides a drive signal to an external drive unit that mechanically drives the treatment instrument, and is configured to coagulate the target site while grasping it by applying the drive signal to the drive unit; or a medical system comprising the above-described robot, wherein the output unit provides a drive signal to an external drive unit that mechanically drives the treatment instrument, and is configured to coagulate and cut the target site while grasping it by applying the drive signal to the drive unit.

The present invention also provides an end effector comprising the above-mentioned surgical instrument, an attachment portion for attaching at least the second abutment portion of the surgical instrument to the tip of a robot arm, and an abutment portion-side connector that connects to a drive mechanism on the robot arm that drives the abutment portion rotation means; or an end effector comprising the above-mentioned surgical instrument, an attachment portion for attaching at least the second abutment portion of the surgical instrument to the tip of a robot arm, an abutment portion-side connector that connects to a drive mechanism on the robot arm that drives the abutment portion rotation means, and a cutting blade-side connector that connects to a drive mechanism on the robot arm that drives the cutting blade rotation means.

The present invention also provides a medical tool comprising the above-mentioned end effector and a drive unit for driving the end effector, wherein the drive unit selectively provides at least one of a grasping function, a coagulation function, and an opening and retraction function by driving the first contact portion and the second contact portion; or a medical tool comprising the above-mentioned end effector and a drive unit for driving the end effector, wherein the drive unit selectively provides at least one of a drilling function, a grasping function, a coagulation function, a cutting function, and an opening and retraction function by driving the first contact portion, the second contact portion, and the cutting blade in combination.

The present invention also provides forceps or tweezers that include the above-mentioned surgical instrument, in which the target site is biological tissue, and that are provided with a gripping operation unit that drives and operates the contact portion rotation means, and that operate the gripping operation unit to grasp the biological tissue between the first and second contact portions, and that irradiate electromagnetic waves from the electrode to coagulate at least a portion of the biological tissue; or forceps or tweezers that include the above-mentioned surgical instrument, in which the target site is biological tissue, and that are provided with a gripping operation unit that drives and operates the contact portion rotation means and a cutting operation unit that drives and operates the cutting blade rotation means, and that operate the gripping operation unit to grasp the biological tissue between the first and second contact portions, and that irradiate electromagnetic waves from the electrode to coagulate at least a portion of the biological tissue, and that operate the cutting operation unit to cut the biological tissue with the cutting blade.

The present invention also provides a portable surgical instrument that includes the surgical instrument described above, a gripping-side drive unit that drives the contact portion rotation means, and a cutting-side drive unit that drives the cutting blade rotation means. The gripping-side drive unit rotates the first contact portion to grip biological tissue to be cut, and the cutting blade rotation means, driven by the cutting-side drive unit, rotates the cutting blade, which engages with the first contact portion or the second contact portion, thereby cutting the biological tissue.

The present invention also provides a grasping and coagulation method using the forceps or tweezers described above, which includes the steps of operating the contact portion rotation means to rotate the second contact portion toward the first contact portion and grasping the target area between the first and second contact portions, and irradiating electromagnetic waves from the electrode to coagulate at least a portion of the biological tissue. Alternatively, the present invention provides a grasping and cutting method using the forceps or tweezers described above, which includes the steps of operating the contact portion rotation means to rotate the second contact portion toward the first contact portion and grasping the target area between the first and second contact portions, irradiating electromagnetic waves from the electrode to coagulate at least a portion of the biological tissue, and operating the cutting blade rotation means to move the cutting blade attached to the first contact portion along the first contact portion and engage it with the second contact portion, thereby cutting the grasped and coagulated target area.

This invention also relates to a method for operating a robot equipped with the above-mentioned treatment device, in which an input/output unit connected by wire and/or wirelessly receives operation signals in real time, and a computing unit executes a predetermined operation program based on the received operation signals, causing the contact portion rotation means to grasp the target area with the first contact portion and the second contact portion based on the output from the computing unit.

The present invention also provides a method for operating a robot having the above-mentioned treatment device, in which an input/output unit connected by wire and/or wirelessly receives operation signals in real time, and an arithmetic unit executes a predetermined operation program based on the received operation signals, and based on the output from the arithmetic unit, the abutment portion rotating means grips the target area with the first abutment portion and the second abutment portion and/or cuts the target area by longitudinal movement of the cutting blade rotating means.
These inventions make it possible to irradiate electromagnetic waves in a liquid, a puddle of water, or a pool of blood, without leakage of the electromagnetic waves, and to ensure that the electromagnetic waves act in a concentrated and reliable manner on the target area.

According to the present invention, it is possible to provide a surgical instrument that can reliably apply electromagnetic waves to a target area without leaking them even when the electromagnetic waves are irradiated in a liquid, a puddle of water, or a pool of blood, as well as a robot , a medical robot, a medical system, an end effector, a medical tool, and tweezers that are equipped with the surgical instrument.

FIG. 2 is a front view of the forceps in the open state according to the first embodiment. Fig. 2(a) is a schematic explanatory diagram of the forceps in Fig. 1. Fig. 2(b) is a partial longitudinal sectional view of the forceps in Fig. 1. Fig. 2(c) is an enlarged view of the electrode portion in Fig. 2(b) in Fig. 2(b). 3(a) is a front view of the forceps in a gripping state with the gripping mechanism closed, FIG. 3(b) is a side cross-sectional view of the forceps in an open state taken along the line A-A in FIG. 1, and FIG. 3(c) is a side cross-sectional view of the forceps in a gripping state taken along the line A-A in FIG. 1. 4(a) is a front view of the forceps in an open state according to the second embodiment, FIG. 4(b) is a partial plan view of the cutting mechanism in the forceps, and FIG. 4(c) is a partial front view of the cutting mechanism in FIG. Fig. 5(a) is a schematic explanatory diagram of the forceps in Fig. 4. Fig. 5(b) is a partial longitudinal sectional view of the forceps in Fig. 4. Fig. 5(c) is an enlarged view of the electrode portion in Fig. 5(b) as viewed from the arrows DD. FIG. 5 is a front view of the forceps of FIG. 4 in a gripping state with the gripping mechanism closed. 5 is a front view of the forceps of FIG. 4 in a cutting state with a cutting cutter of the cutting mechanism closed; 8(a) is a side cross-sectional view taken along arrows CC in FIG. 4 before gripping by the gripping mechanism, FIG. 8(b) is a side cross-sectional view taken along arrows E-E in FIG. 6 after the target site has been gripped by the gripping mechanism, and FIG. 8(c) is a side cross-sectional view taken along arrows F-F in FIG. 7 after the target site has been cut by the cutting cutter. FIG. 10 is a schematic diagram of a forceps according to a third embodiment. FIG. 10 is a schematic explanatory diagram of a gripping mechanism in the forceps of the third embodiment. FIG. 10 is a schematic explanatory diagram of a gripping mechanism in the forceps of the third embodiment. FIG. 10 is a schematic front view of an end effector according to a fourth embodiment. Fig. 13(a) is a side cross-sectional view taken along the line H-H in Fig. 12, Fig. 13(b) is a partial vertical cross-sectional view of the end effector, and Fig. 13(c) is an enlarged plan view taken along the line II in Fig. 12. FIG. 13 is a schematic front view of an end effector according to a fifth embodiment. 15(a) is a side cross-sectional view taken along the line J-J in FIG. 14, FIG. 15(b) is a partial vertical cross-sectional view of the end effector, and FIG. 15(c) is an enlarged plan view taken along the line K-K in FIG. 14. FIG. 10 is a schematic explanatory diagram of a medical device according to another embodiment. 10 is a schematic diagram of a telesurgery system according to another embodiment. FIG. 1 is a schematic explanatory diagram of a surgical device in a remote surgical system. FIG. 1 is an explanatory diagram of a remote surgery system. FIG. 10 is a schematic diagram of the functional configuration of forceps according to another embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. The present embodiments include, for example, the following disclosures.
The following examples are descriptions of the surgical instrument of the present invention used in a medical device, and examples of forceps will be described below, but the present invention provides a surgical instrument that is not limited to medical equipment.

For example, FIG. 1 is a front view of the forceps 1 of the first embodiment in an open state.
Figure 2 shows a schematic diagram of the forceps 1 of Figure 1. Figure 2(a) shows a side cross-sectional view taken along the line A-A in Figure 1, Figure 2(b) shows a partial vertical cross-sectional view of the forceps 1, and Figure 2(c) shows an enlarged view of the electrode portion taken along the line B-B in Figure 2(b).

Figure 3 shows an explanatory diagram of the gripping state of the forceps 1 in Figure 1. Figure 3(a) shows a front view of the forceps 1 in the gripping state with the gripping mechanism 17 closed, Figure 3(b) shows a side cross-sectional view of the forceps 1 in the open state as viewed from the arrows A-A in Figure 1, and Figure 3(c) shows a side cross-sectional view of the forceps 1 in the gripping state as viewed from the arrows A-A in Figure 1.

The longitudinal direction of the reference frame 112 of the forceps 1 is referred to as the longitudinal direction L. In the longitudinal direction L, the side where the gripping mechanism 17 is disposed relative to the main body frame 11 is referred to as the distal side F, and the side where the main body frame 11 is disposed relative to the gripping mechanism 17 is referred to as the proximal side R. Furthermore, in Figure 1, the direction perpendicular to the longitudinal direction L is referred to as the height direction H, with the upper side in the height direction H referred to as the upper side Hu and the lower side referred to as the lower side Hd. In Figures 2(b) and (c), the direction perpendicular to the longitudinal direction L and the height direction H is referred to as the width direction W.

1 to 3, the forceps 1 includes a main body frame 11, a slide frame 12, a trigger handle 13, and an upper jaw portion 14.
The main body frame 11 is roughly composed of two sides that intersect at an obtuse angle, one of which serves as a fixed handle frame 111 that functions as an operating section together with the trigger handle 13, and the other as a reference frame 112. The main body frame 11 thus configured is made of metal such as stainless steel.

The end of the fixed handle frame 111 is provided with a ring portion 113 into which the finger of the user who operates the forceps 1 is inserted.
In addition, the portion where the fixed handle frame 111 and the reference frame 112 intersect at an obtuse angle is defined as a corner 114, and the base of the reference frame 112 (near the above-mentioned corner 114) is provided with a support shaft 115 that supports the trigger handle 13, which will be described later.

Furthermore, a lower jaw 116 is provided at the end of the distal end side F of the reference frame 112. This lower jaw 116 cooperates with the trigger handle 13 to form a grasping mechanism 17 that grasps the target area, such as a blood vessel B, that is the subject of treatment. The lower jaw 116 is also referred to as a jaw.

The lower jaw 116 is positioned at the tip of the reference frame 112, which is made of metal such as stainless steel, and is made of flexible resin. As shown in Figure 2(b), it is formed to be thinner in the height direction H than the reference frame 112.

