JP2000350735A - Medical manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical manipulator in which reliability is improved by simplifying the mechanism. SOLUTION: This medical manipulator 1 is provided with an operation command part(OCP) 20 having a posture operation part 21 and a treatment operation part 22, and a connecting part 30 whose one end side is connected to the OCP 20. To the other end side of the connecting part 30, a working part 10 having a treatment part 11 and support parts 12 and 13 to support the treatment part 11 in 2 degrees of freedom so that a posture can be changed is connected. A drive part 10m changes a posture of the treatment part 11 by sending an operation command from the posture operation part 21 to the support parts 12 and 13, and at the same time, it operates the treatment part 11 by sending an operation command from the treatment operation part 22 to the treatment part 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical manipulator, and more particularly to a medical manipulator having a simplified mechanism and excellent operability.

[0002]

2. Description of the Related Art Conventionally, in a laparoscopic operation such as a gallbladder extraction operation, as shown in FIG. The endoscope 161, forceps 171, 172, and the like are inserted into those holes via the trocar 154, and the operator (usually a surgeon) 160
The operation is performed while watching the image of the image on the monitor 162.

[0003] Since such an operation method does not require laparotomy, the burden on the patient is small, and the number of days required for postoperative recovery and discharge from the hospital is greatly reduced. For this reason, such surgical methods are expected to expand their application fields.

[0004]

The above-mentioned laparoscopic operation is an excellent operation method in that the burden on the patient 150 is small, but the point that the operator 160 cannot actually see the operation section is required. In some cases this can be a problem.

Further, the forceps 171 and 172 are provided only with grippers that open and close, and it is difficult to change the posture of the grippers, and the operability is poor.

[0006] Due to the above factors, only a skilled operator can perform an appropriate treatment by the above-mentioned operation method. Also,
It takes a long time to become proficient in surgical methods.

[0007] In order to solve such problems, application of remote control robot technology such as a master-slave manipulator to the medical field has been studied.

[0008] The remote control robot technology is a robot system in which a master arm operated by an operator and a slave arm that actually operates an operation part are completely separated from each other.
The command value of the master arm is transmitted to the slave arm as an electric signal. Therefore, usually, both the master arm and the slave arm have the number of joints of 6 degrees of freedom or more, and a controller is provided for each degree of freedom, and a large number of control systems and components are electrically provided. , A complicated system having wiring.

Due to its complexity, the reliability of operation of the master-slave manipulator system is not yet at a sufficiently high level. In addition, since the system itself is large-scale, purchase costs and maintenance costs are high. Further, in the master-slave manipulator system, since the operator operates the master arm away from the patient, there is a problem that the patient cannot be directly treated immediately in an emergency.

[0010] The present invention has been made in view of the above points, and has as its object to provide a medical manipulator with a simplified mechanism and improved reliability.

[0011]

According to the present invention, there is provided an operation command section having a posture operation section and a treatment operation section, a connecting section having one end connected to the operation command section, and a connecting section connected to the other end of the connecting section. A working unit that is connected and has a treatment unit and a support unit that supports the treatment unit so that the posture of the treatment unit can be changed in two or more degrees of freedom, and an operation command from the posture operation unit is sent to the support unit to position the treatment unit. And a control unit that operates the treatment unit by sending an operation command from the treatment operation unit to the treatment unit.

According to the present invention, while the support position of the treatment section can be changed to two or more degrees of freedom by the support section, the operation command section and the working section are mechanically connected by the connecting section, so that the operation section can be operated. Excellent in reliability and operation reliability.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic structural view showing a medical manipulator according to a first embodiment of the present invention. As shown in FIG. 1, a medical manipulator 1 according to a first embodiment of the present invention includes a work unit 10, an operation command unit 20, and a connection in which both ends are connected to the work unit 10 and the operation command unit 20. Part 3
0.

