JP2008104854A - Manipulator for medical use - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To automatically lock a working unit and a rotator at axial positions corresponding to the original points when the working unit is detached from an actuator unit. <P>SOLUTION: An actuator block 30 of a manipulator 10 contains motors 40a-40c and rotary shafts 42a-42c extending from the motors 40a-40c. The working unit 16 of the manipulator 10 contains a connecting portion 15, attachable to and detached from the actuator block 30. The connecting portion 15 has pulleys 50a-50c connectable to one ends of the rotary shafts 42a-c, and has a locking plate 304 movable by alignment pins 212a-212c. The locking plate 304 has slits 316a-316c, which are engaged with plate-shaped portions 308a-308c formed on the upper ends of the pulleys 50a-50c. A coil spring 306 is placed between the locking plate 304 and a top plate 334. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a medical manipulator in which a working unit is removable with respect to an actuator unit.

  In laparoscopic surgery, a small hole is opened in the patient's abdomen, etc., and an endoscope, forceps (or manipulator), etc. are inserted, and the surgeon performs the operation while viewing the endoscope image on the monitor. Yes. Since such laparoscopic surgery does not require laparotomy, the burden on the patient is small, and the number of days until postoperative recovery and discharge is greatly reduced, and therefore, the application field is expected to expand.

  For example, as described in Patent Document 1, the manipulator system includes a manipulator body and a controller that controls the manipulator body. The manipulator body includes an operation unit that is operated manually and a work unit that is detachably attached to the operation unit.

  The working unit (tool) has a long connecting shaft and a tip operating unit (also referred to as an end effector) provided at the tip of the connecting shaft, and an actuator (motor) that drives the tip operating unit with a wire is operated. Provided in the department. The wire is wound around the pulley on the proximal end side. The controller drives a motor provided in the operation unit to drive the wire forward and backward through a pulley.

  The working unit side does not include electronic devices such as sensors because of the need for easy cleaning and sterilization, and the position or origin of the front operating unit and the rear end pulley cannot be detected directly. The axial position of the distal end working unit is calculated based on the above.

  By the way, in laparoscopic surgery, various working units are used depending on the procedure, and examples include a gripper, scissors, an electric knife, an ultrasonic knife, and a medical drill. These working units are configured to be detachable from the operation unit, and when installed, the pulley on the proximal side of the working unit is configured to engage with a rotation shaft of a motor provided in the operation unit.

  As described above, in the case of a system on the premise that a plurality of different working units are connected to one operation unit, it is necessary to set a motor phase that is an axis position at which all the working units can be attached and detached in common. (For example, refer to Patent Document 1). This is the origin (or initial position).

  The following patent documents 1 and patent documents 2 are mentioned as prior art about a manipulator system.

  Patent Document 1 proposes a configuration that does not require consideration of motor excitation switching and electrical configuration during attachment / detachment.

  Patent Document 2 describes electrical attachment / detachment of a plurality of tip tools (working units).

JP 2004-105451 A JP 2004-208922 A

  Conventionally, when a surgical operation is performed, a large incision is made so that the surgeon can perform an operation while directly looking inside the patient. Large incisions caused infections and delayed patient recovery. In recent years, many surgeons have performed endoscopic minimally invasive surgery and have been able to significantly reduce the incision.

  Robotic surgical instruments have evolved minimally invasive surgery. Those surgical instruments are highly specialized. These surgical instruments must follow the surgeon's minimized movement. The surgeon does many different things to the organ, such as cutting, peeling and suturing. Different surgical instruments are required for their respective functions. Different medical devices are made for each function. However, it is more economical to simply replace the medical device mounted on the control unit for each function. In order to exchange instruments efficiently, each medical instrument must be securely and securely mounted on the control unit. Thus, there is a need for an apparatus and method for safely and reliably mounting a surgical instrument on a minimally invasive robotic surgical instrument control unit. Furthermore, an attachment process is required that includes an engagement and locking step for the surgical instrument to be used safely and efficiently.

  Further, the axial position of the distal end working unit is calculated with reference to the origin of the motor, for example. Therefore, when exchanging a work part in the middle of surgery, another work part to be newly attached needs to be in a posture that exactly matches the origin. In other words, when the working unit is removed from the operation unit, it is desirable that the working unit and the pulley be fixed at an axial position that coincides with the origin.

  The present invention has been made in consideration of such problems, and a medical manipulator capable of automatically locking the working unit and the pulley to an axial position coincident with the origin when the working unit is removed from the actuator unit. The purpose is to provide.

  The present invention includes an actuator unit including a motor, a connection unit including a rotating body that is detachably attached to the actuator unit and connected to a rotation shaft of the motor, and a working unit including an operation unit interlocked with the rotating body. A medical manipulator having a lock member that is moved by a part of the actuator unit when the connection unit is attached to and detached from the actuator unit, wherein the lock member includes the actuator unit and the working unit. By engaging the engaging portion of the rotating body when the actuator is separated from the rotating body, and separating from the engaging portion when the actuator portion and the working portion are connected. The rotating body is rotatable.

  As described above, in the present invention, the lock member is driven by a part of the actuator portion to be engaged with and separated from the engaging portion of the rotating body. As a result, when the actuator unit and the working unit are separated from each other, the lock member engages with the engaging unit to prevent the rotating body from rotating, and the working unit and the rotating body are automatically locked at the axial position that matches the origin. Will be.

  In the present invention, the connecting portion includes a locking plate that is moved by a part of the actuator portion when the connecting portion is attached to and detached from the actuator portion, and the locking plate is associated with a non-circular portion of the rotating body. And the non-circular portion engages with the engagement hole to prevent rotation of the rotating body when the actuator portion and the working portion are separated from each other. The rotating body can be rotated by separating the non-circular portion from the engagement hole when the working portion is connected.

  In this way, the locking plate prevents the rotation of the rotating body by engaging the non-circular portion with the engagement hole when the actuator portion and the working portion are separated from each other, and the working portion and the pulley are aligned with the origin. Automatically locked into position.

  In addition, in this invention, being moved by a part of actuator part includes both the case of being driven directly by the part and the case of being indirectly driven via another member. .