Furthermore, a resin protrusion 50 and an irradiation electrode 24b (described later) are provided on the surface of the lower jaw 116 in the upward direction Hu (the surface facing the upper jaw 14).
The structure of the irradiation electrode 24b will be described later. The irradiation electrode 24b is disposed at the center of the upper surface of the spring 16 in the width direction W, and resin protrusions 50 are provided on both sides in the width direction W of the irradiation electrode 24b.

The resin protrusion 50 is formed with a trapezoidal cross section, with the outer side in the width direction W extending toward the upward direction Hu and the inner leg (inner surface 51) in the width direction W inclined and protruding toward the upward direction Hu, i.e., toward the opposing upper jaw portion 14.
The resin protrusion 50 is made of a flexible resin, similar to the lower jaw 116, and may be formed integrally with the lower jaw 116 or may be formed separately and fixed.

Furthermore, an irradiation electrode 24d is provided on the inner surface 51.
The irradiation electrodes 24b, 24d and the resin protrusions 50 are formed to have a predetermined length in the longitudinal direction L.

A tip support shaft 117 that supports the upper jaw portion 14 is provided on the tip side F of the reference frame 112 .
Furthermore, a click protrusion 118 that protrudes toward the bottom surface of the slide frame 12 is provided on the upper surface of the reference frame 112 in the middle portion in the longitudinal direction L.

The click protrusion 118 has a triangular shape when viewed from the front and protrudes toward the bottom surface of the slide frame 12, but is formed as a roughly right-angled triangle when viewed from the front, with the inclined surface on the base end side R having a steeper inclination angle than the inclined surface on the tip end side F. Furthermore, the click protrusion 118, which has a triangular shape when viewed from the front and protrudes toward the bottom surface of the slide frame 12, is supported so that it can bend downward when a predetermined force is applied.

The slide frame 12 is provided so as to be slidable in the longitudinal direction L along the reference frame 112 of the main frame 11, and is made of the same material as the main frame 11 in the shape of a rectangular pillar.
An upper support shaft 121 that supports the tip of the trigger handle 13 is provided on the base end side R (left side in FIG. 1) of the slide frame 12.

Further, a tip upper support shaft 122 for supporting the upper jaw portion 14 is provided on the tip side (left side in FIG. 1) of the slide frame 12 .
Furthermore, a click protrusion 123 that protrudes toward the upper surface of the reference frame 112 is provided on the bottom surface of the slide frame 12 in the middle portion in the longitudinal direction L.

The click protrusion 123 has a triangular shape in front view protruding toward the upper surface of the reference frame 112, but is formed into a substantially right-angled triangle shape in front view, with the inclined surface on the tip side F facing the click protrusion 118 in the longitudinal direction L having a steeper inclination angle than the inclined surface on the base side R. Furthermore, the click protrusion 123, which has a triangular shape in front view protruding toward the upper surface of the reference frame 112, is supported so as to bend upward with a predetermined force.
The click convex portion 123 is not limited to a triangular shape, and may be of other shapes such as a polygonal shape or a semicircular shape that provides a function of notifying the user with a click sound or vibration.

Note that when the forceps 1 is in the initial state (open state), the click protrusions 118 and 123 are positioned slightly apart in the longitudinal direction L of the reference frame 112 and slide frame 12.

The trigger handle 13 is an operating part for sliding the slide frame 12 along the reference frame 112, and has a ring part 131 at the bottom end into which the user's finger is inserted.
In addition, near the upper end of the trigger handle 13, there is a pivot portion 132 that is pivotally supported on the support shaft 115 of the main frame 11, and further above the pivot portion 132 there is an upper pivot portion 133 that is pivotally supported on the upper support shaft 121 of the slide frame 12.

A compression coil spring 13a is provided between the fixed handle frame 111 and the trigger handle 13 to automatically return the slide frame 12 and trigger handle 13. Note that the compression coil spring 13a may be omitted depending on the specifications.

The upper jaw 14 is provided at the end of the tip side F of the slide frame 12, and constitutes a gripping mechanism 17 together with the lower jaw 116 of the main body frame 11. The upper jaw 14 is also called a jaw.
The base end (left side in Figure 1) of the upper jaw portion 14 is provided with a shafted portion 141 that is journaled on the tip support shaft 117 of the main frame 11, and a rotating bearing portion 142 that is journaled on the tip upper support shaft 122 of the slide frame 12 above the shafted portion 141.

As shown in Figures 2(a), 3(b), and 3(c), the upper jaw portion 14 is arranged in the upward direction Hu and is composed of an upper jaw main body portion 14u having a substantially square cross section, and an upper jaw trapezoidal portion 14d having an isosceles trapezoidal cross section that tapers downward Hd.

The inclination angle (inclined side surface) of the legs of the upper trapezoidal portion 14 d relative to the height direction H) is larger (wider) than the inclination angle of the inner surface 51 of the resin protrusion 50 .
The upper jaw main body portion 14u is formed to have a length in the width direction W that is wider than the distance between the tips of the resin protrusions 50.

An irradiation electrode 24a is arranged on the bottom surface, which is the end surface in the downward direction Hd, of the upper jaw main body portion 14u, and an irradiation electrode 24c is also arranged on the side surface of the upper jaw trapezoidal portion 14d.
The upper jaw 14 is provided at its tip side F with a tip protrusion 144 that protrudes toward the lower jaw 116. The tip protrusion 144 is configured to cover the tip side F of the lower jaw 116 in the gripping state shown in Fig. 3 and close the boundary between the upper jaw 14 and the lower jaw 116 from the tip side F. Note that the tip protrusion 144 may not be provided.

In the forceps 1 configured in this manner, the lower jaw 116 provided at the end of the tip side F of the main body frame 11 and the upper jaw 14, the base of which is supported on the main body frame 11 by a tip support shaft 117, constitute a grasping mechanism 17 that grasps the target area.

The forceps 1 is provided with irradiation electrodes 24 (24a, 24b, 24c, 24d), and is connected to a coaxial cable 40 that connects the irradiation electrodes 24 to a high-frequency (microwave) oscillator 30 that generates high-frequency (microwave) waves.

Specifically, as described above, an irradiation electrode 24a is provided on the bottom surface of the trapezoidal upper jaw portion 14d of the upper jaw portion 14, an irradiation electrode 24c is provided on the side surface of the trapezoidal upper jaw portion 14d, an irradiation electrode 24b is provided on the top surface of the lower jaw portion 116, and an irradiation electrode 24d is provided on the inner surface 51 of the resin protrusion 50, and a coaxial cable 40 is connected to them.

The irradiation electrode 24a provided on the bottom surface of the trapezoidal upper jaw portion 14d of the upper jaw portion 14 is composed of a convex electrode that protrudes toward the other side, and the irradiation electrode 24b provided on the top surface of the lower jaw portion 116 is composed of a concave electrode that has a concave shape corresponding to the convex shape of the irradiation electrode 24a. Furthermore, the irradiation electrode 24c provided on the side surface of the trapezoidal upper jaw portion 14d and the irradiation electrode 24d provided on the inner surface 51 of the resin convex portion 50 are composed of plate-shaped electrodes.

The irradiation electrodes 24 (24a, 24b, 24c, 24d) are formed to a predetermined length in the longitudinal direction L. Although not shown, the irradiation electrodes 24 (24a, 24b, 24c, 24d) arranged on the upper jaw 14 and lower jaw 116 are insulated from the upper jaw 14 and lower jaw 116 by an insulating layer arranged between them.

As shown in the enlarged cross-sectional view of Figure 2(b), the coaxial cable 40 is composed of a central conductor 41, an insulator 42, an outer conductor 43, and an insulating coating 44 sandwiching the central conductor 41, and is arranged in this order from the center toward the radially outer side.
The central conductor 41 is a linear conductor disposed at the center of the coaxial cable 40, and may be a single conductor of an appropriate diameter, or may be composed of multiple core wires.

The insulator 42 is made of resin and has a cylindrical shape with a predetermined thickness, and surrounds the outside of the central conductor 41 to insulate the central conductors 41 and 43 from each other.
The outer conductor 43 is made of a braided wire provided along the outer peripheral surface of the insulator 42 .

The insulating coating 44 is an insulating coating that surrounds the outside of the outer conductor 43 .
In this manner, the coaxial cable 40 in which the central conductor 41, the insulator 42, the outer conductor 43, and the insulating coating 44 are arranged in this order from the center side has appropriate flexibility.

As shown in Figure 2, irradiation electrodes 24a and 24b are connected to the center conductor 41 of the coaxial cable 40, and irradiation electrodes 24c and 24d are connected to the outer conductor 43, so that electromagnetic waves (high frequency waves (microwaves)) are irradiated from irradiation electrodes 24a and 24b to irradiation electrodes 24b and 24d. The electrode structure may also be a coaxial structure as shown in Figure 15, or a connection structure with opposite polarities.

In more detail, one of the first electrode portions of the irradiation electrodes 24a and 24c on the upper jaw 14 and the second electrode portion of the irradiation electrodes 24b and 24d on the lower jaw 116 is connected to the center conductor 41 of the coaxial cable 40, and the other is connected to the outer conductor 43.

In this way, the forceps 1 equipped with the irradiation electrodes 24 can irradiate high-frequency waves (microwaves) from one side to the other between the first electrode portion of the irradiation electrodes 24a and 24c and the second electrode portion of the irradiation electrodes 24b and 24d. This allows the target area grasped by the grasping mechanism 17, consisting of the lower jaw 116 and upper jaw 14, to be irradiated with high-frequency waves (microwaves) and coagulated.

If necessary, the irradiation electrode 24a may be electrically connected to the irradiation electrode 24d, and the irradiation electrode 24c may be electrically connected to the irradiation electrode 24b, so that high frequency waves (microwaves) can be irradiated between the upper jaw portion 14 and the spring 16 to coagulate biological tissue.

The operation of the forceps 1 having the above-described components will be described below.
A user inserts his or her fingers into the finger ring portion 113 of the main frame 11 and the finger ring portion 131 of the trigger handle 13, and rotates the trigger handle 13 in a direction that brings it closer to the fixed handle frame 111 (in the direction that the bottom of the trigger handle 13 moves to the left in Figure 1), with the pivot portion 132 supported on the support shaft 115 as the center of rotation.

When the trigger handle 13 rotates around the pivot 132 in a direction approaching the fixed handle frame 111, the upper pivot 133, which protrudes upward from the pivot 132, moves toward the tip (to the right in Figure 1). When the upper pivot 133 moves toward the tip F, the slide frame 12, which supports the upper pivot 133 with the upper support shaft 121, slides toward the tip F along the reference frame 112.

When the slide frame 12 moves toward the tip side F, the tip upper support shaft 122, which supports the rotary bearing portion 142 of the upper jaw portion 14, also moves toward the tip side F. The upper jaw portion 14, whose lower shafted portion 141 is supported by the tip support shaft 117 of the main frame 11 and whose upper rotary bearing portion 142 is supported by the tip upper support shaft 122, pivots around the tip support shaft 117 in a direction that brings the tip side F closer to the lower jaw portion 116 as the tip upper support shaft 122 moves toward the tip side F (see Figure 3).