The working unit 10 includes a gripper 11 as a treatment unit for performing a treatment on the operation unit, and a yaw axis joint support unit 1 as a support unit that supports the gripper 11 so that the posture can be changed with two degrees of freedom.
2 and a pitch axis joint support portion 13.

As shown in FIG. 1, the gripper 11 is configured to open and close in a hinge shape. Alternatively, a mechanism that opens and closes in parallel may be used. The yaw axis joint support section 12 supports the open / close shaft portion of the gripper 11 and rotates the entire gripper 11 about an axis parallel to the open / close axis. The pitch axis joint support 13 is a yaw axis joint support 1.
2 and the entire yaw axis joint support 12 (gripper 11) around an axis perpendicular to the opening / closing axis of the gripper 11.
Is rotated).

The operation command section 20 has a finger operation section 22 as a posture operation section and a handle 21 as a treatment operation section.

The finger operation section 22 includes two finger insertion sections 22a into which the thumb and the index finger of the hand holding the handle 21 are inserted.
22b. The two finger insertion portions 22a, 22
At least one of b is configured to be movable, and the interval between the two can be arbitrarily changed. Finger insertion parts 22a, 22b
May move in a hinge-like manner in addition to a mode in which they move in parallel with each other.

In the present embodiment, the finger insertion sections 22a, 22
The opening / closing command of the gripper 11 is issued by adjusting the interval b. In this case, the finger insertion unit 22
An interval sensor (not shown) for detecting the interval between the finger insertion sections 22a and 22b is provided, and the state in which the interval between the finger insertion sections 22a and 22b is narrowest corresponds to the closed state of the gripper 11.
The state where the interval between 2a and 22b is the widest corresponds to the fully open state of the gripper 11.

The handle 21 has an arc portion 21a disposed on the connecting portion 30 side and a grip portion 21b which is gripped by an operator's hand. The arc portion 21a and the grip portion 21b are connected via a yaw axis rotation portion 23, and the grip portion 21b is rotatable with respect to the arc portion 21a around a substantially central axis of the grip portion 21b itself. It has become. The yaw axis rotation section 23 is provided with an angle detection sensor (not shown). Thus, in the case of the present embodiment, the displacement angle detected by the sensor is made to correspond to the rotation angle of the yaw axis joint support 12.

The finger insertion portions 22a and 22b are mounted on the grip portion 21b so as not to interfere with the arc portion 21a, and the whole can be rotated with the rotation of the grip portion 21b. .

The arc portion 21a is formed as a substantially semicircular arm centered on a point 25 on the rotation axis of the yaw axis rotation portion 23. In the arc portion 21a, a sliding support portion 24 that moves along the arc portion 21a is provided.
The arc portion 21a moves with respect to the sliding support portion 24). One end of the connecting portion 30 is connected to the sliding support portion 24. The relative angular position between the sliding support 24 and the arc 21a (the position of the arc 21a with the sliding support 24 fixed) is detected by an angle detection sensor (not shown). Thus, in the case of the present embodiment, the angle position detected by the sensor is made to correspond to the rotation angle position of the pitch axis joint support 13.

In the present embodiment, the sliding support 24
A driving unit 10m is mounted between the driving unit 10 and the connecting unit 30. 10 m in the drawing indicates a collective portion of the drive units.
In the figure, the control unit (control device) is not shown. The drive unit 10m transmits power from the corresponding drive units 11m, 12m, and 13m via a wire or a pulley (not shown) based on detection signals from the above-described interval sensor and angle detection sensor (both not shown). Thus, the power is transmitted to the gripper 11, the yaw axis joint support section 12, and the pitch axis joint support section 13 of the working section 10.

In the case of the present embodiment, the connecting portion 30 is constituted by a rod-shaped member. The connecting part 30 is a connecting part 3
The center axis of 0 is fixed to the slide support 24 in such an arrangement that the center axis passes through the arc center 25 of the arc portion 21 a on the rotation axis of the yaw axis rotation portion 23. Also, the connecting portion 30
Has a hollow tubular shape to accommodate wires and the like from each of the drive units 11m, 12m, and 13m to the work unit 10.