  In the medical manipulator according to the present invention, the lock member is driven by a part of the actuator portion to be engaged with and separated from the engaging portion of the rotating body. As a result, when the actuator unit and the working unit are separated from each other, the lock member engages with the engaging unit to prevent the rotating body from rotating, and the working unit and the rotating body are automatically locked at the axial position that matches the origin. Is done.

  Further, according to the medical manipulator according to the present invention, the non-circular portion engages with the engaging hole when the actuator portion and the working portion are separated from each other, whereby the locking plate prevents the rotating body from rotating. And the rotating body is automatically locked at the axial position coincident with the origin.

  Furthermore, according to the medical manipulator according to the present invention, when the actuator portion and the working portion are separated from each other, the locking plate is disposed at the first position, and the locking protrusion engages with the notch portion to Rotation is prevented, and the working unit and the rotating body are automatically locked at an axial position coinciding with the origin.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a medical manipulator according to the present invention will be described with reference to FIGS.

  The manipulator 10 according to the first embodiment is for gripping a part of a living body or a curved needle or the like on the distal end working unit 12 to perform a predetermined treatment, and usually includes grasping forceps or a needle driver (needle holder). ) Etc.

  As shown in FIGS. 1 and 2, the manipulator 10 includes a base end operation command unit 14 that is gripped and operated by a human hand, and a work unit 16 that is detachable from the operation command unit 14.

  In the following description, the width direction in FIG. 1 is defined as the X direction, the height direction is defined as the Y direction, and the extending direction of the connecting shaft 48 is defined as the Z direction. Further, the right side is defined as the X1 direction, the left side as the X2 direction, the upward direction as the Y1 direction, the downward direction as the Y2 direction, the forward direction as the Z1 direction, and the backward direction as the Z2 direction. Further, unless otherwise specified, the description of these directions is based on the case where the manipulator 10 is in a neutral posture. These directions are for convenience of explanation, and it is needless to say that the manipulator 10 can be used in any direction (for example, upside down).

  The working unit 16 connects the tip operating unit 12 that performs work, the connection unit 15 connected to the actuator block (actuator unit) 30 of the operation command unit 14, and connects the tip operating unit 12 and the connection unit 15. And a long and hollow connecting shaft 48. The working unit 16 can be detached from the operation command unit 14 by a predetermined operation in the actuator block 30 and can perform cleaning, sterilization, maintenance, and the like.

  The distal end working unit 12 and the connecting shaft 48 are configured to have a small diameter, and can be inserted into a body cavity 22 from a cylindrical trocar 20 provided in a patient's abdomen or the like. Various procedures such as excision of the affected area, grasping, suturing and ligation can be performed.

  The operation command unit 14 includes a grip handle 26 that is gripped by a hand, a bridge 28 that extends from an upper portion of the grip handle 26, and an actuator block 30 that is connected to the tip of the bridge 28.

  As shown in FIG. 2, the grip handle 26 of the operation command unit 14 extends from the end of the bridge 28 in the Y2 direction, and has a length suitable for being gripped by a hand. As a trigger lever 32, a composite input unit 34, and a switch 36. An LED 29 is provided at an easily visible position on the upper surface of the bridge 28. The upper surface of the bridge 28 is easily visible even during the procedure, and is suitable for disposing the LED 29.

  A cable 62 connected to the controller 45 is provided at the lower end of the grip handle 26. The grip handle 26 and the cable 62 may be connected by a connector.

  Regarding the operation command unit 14, the configuration and operation of the composite input unit 34 will be described first.

  The composite input unit 34 is a composite input unit that gives rotation commands in the roll direction (axial rotation direction) and yaw direction (left-right direction) to the distal end working unit 12. The trigger lever 32 is an input means for giving an opening / closing command for the gripper 60 (see FIG. 2) of the distal end working unit 12. The switch 36 is an input means for setting whether the operation state of the manipulator 10 is valid or invalid. The LED 29 is an indicator that indicates the control state of the manipulator 10, is a size that can be easily recognized by the operator, and is sufficiently small and light enough that there is no hindrance to the operation. The LED 29 is provided at a position with good visibility at a substantially central portion on the upper surface of the bridge 28.

  As shown in FIG. 3, the trigger lever 32 is a lever that slightly protrudes in the Z1 direction slightly below the bridge 28, and is provided at a position where the operation with the index finger is easy.

  The trigger lever 32 is connected to the grip handle 26 by an arm 98 and is configured to advance and retreat with respect to the grip handle 26. The arm 98 is connected to a sensor (not shown) in the grip handle 26, and the advance / retreat amount of the trigger lever 32 is measured by the sensor and supplied to the controller 45.

  As shown in FIG. 3, the trigger lever 32 is provided at a position where the finger is applied and the drawing portion 101 is drawn in the direction of the grip handle 26 (that is, the Z2 direction), and the drawing portion 101 is opposed to the drawing lever 101. And an extruding part 102 that pushes out from the grip handle 26 in the Z1 direction.

  In the operation command unit 14, the depression 104 is provided in the push-out portion 102 of the trigger lever 32, so that a fine operation can be performed by inserting a fingertip into the depression 104, and the opening / closing work such as the gripper 60 and the scissors of the tip operation unit 12 can be accurately performed. Can be done.

  2 and 3, the switch 36 is an operation mechanism that moves forward and backward with respect to the grip handle 26. The trigger lever 32 and the switch 36 are surfaces of the grip handle 26 in the Z1 direction, and the length of the grip handle 26 is as follows. They are arranged side by side in the scale direction (Y direction). The switch 36 is provided directly below the trigger lever 32 (Y2 direction). A thin plate member 130 is provided between the switch 36 and the trigger lever 32.

  The switch 36 is an alternate type, and is locked in an on state by once pulling the operation element 36a forward (in the Z2 direction), and is held at a slightly distal position when the hand is released. By pulling the switch 36 back again, the on state is released and the switch 36 is turned off, and the elastic body (not shown) returns to the front end side (Z1 direction) position. By repeating such an operation, the switch 36 is held in either the on state or the off state, and it is not necessary to keep pressing the switch 36. Therefore, it is only necessary to operate the switch 36 at the time of switching between the on state and the off state. In other cases, the trigger lever 32 can be operated, which is suitable for coexisting the switch 36 and the trigger lever 32. It is.