As a result, in the initial state (open state) as shown in Figure 3(b), a blood vessel B, which is the target area in the biological tissue, is placed between the upper jaw portion 14 and the lower jaw portion 116, and as shown in Figure 3(c), by closing the jaw portion 14 so that the trapezoidal upper jaw portion 14d of the upper jaw portion 14 is inserted between the resin protrusions 50 to sandwich the blood vessel B, the blood vessel B can be grasped by the grasping mechanism 17 composed of the lower jaw portion 116 and the upper jaw portion 14.

At this time, because the inclination angle (inclined side surface) of the legs (inclined side surface) of the upper jaw trapezoidal portion 14d is greater (wider) than the inclination angle of the inner surface 51 of the resin protrusion 50, and because the length in the width direction W of the upper jaw main body portion 14u is wider than the distance in the width direction W between the resin protrusions 50, the lower jaw portion 116 curves in a convex direction in the upward direction Hu, as shown in Figure 3(c), and the tip sides of the resin protrusions 50 deform so as to open in the width direction W.

That is, since the resin protrusion 50 deforms along the shape of the maxillary trapezoidal portion 14d, the inclined side surface of the maxillary trapezoidal portion 14d and the inner surface 51 of the resin protrusion 50 face each other in a substantially parallel relationship. When the inclined side surface of the maxillary trapezoidal portion 14d and the inner surface 51 of the resin protrusion 50 face each other in a substantially parallel relationship, the irradiation electrode 24c provided on the inclined side surface of the maxillary trapezoidal portion 14d and the irradiation electrode 24d provided on the inner surface 51 also face each other in a substantially parallel relationship. The blood vessel B is then positioned therebetween.
At this time, since the lower jaw portion 116 and the resin protrusion portion 50 are made of flexible resin, the blood vessel B can be clamped without being damaged.

In addition, at this time, the click protrusion 118 on the top surface of the reference frame 112 and the click protrusion 123 on the bottom surface of the slide frame 12 are spaced apart in the longitudinal direction L in the initial state (open state), but as shown in the enlarged view of portion A in Figure 1, the sliding movement of the slide frame 12 toward the tip side F relative to the reference frame 112 brings them closer in the longitudinal direction L and causes them to abut.

As described above, the state shown in Figure 3(c) in which the trigger handle 13 is operated to insert the trapezoidal upper jaw portion 14d of the upper jaw portion 14 between the resin protrusions 50 of the lower jaw portion 116 is referred to as the grasping state in which the target area, such as blood vessel B, is grasped by the grasping mechanism 17.
In this gripping state, the blood vessel B gripped by the gripping mechanism 17 is irradiated with high frequency waves (microwaves) from the irradiation electrode 24, whereby the blood vessel B can be coagulated.

At this time, high frequency (microwave) waves are irradiated from the irradiation electrode 24 onto the blood vessels B in the space substantially surrounded by the resin protrusions 50 provided on both sides in the width direction W at the locations facing the upper jaw 14 and lower jaw 116, thereby efficiently coagulating the blood vessels B.

When the force exerted on the trigger handle 13 is released, the compression coil spring 13a shown in Figure 1 is released, the slide frame 12 moves toward the base end R, and the upper jaw 14 automatically returns to the open state shown in Figure 1.

When the force operating the trigger handle 13 is released and the slide frame 12 moves to the base end R and returns to its initial state (open state), the gentle slope angle is overcome first, so there is no clicking sensation that occurs when two steeply inclined surfaces overcome each other.

As described above, the forceps 1 can grasp a target area, such as a blood vessel B, using the upper jaw 14 and lower jaw 116 that make up the grasping mechanism 17 by operating the trigger handle 13. While grasping the target area by operating the trigger handle 13, high-frequency waves (microwaves) can be irradiated onto the target area from the irradiation electrode 24 to cause coagulation.

Specifically, the forceps 1 has an upper jaw 14 that contacts the blood vessel B, a lower jaw 116 that is attached to the upper jaw 14 so as to be able to open and close and contact the blood vessel B, and a trigger handle 13 that rotates the lower jaw 116 relative to the upper jaw 14. The forceps 1 is provided with irradiation electrodes 24 for irradiating high frequency waves (microwaves) at each of the contact points on the upper jaw 14 and lower jaw 116 that contact the blood vessel B. When the irradiation electrodes 24 face each other, flexible resin protrusions 50 are provided on both sides of the irradiation electrodes 24 that protrude toward each other. Therefore, even when the high frequency waves (microwaves) are irradiated in a pool of blood, the high frequency waves (microwaves) can be reliably applied to the blood vessel B.

More specifically, the forceps 1 has flexible resin protrusions 50 that protrude toward the other on both sides of the irradiation electrodes 24 provided at each of the contact points on the upper jaw 14 and lower jaw 116 that come into contact with the blood vessel B. Therefore, when the upper jaw 14 and lower jaw 116 are gripping the blood vessel B, the irradiation electrodes 24 for irradiating high frequency waves (microwaves) are shielded in a blood pool or the like by the resin protrusions 50 on both sides. This prevents the irradiation electrodes 24 from being exposed in a blood pool or the like, ensuring that high frequency waves (microwaves) can be irradiated to the blood vessel B without attenuation.

Instead of the click protrusions 118, 123 that function as notification units, a movement sensor may be attached and configured to notify the user via an electronic or optical signal. This embodiment provides multifunctional forceps capable of grasping and coagulation, either alone or in combination.

Next, the forceps 1S of the second embodiment will be described with reference to Figures 4 to 8. Note that Figure 4 is an explanatory diagram of the forceps 1S of the second embodiment in an open state. Figure 4(a) shows a front view of the forceps 1S, Figure 4(b) shows a partial plan view of the cutting mechanism 10 of the forceps 1S, and Figure 4(c) shows a partial front view of the cutting mechanism 10 of Figure 4(b).

Figure 5 shows a schematic diagram of the forceps 1S shown in Figure 4. Figure 5(a) shows a side cross-sectional view taken along the arrows C-C in Figure 4, Figure 5(b) shows a partial longitudinal cross-sectional view of the forceps 1S, and Figure 5(c) shows an enlarged view of the electrode portion taken along the arrows D-D in Figure 5(b).

FIG. 6 shows a front view of the forceps 1S in FIG. 4 in a gripping state with the gripping mechanism 17S closed.
FIG. 7 is a front view of the forceps 1S of FIG. 4 in a cutting state with the cutting cutter 15 of the cutting mechanism 10 closed.

Fig. 8 is an explanatory diagram of the gripping and cutting states of the cutting mechanism 10 of the forceps 1S. Fig. 8(a) shows a side cross-sectional view taken along the arrows CC in Fig. 4 before gripping by the gripping mechanism 17S, Fig. 8(b) shows the same side cross-sectional view of the blood vessel B gripped by the gripping mechanism 17S, and Fig. 8(c) shows the same side cross-sectional view of the blood vessel B cut by the cutting cutter 15.
In the following description of the forceps 1S, the same components as those in the forceps 1 described above will be assigned the same reference numerals and the description thereof will be omitted.

The forceps 1S shown in FIGS. 4 to 8 includes a cutting cutter 15 and a spring 16 in addition to the configuration of the forceps 1.
A lower jaw 116S is provided at the end of the distal end side F of the reference frame 112. The lower jaw 116S constitutes a gripping mechanism 17S that cooperates with the trigger handle 13 to grip a target site, such as a blood vessel B, that is the subject of treatment. The lower jaw 116S is configured to have a tapered shape toward the distal end side F when viewed from the front. The lower jaw 116S is also called a jaw.
Unlike the above-described lower jaw 116 which is made of flexible resin, the lower jaw 116S is formed from a part of the tip side F of the reference frame 112.

An irradiation electrode 24b (described later) and resin protrusions 50S are provided on both sides of the irradiation electrode 24b in the width direction W on the surface in the upward direction Hu, that is, the upper surface, of the lower jaw 116.
Unlike the resin protrusion 50, which is formed with a trapezoidal cross section, the resin protrusion 50S is formed with a rectangular cross section that is longer in the width direction W than in the height direction H, and like the resin protrusion 50, is made of a flexible resin.
The irradiation electrode 24b and the resin protrusion 50S are formed to have a predetermined length in the longitudinal direction L.

Further, the tip support shaft 117 provided on the tip side F of the reference frame 112 is configured to support the cutting cutter 15 in addition to the upper jaw portion 14S.
The tip upper support shaft 122 provided on the tip side (left side in FIG. 4) of the slide frame 12 is configured to support the cutting cutter 15 in addition to the upper jaw portion 14S.

The upper jaw 14S is provided at the end of the tip side F of the slide frame 12 and, together with the lower jaw 116S of the main body frame 11, forms the gripping mechanism 17S. The upper jaw 14S is also referred to as a jaw.

Unlike the upper jaw 14 described above, the upper jaw 14S has a rectangular cross section and is provided with a resin protrusion 50S on the surface facing downward Hd, i.e., the bottom surface, that protrudes toward the opposing lower jaw 116S.
Resin protrusion 50S has the same configuration as resin protrusion 50 provided on the upper surface of lower jaw 116, and therefore its description will be omitted. Note that resin protrusion 50S provided on the upper surface of lower jaw 116S and resin protrusion 50S provided on the bottom surface of upper jaw 14S are arranged to face each other.

The base end (left side in Figure 4) of the upper jaw 14S is equipped with a shafted portion 141 and a rotary bearing portion 142S that is journaled on the tip upper support shaft 122, similar to the upper jaw 14 described above. However, as shown in Figure 4(c), which is an enlarged view of the area enclosed by a square in Figure 4(a), the rotary bearing portion 142S differs from the insulator 42 described above in that it is formed as an elongated hole into which the tip upper support shaft 122 fits loosely.

An accommodation groove 143 for rotatably accommodating the cutting cutter 15 is provided inside the upper jaw portion 14S in the width direction W.
Furthermore, a tip protrusion 144 may be provided on the upper jaw 14 at the tip side F of the upper jaw 14S.

As shown in Figure 4, the cutting cutter 15 is housed in the housing groove 143 inside the upper jaw 14S and includes a shafted portion 151 that is supported by the tip support shaft 117 of the main frame 11, and a rotating shaft portion 152 that is supported by the tip upper support shaft 122 of the slide frame 12 above the shafted portion 151. The cutting cutter 15 configured in this manner has a cutting blade 153 formed along its lower end. The cutting cutter 15 is also plate-shaped and is configured to rotate in the housing groove 143 inside the upper jaw 14S around the shafted portion 151 as an axis.

