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 medical treatment tool comprising:
 a first jaw member including a first pulley portion;   a second jaw member including a second pulley portion;   a wrist member supporting the first pulley portion and the second pulley portion rotatably about a first axis on a distal end side;   a shaft having a shaft axis and rotatably supporting a proximal end side of the wrist member;   a first elongate element includes a first portion for rotating the first jaw member in a first direction about the first axis and a second portion for rotating the first jaw member in a second direction opposite to the first direction;   a second elongate element includes a third portion for rotating the second jaw member in the first direction about the first axis and a fourth portion for rotating the second jaw member in the second direction;   a first pulley that is disposed on one side of the wrist member with respect to a first surface including the shaft axis and the first axis when the wrist member has a posture parallel to the shaft axis, is rotatable about a first rotation axis intersecting the first axis and guides the first portion of the first elongated element; and   a second pulley that is disposed on the one side of the wrist member with respect to the first surface when the wrist member has the posture parallel to the shaft axis, is rotatable about the first rotation axis and guides the third portion of the second elongated element,   wherein the first pulley portion of the first jaw member is disposed on a first side with respect to a second surface passing through the center of the first axis and perpendicular to the first surface when the wrist member has the posture parallel to the shaft axis,   the second pulley portion of the second jaw member is disposed on a second side opposite to the first side with respect to the second surface when the wrist member has the posture parallel to the shaft axis,   the first jaw member is configured to approach the second jaw member by rotating in the first direction,   the second jaw member is configured to approach the first jaw member by rotating in the second direction, and   the first rotation axis is disposed on the first side with respect to the second surface when the wrist member has the posture parallel to the shaft axis.   
     
     
         22 . The medical treatment tool of  claim 21 , further comprising:
 a third pulley that is disposed on the other side of the wrist member with respect to the first surface when the wrist member has the posture parallel to the shaft axis, is rotatable about a second rotation axis intersecting the first axis and guides the second portion of the first elongated element; and   a fourth pulley that is disposed on the other side of the wrist member with respect to the first surface when the wrist member has the posture parallel to the shaft axis, is rotatable about the second rotation axis and guides the fourth portion of the second elongated element,   wherein the second rotation axis is disposed on the second side with respect to the second surface when the wrist member has the posture parallel to the shaft axis.   
     
     
         23 . The medical treatment tool of  claim 21 , wherein
 the first elongate element including a first projected portion disposed between the first portion and the second portion,   the first pulley portion includes a first recessed portion that engages with the first projected portion of the first elongated element,   the first jaw member rotates in the first direction about the first axis by pulling the first portion of the first elongate element and in the second direction about the first axis by pulling the second portion of the first elongate element,   the second elongate element including a second projected portion disposed between the third portion and the fourth portion,   the second pulley portion includes a second recessed portion that engages with the second projected portion of the second elongated element, and   the second jaw member rotates in the first direction about the first axis by pulling the third portion of the second elongate element and in the second direction about the first axis by pulling the fourth portion of the second elongate element.   
     
     
         24 . The medical treatment tool of  claim 23 , wherein
 each of the first projected portion and the second projected portion has a columnar shape or a cubic shape.   
     
     
         25 . The medical treatment tool of  claim 21 , further comprising:
 a third elongate element for operating the wrist member,   wherein the third elongate element includes a fifth portion, sixth portion and a projected portion disposed between the fifth portion and the sixth portion,   the projected portion has a columnar shape or a cubic shape, and   the wrist member includes a recessed portion that receives the projected portion of the third elongated element.   
     
     
         26 . The medical treatment tool of  claim 21 , further comprising:
 a third elongate element for operating the wrist member, and   a fourth elongate element for operating the wrist member,   wherein the third elongate element includes a first wide portion at one end of the third elongate element,   the fourth elongate element includes a second wide portion at one end of the fourth elongate element,   each of the first wide portion and second wide portion has a columnar shape, and   the wrist member includes first and second slots each of that engages each of the first and second wide portions.   
     
     
         27 . The medical treatment tool of  claim 21 , wherein
 the shaft rotatably supports the wrist member about a second axis,   the medical treatment tool further comprises:   a third pulley rotatably provided about the second axis and guiding the first portion of the first elongated element guided by the first pulley; and   a fourth pulley rotatably provided about the second axis and guiding the third portion of the second elongated element guided by the second pulley, wherein   the third and fourth pulleys are disposed on the one side of the wrist member with respect to the first surface.   
     
     
         28 . The medical treatment tool of  claim 22 , wherein
 the shaft rotatably supports the wrist member about a second axis,   the medical treatment tool further comprises:   a fifth pulley rotatably provided about the second axis and guiding the second portion of the first elongated element guided by the third pulley; and   a sixth pulley rotatably provided about the second axis and guiding the fourth portion of the second elongated element guided by the fourth pulley, wherein   the fifth and sixth pulleys are disposed on the other side of the wrist member with respect to the first surface.   
     
     
         29 . The medical treatment tool of  claim 21 , wherein
 the first and second portions of the first elongate element are each partially covered by a rigid tube.   
     
     
         30 . The medical treatment tool of  claim 29 , wherein
 at least one end of both ends of the rigid tube is chamfered.   
     