  The switch 36 activates the system or returns the motors 40a to 40c to the origin and stops them. The switch 36 is effective when the switch is on and is stopped when the switch is off. The valid and stopped states are also indicated by the lighting state of the LED 29.

  Next, the structure and operation of attaching / detaching the working unit 16 and the connection unit 15 of the operation command unit 14 will be described.

  As shown in FIG. 1, the connecting portion 15 is covered with a resin cover 37 and rotatably holds pulleys 50a, 50b, and 50c that are driven to rotate. Wires (not shown) are wound around the pulley 50 a, the pulley 50 b, and the pulley 50 c, and extend through the hollow portion of the connecting shaft 48 to the distal end working unit 12.

  As shown in FIGS. 2 and 4, the connecting portion 15 includes left and right side engaging pieces 200 and three fitting holes 202 a, 202 b, 202 c opened on the lower surface. The three fitting holes 202a to 202c are provided in the vicinity of the ends in the Z1 direction and the Z2 direction, and extend in the Y1 direction.

  In the actuator block 30, motors 40 a, 40 b, and 40 c are provided in parallel along the extending direction of the connecting portion 15 corresponding to the mechanism of three degrees of freedom that the distal end working unit 12 has. The pulleys 50a, 50b and 50c are respectively provided with cross-shaped coupling convex portions at the lower ends in the Y2 direction, and the rotation shafts 42a, 42b and 42c of the motors 40a to 40c are provided with cross-shaped coupling concave portions. The coupling convex portion and the coupling concave portion are formed to be able to engage with each other, and the rotation of the motors 40a to 40c is reliably transmitted to the pulleys 50a, 50b, and 50c. These engaging portions are not limited to a cross shape.

  The motors 40a to 40c are small and have a small diameter, and the actuator block 30 is configured in a compact flat shape. The actuator block 30 is provided below the end of the operation command unit 14 in the Z1 direction. Further, the motors 40 a to 40 c rotate under the action of the controller 45 based on the operation of the operation command unit 14 or the trigger lever 32.

  The actuator block 30 further includes three alignment pins (part of the actuator portion) having two independent engaging portions 210 that hold the connecting portion 15 of the working portion 16 and a positioning function and a holding mechanism of the connecting portion 15. 212a, 212b, 212c. 4, 8, 9, and 11, the cover 37 (see FIG. 1) is removed so that the structure of the connecting portion 15 can be easily understood.

  The two engaging portions 210 are provided at symmetrical positions on the left and right side surfaces of the actuator block 30, and include an operation surface 204 and a lever 206 extending from the operation surface 204 in the Y1 direction. The lever 206 slightly protrudes in the Y1 direction from the upper surface of the actuator block 30, and the inside of the tip is tapered. The engaging portion 210 is elastically biased in a direction in which the lever 206 is directed inward by an elastic body (not shown).

  Two alignment pins 212a to 212c are provided near the end in the Z1 direction on the upper surface of the actuator block 30 and one near the end in the Z2 direction at positions facing the fitting holes 202a to 202c, and extend in the Y1 direction. Exist. Two alignment pins 212a and 212b are provided side by side in the X direction in the vicinity of the end in the Z1 direction.

  Thus, since the three alignment pins 212a to 212c are provided, the connecting portion 15 is supported at three points, and positioning can be performed easily and reliably. In addition, since the three alignment pins 212a to 212c are not linearly arranged, the connection portion 15 can be stably held against twisting in any direction. If two or more of the alignment pins 212a to 212c are provided, the connecting portion 15 is reliably positioned and stably held. In this case, it is more stable if two separated in the Z direction are selected.

  Furthermore, as shown in FIG. 2, the height H1 of the alignment pins 212a to 212c is larger than the height H2 of the pulley housing 300 in the connecting portion 15 including the fitting holes 202a to 202c, and the alignment pins 212a to 212c are The pulley housing 300 is appropriately penetrated.

  Next, the configuration of the connecting portion 15 will be described in detail with reference to FIGS.

  As shown in FIGS. 5 and 6, the connecting portion 15 includes a pulley storage body 300 provided with pulleys 50 a to 50 c, an upper body 302 provided on the top of the pulley storage body 300, a locking plate 304, And two coil springs (elastic body) 306.

  The pulleys 50a to 50c are arranged in parallel in the Z direction of the pulley housing 300 as described above, and the upper ends thereof are plate-shaped portions (engaging portions) 308a, 308b, and 308c that slightly protrude from the upper surface of the pulley housing 300. ing. The plate-shaped portions 308a to 308c have the same shape, are provided at locations corresponding to the diameters of the upper ends of the pulleys 50a to 50c, and extend slightly in the Y1 direction. When the pulleys 50a to 50c are at the origin, the plate-shaped portions 308a to 308c are oriented in the X direction in plan view.

  The locking plate 304 is elongated in the Z direction, the center portion is wide, the Z1 direction has a T-shaped first end 312 via the narrow portion 310, and the narrow portion 313 is formed in the Z2 direction. And a second end portion 314 that is bent in the X1 direction. When the working unit 16 is mounted on the operation command unit 14, the alignment pins 212 a and 212 b are in contact with the left and right surfaces of the first end 312, and the alignment pin 212 c is in contact with the lower surface of the second end 314. Then, the locking plate 304 is relatively pushed out in the Y1 direction.

  Three slits (engagement holes) 316a, 316b, and 316c oriented in the X direction are juxtaposed in the Z direction at the center of the locking plate 304, and are sequentially provided at positions corresponding to the pulleys 50a, 50b, and 50c. ing. The width in the Z direction of each of the slits 316a to 316c is slightly wider than the plate thickness of the plate-shaped portions 308a to 308c, and the length in the X direction is slightly longer than the plate-shaped portions 308a to 308c.