The spring 16 is arranged along the front side of the upper jaw 14S and is configured to bias the upper jaw 14S and the cutting cutter 15.
More specifically, the spring 16 is a torsion spring fitted onto the tip upper support shaft 122, with one arm fitted onto the upper jaw 14S and the other arm fitted onto a part of the cutting cutter 15. Therefore, when the upper jaw 14S and the cutting cutter 15 rotate differentially around the tip upper support shaft 122 toward each other, the spring 16 is configured to bias the upper jaw 14S and the cutting cutter 15 in a rotational direction that moves them away from each other.

In the forceps 1S configured in this manner, a gripping mechanism 17S for gripping the target area is formed by a lower jaw 116S provided at the end of the tip side F of the main body frame 11 and an upper jaw 14S whose base is supported on the main body frame 11 by a tip support shaft 117.
The cutting cutter 15 rotates in the receiving groove 143 inside the upper jaw 14S to cut the target portion gripped by the gripping mechanism 17S, and together with the gripping mechanism 17S, constitutes the cutting mechanism 10.

The forceps 1S is provided with irradiation electrodes 24 (24a, 24b), and is connected to a coaxial cable 40 that connects the irradiation electrodes 24 to a high-frequency (microwave) oscillator 30 that oscillates high-frequency (microwave) waves.
Specifically, an irradiation electrode 24a is provided on the upper jaw 14S, and an irradiation electrode 24b is provided on the lower jaw 116S, and a coaxial cable 40 is connected to them.

Although not shown, the irradiation electrodes 24 (24a, 24b) arranged on the upper jaw 14S and lower jaw 116S are configured as convex electrodes that protrude toward each other and are formed to a predetermined length in the longitudinal direction L. Furthermore, an insulating layer is arranged on the outside of the irradiation electrodes 24 (24a, 24b) arranged on the upper jaw 14S and lower jaw 116S, and they are insulated from the upper jaw 14S, cutting cutter 15, and lower jaw 116S.

As shown in Figure 5, the irradiation electrode 24a is connected to the center conductor 41 of the coaxial cable 40, and the irradiation electrode 24b is connected to the outer conductor 43, so that electromagnetic waves (high frequency waves (microwaves)) are irradiated from the irradiation electrode 24a to the irradiation electrode 24b. The electrode structure may also be branched like a coaxial structure, as shown in Figure 15, or the connection polarities may be opposite.

The operation of the forceps 1S having the above-described components will be described below.
A user inserts his or her fingers into the finger ring portion 113 of the main frame 11 and the finger ring portion 131 of the trigger handle 13, and rotates the trigger handle 13 in a direction that brings it closer to the fixed handle frame 111 (in the direction in which the bottom of the trigger handle 13 moves to the left in Figure 4), with the pivot portion 132 supported on the support shaft 115 as the center of rotation.

When the trigger handle 13 rotates around the pivot 132 in a direction approaching the fixed handle frame 111, the upper pivot 133, which protrudes upward from the pivot 132, moves toward the tip (to the right in Figure 4). When the upper pivot 133 moves toward the tip F, the slide frame 12, which supports the upper pivot 133 with the upper support shaft 121, slides toward the tip F along the reference frame 112.

When the slide frame 12 moves toward the tip side F, the tip upper support shaft 122, which supports the pivotal bearing portion 142S of the upper jaw 14S, also moves toward the tip side F. The upper jaw 14S, whose lower shafted portion 141 is pivoted on the tip support shaft 117 of the main frame 11 and whose upper pivotal bearing portion 142S is pivoted on the tip upper support shaft 122, pivots around the tip support shaft 117 in a direction that moves the tip side F closer to the lower jaw 116S as the tip upper support shaft 122 moves toward the tip side F (see Figure 6).

As mentioned above, the lower shaft portion 151 of the cutting cutter 15 is supported by the tip support shaft 117 of the main frame 11, and the upper rotating shaft portion 152 is supported by the tip upper support shaft 122. Therefore, as the tip upper support shaft 122 moves toward the tip side F, the cutting cutter 15 pivots around the tip support shaft 117 together with the upper jaw 14S in a direction in which the tip side F approaches the lower jaw 116S (see Figure 6).

As a result, in the initial state (open state) as shown in Figure 8(a), a blood vessel B, which is the target area in the biological tissue, is placed between the upper jaw 14S and the lower jaw 116S, and as shown in Figure 8(b), the blood vessel B is sandwiched between the top surface of the lower jaw 116S and the bottom surface of the upper jaw 14S, allowing the blood vessel B to be grasped by the grasping mechanism 17S composed of the lower jaw 116S and the upper jaw 14S.

At this time, the blood vessel B can be clamped between the resin protrusions 50S provided on the upper surface of the opposing lower jaw 116S and the resin protrusions 50S provided on the bottom surface of the upper jaw 14S. Because the resin protrusions 50S are made of flexible resin, they can clamp the grasped blood vessel B without damaging it.

Although the tip support shaft 122 fits loosely into the rotary bearing 142S, which is formed in the shape of an elongated hole, the spring 16 biases the upper jaw 14S and the cutting cutter 15 in a direction away from the lower jaw 116S. As a result, the tip support shaft 122 does not move within the rotary bearing 142S, and the upper jaw 14S and the cutting cutter 15 rotate as described above.

At this time, the click protrusion 118 on the top surface of the reference frame 112 and the click protrusion 123 on the bottom surface of the slide frame 12 are spaced apart in the longitudinal direction L in the initial state (open state), but as shown in the enlarged view of part A in Figure 6, the sliding movement of the slide frame 12 toward the tip side F relative to the reference frame 112 brings them closer in the longitudinal direction L and causes them to abut.

As described above, the state shown in Figures 6 and 8(b), in which the trigger handle 13 is operated to bring the upper jaw 14S close to the lower jaw 116S, is referred to as the grasping state in which the target area, such as blood vessel B, is grasped by the grasping mechanism 17S.

At this time, high frequency (microwave) waves are irradiated from the irradiation electrode 24 onto the blood vessels B in the space substantially surrounded by the resin protrusions 50S provided on both sides in the width direction W at the locations facing the upper jaw 14S and lower jaw 116S, thereby efficiently coagulating the blood vessels B.

From this gripping state, if the trigger handle 13 is further operated in a direction that brings it closer to the fixed handle frame 111, the slide frame 12 will move further toward the tip F relative to the reference frame 112.

Furthermore, when the slide frame 12 moves toward the tip side F, the cutting cutter 15 pivots around the tip support shaft 117 as shown in Figure 7 until the cutting blade 153 abuts against the irradiation electrode 24b of the lower jaw portion 116S.
As a result, as shown in FIG. 8(c), the cutting cutter 15 moves along the side of the upper jaw portion 14S, and the blood vessel B grasped by the grasping mechanism 17S can be cut by the cutting blade 153 of the cutting cutter 15.

As described above, the cutting state is when the trigger handle 13 is further operated to rotate the cutting cutter 15 until the cutting blade 153 abuts the irradiation electrode 24b of the lower jaw 116S, as shown in Figure 7(b).

However, the upper jaw 14S abuts against the upper surface of the spring 16, and cannot rotate even if the slide frame 12 slides further. Instead, the tip upper support shaft 122 moves within the elongated rotation bearing portion 142S, causing the slide frame 12 to move relative to the upper jaw 14S.

As described above, further movement of the slide frame 12 causes the cutting cutter 15 to rotate further, but the tip upper support shaft 122 moves around the rotary bearing 142S, and the upper jaw 14S does not rotate. In other words, due to the differential mechanism in which the tip upper support shaft 122 moves around the elongated rotary bearing 142S, the upper jaw 14S and the cutting cutter 15 rotate differentially around the tip support shaft 117.

The differential movement between the upper jaw 14S and the cutting cutter 15 causes the spring 16 to deform in the contracting direction.
Therefore, when the force operating the trigger handle 13 is released, the compression coil spring 13a shown in Figure 4 is released, the slide frame 12 moves to the base end side R, and the biasing force of the spring 16 causes the cutting cutter 15 to move in the opening direction, and the upper jaw 14S, i.e., the upper jaw 14S and the cutting cutter 15 work together to automatically return to the open state shown in Figure 4.

In addition, in this disconnected state, the click protrusions 118 and 123 that come into contact in the gripped state described above bend as one moves over the other, creating a clicking sensation, as shown in the enlarged view of part A in Figure 7(b).

This clicking sensation is transmitted to the user via the main frame 11 and trigger handle 13, allowing the user to recognize that the disconnection state has been reached. In other words, the click protrusions 118, 123 notify the user that a series of operations on the trigger handle 13 has transitioned from a gripping state to a disconnection state.

When the force operating the trigger handle 13 is released and the slide frame 12 moves to the base end R and returns to its initial state (open state), the gentle slope angle is overcome first, so there is no clicking sensation that occurs when two steeply inclined surfaces overcome each other.

As described above, the forceps 1S can grasp a target area, such as a blood vessel B, using the upper jaw 14S and lower jaw 116S that make up the grasping mechanism 17S, and then cut the target area using the cutting cutter 15 in the grasped state, all through a series of operations using the trigger handle 13. While the target area is being grasped and cut through the series of operations using the trigger handle 13, high-frequency waves (microwaves) can be irradiated from the irradiation electrode 24 onto the target area to cause coagulation.

Furthermore, the forceps 1S has an upper jaw 14S that contacts the blood vessel B, a lower jaw 116S that is attached to the upper jaw 14S in an openable and closable manner and contacts the blood vessel B, and a trigger handle 13 that rotates the lower jaw 116S relative to the upper jaw 14S. The forceps 1S is provided with irradiation electrodes 24 for irradiating high frequency waves (microwaves) at each of the contact points of the upper jaw 14S and the lower jaw 116S that contact the blood vessel B. When the irradiation electrodes 24 face each other, flexible resin protrusions 50S are provided on both sides of the irradiation electrodes 24 that protrude toward the other. Therefore, the irradiation surface does not come into contact with liquid, and the high frequency waves (microwaves) can be reliably applied to the blood vessel B even when irradiated in a pool of blood, etc.

More specifically, the forceps 1S are provided with flexible resin protrusions 50S that protrude toward the other on both sides of the irradiation electrodes 24 provided at the contact points of the upper jaw 14S and lower jaw 116S that come into contact with the blood vessel B. Therefore, when the upper jaw 14S and lower jaw 116S are gripping the blood vessel B, the irradiation electrodes 24 that irradiate high frequency waves (microwaves) are shielded in a blood pool or the like by the resin protrusions 50S on both sides. In other words, the irradiation electrodes 24 are prevented from being exposed in a blood pool or the like, and high frequency waves (microwaves) can be reliably irradiated to the blood vessel B without attenuation.

In addition, since it is equipped with a differential mechanism using a long-hole-shaped rotating bearing portion 142S into which the tip-top support shaft 122 is loosely fitted, in a series of operations of the trigger handle 13, after the target part is grasped by the grasping mechanism 17S, it can be cut by the cutting cutter 15.
Furthermore, it is possible to provide a notification unit that notifies the user by the click protrusions 118, 123 of the transition from the grip state to the disconnection state in a series of operations of the trigger handle 13.