The connecting portion 30 is connected to the supporting connecting portion 60 of the supporting mechanism 40 so as to be linearly movable in the axial direction and rotatable around the axis. Base end of support mechanism 40 (not shown)
Is fixed to the ceiling, floor or bed.

The support mechanism 40 of the present embodiment includes a height adjustment mechanism 41 that moves up and down with respect to the base end, and a horizontal rotation mechanism that is provided at the lower end of the height adjustment mechanism 41 and rotates around a vertical axis. It has a moving part 42 and an arc arm 43 having one end connected to the outer periphery of the horizontal rotating part 42. The rotation axis of the horizontal rotation part 42 is located substantially vertically above an appropriate point 50 on the connecting part 30.

The arc arm 43 extends substantially in the vertical plane, and is formed in an approximately quarter arc shape on the connecting portion 30 above the point 50 as a center and on the operation command portion 20 side. ing.

The support connecting portion 60 is supported by the arc arm 43 so as to be movable along the arc arm 43. As a result, the connecting portion 30 is moved vertically on the arc arm 43 around the point 50 different from the supporting connecting portion 60, whereby the horizontal turning portion 42 is turned in the vertical direction. It is swingably supported in a horizontal direction or a combined direction of the two.

The above-mentioned point 50 is preferably set in a small hole formed in the abdomen of the patient. Further, as shown in FIG. 1, a normal trocar 53 is provided in the small hole portion.

Next, the operation of the present embodiment having the above configuration will be described.

As shown in FIG.
1 grip portion 21b, and the finger insertion portion 22 of the finger operation portion 22
a. Insert a thumb and forefinger into 22b.

When the operator adjusts the distance between the thumb and the index finger to change the distance between the finger insertion portions 22a and 22b, the information is detected by the distance sensor. The detection signal from the interval sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 11m to the gripper 11 of the working unit 10. Thereby, the opening / closing angle of the gripper 11 is controlled.

On the other hand, when the operator
When b is rotated with respect to the arc portion 21a, the information is detected by the angle sensor. The detection signal from the angle sensor is sent to a control device (not shown) and processed, and a corresponding driving force is transmitted from the driving unit 12m to the yaw axis joint support unit 12 of the working unit 10. Thereby, the rotation angle of the yaw axis joint support portion 12 is controlled.

On the other hand, when the operator operates the arc 21
When a is rotated with respect to the sliding support portion 24 integrated with the connecting portion 30, the information is detected by the angle sensor. A detection signal from the angle sensor is sent to a control device (not shown) and processed, and a corresponding driving force is transmitted from the driving unit 13m to the pitch axis joint support unit 13 of the working unit 10. Thus, the rotation angle of the pitch axis joint support 13 is controlled.

The attitude of the gripper 11 can be controlled with two degrees of freedom by arbitrarily controlling the rotation angle of the yaw axis joint support section 12 and the rotation angle of the pitch axis joint support section 13. The posture of the gripper 11 can be further changed by one degree of freedom by rotating the connecting portion 30 around its central axis, and as a result, it can be arbitrarily controlled.

As described above, the degree of freedom of the posture of the gripper 11 depends on the rotation of the yaw-axis joint support 12, the rotation of the pitch-axis joint support 13, and the rotation of the entire joint 30 around the axis.
The three. In response to these three degrees of freedom, the operator rotates the grip 21b with respect to the arc 21a, rotates the arc 21a with respect to the slide support 24, and
Rotation around the entire axis, and so on.
The rotation of the entire connecting portion 30 around the axis is performed by rotating the entire handle 21.