  On the upper surface of the locking plate 304, shallow circular grooves 320 are provided between the slits 316a and 316b and between the slits 316b and 316c. Each circular groove 320 is slightly larger in diameter than the coil spring 306 and serves as a mounting seat at the lower end of the coil spring 306. Two round grooves 321 (see FIG. 6) having the same shape as the round groove 320 are also provided on the lower surface of the upper body 302 and serve as a mounting seat at the upper end of the coil spring 306.

  The upper body 302 includes a pair of front guide plates 330 provided on both sides of the narrow portion 310 of the locking plate 304, a pair of rear guide plates 332 provided on both sides of the narrow portion 313, and these front guide plates. 330 and a top plate (holding plate) 334 connected to each upper end portion of the rear guide plate 332. The lower end portions of the front guide plate 330 and the rear guide plate 332 are bent to form the mounting base 336, respectively. A hole is provided in the center of the mounting base 336. A screw 338 is inserted through the hole, and the screw 338 is screwed into a screw hole 340 on the upper surface of the pulley storage body 300, whereby the upper body 302 is connected to the pulley storage body. It is fixed to 300.

  The two coil springs 306 are provided between the top plate 334 and the locking plate 304. The locking plate 304 receives a force in the Y2 direction due to the elastic action of the coil spring 306. When the alignment pins 212a to 212c are pressed from below and pushed out, the coil spring 306 can be compressed and moved in the Y1 direction. . At this time, the narrow portions 310 and 313 are guided by the front guide plate 330 and the rear guide plate 332 and can move smoothly in the Y direction. In addition, since the two coil springs 306 are provided at locations that are separated in the long Z direction, the locking plate 304 receives a force in a balanced manner, and the movement in the Y direction is smooth.

  Next, the operation of the manipulator 10 configured as described above will be described.

  First, as shown in FIG. 7, the working unit 16 is attached to the operation command unit 14. When connecting the connection portion 15 to the actuator block 30, as shown in FIG. 4, the alignment pins 212a to 212c are inserted in the three fitting holes 202a to 202c and moved in the Y2 direction. As a result, the lever 206 of the engaging portion 210 is displaced slightly by being pushed outward by the tapered shape of the tip, and slides relative to the engaging piece 200. Eventually, when the lower surface of the connecting portion 15 comes into contact with the upper surface of the actuator block 30, the lever 206 returns to its original position by the elastic action, and the wedge portion 206 a at the lower end of the tapered shape engages with the engaging piece 200. . When the mounting of the connecting portion 15 is completed, the lever 206 returns to the original position, so that an appropriate click feeling and mounting sound are generated, and the operator can confirm that the mounting has been completed normally.

  At this time, the motors 40a to 40c of the operation command unit 14 are each at the origin, while in the working unit 16, the pulleys 50a to 50c are positioned at the origin by the action of the locking plate 304, and the motors 40a to 40c are The upper end is appropriately connected to the lower ends of the pulleys 50a to 50c.

  Further, as shown in FIG. 7, the upper ends of the three alignment pins 212 a to 212 c penetrate the fitting holes 202 a to 202 c and protrude from the upper surface of the pulley housing 300, and the first end 312 and the second end Abutting on the lower surface of the portion 314, the coil spring 306 is compressed to push up the locking plate 304. Accordingly, the plate-shaped portions 308a to 308c at the upper ends of the pulleys 50a to 50c are removed from the slits 316a to 316c of the locking plate 304, and the pulleys 50a to 50c can be rotated by the motors 40a to 40c.

  After the working unit 16 is mounted, the controller 45 can calculate the angle with reference to the origin and correctly control the distal end working unit 12. That is, the position where the operation command unit 14 is mounted is estimated as the origin (0 °), and the tip operating unit 12 is moved in the roll direction in response to the trigger lever 32 and the composite input unit 34 input in the plus and minus directions. In addition, a rotation command in the yaw direction can be given, and an opening / closing command for the gripper 60 can be given.

  When a series of procedures is completed or the operation command unit 14 is replaced with another type (for example, an electric knife), the attached operation command unit 14 is removed. Prior to this operation, the operator operates the switch 36 (see FIG. 1) to automatically return the motors 40a to 40c to the origin under the action of the controller 45. During and after the automatic return, the LED 29 (see FIG. 1) is turned on under the action of the controller 45. In other words, the green lighting state during the normal operation turns into a green blinking state during the automatic recovery, and goes out after the recovery. Since the LED 29 is provided at a location with good visibility, the operator can easily confirm that the motors 40a to 40c have returned to the origin.

  After confirming that each motor has returned to the origin by the lighting state of the LED 29, the operator removes the working unit 16 from the operation command unit 14.

  As shown in FIG. 8, when the connecting portion 15 is removed from the actuator block 30, the lever 206 is tilted outwardly against the elastic bias by simultaneously pressing the two operation surfaces 204 to engage with each other. The engagement with the piece 200 can be released. Thereafter, the working unit 16 is detached from the operation command unit 14 by pulling the connecting unit 15 upward.

  At this time, as shown in FIG. 6, the three alignment pins 212 a to 212 c come out downward from the fitting holes 202 a to 202 c, so that they are separated from the first end 312 and the second end 314, and the locking plate 304 is pushed down by the elastic force of the coil spring 306. Since each motor 40a-40c has returned to the origin, the plate-shaped portions 308a-308c of the interlocking pulleys 50a-50c are oriented in the X direction in plan view (see FIG. 5). Are engaged with the three slits 316a to 316c (see FIG. 9). As a result, the subsequent rotation of the pulleys 50a to 50c can be prevented, and when the tip operating unit 12 is held at the origin and is next mounted on the operation command unit 14, the pulleys 50a to 50c are correctly mounted on the motors 40a to 40c. can do.

  As described above, in the medical manipulator 10 according to the present embodiment, the locking plate 304 as the locking member is driven by the alignment pins 212a to 212c which are a part of the operation command unit 14, and the plates of the pulleys 50a to 50c. Engage and separate from the shape portions 308a to 308c. Accordingly, when the actuator block 30 and the working unit 16 are separated from each other, the plate-shaped portions 308a to 308c are engaged with the slits 316a to 316c of the locking plate 304 to prevent the pulleys 50a to 50c from rotating, and the tip operation unit 12 and the pulleys 50a to 50c are automatically locked at an axial position corresponding to the origin.