Instead of the click protrusions 118, 123 that function as notification units, a movement sensor may be attached and configured to notify the user via an electronic or optical signal. This embodiment provides multifunctional forceps capable of grasping, coagulating, and cutting, either individually or in combination.

Next, a forceps 1T according to a third embodiment will be described with reference to FIGS.
FIG. 9 shows a schematic diagram of the forceps 1T, and FIGS. 10 and 11 show schematic explanatory views of the gripping mechanism of the forceps 1T.

In detail, Figure 10(a) shows a schematic cross-sectional view of the gripping mechanism 17T in the open state, taken along the line G-G in Figure 9, and Figure 10(b) shows a schematic cross-sectional view of the gripping mechanism 17T in the gripping state. Furthermore, Figure 10(c) shows a schematic cross-sectional view of the gripping mechanism 17T in the open state according to another embodiment, and Figure 10(d) shows a schematic cross-sectional view of the gripping mechanism 17T in the gripping state.

Furthermore, Figure 11(a) shows a schematic cross-sectional view of a gripping mechanism 17T in an open state according to yet another embodiment, and Figure 11(b) shows a schematic cross-sectional view of the gripping mechanism 17T in a gripping state. Further, Figure 11(c) shows a schematic cross-sectional view of a gripping mechanism 17T in an open state according to yet another embodiment, and Figure 11(d) shows a schematic cross-sectional view of the gripping mechanism 17T in a gripping state.

In the following description of the forceps 1T, the same components as those in the forceps 1 and 1S described above will be denoted by the same reference numerals and the description thereof will be omitted.
The longitudinal direction of the gripping arms 27 of the forceps 1T is defined as the longitudinal direction L. In the longitudinal direction L, the side of the gripping arms 27 where the fixing portions 26 are arranged is defined as the base end side R, and the side of the gripping arms 27 where the tip portions 28 are arranged is defined as the tip side F. Furthermore, the opposing direction of the pair of gripping arms 27 is defined as the width direction W, and the direction perpendicular to the longitudinal direction L and the width direction W is defined as the height direction H. Furthermore, the upper side in the height direction H is defined as the upper side Hu, and the lower side is defined as the lower side Hd.

The forceps 1T have a fixed part 26 with a connection electrode 25 and one gripping arm 27 extending from the fixed part 26 in the longitudinal direction L, and constitute a gripping mechanism 17T that grips the target area with the tip parts 28 provided on the tip side F of each of the pair of gripping arms 27.

The gripping arm 27 is formed of a stainless steel band-like body having a predetermined width and thickness, and has a bent portion 27a at the middle in the longitudinal direction L that is bent upward in the Hu direction.
The portion between the bent portion 27a and the fixing portion 26 on the base end side R is the holding portion 27b, and the portion between the bent portion 27a and the tip end side F is the gripping operation portion 27c. Therefore, the user can grip the target area with the tip end portion 28 by holding the holding portion 27b, holding the forceps 1T in a penhold style, and operating the gripping operation portion 27c.

The pair of gripping arms 27 have tip portions 28 on their opposing surfaces at the tip side F, each of which has an irradiation electrode 24 at the center in the height direction H, and resin protrusions 50T on both sides thereof.
The resin protrusions 50T have the same configuration as the resin protrusions 50 provided on the upper surface of the lower jaw 116, and therefore a description thereof will be omitted. The resin protrusions 50S provided on the opposing surfaces of the tip portion 28 are arranged to face each other.

The irradiation electrode 24a provided at the tip 28 is composed of a convex electrode that protrudes toward the other side and is electrically connected to the connection electrode 25 provided at the fixed portion 26. By connecting it to the high-frequency (microwave) oscillator 30 via a coaxial cable 40, high-frequency (microwave) waves can be irradiated between the irradiation electrodes 24a.

More specifically, by connecting one of the pair of connection electrodes 25 to the central conductor 41 and the other connection electrode 25 to the outer conductor 43, one of the pair of irradiation electrodes 24a is connected to the central conductor 41 and the other irradiation electrode 24a is connected to the outer conductor 43. Therefore, high frequency waves (microwaves) can be irradiated between the pair of irradiation electrodes 24a.
The electrode structure may be branched into a coaxial structure as shown in FIG. 15, and the connection polarity may be a different polarity connection structure.

The operation of the forceps 1T having the elements configured as described above will be described below.
The user holds the holding portion 27b and holds the tweezers 1T in a penhold style, and rotates the gripping operation portions 27c in a direction that brings them closer together, with the fixing portion 26 as the center of rotation.

As a result, in the initial state (open state) as shown in Figure 10(a), a blood vessel B, which is a target site in biological tissue, is placed between the tip ends 28, and as shown in Figure 10(b), the tip ends 28 are brought close to each other to clamp the blood vessel B, thereby allowing the blood vessel B to be grasped by the grasping mechanism 17 composed of the tip ends 28 of the grasping arms 27.
At this time, since the resin protrusion 50T provided on the opposing surface of the tip portion 28 is made of a flexible resin, the blood vessel B can be clamped without being damaged.

As described above, the state shown in Figure 10 (b) in which the grasping operation portion 27c is operated to insert the blood vessel B between the resin protrusions 50T provided on the tip portion 28 is referred to as the grasping state in which the target portion such as the blood vessel B is grasped by the grasping mechanism 17T.
In this gripping state, high frequency waves (microwaves) are irradiated from the irradiation electrode 24 onto the blood vessel B gripped by the tip portion 28, thereby coagulating the blood vessel B.

At this time, high frequency (microwave) waves are irradiated from the irradiation electrode 24 onto the blood vessels B in the space substantially surrounded by the resin protrusions 50T provided on both sides in the height direction H at the locations where the tip portions 28 face each other, thereby efficiently coagulating the blood vessels B.

In the above description, the resin protrusions 50T provided on each of the pair of tip portions 28 are arranged to face each other in a gripping state, but as shown in Figures 10(c) and 10(d), a resin protrusion 50T may be provided on only one of the pair of tip portions 28.

Furthermore, as shown in Figures 11(a) and (b), resin protrusions 50T may be provided on both tip portions 28, but the resin protrusions 50T may be formed with a rectangular cross section whose length in the width direction W is longer than its height direction H, and the spacing in the height direction H between the resin protrusions 50T provided on one tip portion 28 may be wider than the spacing between the resin protrusions 50T provided on the other tip portion 28.

In this case, as shown in FIG. 11(b), in the gripped state, the pair of resin protrusions 50T on the side with the narrower spacing in the height direction H will be positioned between the pair of resin protrusions 50T on the side with the wider spacing in the height direction H. As a result, in the gripped state, the resin protrusions 50T provided on one tip end 28 and the resin protrusions 50T provided on the other tip end 28 will overlap in the height direction H.

Furthermore, as shown in Figures 11(c) and (d), resin protrusions 50T may be provided on both tip portions 28, but the resin protrusions 50T may be formed with a rectangular cross section whose length in the width direction W is longer than the height direction H, and the resin protrusions 50T provided on both tip portions 28 may be spaced the same apart in the height direction H, but may be offset in the height direction H by the thickness of the resin protrusions 50T.

11(d), in the gripped state, one of the pair of resin protrusions 50T is disposed between the other pair of resin protrusions 50T in the height direction H. As a result, in the gripped state, the resin protrusion 50T provided on one tip end portion 28 and the resin protrusion 50T provided on the other tip end portion 28 overlap each other in the height direction H.
The variations in the shape and arrangement of the resin protrusions 50T in the tip portion 28 described above can be applied to the resin protrusions 50S in the forceps 1S described above.

The forceps 1T are assembled so as to be able to open and close, and have tip portions 28 that come into contact with the blood vessel B, and gripping arms 27 that rotate the tip portions 28 together. Each of the tip portions 28 has an irradiation electrode 24 for irradiating high frequency waves (microwaves) at the contact points where it comes into contact with the blood vessel B. When the irradiation electrodes 24 face each other, flexible resin protrusions 50T are provided on both sides of the irradiation electrodes 24 that protrude toward the other. Therefore, even when high frequency waves (microwaves) are irradiated in a blood pool or the like, there is little leakage into the liquid, and the high frequency waves (microwaves) can be reliably applied to the blood vessel B.

More specifically, the forceps 1T are provided with flexible resin protrusions 50T that protrude toward the other on both sides of the irradiation electrodes 24 provided at each of the contact points on the tip portion 28 that come into contact with the blood vessel B. Therefore, when the blood vessel B is grasped with the tip portion 28, the irradiation electrodes 24 for irradiating high frequency waves (microwaves) are shielded in a pool of blood or the like by the resin protrusions 50T on both sides. In other words, the irradiation electrodes 24 are prevented from being exposed in a pool of blood or the like, and high frequency waves (microwaves) can be reliably irradiated to the blood vessel B without being attenuated.
The tip protrusion 144 provided on the upper jaw portion 14 of the forceps 1 may be provided on the tip side F of one tip portion 28 of the forceps 1T.

Next, as a fourth embodiment, an end effector 10a for irradiating biological tissue with high-frequency waves (microwaves) will be described with reference to Figures 12 and 13. The forceps 1 described above is equipped with an irradiation electrode 24 that irradiates electromagnetic waves, and the specific electrode structure will be described in this embodiment.

FIG. 12 shows a schematic front view of an end effector 10a according to the fourth embodiment.
Figure 13 shows a schematic explanatory diagram of the end effector 10a of Figure 12. Figure 13(a) shows a side cross-sectional view taken along the line H-H in Figure 12, Figure 13(b) shows a partial vertical cross-sectional view of the end effector 10a, and Figure 13(c) shows an enlarged plan view taken along the line I-I in Figure 12.

The end effector 10a is used in a scissors-type multifunctional surgical instrument and corresponds to the gripping mechanism 17 in the forceps 1 described above. Therefore, components similar to those in the forceps 1 described above are given the same reference numerals and their description is omitted. Furthermore, the end effector in this embodiment can constitute the surgical instruments and forceps described above, and includes other similar components.

12 and 13, a part of the tip side F of the end effector 10a is shown.
The end effector 10a has a reference axis 11a (corresponding to the reference frame 112 in the gripping mechanism 17) that passes through a bellows-shaped flexible portion 101 provided at the tip of a tubular support tool 100 that is attached to a scissors-type multifunctional surgical instrument, and a movable frame 12a (corresponding to the slide frame 12 in the gripping mechanism 17) that has an upper jaw portion 14a (corresponding to the upper jaw portion 14 in the gripping mechanism 17) provided at its tip.

Note that the portions of the reference shaft 11a and the movable frame 12a that correspond to the interior of the flexible portion 101 are configured to have flexibility that allows them to deform in accordance with the flexible portion 101, but wires may also be used for drive.

