Medical treatment tool and surgical system

Abstract

A compact medical treatment tool having an end portion, used for surgery, and a surgical system having such a medical treatment tool are provided. A medical treatment tool includes an end effector, a wrist member, a shaft, a first pulley, and a second pulley. A first pulley portion included in the end effector is rotatably mounted on the wrist member via a first connection, and is located closer to a first end of the first connection. The first pulley is mounted on the wrist member. A rotational axis of the first pulley intersects with a plane defined by a shaft axis and a first axis that is defined by the first connection. The rotational axis of the first pulley is located closer to a second end of the first connection, opposite to the first end of the first connection, than a groove of the first pulley portion.

1 - 20 . (canceled) 
     
     
         21 . A surgical system comprising:
 a manipulator including a rotatable transmission member and an actuator which actuates the rotatable transmission member; and   a medical treatment tool including a rotatable receiving member which engages with the transmission member and an activation member which rotates with rotation of the receiving member,   wherein the medical treatment tool comprises:   an end effector;   a shaft;   a wrist member including first and second ends, supporting the end effector at a first end side of the wrist member, and supported by the shaft at a second end side of the wrist member so as to be rotatable about a rotation axis; and   an elongate element for operating the wrist member,   
       wherein the elongate element including a first portion, a second portion and a projected portion disposed between the first portion and the second portion,
 the wrist member includes a recessed portion that receives the projected portion of the elongated element, 
 the first portion and the second portion of the elongate element are wound around the activation member at respective end sides, 
 when the first portion of the elongate element is pulled by rotation of the activation member in a predetermined direction, the wrist member rotates in a first direction about the rotation axis, and 
 when the second portion of the elongate element is pulled by rotation of the activation member in a direction opposite to the predetermined direction, the wrist member rotates in a second direction opposite to the first direction about the rotation axis. 
 
     
     
         22 . The surgical system of  claim 21 , wherein
 the projected portion has a columnar shape or a cubic shape.   
     
     
         23 . The surgical system of  claim 21 , wherein
 the elongate element is fixed to the wrist member by engagement of the projected portion and the recessed portion, and   the wrist member is configured to guide the first portion and the second portion of the elongate element, respectively, toward the activation member.   
     
     
         24 . The surgical system of  claim 21 , wherein
 the wrist member includes a pulley portion having the recessed portion and a groove for guiding the first portion and the second portion of the elongate element.   
     
     
         25 . The surgical system of  claim 21 , wherein
 the first and second portions of the elongate element are each partially covered by a rigid tube.   
     
     
         26 . The surgical system of  claim 25 , wherein
 at least one end of both ends of the rigid tube is chamfered.   
     
     
         27 . The surgical system of  claim 21 , wherein
 the manipulator includes a rotatable second transmission member,   the medical treatment tool includes a rotatable second receiving member which engages with the second transmission member, a second activation member which rotates with the rotation of the second receiving member, and a second elongate element including a third portion and a fourth portion wound around the second activation member at respective end sides,   the end effector includes a pulley portion for guiding the third portion and the fourth portion of the second elongate element, and   the wrist member rotatably supports the pulley portion of the end effector about a second rotation axis.   
     
     
         28 . The surgical system of  claim 27 , wherein
 the second elongate element includes a second projected portion disposed between the third and fourth portions,   the pulley portion of the end effector includes a second recessed portion that engages with the second projected portion of the second elongated element,   when the third portion of the second elongate element is pulled by rotation of the second activation member in a second predetermined direction, the end effector rotates in a third direction about the second rotation axis, and   when the fourth portion of the second elongate element is pulled by the rotation of the second activation member in a direction opposite to the second predetermined direction, the end effector rotates in a fourth direction opposite to the third direction about the second rotation axis.   
     
     
         29 . The surgical system of  claim 28 , wherein
 the second projected portion has a columnar shape or a cubic shape.   
     
     
         30 . The surgical system of  claim 27 , wherein
 the wrist member includes a first pulley for guiding the third portion of the second elongate element, and a second pulley for guiding the fourth portion of the second elongate element.   
     
     
         31 . A medical treatment tool comprising:
 an end effector;   a shaft;   a wrist member including first and second ends, supporting the end effector at a first end side of the wrist member, and supported by the shaft at a second end side of the wrist member so as to be rotatable about a rotation axis; and   an elongate element for operating the wrist member,   wherein the elongate element including a first portion, a second portion and a projected portion disposed between the first portion and the second portion,   the wrist member includes a recessed portion that receives the projected portion of the elongated element,   the wrist member rotates in a first direction about the rotation axis by pulling the first portion of the elongate element, and   the wrist member rotates in a second direction opposite to the first direction about the rotation axis by pulling the second portion of the elongate element.   
     
     
         32 . The medical treatment tool of  claim 31 , wherein
 the projected portion has a columnar shape or a cubic shape.   
     
     
         33 . The medical treatment tool of  claim 31 , wherein
 the elongate element is fixed to the wrist member by engagement of the projected portion and the recessed portion, and   the wrist member is configured to guide the first portion and the second portion of the elongate element, respectively, toward the shaft.   
     
     
         34 . The medical treatment tool of  claim 31 , wherein
 the wrist member includes a pulley portion having the recessed portion and a groove for guiding the first portion and the second portion of the elongate element.   
     
     
         35 . The medical treatment tool of  claim 31 , wherein
 the first and second portions of the elongate element are each partially covered by a rigid tube.   
     
     
         36 . The medical treatment tool of  claim 35 , wherein
 at least one end of both ends of the rigid tube is chamfered.   
     
     
         37 . The medical treatment tool of  claim 31 , wherein
 the medical treatment tool includes a second elongate element including a third portion and a fourth portion to operate the end effector,   the end effector includes a pulley portion for guiding the third portion and the fourth portion of the second elongate element, and   the wrist member rotatably supports the pulley portion of the end effector about a second rotation axis.   
     
     
         38 . The medical treatment tool of  claim 37 , wherein
 the second elongate element includes a second projected portion disposed between the third portion and the fourth portion,   the pulley portion of the end effector includes a second recessed portion that engages with the second projected portion of the second elongated element,   the end effector rotates in a third direction about the second rotation axis by pulling the third portion of the second elongate element, and   the end effector rotates in a fourth direction opposite to the third direction about the second rotation axis by pulling the fourth portion of the second elongate element.   
     
     
         39 . The medical treatment tool of  claim 38 , wherein
 the second projected portion has a columnar shape or a cubic shape.   
     
     
         40 . The medical treatment tool of  claim 37 , wherein
 the wrist member includes a first pulley for guiding the third portion of the second elongate element and a second pulley for guiding the fourth portion of the second elongate element.