  When the working unit 16 and the operation command unit 14 are separated from each other, the locking plate 304 is elastically biased by the coil spring 306 so that the plate-shaped portions 308a to 308c are fitted in the slits 316a to 316c. When the unit 16 and the operation command unit 14 are connected, they are pushed out by the alignment pins 212a to 212c, so that no additional operation is required, and automatic locking and releasing is possible.

  In addition to the function of driving the locking plate 304, the alignment pins 212a to 212c have a function of stably holding the pulley storage body 300 by fitting into the fitting holes 202a to 202c, thereby reducing the number of parts. It is a reasonable structure.

  Since the locking plate 304 has a long shape, and the coil spring 306 is provided at two positions spaced apart in the long direction, the locking plate 304 is urged with a good balance. The coil spring 306 is provided between the top plate 334 and the locking plate 304 and has a space-saving and rational structure.

  The locations where the pulleys 50a to 50c engage with the locking plate 304 are plate-shaped portions 308a to 308c and slits 316a to 316c, which have a simple structure and reliably prevent the pulleys 50a to 50c from rotating. Can do.

  In the manipulator 10, when the actuator block 30 and the working unit 16 are separated from each other, the distal end working unit 12 and the pulleys 50 a to 50 c can be automatically locked at the axial position that coincides with the origin. It is desirable that the lock can be released.

  When the actuator block 30 and the working unit 16 are separated from each other, a jig 600 shown in FIG. 10 may be used to unlock the distal end working unit 12 and the pulleys 50a to 50c. The jig 600 includes a base plate 602, a pair of left and right leaf springs 604, and knobs 606 provided on the upper portions of the leaf springs 604.

  The base plate 602 has substantially the same shape as the actuator block 30, and includes three alignment pins 212a, 212b, and 212c and a central hole 602a. The alignment pins 212a to 212c have the same arrangement and the same length as those described above (see FIG. 3). The central hole 602a is a hole provided for manually moving the pulleys 50a to 50c with a dedicated jig (not shown) separately prepared. The leaf spring 604 is L-shaped, protrudes left and right from the lower surface protrusion of the base plate 602, and is bent upward. The knob 606 protrudes left and right, and a wedge portion 206a is provided on the inner side. By operating the knob 606, the leaf spring 604 can be elastically deformed, and the wedge portion 206a can be engaged with and released from the engagement piece 200 (see FIG. 4).

  By connecting the jig 600 to the connection portion 15, the alignment pins 212a, 212b, and 212c push up the locking plate 304 (see FIG. 7), and the distal end working portion 12 and the pulleys 50a to 50c can be unlocked. . As a result, the maintenance of the working unit 16 is improved, the cleaning property is improved (washing can be performed while moving), and the working unit can be moved and retracted manually without being locked even near the origin during an emergency stop. can get.

  Next, the connection part 400 which is the 1st modification of the connection part 15 is demonstrated, referring FIG. The connecting portion 400 includes a lock member 404 that can be tilted by two posts 402, and a torsion spring 406 that elastically biases the lock member 404 in a direction to tilt the lock member 404. The lock member 404 functionally corresponds to the locking plate 304 described above. The lock member 404 is provided on the upper surface of the pulley housing 300, and is provided at the end of a bar 408 extending in the Z direction, three branches 410a, 410b and 410c extending from the bar 408 to the side. Cam follower 412. The branches 410a to 410c functionally correspond to the slits 316a to 316c.

  The alignment pin 212a of FIG. 11 has an oblique cam surface 413 at the upper end, and protrudes from the fitting hole 202a to push up the cam follower 412 so that the lock member 404 can be opened obliquely. On the upper surface of the pulleys 50a, 50b, and 50c, diametrical narrow grooves (engaging portions) 414a to 414c are provided. The narrow grooves 414a to 414c functionally correspond to the plate-shaped portions 308a to 308c, and are set to be slightly wider than the branches 410a to 410b.

  When such a connecting part 400 is removed from the operation command part 14, the lock member 404 lies on the upper surface of the pulley housing 300 by the action of the torsion spring 406, and the branches 410a to 410c have narrow grooves 414a to 414c. And the pulleys 50a to 50c can be prevented from rotating. On the other hand, when the connection part 400 is removed from the operation command part 14, the alignment pin 212a pushes up the cam follower part 412 by a cam operation to move the lock member 404, thereby separating the branches 410a to 410c from the narrow grooves 414a to 414c. Thereby, the pulleys 50a to 50c can be rotated.

  Also in the connection part 400 according to this modification, the same effect as the connection part 15 can be obtained.

  Next, the connection part 500 which is the 2nd modification of the connection part 15 is demonstrated, referring FIGS. 12-14.

  The connection unit 500 includes three lock mechanisms 502, a main body 504, a front support unit 506, a rear support unit 508, an upper electrode 510, and a cleaning pipe 512 through which a cleaning liquid flows.

  The lock mechanism 502 is a mechanism for individually preventing the pulleys 50a to 50c from rotating, and is provided below the pulleys 50a to 50c.

  As shown in FIGS. 12 and 13, the lock mechanism 502 includes a relay body 514, a lock member 516, a spring 518, and a pair of guide rods 520. The guide rod 520 protrudes downward from the main body 504.

  The relay body 514 is fixed to the lower end of the lower column body 522 of the pulleys 50a to 50c with a screw 514, and rotates together with the pulleys 50a to 50c. The relay body 524 has a cross groove 526 that engages with the rotation shafts 42a to 42c of the motors 40a to 40b on the lower surface, and a notch groove 528 provided on the upper portion. The cross groove 526 is set so as to be oriented in the X direction and the Y direction when the pulleys 50a to 50c are at the axial positions that coincide with the origin. The rotation shafts 42a to 42c have convex cross-shaped portions corresponding to the cross grooves 426, and are set to direct in the X direction and the Y direction when the motors 40a to 40c are at the origin. The notch groove 528 is set so as to be oriented in the X1 direction when the pulleys 50a to 50c are at the axial positions that coincide with the origin.