In the present embodiment, the rotation axis of the grip portion 21b, the rotation axis of the arc portion 21a, and the rotation axis of the connecting portion 30 intersect at one point, forming a so-called gimbal mechanism. are doing. For this reason, an operation of arbitrarily moving only the posture with three degrees of freedom while maintaining the position of the point 25 of the operation unit as it is can be realized very easily. If the joints are driven by the control device in response to this, it is possible to operate the posture of the gripper 11 while maintaining the position of the intersection between the pitch axis joint support portion 13 and the connecting portion 30.

For example, when the position of the gripper 11 is moved in accordance with the operation of changing the posture of the gripper 11 when the needle is passed through the operation section or the thread is grasped, the operability is poor. Conversely, if the attitude of the gripper 11 changes during the operation of changing the position of the gripper 11, the operability is poor. On the other hand, in the gimbal mechanism according to the present embodiment, the operation of the position and the operation of the posture are mechanically separated, so that the operability is very good.

Regarding the position operation, the operation unit 20 and the connection unit 30 are mechanically integrated with each other in both the swinging movement around the point 50 and the forward and backward movement in the axial direction of the connection unit 30. Thus, the operator can easily operate the entire handle 21 by moving the entire handle 21 with respect to the connection support portion 60.

As described above, according to the present embodiment, the support posture of the gripper 11 can be changed with two degrees of freedom by the rotation of the yaw axis joint support 12 and the rotation of the pitch axis joint support 13. On the other hand, the operation command unit 20 and the working unit 10 are mechanically connected by the connecting unit 30, and the rotation of the connecting unit 30 changes the attitude of the gripper 11 by using the handle 2.
Since it is performed by directly rotating 1, it is excellent in operability and operation reliability.

In particular, in the case of the present embodiment, since the gimbal mechanism is employed, the operation of moving the posture only with three degrees of freedom while maintaining the position of the gripper 11 can be realized very easily.

Further, since the operator can perform an operation while looking closely at the state of the patient, it is possible to take prompt measures in an emergency or the like.

Further, the medical manipulator 1 of the present embodiment is supported by the support mechanism 40, and the operator does not need to basically support the weight of the manipulator 1; Can be performed with high accuracy.

Further, since the medical manipulator 1 of the present embodiment is configured to have the fixed point 50, if the height adjusting mechanism 41 and the like are positioned so that the trocar 53 comes near the fixed point 50. In addition, the displacement in the small hole (through portion) of the abdomen of the patient is reduced, and the burden on the patient can be further reduced.

In particular, if the arc radius of the arc arm 43 centered on the fixed point 50 is increased, a large space around the operative site can be ensured, so that assistance by assistants and the like is easier.

The mechanism by which the connecting and supporting portion 60 swings around the fixed point 50 uses a link mechanism and the like in addition to the mode using the horizontal rotating portion 42 and the arc arm 43 as in this embodiment. Other configurations are also possible.

In this embodiment, the working section 10 has the yaw axis joint support section 12 and the pitch axis joint support section 13, but a mode in which either one is omitted is also possible.
In this case, one of the command mechanism on the corresponding command operation unit 20 side, that is, one of the rotating mechanism of the grip part 21b with respect to the arc part 21a and the sliding mechanism of the sliding support part 24 with respect to the arc part 21a may be omitted. .

Next, a medical manipulator according to a second embodiment of the present invention will be described with reference to FIG. FIG.
FIG. 4 is a schematic perspective view of a medical manipulator according to a second embodiment.

As shown in FIG. 3, in the medical manipulator of the present embodiment, the handle 21 has a reference pedestal portion 21s and a swing arm 24a instead of the arc portion 21a and the sliding support portion 24. Other than that, the configuration is substantially the same as that of the medical manipulator 1 of the first embodiment shown in FIG.
In the second embodiment, the same parts as those in the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description is omitted.

The reference pedestal portion 21s has a yaw axis rotating portion 23
The grip 21b is connected via the. Although the reference pedestal portion 21s of the present embodiment is arranged below the grip portion 21b, it may be arranged above.