The operation of the upper jaw 14a in the end effector 10a configured in this manner is similar to that of the upper jaw 14 of the gripping mechanism 17 in the forceps 1 described above. By moving the movable frame 12a in the longitudinal direction L relative to the reference axis 11a, the target area can be gripped by the gripping mechanism 17a, which is composed of the upper jaw 14a and the lower jaw 116a provided at the end of the tip side F of the reference axis 11a.

The lower jaw 116a is provided at the tip of the reference shaft 11a, which is made of metal such as stainless steel, but is made of flexible resin and is thinner in the height direction H than the reference shaft 11a, as shown in Figure 13(b).

A resin protrusion 50a and an irradiation electrode 24b (described later) are provided on the surface of the lower jaw 116a in the upward direction Hu (the surface facing the upper jaw 14).
The resin protrusions 50a are provided on both sides in the width direction W of the irradiation electrode 24b that is disposed in the center of the width direction W on the upper surface of the lower jaw 116a.

Like the resin protrusion 50, the resin protrusion 50a has a trapezoidal cross section, with its outer side in the width direction W extending toward the upward direction Hu and its inner leg (inner surface 51) in the width direction W inclined and protruding toward the upward direction Hu, i.e., toward the opposing upper jaw portion 14.

Like the resin protrusion 50, the resin protrusion 50a is made of a flexible resin, and may be formed integrally with the lower jaw portion 116a, or may be formed separately and fixed thereto.
Furthermore, an irradiation electrode 24d is provided on the inner surface 51.

The lower jaw 116a and the upper jaw 14a of the end effector 10a configured in this manner are provided with irradiation electrodes 24 (24a, 24b, 24c, 24d) along the longitudinal direction L.
The irradiation electrode 24a provided on the upper jaw 14a is configured as a convex electrode that protrudes toward the other side, and the irradiation electrode 24b provided on the lower jaw 116 is configured as a concave electrode that has a concave shape corresponding to the convex shape of the irradiation electrode 24a.

In addition, a coaxial cable 40 is connected to the end effector 10a, connecting the high-frequency (microwave) oscillator 30 that radiates high-frequency (microwave) waves to the irradiation electrode 24. The high-frequency (microwave) oscillator 30 may also be provided inside the end effector 10a.

As shown in Figure 13(b), the irradiation electrodes 24a, 24c provided on the upper jaw 14a and lower jaw 116a are connected to the center conductor 41 of the coaxial cable 40, and the irradiation electrodes 24b, 24d are connected to the outer conductor 43 of the coaxial cable 40, resulting in a homopolar connection. If necessary, one of the electrodes may be connected with the opposite polarity.

In this way, the irradiation electrode 24, which is connected to the high-frequency (microwave) oscillator 30 via the coaxial cable 40, can irradiate high-frequency (microwave) waves between the irradiation electrodes 24a, 24c and the irradiation electrodes 24b, 24d via the coaxial cable 40 when the high-frequency (microwave) oscillator 30 is activated.

At this time, high frequency (microwave) waves are irradiated from the irradiation electrode 24 onto the blood vessels B in the space substantially surrounded by the resin protrusions 50a provided on both sides in the width direction W at the locations facing the upper jaw 14a and lower jaw 116a, thereby efficiently coagulating the blood vessels B.

When high frequency waves (microwaves) are irradiated from the irradiation electrode 24 while the target area, blood vessel B, is grasped by the grasping mechanism 17a, the blood vessel B grasped by the grasping mechanism 17a coagulates due to the high frequency waves (microwaves). As a variation of this embodiment, Figure 12 shows an embodiment in which an electronic module 31 is built into the end effector 10a.

In the above example, the high frequency (microwave) oscillator 30 is built into the end effector 10a, but it may also be an electronic module incorporating a high frequency (microwave) irradiation module 222 (see FIG. 16) or an electronic circuit of a surgical device 221 shown in FIG. 18(b). By providing the electronic module 31 in the end effector 10a (10b), it is possible to miniaturize the medical device, improving the convenience of surgery.
Although not shown, the end effector 10a (10b) may have the irradiation electrode 24 provided on only one of the opposing surfaces of the upper jaw 14a and the lower jaw 116a.

Next, as a fifth embodiment, an end effector 10b for irradiating biological tissue with high-frequency waves (microwaves) will be described with reference to Figures 14 and 15. The forceps 1S described above is equipped with an irradiation electrode 24 that irradiates electromagnetic waves, and the specific electrode structure will be described in this embodiment.

FIG. 14 shows a schematic front view of an end effector 10b according to the fifth embodiment.
Figure 15 shows a schematic explanatory diagram of the end effector 10b of Figure 14. Figure 15(a) shows a side cross-sectional view taken along the line J-J in Figure 14, Figure 15(b) shows a partial vertical cross-sectional view of the end effector 10b, and Figure 15(c) shows an enlarged plan view taken along the line K-K in Figure 14.
The same components as those of the end effector 10a of the fourth embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.

The end effector 10b is used in a scissors-type multifunctional surgical instrument and corresponds to the cutting mechanism 10 in the forceps 1S described above. Therefore, components similar to those in the forceps 1S described above are given the same reference numerals and their description is omitted. Furthermore, the end effector in this embodiment can constitute the surgical instrument, cutting mechanism, and forceps described above, and also includes other similar components.

14 and 15, a part of the tip side F of the end effector 10b is shown.
The end effector 10 b includes a reference shaft 11 a, an upper jaw 14 b, and a movable frame 12 a, similar to the end effector 10 a, and further includes a cutting cutter 15 b and a coaxial electrode 20.

The operation of the upper jaw 14b and cutting cutter 15b in the end effector 10b configured in this manner is similar to that of the upper jaw 14b and cutting cutter 15 of the cutting mechanism 10 in the forceps 1S described above. By moving the movable frame 12a in the longitudinal direction L relative to the reference axis 11a, the target area can be grasped by the grasping mechanism 17b consisting of the upper jaw 14b and lower jaw 116a provided at the end of the tip side F of the reference axis 11a, and can be cut by the cutting cutter 15b.

In the end effector 10b configured in this manner, a coaxial electrode 20 is provided along the longitudinal direction L on the upper surface of the lower jaw 116a and the bottom surface of the upper jaw 14b.
Further, a coaxial cable 40 is connected to the end effector 10b, which connects a high frequency (microwave) oscillator 30 that irradiates high frequency (microwave) waves to the coaxial electrode 20. The high frequency (microwave) oscillator 30 may be provided inside the end effector 10b.

As shown in the enlarged cross-sectional view of part A in Figure 14, the coaxial cable 40 is composed of a central conductor 41, an insulator 42, an outer conductor 43, and an insulating coating 44 sandwiching the central conductor 41, which are arranged in this order from the center to the radially outward, and has appropriate flexibility.

As shown in Figure 15(a), the coaxial electrode 20 provided on the bottom surface of the upper jaw 14b and the top surface of the lower jaw 116a is composed of a central conductor 21, a semicircular insulator 22 with a semicircular cross section, and a semicircular tubular conductor 23 arranged outside the semicircular insulator 22.

The coaxial electrode 20 configured in this manner is semi-cylindrical and of a predetermined length, as shown in Figure 15(a), and is arranged along the longitudinal direction so that the flat surfaces face each other on the bottom surface of the upper jaw portion 14b and the top surface of the lower jaw portion 116a, as shown in Figure 15(c).
Although not shown, the coaxial electrodes 20 arranged on the upper jaw portion 14b and the lower jaw portion 116a have an insulating layer arranged on the outside, and are insulated from the upper jaw portion 14b and the lower jaw portion 116a.

As shown in Figure 15(b), the central conductor 21 of each coaxial electrode 20 provided on the upper jaw 14b and the lower jaw 116a is connected to the central conductor 41 of the coaxial cable 40, and the semicircular tube conductor 23 of the coaxial electrode 20 is connected to the outer conductor 43 of the coaxial cable 40, resulting in a homopolar connection. If necessary, one of the electrodes may be connected to the opposite polarity.

In this way, the coaxial electrode 20 connected to the high-frequency (microwave) transmitter 30 via the coaxial cable 40 can irradiate high-frequency (microwave) waves between the center conductor 21 and semicircular tube conductor 23 of the coaxial electrode 20 via the coaxial cable 40 when the high-frequency (microwave) transmitter 30 is operating.

When the grasping mechanism 17b grasps the target area, ie, blood vessel B, and irradiates high frequency (microwave) waves from the coaxial electrode 20 while the grasping mechanism 17b grasps the target area, the blood vessel B grasped by the grasping mechanism 17b coagulates due to the high frequency (microwave) waves.
At this time, high frequency (microwave) waves are irradiated from the irradiation electrode 24 onto the blood vessels B in the space substantially surrounded by the resin protrusions 50S provided on both sides in the width direction W at the locations facing the upper jaw portion 14b and the lower jaw portion 116a, thereby efficiently coagulating the blood vessels B.

Then, the portion of blood vessel B that has coagulated due to the high frequency (microwave) emitted from the coaxial electrode 20 can be cut off with the cutting cutter 15b. As a variation of this embodiment, Figure 14 shows an embodiment in which an electronic module 31 is built into the end effector 10b.

In the above example, the high-frequency (microwave) transmitter 30 is built into the end effector 10b, but it is also possible to incorporate a high-frequency (microwave) irradiation module 222 (see Figure 16) or an electronic module that appropriately incorporates the electronic circuitry of the surgical device 221 shown in Figure 18(b). By providing the electronic module 31 in the end effector 10b, it is possible to miniaturize the medical device, improving the convenience of surgery.

Although not shown, in the end effector 10b, a coaxial electrode 20 may be provided on the side of the cutting cutter 15b in addition to the opposing surfaces of the lower jaw 116a and upper jaw 14b, or a coaxial electrode 20 may not be provided on the upper jaw 14b, but may be provided on the upper surface of the lower jaw 116a and the side of the cutting cutter 15a. Furthermore, a coaxial electrode 20 may be provided only on one of the opposing surfaces of the upper jaw 14b and lower jaw 116a.

In the following, a medical device 220 according to another embodiment of the present invention will be described, as shown in FIG.
In Fig. 16(a), a medical instrument 220 includes a surgical device 221 that drives the end effector 10b of the scissors-type multifunctional surgical instrument (medical processing tool) as described in the embodiment of Fig. 14 and Fig. 15. Note that the medical instrument 220 may be provided with an end effector 10a instead of the end effector 10b.

The surgical device 221 includes a high-frequency (microwave) irradiation module 222 that includes a high-frequency (microwave) control circuit such as an irradiator and an amplifier, and a mechanical drive unit 224 that drives the end effector 10b by manually operating a lever 223. Specifically, the trigger handle 13 of the forceps 1S shown in Figures 4 to 8 may be used as the lever 223, and the mechanical mechanism extending from the trigger handle 13 to the end effectors 10b, 10b may be incorporated into the surgical device 221.