  The lock member 516 can move up and down along the column body 522 between the relay body 514 and the main body 504, and a pair of guides through which the center hole 530 through which the column body 522 is inserted and the guide rod 520 are inserted. It has a hole 532, a pair of downward-facing rods 534, and an engagement piece 536 shaped to fit into the notch groove 528. The pair of guide holes 532 are provided at symmetrical positions. The pair of rods 534 are provided at symmetrical positions. The guide hole 532 and the rod 534 are provided at positions shifted by 90 °. The engaging piece 536 is provided in the X1 direction and slightly protrudes downward. The spring 518 is provided between the lock member 516 and the main body 504, and elastically biases the lock member 516 downward. The guide rod 520 guides the lock member 516 up and down and has a function of preventing rotation.

  According to such a lock mechanism 502 of the connecting portion 500, when the actuator block 30 and the working portion 16 are separated from each other, the lock member 516 is pushed downward by the spring 518 and comes into contact with the relay body 514, and the motor 40a (and If the motor 40b, 40c) is the origin, the engagement piece 536 of the lock member 516 engages with the notch groove 528, and the pulley 50a (and the pulleys 50b, 50c) are locked.

  As shown in FIGS. 13 and 14, when the actuator unit 30 and the working unit 16 are connected, the lower surface of the rod 534 comes into contact with the upper surface 30 b (part of the actuator unit) of the actuator block 30, and the lock member 516. Compresses and pushes up the spring 518. Thereby, the engagement piece 536 is detached from the notch groove 528, and the pulley 50a (and the pulleys 50b and 50c) can rotate under the action of the motor 40a (and the motors 40b and 40c). The lock mechanism 502 is surrounded by the front support portion 506 and the rear support portion 508 at the front and back, and is not operated carelessly.

  Next, a medical manipulator system 1100 according to the second embodiment will be described. First, each component of the medical manipulator system 1100 and a corresponding component in the manipulator 10 are shown.

That is, the following main components in the medical manipulator system 1100:
Manipulator 1102 (a), control unit 1104 (b), surgical instrument 1106 (c), surgical instrument control unit 1112 (d), operating unit controller 1107 (e), operating unit 1122 (f), shaft 1116 (g), Handle 1110 (h), button 1114 (i), cable lead 1115 (j), motor 1212 (k), locking plate 1402 (l), drive assembly 1204 and surgical instrument connector 1400 (m), spring 1401 (n), Surgical instrument control unit connector 1410 (o) and cut hole 1800 (p) are in turn the following components in the manipulator 10,
Manipulator 10 (a), controller 45 (b), working part 16 (c), actuator block 30 (d), connecting part 15 (e), tip operating part 12 (f), connecting shaft 48 (g), grip handle 26 (h), trigger lever 32 (i), cable 62 (j), motors 40a to 40c (k), locking plate 304 (l), pulleys 50a to 50c (m), coil spring 306 (n), motor It corresponds to the rotating shafts 42a to 42c (o) and the slits 316a to 316c (p). Reference numerals in parentheses are provided for reference so that the comparison is easy.

  FIG. 15 shows a medical manipulator system 1100 according to the second embodiment. The manipulator system 1100 includes a medical manipulator 1102 and a control unit 1104. The manipulator 1102 includes a surgical instrument 1106 and a surgical instrument control unit (actuator unit) 1112. The surgical instrument 1106 includes an operation unit controller 1107, an operation unit 1122, and a shaft 1116. The shaft 1116 has a first end 1118 and an opposite second end 1120. The operating unit 1122 is mounted on the first end 1118 and performs various operations known to those skilled in the art now and in the future. The motion controller 1107 is joined to the second end of the shaft 1116 and performs various operations known to those skilled in the art now and in the future.

  As used herein, the expression mount is used to join, engage, unite, connect, associate, insert. Insert, hang, hold, hold, attach, attach, fasten, bind, paste, secure, fasten (secure) Including bolt, twist, rivet, solder, weld, and other similar terms.

  Surgical instrument control unit 1112 includes a handle 1110 that is operated by a surgeon to perform minimally invasive surgery using the operating portion 1122. The handle 1110 includes a mechanism for causing the operation unit 1122 to perform a desired operation such as rotation, suppression, and toggle. For example, the handle 1110 has a button 1114 for opening and closing the operation unit 1122. Surgical instrument control unit 1112 is electrically connected to control unit 1104 through cable conductor 1115.

  The control unit 1104 receives or sends electrical signals from the surgical instrument control unit 1112 through cable leads 1115. Accordingly, the movement of the operation unit 1122 is controlled through the operation unit controller 1107. For example, the control software receives an electrical signal indicated by the operation of the button 1114 and converts it into an appropriate signal for moving the operation unit 1122. The electrical signal may be analog or digital. The control unit 1104 further converts the angle measurement received from the transducer mounted on the handle 1110 to determine a control command sent to the motion unit controller 1107 that controls the motion unit 1122.

  As shown in FIG. 16, the operation unit controller 1107 includes a plurality of drive assemblies 1204 and a plurality of wires 1206. Shaft 1116 includes an elongated tube with a plurality of wires 1206 extending therein. The plurality of wires 1206 operably connect the operation unit 1122 and the operation unit controller 1107 as shown in FIG. The operation unit 1122 has various types of instruments for purposes such as cutting, peeling, suturing, and gripping.

  As shown in FIG. 16, the surgical instrument control unit 1112 has a plurality of motors 1212 and a plurality of electrical cables 1214.