The swing arm 24a is formed of an L-shaped member, and one end is rotatably connected to the reference pedestal 21s, and the other end is connected to the drive unit 10m and the connecting unit 30. The rotation axis of the swing arm 24a and the reference pedestal 21s passes through the intersection of the rotation axis of the yaw rotation part 23 and the central axis of the connecting part 30 and is perpendicular to both axes. I have.

The angular position of the swing arm 24a with respect to the reference pedestal 21s is detected by an angle detection sensor (not shown). Thereby, in the case of the present embodiment, the angle detected by the sensor is made to correspond to the rotation angle of the pitch axis joint supporting portion 13.

In this embodiment, when the operator rotates the grip 21b of the handle 21 with respect to the reference pedestal 21s, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) for processing, and a corresponding driving force is applied to the driving unit 1.
It is transmitted from 2 m to the yaw axis joint support 12 of the working unit 10. Thereby, the rotation angle of the yaw axis joint support portion 12 is controlled.

On the other hand, when the operator rotates the reference pedestal portion 21s of the handle 21 with respect to the swing arm 24a integral with the connecting portion 30, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) and processed, and a corresponding driving force is transmitted from the driving unit 13m to the pitch axis joint support unit 13 of the working unit 10. Thus, the rotation angle of the pitch axis joint support 13 is controlled.

According to the present embodiment, the configuration of the handle 21 can be simplified, and the manufacture of the medical manipulator 1 becomes easy.

Next, a medical manipulator according to a third embodiment of the present invention will be described with reference to FIGS. FIG. 4 is a schematic perspective view of a medical manipulator according to the third embodiment. 5 is a perspective view showing a main part of the handle in FIG. 4, FIG. 6 is a front view showing a main part of the handle in FIG. 4, and FIG. 7 is a schematic view of the handle 21 during operation. .

As shown in FIGS. 4 to 7, in the medical manipulator of the present embodiment, the handle 21 is
The configuration is substantially the same as that of the medical manipulator 1 of the second embodiment shown in FIG. 3 except that a hand clamp portion 21h is provided instead of 1b. In the third embodiment, the same portions as those of the second embodiment shown in FIG. 3 are denoted by the same reference numerals, and detailed description is omitted.

The hand clamp portion 21h is formed of a spring member having a U-shaped cross section, and is configured to be integrated with the operator's palm by sandwiching the operator's palm.

In the present embodiment, when the operator rotates the hand clamp 21h of the handle 21 with respect to the reference pedestal 21s, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 12m to the yaw axis joint support unit 12 of the working unit 10. Thereby, the rotation angle of the yaw axis joint support portion 12 is controlled.

On the other hand, when the operator rotates the reference pedestal portion 21s of the handle 21 with respect to the swing arm 24a integral with the connecting portion 30, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) and processed, and a corresponding driving force is transmitted from the driving unit 13m to the pitch axis joint support unit 13 of the working unit 10. Thus, the rotation angle of the pitch axis joint support 13 is controlled.

According to the present embodiment, the hand clamp 21
Since the operator's hand is fixed to the handle 21 by h, the operator can further concentrate on the posture operation and opening / closing operation of the gripper 11 without being conscious of the positioning operation, and the workability is further improved.

Next, a medical manipulator according to a fourth embodiment of the present invention will be described with reference to FIG. FIG.
FIG. 9 is a schematic perspective view of a medical manipulator according to a fourth embodiment.

As shown in FIG. 8, in the medical manipulator of the present embodiment, the support connecting portion 60 includes a linear braking mechanism 61 for linearly moving the connecting portion 30 in the axial direction, and a connecting portion 3.
A rotation braking mechanism 62 for rotation about the axis 0. The braking force of the linear braking mechanism 61 and the rotation braking mechanism 6
1 except that the braking force of each of the two braking forces can be changed.
The configuration is substantially the same as that of the medical manipulator 1 of the first embodiment shown in FIG. In the fourth embodiment, the same parts as those in the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description is omitted.