     
         31 . A surgical system comprising:
 a manipulator including first and second transmission members that are driven to rotate; and   a medical treatment tool including first and second receiving members rotatable by engaging with the first and second transmission members, respectively, and first and second activation members that rotate by respective rotations of the first and second receiving members,   wherein the medical treatment tool comprises:   a first jaw member including a first pulley portion;   a second jaw member including a second pulley portion;   a wrist member supporting the first pulley portion and the second pulley portion rotatably about a first axis on a distal end side;   a shaft having a shaft axis and rotatably supporting a proximal end side of the wrist member;   a first elongate element includes a first portion wound around the first activation member for rotating the first jaw member in a first direction about the first axis and a second portion wound around the first activation member for rotating the first jaw member in a second direction opposite to the first direction;   a second elongate element includes a third portion wound around the second activation member for rotating the second jaw member in the first direction about the first axis and a fourth portion wound around the second activation member for rotating the second jaw member in the second direction;   a first pulley that is disposed on one side of the wrist member with respect to a first surface including the shaft axis and the first axis when the wrist member has a posture parallel to the shaft axis, is rotatable about a first rotation axis intersecting the first axis and guides the first portion of the first elongated element; and   a second pulley that is disposed on the one side of the wrist member with respect to the first surface when the wrist member has the posture parallel to the shaft axis, is rotatable about the first rotation axis and guides the third portion of the second elongated element;   wherein the first pulley portion of the first jaw member is disposed on a first side with respect to a second surface passing through the center of the first axis and perpendicular to the first surface when the wrist member has the posture parallel to the shaft axis,   the second pulley portion of the second jaw member is disposed on a second side opposite to the first side with respect to the second surface when the wrist member has the posture parallel to the shaft axis,   the first jaw member is configured to approach the second jaw member by rotating in the first direction,   the second jaw member is configured to approach the first jaw member by rotating in the second direction, and   the first rotation axis is disposed on the first side with respect to the second surface when the wrist member has the posture parallel to the shaft axis.   
     
     
         32 . The surgical system of  claim 31 , wherein
 the medical treatment tool further comprises:   a third pulley that is disposed on the other side of the wrist member with respect to the first surface when the wrist member has the posture parallel to the shaft axis, is rotatable about a second rotation axis intersecting the first axis and guides the second portion of the first elongated element; and   a fourth pulley that is disposed on the other side of the wrist member with respect to the first surface when the wrist member has the posture parallel to the shaft axis, is rotatable about the second rotation axis and guides the fourth portion of the second elongated element,   wherein the second rotation axis is disposed on the second side with respect to the second surface when the wrist member has the posture parallel to the shaft axis.   
     
     
         33 . The surgical system of  claim 31 , wherein
 the first elongate element including a first projected portion disposed between the first portion and the second portion,   the first pulley portion includes a first recessed portion that engages with the first projected portion of the first elongated element,   the first jaw member rotates in the first direction about the first axis by pulling the first portion of the first elongate element and in the second direction about the first axis by pulling the second portion of the first elongate element,   the second elongate element including a second projected portion disposed between the third portion and the fourth portion,   the second pulley portion includes a second recessed portion that engages with the second projected portion of the second elongated element, and   the second jaw member rotates in the first direction about the first axis by pulling the third portion of the second elongate element and in the second direction about the first axis by pulling the fourth portion of the second elongate element.   
     
     
         34 . The surgical system of  claim 33 , wherein
 each of the first projected portion and the second projected portion has a columnar shape or a cubic shape.   
     
     
         35 . The surgical system of  claim 31 , wherein
 the medical treatment tool further comprises:
 a third elongate element for operating the wrist member, 
   wherein the third elongate element includes a fifth portion, sixth portion and a projected portion disposed between the fifth portion and the sixth portion,   the projected portion has a columnar shape or a cubic shape, and   the wrist member includes a recessed portion that receives the projected portion of the third elongated element.   
     
     
         36 . The surgical system of  claim 31 , wherein
 the medical treatment tool further comprises:
 a third elongate element for operating the wrist member, and 
 a fourth elongate element for operating the wrist member, 
   wherein the third elongate element includes a first wide portion at one end of the third elongate element,   the fourth elongate element includes a second wide portion at one end of the fourth elongate element,   each of the first wide portion and second wide portion has a columnar shape, and   the wrist member includes first and second slots each of that engages each of the first and second wide portions.   
     
     
         37 . The surgical system of  claim 31 , wherein
 the shaft rotatably supports the wrist member about a second axis,   the medical treatment tool further comprises:   a third pulley rotatably provided about the second axis and guiding the first portion of the first elongated element guided by the first pulley; and   a fourth pulley rotatably provided about the second axis and guiding the third portion of the second elongated element guided by the second pulley, wherein   the third and fourth pulleys are disposed on the one side of the wrist member with respect to the first surface.   
     
     
         38 . The surgical system of  claim 32 , wherein
 the shaft rotatably supports the wrist member about a second axis,   the medical treatment tool further comprises:   a fifth pulley rotatably provided about the second axis and guiding the second portion of the first elongated element guided by the third pulley; and   a sixth pulley rotatably provided about the second axis and guiding the fourth portion of the second elongated element guided by the fourth pulley, wherein   the fifth and sixth pulleys are disposed on the other side of the wrist member with respect to the first surface.   
     
     
         39 . The surgical system of  claim 31 , wherein
 the first and second portions of the first elongate element are each partially covered by a rigid tube.   
     
     
         40 . The surgical system of  claim 39 , wherein
 at least one end of both ends of the rigid tube is chamfered.