  As shown in FIG. 15, the control unit 1104 receives a signal from a transducer such as a button 1114 mounted on the handle 1110. Control unit 1104 interprets the operation and issues commands to a plurality of motors via a plurality of electrical cables 1214. The plurality of motors 1212 engage the plurality of drive assemblies 1204 at a plurality of coupling points that physically connect the surgical instrument control unit 1112 and the surgical instrument 1106. The plurality of drive assemblies 1204 include a mechanical member that converts an instruction from the control unit 1104 into a mechanical movement of the operation unit 1122. For example, the plurality of motors 1212 generate rotational torque that rotates the plurality of drive assemblies 1204. The rotation of the plurality of drive assemblies 1204 moves the plurality of wires 1206. This is a movement of the operation unit 1122. As described in more detail in the description of FIGS. 18 and 19, the operating portion 1122 can move only in a position where the locking plate 1402 is not locked.

  In FIG. 17, the surgical instrument 1106 and the surgical instrument control unit 1112 are not connected. The surgical instrument 1106 can be removed from the surgical instrument control unit 1112 so that various types of surgical instruments can be easily replaced. A simpler exchange does not waste time and eliminates the need for an instrument to separate.

  FIG. 18 shows the surgical instrument 1106 separated from the surgical instrument control unit 1112. A surgical instrument connector (rotary body) 1400 extends from the drive assembly 1204. The spring 1401 presses the locking plate 1402 downward toward the protrusion 1407.

  A locking protrusion (non-circular portion) 1406 (partially hidden in the figure) extends radially from the surgical instrument connector 1400. A locking plate 1402, shown in a locked state in FIG. 18, cooperates with the locking protrusion 1406 to prevent rotation of the surgical instrument connector 1400. Accordingly, the drive assembly 1204 is not rotated. The operation unit 1122 cannot move (first position) while the locking plate 1402 is in the locked state.

  In FIG. 19, the surgical instrument 1106 is shown coupled to the surgical instrument control unit 1112. The state where the locking plate 1402 is not locked is shown. The anti-locking protrusion 1409 resists the spring 1401 and presses the locking plate toward the drive assembly 1204. The locking plate 1402 in the unlocked state (second position) is completely free from the locking protrusion 1406, and the motor 1212 can rotate the surgical instrument control unit connector (rotary shaft) 1410. The surgical instrument control unit connector 1410 will rotate the surgical instrument connector 1400 and drive assembly 1204 and rotate the working portion 1122.

  FIG. 20 is a top view of the locking plate. The locking plate 1402 has a cut hole (engagement hole) 1800 including a hole 1802 and a cut 1804. The notch 1800 allows the locking plate 1402 to move vertically with respect to the surgical instrument connector 1400 and the surgical instrument control unit connector 1410. Hole 1802 is circular so that surgical instrument connector 1400 and surgical instrument control unit connector 1410 can pass through locking plate 1402.

  In other embodiments, the holes are shaped to fit a surgical instrument connector, a surgical instrument control unit connector, or both. In one example, the surgical instrument connector can have a male shaped protrusion. The protrusion can pass through the notch hole in the locking plate and engages the distal hole in the surgical instrument control unit connector. The male / female relationship between the surgical instrument connector and the surgical instrument control unit connector may be alternated. The relationship between the male and female of the hole of the locking plate, the surgical instrument connector, and the surgical instrument control unit connector may be any shape. For example, a star shape, a cross shape, a triangle, a circle, an ellipse, a rectangle, a polygon, and the like.

  The notch 1804 is oval so that the locking projection 1406 can pass through the locking plate 1402. When the locking plate 1402 is in the locked state as shown in FIG. 18, the locking protrusion 1406 is aligned with the notch 1804 so as not to rotate. When the locking plate is not locked as shown in FIG. 19, the locking projection 1406 is free from the notch 1804 and can be rotated. The shape of the notch and the locking projection may be the same or different.

  Although the manipulator 10 has been described as being used for medical purposes, the usage is not limited to this. For example, a narrow part such as an energy device is repaired, or a remote operation for performing a procedure from an area away from a patient via electrical communication means or the like. Of course, it can be suitably applied to the operating mechanism.

  Although the working unit 16 has been described as being connected to the operation command unit 14 that is operated manually, it may be applied to a surgical robot system 700 as shown in FIG. 21, for example.

  The surgical robot system 700 includes an articulated robot arm (moving means) 702 and a console 704, and the working unit 16 is connected to the tip of the robot arm 702. By providing the same mechanism as the actuator block 30 at the tip of the robot arm 702, the working unit 16 can be connected and driven. The manipulator 10 in this case includes a robot arm 702 and a working unit 16. The robot arm 702 may be any means that moves the working unit 16, and is not limited to a stationary type, but may be an autonomous moving type, for example. The console 704 may take a configuration such as a table type (operation console) or a control panel type.

  If the robot arm 702 has six or more independent joints (such as a rotation axis and a slide axis), the position and orientation of the working unit 16 can be arbitrarily set. The actuator block 30 at the tip is integrated with the tip 708 of the robot arm 702.

  The actuator block 30 has two independent levers 206 that lock the working unit 16 as described above. The connecting portion 15 has a locking plate 304 that is elastically biased by the coil spring 306 and driven by the alignment pins 212a to 212c, and can lock or release the pulleys 50a to 50c.

  The robot arm 702 may be configured to operate under the action of the console 704 and perform automatic operation based on a program, operation following a joystick 706 provided on the console 704, and a combination of these operations. The console 704 includes the function of the controller 45 described above.

  The console 704 is provided with two joysticks 706 and a monitor 710 as operation command units of the mechanism excluding the actuator block 30 in the operation command unit 14, and the same operation as the operation command unit 14 is possible. . Although not shown, two robot arms 702 can be individually operated by two joysticks 706. The two joysticks 706 are provided at positions that can be easily operated with both hands. The monitor 710 displays information such as an image obtained by an endoscope.

  The joystick 706 can move up and down, move left and right, twist, and tilt, and can move the robot arm 702 according to these operations. Further, the same operation as that of the operation command unit 14 can be performed by the trigger lever 32, the composite input unit 34, and the switch 36 provided in the grip handle 26. The joystick 706 may be a master arm. The communication means between the robot arm 702 and the console 704 may be wired, wireless, network, or a combination thereof.

  The medical manipulator according to the present invention is not limited to the above-described embodiment, and various configurations can be adopted without departing from the gist of the present invention.

It is a perspective view of the manipulator concerning this embodiment. It is a side view of the manipulator which separated the work part and the operation command part. It is a perspective view of an operation command part. It is the perspective view which looked at the state which isolate | separated the connection part of the operation | work part, and the actuator block of the operation command part from diagonally downward. It is a disassembled perspective view of a connection part. It is a side view of a connection part. It is a side view of a connection part when connected to the operation command part. It is a front view of the manipulator in the state of pressing two operation surfaces simultaneously when removing the connecting portion from the actuator block. It is a partial cross section perspective view of a locking plate and its periphery when connected to an operation command section. It is a perspective view of a jig. It is a perspective view of the connection part concerning the 1st modification. It is a side view of the connection part concerning the 2nd modification. It is a partial cross section perspective view of a locking mechanism. It is a side view of the connection part concerning the 2nd modification. It is a perspective view of the whole robotic surgical apparatus in 2nd Embodiment. It is sectional drawing of the robotic surgical instrument control unit in 2nd Embodiment. It is a perspective view of the state which removed the surgical instrument in 2nd Embodiment from the control unit. It is sectional drawing of the state in which the locking plate in 2nd Embodiment was locked. It is sectional drawing of the state in which the locking plate is not locked in the state which the surgical instrument in 2nd Embodiment engaged with the control unit. It is a front view of the locking plate in 2nd Embodiment. 1 is a schematic perspective view of a surgical robot system in which a working unit is connected to a tip of a robot arm.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 1102 ... Manipulator 12 ... Tip operation | movement part 14 ... Operation command part 15, 400 ... Connection part 16 ... Working part 29 ... LED
40a-40c, 1212 ... motors 42a-42c ... rotating shafts 50a-50c ... pulleys (rotating bodies) 202a-202c ... fitting holes 212a-212c ... alignment pins 300 ... pulley housing 302 ... upper bodies 304, 1402 ... locking plates 306 ... Coil springs 308a to 308c ... Plate-shaped parts 310, 313 ... Narrow parts 316a to 316c ... Slits (engagement holes)
404 ... Lock member 414a-414c ... Narrow groove 1104 ... Control unit 1106 ... Surgical instrument 1107 ... Operation part controller 1112 ... Surgical instrument control unit 1122 ... Operation part 1204 ... Drive assembly (rotating body)
DESCRIPTION OF SYMBOLS 1400 ... Surgical instrument connector (rotary body) 1401 ... Spring 1406 ... Locking protrusion 1407 ... Protrusion 1409 ... Anti-locking protrusion 1410 ... Surgical instrument control unit connector 1800 ... Cut hole (engagement hole) 1802 ... Hole 1804 ... Notch

Claims (8)

An actuator unit equipped with a motor;
A working unit including a connecting unit including a rotating body that is detachably attached to the actuator unit and connected to a rotating shaft of the motor; and an operating unit that is linked to the rotating body;
A medical manipulator comprising:
The connection portion includes a lock member that is moved by a part of the actuator portion when being attached to and detached from the actuator portion,
The lock member engages with the engaging portion of the rotating body when the actuator portion and the working portion are separated from each other to prevent the rotating body from rotating, and the actuator portion and the working portion are connected to each other. A medical manipulator characterized in that the rotating body can be rotated by being separated from the engaging portion when in operation. An actuator unit equipped with a motor;
A working unit including a connecting unit including a rotating body that is detachably attached to the actuator unit and connected to a rotating shaft of the motor; and an operating unit that is linked to the rotating body;
A medical manipulator comprising:
The connecting portion includes a locking plate that is moved by a part of the actuator portion when being attached to and detached from the actuator portion,
The locking plate has an engagement hole that engages with a non-circular portion of the rotating body,
When the actuator part and the working part are separated from each other, the non-circular part is engaged with the engagement hole to prevent the rotating body from rotating, and when the actuator part and the working part are connected. The medical manipulator characterized in that the rotating body can be rotated by separating the non-circular portion from the engagement hole. The medical manipulator according to claim 2,
The actuator portion includes a pin extending in the direction of the connection portion,
The working unit includes an elastic body that presses the locking plate in the direction of the rotating body,
When the actuator part and the working part are separated from each other, the locking plate is pressed by the elastic body, whereby the non-circular part is engaged with the engagement hole, and the actuator part and the working part are connected. The medical manipulator is characterized in that when the tip of the pin pushes the locking plate, the non-circular portion is separated from the engagement hole. The medical manipulator according to claim 3, wherein
The connecting portion has two or more through holes,
Two or more pins are provided, and the pins are inserted through the through holes when the actuator unit and the working unit are connected to each other. The medical manipulator according to claim 3 or 4,
The locking plate has a long shape,
The medical manipulator according to claim 1, wherein at least two elastic bodies are provided at locations separated in the longitudinal direction. The medical manipulator according to any one of claims 3 to 5,
The locking plate has an elongated shape and is provided with a narrow portion at least in two places,
Guide plates provided on both sides of the two narrow width portions,
A holding plate connected to each end of the guide plate;
Have
The medical manipulator, wherein the elastic body is provided between the holding plate and the locking plate. The medical manipulator according to any one of claims 2 to 6,
The medical manipulator according to claim 1, wherein the non-circular portion has a plate shape, and the engagement hole has a slit shape having a width into which the non-circular portion plate is inserted. An actuator unit equipped with a motor;
A working unit including a connecting unit including a rotating body that is detachably attached to the actuator unit and connected to a rotating shaft of the motor; and an operating unit that is linked to the rotating body;
A medical manipulator comprising:
The rotating body includes a locking protrusion protruding in a radial direction,
The connecting portion includes a locking plate that is moved by a part of the actuator portion when being attached to and detached from the actuator portion,
The locking plate is movable in the axial direction of the rotating body, includes a notch portion and includes an engagement hole through which at least one rotating body passes, and when the actuator unit and the working unit are separated from each other The first protrusion is disposed at the first position to prevent the rotation of the rotating body by engaging the notch, and the second position when the actuator section and the working section are connected. The medical manipulator is arranged so that the rotating member can be rotated by releasing the locking projection from the notch.

Images