The linear braking mechanism 61 of this embodiment is connected to a linear braking adjuster 61s for changing the braking force of the linear braking mechanism 61, and the rotary braking mechanism 62 is connected to the braking force of the rotary braking mechanism 62. Rotational braking adjuster 62 for changing the
s is connected.

In the present embodiment, the operator operates the linear braking adjusting section 61s to change the braking force of the linear braking mechanism 61, thereby adjusting the braking force for the linear movement of the connecting section 30. be able to. Also,
By changing the braking force of the rotation braking mechanism 62 by operating the rotation braking adjustment unit 62 by the operator,
The braking force against the rotation of the connecting portion 30 can be adjusted.

According to the present embodiment, the braking force of the linear braking mechanism 61 and the braking force of the rotary braking mechanism 62 can be adjusted according to the work content. This makes it possible to further improve the operability at the time of approaching the gripper 11 from the vicinity of the surgical site or at the time of fine work such as an actual treatment operation.

Linear braking mechanism 61 and rotary braking mechanism 62
May be configured to be externally turned on and off, such as an electromagnetic brake. It is preferable that the linear braking adjuster 61s and the rotary braking adjuster 62s be configured with a foot switch or the like.

Next, a medical manipulator according to a fifth embodiment of the present invention will be described with reference to FIG. FIG.
FIG. 10 is a schematic diagram of a gripper portion of the medical manipulator of the fifth embodiment, and FIG. 10 is a schematic diagram of a finger operation unit of the medical manipulator of the fifth embodiment.

As shown in FIGS. 9 and 10, in the medical manipulator according to the present embodiment, the gripper 11 has a strain gauge 11 as a sensor for detecting information on a treatment situation.
g, and the finger operation unit 22 has the same configuration as that of the first embodiment shown in FIG. The configuration is substantially the same as that of the manipulator 1. In the fifth embodiment, the same portions as those in the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description is omitted.

As shown in FIG. 9, the strain gauge 11g according to the present embodiment has two portions 1 which open and close like a hinge of the gripper 11.
It is stuck on the front side and the back side of each thin portion of 1a and 11b.

As shown in FIG. 10, the finger operating section 22 of the present embodiment has finger inserting sections 22c and 22d which open and close in a hinge-like manner almost similarly to the gripper 11.
An actuator 22m for giving a resistance torque to the opening and closing operations of c and 22d is provided.

In this embodiment, the strain gauge 11g
The actuator 22m is driven on the basis of information on the force acting on the gripper 11 detected by the operation, and gives a resistance torque to the opening / closing operation of the finger insertion sections 22c and 22d by the operator's finger.

According to the present embodiment, the force acting on the gripper 11 during the operation is returned to the finger operation section 22 as a resistance torque, so that the operability is extremely improved. In particular, it is difficult to grasp the sense of distance in a monitor image from a camera. However, in the present embodiment, a sensation of an actual organ can be obtained in a simulated manner, so that the treatment can be performed very accurately.

The strain gauge 11g can be provided only on one of the two portions 11a and 11b that open and close the gripper 11. However, it is preferable to provide it on both parts because even if only one part has an acting force, a resistance torque can be generated.

Further, instead of the actuator 22m, a vibrating element or the like is attached to the finger operation unit 22 in the finger insertion unit, and the force acting on the gripper 11 by vibration is reduced to change the operation characteristics. Is also good.

[0076]

As described above, according to the present invention,
While the support posture of the treatment section can be changed with two degrees of freedom by the support section, the medical manipulator excellent in operability and operation reliability because the operation command section and the working section are mechanically connected by the connecting section. Can be provided.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing a medical manipulator according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing a state during operation of a handle portion of FIG. 1;

FIG. 3 is a schematic perspective view showing a medical manipulator according to a second embodiment of the present invention.

FIG. 4 is a schematic perspective view showing a medical manipulator according to a third embodiment of the present invention.