The high-frequency (microwave) irradiation module 222 with an irradiator is provided within the surgical device 221, but if necessary, it can be provided inside the shaft portion 225, in the bending portion 226 with wrist function (such as the flexible portion 101 in Figure 14), or in the end effector 10b (electronic module 31 in Figure 4), making it possible to miniaturize the medical device 220.

When the operator manually grasps and operates the lever 223 of the grip portion of the surgical device 221, the drive unit 224 operates the end effector 10b shown in Figure 14 via the shaft portion 225.

The surgical device 221 receives power from an adapter 227. The high-frequency (microwave) irradiation module 222 included in the surgical device 221 may be of the conventional stationary, shoulder-mounted, or built-in type, or may be configured to be directly or indirectly connected to an irradiator installed on the robot body.

In the above embodiment, irradiation of high frequency (microwave) does not cause coagulation when grasping with the lower jaw 116b and upper jaw 14b (hereinafter referred to as the double-edged forceps) of the end effector 10b, but rather coagulates the target biological tissue when the upper jaw 14b rotates relative to the lower jaw 116b, making it possible to coagulate, stop bleeding, and cut the tissue.
Furthermore, high frequency waves (microwaves) may be irradiated when the biological tissue is grasped by the grasping mechanism 17b of the end effector 10b and cut by the cutting cutter 15b.

With such forceps, the grasping function can be used to open and remove tissue, grasp to remove obstructions, and prepare the surgical field. Furthermore, the part to be coagulated and cut can be grasped with the forceps and then coagulated and cut directly. The coagulation and cutting operations do not require multiple re-grasping or re-clamping of tissue, but are completed with a single grip of the tissue once clamped. Therefore, surgical operations such as grasping, coagulation, and cutting can be performed with a single device.
This is the entire series of operations required for a general resection surgery, and the resection surgery can be completed with a single instrument, eliminating the need to exchange for other instruments.

As a variation of this embodiment, the high-frequency (microwave) irradiation module 222 may be provided with an execution program memory, and the drive unit 224 may be configured as an electric mechanical mechanism controlled by the execution program. In operation, when the lever 223 is gripped, the execution program moves the drive unit 224 based on the position data of the lever 223, resulting in the configuration of the end effector 10b shown in Figure 14. By moving the slide frame 12, the upper jaw 14b rotates toward the lower jaw 116b in cooperation with the cutting cutter 15b (see Figure 5). The program then sends a high-frequency (microwave) signal to the irradiation electrode 24, which then irradiates high-frequency (microwave) waves to coagulate biological tissue.

When the lever 223 is further gripped, the movable frame 12a moves further forward according to the program in accordance with the position data as described above, and the living tissue is gripped by the upper jaw 14b and the lower jaw 116b.
When the lever 223 is further gripped, the movable frame 12a moves further forward according to the program in accordance with the lever position data, thereby rotating only the cutting cutter 15b and cutting the coagulated biological tissue. After cutting, the lever 223 is released, and the medical device 220 returns to the initial state (open state) based on the lever position data.

Figure 16(b) is a schematic diagram of a surgical system equipped with multiple medical devices 220 as shown in Figure 16(a). The internal configuration of each is the same as that of Figure 16(a), but each high-frequency (microwave) irradiation module 222 of the medical device 220 further includes a unit that synchronizes the wavelengths of the high-frequency (microwave) waves with each other, and synchronization is achieved via an adapter 227 or wirelessly.

Therefore, when two medical devices 220 are operated inside a patient by one or two operators, the wavelengths of the high frequencies (microwaves) of both devices are synchronized, preventing sparks and other accidents from occurring between the two medical devices 220, thereby increasing safety.

Figure 17 shows a telesurgery system 200 in one embodiment of the present invention. The telesurgery system 200 includes a surgeon console 201 serving as a station for each of two operators D (D1, D2), a master control unit 202 operated by the operator D, a vision/core cart 240, and a patient side cart robot 210.

The surgeon console 201 includes a viewer 201a on which an image of the surgical site is displayed to operator D. When using the surgeon console 201, operators D1 and/or D2 typically sit in a chair at the surgeon console, position their eyes in front of the viewer 201a, and hold the master control unit 202 in one hand.

The telesurgery system 200 can be operated by two operators simultaneously, but can also be operated by a single operator. When two operators operate simultaneously, they can work together, which has the advantage of shortening the overall surgical time for the patient. The system may also be equipped with three or more surgeon consoles 201 and master control units 202, if necessary.

The robot on the patient side cart 210 is placed adjacent to the patient. During use, the patient side cart 210 is placed near the patient requiring surgery. The robot on the patient side cart 210 is fixed during the surgical procedure, but the base 211 is equipped with casters to allow it to be moved. The surgeon console 201 is used in the same operating room as the patient side cart, but may be placed remotely from the patient side cart 210.

The patient side cart 210 includes four robotic arm assemblies 212, although the number of robotic arm assemblies 212 is optional. Each robotic arm assembly 212 is connected to and controlled by a drive unit 213 that enables three-dimensional movement.

The display 214 displays image data related to the surgery. The drive unit 213 is controlled by the master control unit 202 of the surgeon's console 201. The movement of the manipulator portion of the robot arm assembly 212 is controlled by operation of the master control unit 202.

An image capture device 215, such as an endoscope, is positioned on one of the four robotic arm assemblies 212, robotic arm assembly 212a, which includes a viewing camera 216 at its distal end. The elongated shaft of image capture device 215 allows for insertion of viewing camera 216 through a surgical entry port in a patient (not shown).
The image capture device 215 is operatively connected to the viewer 201 a of the surgeon console 201 for displaying images captured by its viewing camera 216 .

Each of the other robotic arm assemblies 212 is a linkage that supports and includes a tool 217, which is a detachable surgical instrument. The tool 217 of each robotic arm assembly 212 includes an end effector 10b (10a).

The tool 217 has an elongated shaft that allows the end effector 10b (10a) to be inserted through the patient's surgical entry port. Movement of the end effector 10b (10a) is controlled by the master control unit 202 of the surgeon's console 201.

When the end effector 10b (10a) uses electrodes (20, 24) for irradiating high frequency (microwave) waves and a high frequency (microwave) irradiation unit as tool 217, the wavelengths of the high frequency (microwave) waves irradiated from the end effector 10b (10a) are synchronized.

For example, when one or two operators D operate multiple tools 217 inside a patient, synchronizing the wavelengths of the irradiated high frequency (microwave) waves can prevent sparks and other problems from occurring between the multiple tools 217 or multiple end effectors 10b (10a), thereby enhancing safety. Simultaneous operation of multiple end effectors 10b (10a) not only enables more advanced surgery but also shortens the surgery time.

Figure 18 shows the configuration of a tool 217 that can be loaded onto the robotic arm assembly 212 of the telesurgery system 200 in Figure 17 as a representative example of a surgical device. Tools 217 attached to other robotic arm assemblies 212 may have a similar configuration, or may be surgical devices with other configurations.

Figure 18(a) shows a plan view of the tool 217. The tool 217 has an end effector 10b of a scissors-type multifunctional surgical instrument, a bending portion 226, a shaft portion 225, a surgical device 221 that drives, controls, and monitors the tool 217, and a connector 228 that connects to the robot. The bending portion 226 increases the degree of freedom of the effector's operating angle, improving the precision of robot control.

Figure 18(b) shows the internal configuration of the tool 217 in Figure 18(a). It shows a medical system consisting of a surgical device 221 that drives the end effector 10b, which is directly connected to the slide shaft in Figure 14, via a shaft portion 225, and a patient-side cart 210 robot that controls the surgical device 221.

The end effector 10b is equipped with a surgical tool having a rotatable first gripping member and a fixed second gripping member that are held openably and closably, and movable cutting members attached to the first gripping member and the second member. The surgical device 221 connected to the end effector 10b includes an alignment unit 231 with the tool 217, a reflected wave monitor 232, a control circuit 233 that controls signals within the surgical device, an irradiation/drive unit 234 that includes an amplifier that mechanically drives the surgical tool of the tool 217 via the shaft portion 225 of the tool 217 and an irradiator that generates high-frequency waves (microwaves), and a signal interface 235 with the robot of the patient side cart 210.

As shown in Figure 19, the robot of the patient side cart 210 is connected to the surgical device 221 via a signal interface 235 and connector 228 via a wired and/or wireless connection. The robot of the patient side cart 210 is equipped inside with an input unit that receives operation signals from the master control unit 202, a computing unit CPU that executes a predetermined operation program based on the operation signals, and an output unit that generates drive signals that drive the first gripping member and the cutting member of the end effector 10b via the surgical device 221 based on the output from the computing unit. The input unit and the output unit are composed of an input/output unit 210a (I/O).

Figure 19 is an explanatory diagram of the telesurgery system 200. Figure 19(a) is a block diagram showing the connection relationships between each unit, and Figure 19(b) is an operational flow diagram of the telesurgery system 200.

The vision and core cart 240 has a function related to the image capture device. When the telesurgery system 200 is started for surgery, the surgeon operates the master control unit 202 of the surgeon console 201, and if there are two surgeons, the surgeon also operates the master control unit 202 of the surgeon console 201 (step S1), and the command generated by the operation is sent to the vision and core cart 240 (step S2).
The vision and core cart 240 then interprets the signals and moves the desired robotic arm assembly 212 to the patient's surgical area (step S3).

Next, the tool 217 attached to the selected robot arm assembly 212 is inserted into the patient through the elongated pipe (step S4), and the end effector 10b of the above embodiment is caused to grasp, coagulate, and cut the tissue (step S5), completing the surgery on the living tissue.

The operations of grasping, coagulating, and cutting biological tissue in step S5 are performed by the end effector 10b, and there are three operation patterns: a first operation pattern in which the biological tissue is coagulated, grasped, and cut while irradiating high frequency (microwaves) from the electrode; a second operation pattern in which the biological tissue is grasped, then coagulated by irradiating high frequency (microwaves) from the electrode, and cut while irradiating high frequency (microwaves) from the electrode; and a third operation pattern in which the biological tissue is grasped and coagulated while irradiating high frequency (microwaves) from the electrode, but the irradiation of high frequency (microwaves) from the electrode is stopped to cut.

These three operation patterns can be selectively selected depending on the surgical procedure. It is also possible to use a pattern in which multiple tools, as shown in Figure 17, share the same operation, such as using tool 217 to grasp or coagulate and another tool 217 to cut.

In this embodiment, the tissue coagulation, grasping, and cutting operations are performed by operating the end effector 10b (10a) based on control signals from the robot on the patient side cart 210, instead of the control operation of the end effector 10b (10a) based on the position data of the lever 223 described as a modified example of the embodiment in Figure 16, thereby achieving a similar control operation flow.

The above-mentioned examples and embodiments have been described using medical examples such as forceps and medical instruments, but the present invention is not limited to the above description. The target site may be not only a part of an object but also a component, and includes general-purpose surgical tools that can grasp/contact and cut the target component. Furthermore, the energy waves radiated from the electrodes of the forceps are not limited to high-frequency waves (microwaves) and may include other electromagnetic waves.

For example, as described above, in the cutting mechanism 10 and end effector 10b of the forceps 1, etc., the gripping mechanism 17b is configured to be made up of the lower jaw 116b and upper jaw 14b, and the target portion such as blood vessel B gripped by the gripping mechanism 17b is cut by the cutting cutter 15b. However, the gripping mechanisms 17b made up of the lower jaw 116b and upper jaw 14b may be provided on both sides of the cutting cutter 15b, and the target portion gripped between the two gripping mechanisms 17b may be cut by the cutting cutter 15b.

Furthermore, the horizontal movement of the forceps or end effector of the present invention is not limited to axial movement, and a structure connected by a wire may be used to increase the degree of freedom in the position and angle of the end effector. The spring mechanism that moves the upper jaw and cutting cutter to grasp, coagulate, and cut biological tissue may be located in any position, not limited to the embodiment.

In addition, parts other than the electrodes and cutting edges may be appropriately insulated to prevent corrosion and sparks. In the above embodiment, the tissue between the blades of both grasping members (upper and lower jaws, double-edged blades) can be coagulated from both sides. The split section of the coaxial cable that supplies high-frequency (microwave) power to the end effector allows for a structure that sends energy across multiple robot joints via a flexible cable without restricting the movement of the multiple joints.

Furthermore, by using metal blades, rigidity and shape can be freely designed. Medical devices equipped with the forceps and end effectors of the present invention can be used under MR image guidance, enabling the introduction of high-frequency (microwave) energy not only through endoscopy and robotic hands, but also in endovascular surgery and fetal surgery.

The horizontal movement of the forceps or end effector of the present invention is not limited to axial movement, and may be structured to be connected by a wire to increase the degree of freedom in the position and angle of the end effector.
The upper jaw and the spring mechanism for moving the cutting cutter to grasp, coagulate, and cut biological tissue may be provided at any position, not limited to the positions described in the embodiment. In addition, parts other than the electrode and cutting edge may be appropriately insulated to prevent corrosion and sparks.

In the above embodiment, the tissue between the blades of both grasping members (upper and lower jaws, double-edged blades) can be coagulated from both sides. The split section of the coaxial cable that supplies high-frequency (microwave) energy to the end effector allows energy to be sent across multiple robot joints via a flexible cable without restricting the movement of the multiple joints.

The embodiments of the present invention are illustrative in all respects, and the scope of the present invention includes all modifications within the meaning and scope of the claims.
For example, depending on the specifications, the coaxial electrode 20 and the irradiation electrode 24 may not be provided on the upper jaw 14, the cutting cutter 15, and the lower jaw 116 of the forceps 1, 1S as a surgical instrument.

Furthermore, at least one of the irradiation electrodes 24a, 24b in the forceps 1, 1S described above may be configured as a coaxial electrode 20. In this case, by configuring the irradiation electrodes 24a, 24b as the coaxial electrode 20, the irradiation electrodes 24c, 24d become unnecessary.
Furthermore, in the forceps 1 described above, the cutting mechanism 10 may be configured with the cutting cutter 15 and the lower jaw 116 instead of the upper jaw 14 .

Furthermore, by incorporating the functions of the drive unit 32 into the drive unit 224 of the medical device shown in Figure 20 or into the irradiation/drive unit 2 of the surgical device shown in Figure 16, it is possible to easily provide a portable medical device with multiple functions, including drilling, grasping, coagulation, cutting, and opening/removal, using a robot.

For example, in step S5 in the flowchart of FIG. 19B, if the end effector unit 10D of this embodiment is applied to the end effector 10c of the tool 217 of FIG. 16, the upper jaw unit 14 and the cutting cutter 15 can be easily driven independently. Therefore, as shown in FIG. 20,
(1) When the upper jaw, lower jaw, and cutting cutter are all closed, it provides a flat surface drilling and incision function.
(2) Providing a grasping function by manipulating the upper and lower jaws together;
(3) In the second grasping function state, the coagulation button is operated to provide the coagulation function;
(4) Providing a cutting function by operating a cutting cutter;
(5) Opening and closing the upper and lower jaws provides an opening and closing function.
This allows a single forceps tool 217 to provide multi-function forceps functions at the surgical site without the need for replacement.

That is, the medical tool includes an end effector having a gripping mechanism and a cutting mechanism, and a drive unit that drives the end effector. The gripping mechanism includes a first gripping section and a second gripping section that are assembled so as to be able to open and close, and a gripping section rotation means that rotates the first gripping section toward the second gripping section. The cutting mechanism includes a cutting section attached to the first gripping section and a cutting section rotation means that rotates the cutting section in the same direction as the rotation of the first gripping section. The drive unit drives the first gripping section, the second gripping section, and the cutting section in combination, thereby providing a medical tool that selectively provides at least one of a drilling function, a gripping function, a coagulation function, a cutting function, and an opening and removal function. The medical tool may be used alone, or it may be used with a medical robot that is driven by a control signal from the robot. Furthermore, when the gripping and cutting parts are all closed and integrated, it can be used to open a window, and when one of the cutting and gripping parts opens as a single unit from this state, it can be used to open and remove the tissue. All surgical operations can be recorded and saved in the robot, making it possible to perform surgery using artificial intelligence (AI) functions.

In the above explanation, the resin protrusion is made of a flexible resin and may be formed integrally with the lower jaw or may be formed separately and fixed, but the protrusion on the lower jaw may also be made of a rigid material as long as it corresponds to the shape of the upper jaw and ensures airtightness when closed.

1, 1S, 1X, 1Y... Forceps 1T... Forceps 10a, 10b... End effector 14, 14S, 14a, 14b... Upper jaw portion 15, 15a, 15b... Cutting cutter 20... Coaxial electrode 21... Center conductor 22... Semicircular insulator 23... Semicircular tube conductors 24, 24a, 24b, 24c, 24d... Irradiation electrode 40... Coaxial cable 41... Center conductor 43... Outer conductor 50, 50S, 50T, 50a... Tree Greasy convex portion 113...finger ring portion 116, 116S, 116a, 116b...lower jaw portion 143...protrusion restriction portion 153...cutting blade 200...teleoperation system 210a...input/output unit 212a...robot arm assembly 213...drive device 220...medical device 221...surgical device 223...levers 224, 234...drive unit 235...signal interface B...blood vessel L...longitudinal direction W...width direction

Claims (12)

a first contact portion that is brought into contact with the target site;
a second contact portion that is assembled to the first contact portion so as to be openable and closable and that contacts the target site;
a contact portion rotating means for rotating the second contact portion relative to the first contact portion,
an electrode for irradiating electromagnetic waves is provided at each of the first contact portion and the second contact portion at a contact point that contacts the target site;
In the first contact portion,
a protrusion that protrudes toward the second contact portion is provided on both sides of the electrode of the first contact portion in a state where the electrodes face each other, at a location facing the second contact portion;
the protrusion is formed to have a trapezoidal cross section with outer sides in the width direction on both sides of the electrode extending in the protruding direction and inner legs in the width direction inclined, and is made of a flexible resin, and the electrode is provided on an inner surface of the trapezoidal cross section that is the inner side in the width direction,
the second contact portion is inserted between the protrusions in a closed state,
The second contact portion is
The cross section of the main body is substantially square, and the cross section of the trapezoidal part is an isosceles trapezoidal part tapering toward the first contact part, and the width of the trapezoidal part tapers toward the tip .
The electrodes are disposed on a tip facing the first contact portion and on an inclined side surface of the trapezoidal portion ,
By forming the inclination angle of the inclined side surface of the trapezoidal portion of the tapered second contact portion to be wider than the inclination angle of the inner surface of the protrusion, the base end of the trapezoidal portion of the second contact portion is formed to have a length in the width direction wider than the distance between the tips of the protrusions,
When the second contact portion having a tapered shape is inserted between the protrusions in the closed state, the first contact portion is deformed so that the tip sides of the protrusions open,
The tip of the second contact portion is provided with a tip protrusion that covers the tip side of the first contact portion in a gripped state and protrudes toward the first contact portion.
Treatment equipment. the electrodes are provided along the longitudinal direction of the first contact portion and the second contact portion,
The treatment device according to claim 1 , wherein the protrusion is provided along the longitudinal direction. The electrode is
a coaxial electrode including a center electrode and an outer electrode surrounding the center electrode via an insulator;
3. The treatment device according to claim 1 or 2, wherein a coaxial cable connecting an irradiation device that irradiates the electromagnetic waves and the electrodes is branched into a plurality of parallel branches, and each of the coaxial electrodes is electrically connected to a central conductor and an outer conductor of the coaxial cable. The treatment device according to claim 3 , wherein the coaxial electrode is connected to the coaxial cable in a reverse polarity. A treatment device according to any one of claims 1 to 4 ,
a drive unit that drives the contact portion rotation means;
a medical robot connected to apply a drive signal to the drive unit. An input/output unit connected by wire and/or wirelessly to the treatment device according to any one of claims 1 to 4 ;
an input unit that receives operation signals in real time;
a computing unit that executes a predetermined operation program based on the operation signal;
an output unit that generates a gripping drive signal for gripping the target portion with the first contact portion and the second contact portion by the contact portion rotating means based on an output from the arithmetic unit. The robot according to claim 6 ,
The output unit is a medical robot that provides a drive signal to an external drive unit that mechanically drives the treatment device. The robot according to claim 6 ,
The output unit provides a drive signal to an external drive unit that mechanically drives the treatment device,
A medical system configured to coagulate a target site while grasping the target site by applying a drive signal to the drive unit. A treatment device according to any one of claims 1 to 4 ,
a mounting portion that mounts at least the second contact portion of the treatment device to a tip of a robot arm;
The end effector is provided with a contact portion side connecting portion that connects to a drive mechanism that drives the contact portion rotating means on the robot arm side. The end effector of claim 9 ;
a drive unit that drives the end effector,
The drive unit is
By driving the first contact portion and the second contact portion,
A medical tool selectively providing at least one of a grasping function, a coagulating function, and an evacuation function. A treatment device according to any one of claims 1 to 4 ,
The target site is a biological tissue,
a gripping operation unit that drives and operates the abutment portion rotating means;
The gripping operation unit is operated to grip the biological tissue with the first contact portion and the second contact portion;
Forceps that coagulate at least a portion of biological tissue by irradiating electromagnetic waves from the electrodes. A treatment device according to any one of claims 1 to 4 ,
The target site is a biological tissue,
a gripping operation unit that drives and operates the abutment portion rotating means;
The gripping operation unit is operated to grip the biological tissue with the first contact portion and the second contact portion;
Forceps for coagulating at least a portion of biological tissue by irradiating electromagnetic waves from the electrodes.