FIG. 5 is a perspective view showing a main part of a handle portion of FIG. 4;

FIG. 6 is a front view showing a main part of a handle portion of FIG. 4;

FIG. 7 is a schematic diagram showing a state during operation of the handle portion of FIG. 4;

FIG. 8 is a schematic perspective view showing a medical manipulator according to a fourth embodiment of the present invention.

FIG. 9 is a schematic view showing a gripper portion of a medical manipulator according to a fifth embodiment of the present invention.

FIG. 10 is a schematic diagram showing a finger operation unit of a medical manipulator according to a fifth embodiment of the present invention.

FIG. 11 is a schematic view showing a conventional medical manipulator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Medical manipulator 10 Working part 10m drive part 11 Gripper 11g Strain gauge 12 Yaw axis joint support part 13 Pitch axis joint support part 20 Operation command part 21 Handle 21a Arc part 21b Gripping part 21s Reference base part 21h Hand clamp part 22 Finger operation Part 22a, 22b, 22c, 22d Finger insertion part 22m Actuator 23 Yaw axis rotation part 24 Sliding support part 24a Swing arm 30 Connecting part 40 Support mechanism 41 Height adjustment mechanism 42 Horizontal rotation part 43 Arc arm 50 Fixed point 60 Connection support part 61 Linear braking mechanism 61s Linear braking adjustment part 62 Rotation braking mechanism 62s Rotation braking adjustment part

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Nobuto Matsunigaku 1 Toshiba R & D Center, Komukai-shi, Kawasaki-shi, Kanagawa Prefecture (72) Inventor Makoto Kanno, Sachi-ku, Kawasaki-shi, Kanagawa Komukai Toshiba 1 Inside the Toshiba R & D Center (72) Inventor Hideaki Hashimoto 1 Komukai Toshiba-cho 1 Koyuki-ku, Kawasaki City, Kanagawa Prefecture Inside the Toshiba R & D Center (72) Inventor Masahiro Ohgami 386-23 Oba-cho, Aoba-ku, Yokohama-shi, Kanagawa-ken (72) Inventor Kazuo Nakazawa 3-11-16 Hiyoshi, Kohoku-ku, Yokohama-shi, Kanagawa Pref.

Claims (9)

[Claims] An operation command unit having a posture operation unit and a treatment operation unit; a connection unit having one end connected to the operation command unit; a connection unit connected to the other end of the connection unit; A working unit having a support unit that supports the treatment unit so that the posture can be changed to two or more degrees of freedom, and an operation command from the posture operation unit is sent to the support unit to change the posture of the treatment unit. A medical manipulator comprising: a control unit that sends an operation command from a treatment operation unit to the treatment unit to operate the treatment unit. 2. The connector according to claim 1, wherein the connecting portion is formed of a rod-shaped member, and is connected to the supporting connecting portion of the supporting mechanism so as to be linearly movable in the axial direction and rotatable around the axis. Medical manipulator. 3. The medical device according to claim 2, wherein the support mechanism supports the connecting portion so as to be able to swing around a point different from the support connecting portion as a swing center. manipulator. 4. The posture operation unit includes two rotation units that rotate around each of two orthogonal axes, and a detection unit that detects a rotational displacement angle of each of the rotation units. The medical manipulator according to claim 2, wherein an intersection of the two orthogonal axes of the posture operation unit is on an axis of the connection unit. 5. 5. The medical manipulator according to claim 2, wherein the support connecting portion has a linear braking mechanism for linearly moving the connecting portion in the axial direction. 6. The medical manipulator according to claim 5, wherein the braking force of the linear braking mechanism can be changed. 7. The medical manipulator according to claim 2, wherein said support connection portion has a rotation braking mechanism for rotating the connection portion around an axis. 8. The medical manipulator according to claim 7, wherein a braking force of said rotary braking mechanism can be changed. 9. The treatment section has a sensor for detecting information on a treatment situation, and the treatment operation section changes an operation characteristic based on the information on the treatment situation detected by the sensor. The medical manipulator according to any one of claims 1 to 8, wherein: