JP2018111142A - Arm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an arm device which facilitates securing of a movable range while suppressing an increase in a size of a device.SOLUTION: An arm device includes: an arm base part 10; a holding arm part 30 which is arranged in a rotatable manner around a first rotation axis RB relative to the arm base part 10; a connection arm part 40 which has such a shape as to extend crossing a second rotation axis RA having such a twisting rotation to cross the first rotation axis RB and be separated from the first rotation axis RB, and is arranged in a rotatable manner around the second rotation axis RA relative to the holding arm part 30; and a holding arm part 50 which extends to a third rotation axis RC extending crossing the second rotation axis RA, has a tip on an end on an opposite side to the end adjacent to the connection arm part 40 that can hold an object 60, and is arranged in a rotatable manner around the third rotation axis line RC relative to the connection arm part 40.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an arm device suitable for use in surgery, and more particularly to an arm device suitable for use in surgery using an endoscope.

  In recent years, surgical operations using an endoscope (hereinafter also referred to as “laparoscopic surgery”) have advantages such as quick recovery after surgery and small wounds at the time of surgery. Widely used in place of laparotomy. In addition, proposals for manipulator systems used to support endoscopes used in laparoscopic surgery and to operate endoscopes have begun to increase (for example, see Patent Document 1).

Japanese Patent No. 3579379

  In the manipulator system described in Patent Document 1 described above, the fourth rotating shaft 104, the fifth rotating shaft 105, and the sixth rotating shaft, which are three axes orthogonal to each other near the position where the endoscope is supported. A configuration in which 106 crosses at one place is adopted. Further, a working unit 22 to be inserted into the abdominal cavity of the patient is disposed at one end of the connecting portion 21 supported by the fifth joint shaft 105, and an operation command unit 20 is disposed at the other end. ing.

  When the configuration in which the three axes intersect in one place with no offset in this manner is adopted, it is easy to ensure the operability of the manipulator (hereinafter also referred to as “arm device”). In other words, the operator can easily operate the position of the working unit 22 by holding and operating the operation command unit 20. Further, since there is no other configuration on the operation command unit 20 side from the fifth rotating shaft 105, that is, around the operation command unit 20, the operator can easily grasp the operation command unit 20.

  On the other hand, there is a problem as described below due to the configuration in which the three axes intersect at one place and the operation command unit 20 protruding from the fifth joint shaft 105. It was.

  First, there is a problem that the movable range of the working unit 22 is narrowed when the three axes intersect at one place. In other words, when the working unit 22 (connecting unit 21) is tilted until it becomes largely horizontal in laparoscopic surgery, the driving unit 50 or the operation command provided on the working unit 22 side in the vicinity of the fifth joint shaft 105 in the connecting unit 21. The part 20 interferes with the tip part 15 related to the fourth rotation shaft 104. Therefore, there is a problem that the working unit 22 cannot be tilted greatly.

  On the other hand, by increasing the distance from the fifth joint shaft 105 to the distal end portion 15, the working portion 22 can be largely inclined. However, if the distance from the fifth joint shaft 105 to the distal end portion 15 is increased, there is a problem that the apparatus becomes larger and the work load for setting the arm apparatus increases.

  Next, when the operation command unit 20 is provided so as to protrude from the fifth joint shaft 105, there is a problem that the projected operation command unit 20 obstructs the field of view of the laparoscopic surgeon or assistant. In addition, there is a problem that the surgeon feels pressure.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide an arm device that can easily secure a movable range while suppressing an increase in size of the device.

In order to achieve the above object, the present invention provides the following means.
The arm device of the present invention has an arm base, a portion having one end adjacent to the arm base, and extending along a first rotation axis passing through the one end, and the arm. A holding arm portion arranged to be rotatable about the first rotation axis with respect to a base portion, and arranged adjacent to the other end portion of the holding arm portion, passing through the other end portion, and the first rotation axis line And a shape extending to intersect with the second rotation axis having a torsional relationship spaced apart from the first rotation axis and rotating around the second rotation axis with respect to the holding arm portion. A connecting arm portion that is movably disposed, and is disposed adjacent to an end portion of the connecting arm portion and extends along a third rotation axis that extends across the second rotation axis and the connection arm portion. On the opposite side of the adjacent edge Tip parts are configured to be gripped object, and said third rotatably arranged gripper arm about the rotation axis relative to the connecting arm portion, characterized in that is provided.

  According to the arm device of the present invention, since the arrangement of the first rotation axis and the second rotation axis has a torsional relationship, the arm base portion and the holding arm are compared with the arrangement in which the first rotation axis and the second rotation axis intersect. It is easy to suppress interference between the gripping arm part, the connecting arm part, and the gripping arm part, and it is easy to secure the movable range of the tip of the gripping arm part.

  In addition, as compared with an arrangement in which the first rotation axis and the second rotation axis intersect, at least one length of the holding arm portion, the connecting arm portion, and the gripping arm portion that is necessary to ensure the movable range of the tip of the gripping arm portion. The size (size) can be reduced.

  In the above invention, the holding arm portion includes a base region portion extending along the first rotation axis on the one end side, and a crossing with the first rotation axis on the other end side. It is preferable that a distal end region portion extending in a direction to be provided.

  In this manner, the tip end region portion on the other end side through which the second rotation axis passes in the holding arm portion has a shape extending in a direction intersecting the first rotation axis, thereby reducing the movable range of the tip in the grip arm portion. Furthermore, it becomes easy to ensure.

  In other words, a region adjacent to the tip region and extending in the direction in which the tip region extends can be secured as a space, and the presence of this space allows the connecting arm portion and the grip arm portion to move around the second rotation axis. It can be rotated. Note that the tip region may be curved and extending in a direction intersecting the first rotation axis, or may be linearly extending.

  In the above invention, the other end portion of the holding arm portion is formed in a U shape that holds the connecting arm portion therebetween and is rotatably held around the second rotation axis. It is preferable to have a space between the connecting arm portion.

  In this way, the other end portion of the holding arm portion is formed in a U-shape, and the holding arm portion is sandwiched between the U-shaped portions and is held so as to be rotatable about the second rotation axis. It becomes easier to secure the movable range of the tip of the part.

  In particular, by providing a space between the connecting arm portion and the bottom side of the U-shaped portion, the grip arm portion can enter this space, and the movable range of the tip of the grip arm portion can be further ensured. .

  In the above invention, between the one of the other end portions of the holding arm portion formed in a U shape and the connecting arm portion, the connecting arm portion is supported so as to be rotatable around the second rotation axis. One shaft portion is provided, and the other shaft portion is provided between the other end portion of the other end portion and the connection arm portion so as to rotatably support the connection arm portion around the second axis. It is preferable that

  By dividing the shaft portion that holds the connecting arm portion around the second rotation axis with respect to the holding arm portion in this way into one shaft portion and the other shaft portion, the shaft portion penetrates the inside of the connecting arm portion. Compared to the case of holding by one shaft portion, it becomes easier to secure a space available in the connecting arm portion, and the connecting arm portion can be easily downsized.

  In the above invention, it is preferable that the connecting arm portion is provided with a drive portion that rotates the grip arm portion around the third rotation axis based on a control signal input from the outside.

  By providing the drive unit in this way, the posture around the third rotation axis of the object can be controlled to a desired posture. For example, when the object is a camera that captures an image, it is easy to control the orientation of the captured image to a desired orientation.

In the above invention, it is preferable that the drive unit is disposed at a position where the second rotation axis is sandwiched between the driving arm and the tip of the connecting arm unit.
Thus, by arranging the drive unit at a position where the second rotation axis is sandwiched between the tip of the connection arm unit, a weight (hereinafter referred to as “counterweight”) that balances around the second rotation axis in the connection arm unit. It is easy to reduce.

  That is, by using the drive unit as a part of the counterweight, it becomes easy to reduce the counterweight used only for balancing. Moreover, it becomes easy to reduce a connection arm part by reducing the space which arrange | positions the weight used only for balancing.

In the said invention, it is preferable that the material which comprises the said grip arm part has small specific gravity compared with the material which comprises the said connection arm part.
In this way, the gripping arm portion is made of a material having a relatively low specific gravity, and the connecting arm portion is made of a material having a relatively high specific gravity, so that only the balance around the second rotation axis of the connecting arm portion is achieved. It is easy to reduce the weight used for the.

  According to the arm device of the present invention, since the arrangement of the first rotation axis and the second rotation axis has a twisted relationship, the arm base portion, the holding arm portion, the connecting arm portion, and the gripping arm portion are suppressed while suppressing the enlargement of the device. It is possible to suppress the interference and to easily secure the movable range of the tip of the grip arm portion.

It is a perspective view explaining the composition of the arm device concerning one embodiment of the present invention. It is a side view explaining the structure of the principal part in the arm apparatus of FIG. It is a top view explaining the structure of the principal part in the arm apparatus of FIG. It is an enlarged view explaining the connection structure of the holding arm part of FIG. 1, and a connection arm part. It is an enlarged view explaining the connection structure of the holding arm part of FIG. 1, and a connection arm part. It is a front view explaining the structure of the principal part in the arm apparatus of FIG. It is a disassembled perspective view explaining the internal structure of the connection arm part of FIG.

  An arm device according to an embodiment of the present invention will be described with reference to FIGS. In this embodiment, the present invention will be described by applying it to an arm device 1 that supports a rigid endoscope (object) 60 (hereinafter also referred to as “rigid endoscope 60”) in laparoscopic surgery. As shown in FIG. 1, the arm device 1 is mainly provided with an arm base portion 10, a holding arm portion 30, a connecting arm portion 40, and a gripping arm portion 50.

  Further, in the present embodiment, the direction in which the rigid endoscope 60 extends when the arm device 1 takes the posture shown in FIG. 1 is the Y direction, the direction perpendicular to the Y direction, and the arm base 10 and the holding arm 30 are The extending direction is described as the Z direction, the Y direction, and the direction orthogonal to the Z direction as the X direction.

  The arm base 10 is attached with the holding arm 30 and supports the holding arm 30, the connecting arm 40, and the gripping arm 50. The arm base 10 is mainly provided with a first base 11, a second base 12, and a third base 13.

  The first base portion 11 is a rod-like member formed extending linearly. The first base portion 11 is disposed at one end portion so as to be rotatable around a rotation shaft 21 extending in the Y direction, and the other end portion can be swung on the ZX plane. The first base portion 11 is controlled to rotate around the rotation shaft 21 by a drive unit (not shown) such as a motor.

  The second base 12 is a member formed between the first base 11 and the third base 13 and having a substantially cylindrical shape. The second base 12 is disposed at the other end of the first base 11, and is disposed so as to be rotatable around a rotation shaft 22 extending in the Y direction. The second base 12 is controlled to rotate around the rotation shaft 22 by a drive unit (not shown) such as a motor.

  The third base portion 13 is a columnar member disposed between the second base portion 12 and the holding arm portion 30. The third base portion 13 is disposed on the circumferential surface of the second base portion, and is disposed so as to be rotatable around a rotation shaft 23 extending in the X direction in FIG. As shown in FIGS. 2 and 3, the third base portion 13 is provided with an encoder 14 that detects the rotational phase of the holding arm portion 30. As the encoder 14, one that detects a phase by a known method can be used, and the type thereof is not particularly limited.

  As the third base portion 13 rotates around the rotation shaft 23, the third base portion 13, the holding arm portion 30, the connecting arm portion 40, and the gripping arm portion 50 swing in the Y direction (for example, the vertical direction).

  Further, as shown in FIG. 1, the third base portion 13 is provided with a switch 15 for switching between locking and free rotation around the rotation shaft 23. In this embodiment, the switch 15 will be described as applied to an example in which the lock and the free are switched by pressing a button. When the lock is selected by the switch 15, the third base 13 is prohibited from rotating around the rotation shaft 23, and the relative posture (angle of the rotation shaft 23) between the third base 13 and the second base 12 is fixed. . When free is selected by the switch 15, the third base 13 can freely rotate about the rotation shaft 23, and the relative posture (angle of the rotation shaft 23) between the third base 13 and the second base 12 can be freely changed. It becomes possible.

  When the angle of the rotary shaft 23 is changed, the button of the switch 15 is pressed while supporting the third base portion 13 by hand to switch from the locked state to the free state. Then, the third base portion 13 is rotated around the rotation shaft 23, and the relative posture of the third base portion 13 with respect to the second base portion 12 is changed to a desired posture (the angle of the rotation shaft 23 is changed). While maintaining the angle of the rotating shaft 23 after the change, the button of the switch 15 is pressed again to switch from free to locked. Thereby, the angle of the rotating shaft 23 is fixed to the angle after a change.

  As shown in FIGS. 2 and 3, the holding arm portion 30 is a member disposed between the third base portion 13 of the arm base portion 10 and the connecting arm portion 40. More specifically, it is attached to the third base 13 so as to be rotatable around a rotation axis (first rotation axis) RB. The holding arm portion 30 is mainly provided with a proximal end region portion (one end portion) 31 on the third base portion 13 side and a distal end region portion (the other end portion) 32 on the connection arm portion 40 side. .

  The proximal end region portion 31 is a member formed in a column shape extending along the rotation axis RB, and is configured to be able to rotate in accordance with a force applied from the outside around the rotation axis RB at a position adjacent to the third base portion 13. It is what has. In other words, the rotation of the proximal end region 31 around the rotation axis RB is not controlled.

  As a force applied from the outside, a rigid endoscope whose movement is restricted by a force applied by a drive unit that controls rotation around the rotary shaft 21 and the rotary shaft 22 or a trocar (not shown) used in laparoscopic surgery. The resistance force (reaction force) applied from 60 can be exemplified. In addition, as a configuration capable of rotating around the rotation axis RB, a known configuration capable of supporting rotation can be used, and a specific configuration is not limited.

  The configuration that allows rotation about the rotation axis RB may be provided in the base end region 31 as described above, may be provided in the third base 13, or may be provided in the base end region 31. And it may be provided in both the 3rd base 13, and an arrangement position is not limited.

  The distal end region portion 32 is a member that is curved and extends from the end portion of the proximal end region portion 31, in other words, a member that extends in a direction intersecting the rotation axis RB. The direction in which the distal end region portion 32 is curved is a direction that approaches the rigid endoscope 60 as it moves away from the proximal end region portion 31, in other words, a direction that moves away in the negative direction in the Y direction as it proceeds in the negative direction in the Z direction. It is.

  The distal end region portion 32 may have a curved and extending shape, or may have a curved and extending shape by bending a straight line, and the specific shape is limited. is not.

  The distal end region portion 32 is also a member formed in a U shape that holds the connecting arm portion 40 therebetween and holds the connection arm portion 40 so as to be able to rotate freely according to a force applied from the outside around the rotation axis (second rotation axis) RA. . An internal space IS is formed in a region surrounded by the distal end region portion 32 </ b> A that is one side of the connection arm portion 40, the distal end region portion 32 </ b> B that is the other side, and the proximal end region portion 31. Further, an adjacent space AS is provided in a space in the bending direction (negative side in the Y direction) of the tip region 32 that matches the space adjacent to the internal space IS.

  In the present embodiment, when one and the other formed in a U shape are distinguished from each other, they are represented as a tip region 32A and a tip region 32B, and when there is no need to distinguish between them, the tip region 32. Is written.

  The tip region 32A is a plate located on the right side (positive side in the X direction) when the tip region 32 is viewed from the base region 31 when the holding arm 30 is viewed from above (see FIG. 3). It is formed.

  As shown in FIG. 4, one shaft portion 33 </ b> A that rotatably supports the connection arm portion 40 at a position corresponding to the rotation axis RA on the surface of the tip region 32 </ b> A that faces the connection arm portion 40. Is provided. That is, the one shaft portion 33A is a part of the member that constitutes the rotation axis RA. One shaft portion 33 </ b> A is rotatably fitted with a frame 41 of a connecting arm portion 40 described later, and a space is formed inside the frame 41.

  Furthermore, an encoder 36 that detects the rotational phase of the connecting arm portion 40 is disposed inside the distal end region portion 32A. The encoder 36 is disposed at the tip of the tip region 32A and in the vicinity of one shaft portion 33A. Since the encoder 36 is built in, the distal end region portion 32A is formed thicker than the distal end region portion 32B.

  The tip region 32B is a plate located on the left side (the negative side in the X direction) when the tip region 32 is viewed from the base region 31 when the holding arm 30 is viewed from above (see FIG. 3). It is formed.

  As shown in FIG. 5, the other shaft portion 33 </ b> B that rotatably supports the connection arm portion 40 at a position corresponding to the rotation axis RA on the surface of the tip region 32 </ b> B that faces the connection arm portion 40. Is provided.

  That is, the other shaft portion 33B is a part of a member constituting the rotation axis RA. The other shaft portion 33 </ b> B is rotatably fitted with a frame 41 of a connecting arm portion 40 described later, and a space is formed inside the frame 41.

Here, the rotation axis RA and the rotation axis RB will be further described as follows.
The rotation axis RB is a rotation axis extending in the Z direction when the posture of the arm device 1 is the posture shown in FIG. 1, in other words, from the connecting portion with the holding arm portion 30 in the third base portion 13 to the second base portion 12. It is a rotation axis extended toward the connection part.

  The rotation axis RA is a rotation axis extending in the X direction when the posture of the arm device 1 is the posture shown in FIG. 1. In other words, the rotation shaft RA extends from the distal end region portion 32A sandwiching the connecting arm portion 40 toward the distal end region portion 32B. It is a rotation axis. The rotation axis RA is a position spaced from the rotation axis RB toward the rigid endoscope 60, and is also a rotation axis having a twisted relationship with the rotation axis RB.

  As shown in FIGS. 2 and 6, the connecting arm portion 40 is a member disposed between the holding arm portion 30 and the gripping arm portion 50. The connection arm portion 40 is formed in a column shape extending along the rotation axis (third rotation axis) RC, and is attached to the connection arm portion 40 so as to be rotatable around the rotation axis RA in the middle of the rotation axis RC. Yes.

  As shown in FIGS. 6 and 7, the connecting arm unit 40 includes a frame 41 that is rotatably supported with respect to the connecting arm unit 40, a drive unit 42 attached to the frame 41, a frame 41, and a drive. A cover 44 that covers the periphery of the portion 42 and forms the outer shape of the connecting arm portion 40 and an encoder 45 that detects the rotational phase of the gripping arm portion 50 are mainly provided.

  In the frame 41, the drive unit 42 is disposed at one end in the Y direction, and the gripping arm unit 50 is disposed at the other end. Furthermore, the one shaft portion 33A and the other shaft portion 33B of the connecting arm portion 40 are fitted between the position where the driving portion 42 is disposed and the position where the gripping arm portion 50 is disposed. Inside the frame 41, a transmission shaft 43 and an encoder 45 for transmitting the rotation of the drive unit 42 to the grip arm unit 50 are arranged. The transmission shaft 43 is also a part of a member constituting the rotation axis RC.

  The rotation axis RC is a rotation axis extending in the Y direction when the posture of the arm device 1 is the posture shown in FIG. 1, in other words, a rotation axis extending along the axis along which the rigid endoscope 60 extends.

  As shown in FIG. 2 and FIG. 6, the grip arm part 50 is a member that is rotatable about the rotation axis RC with respect to the connection arm part 40, and between the connection arm part 40 and the rigid endoscope 60. It has the part 51 formed in the substantially L shape arrange | positioned, and the holding part 51 which hold | grips the rigid endoscope 60. As shown in FIG.

  The L-shaped portion 52 formed in a substantially L-shape of the gripping arm portion 50 has a portion extending in a direction orthogonal to the rotation axis RC on the connecting arm portion 40 side, and extends along the rotation axis RC on the gripping portion 51 side. And a portion is provided.

  In the present embodiment, the gripper 51 is described as applied to an example in which the camera unit 64 is sandwiched and gripped in the rigid endoscope 60, but is not limited to the sandwiching and gripping method, and holds the camera unit 64. Other methods may be used.

  In the present embodiment, a material (for example, a resin material) having a specific gravity smaller than that of a material (for example, a metal material) that configures the connection arm unit 40 is used as the material that configures the grip arm unit 50. When the materials constituting the gripping arm unit 50 and the connecting arm unit 40 include a plurality of types, for example, the specific gravity obtained by dividing the weight of the gripping arm unit 50 by the volume is the weight of the connecting arm unit 40 by volume. You may make it become smaller than the specific gravity calculated | required by dividing.

  As shown in FIGS. 1 and 2, the rigid endoscope 60 of the present embodiment includes an insertion portion 61 that is inserted into a patient undergoing laparoscopic surgery, a light guide portion 62, a connection portion 63, and a camera portion 64. The cable portion 65 is mainly composed of the cable portion 65.

  The insertion part 61 is a member formed in a columnar shape extending in the direction of the rotation axis RC, and transmits an image in the patient body to the camera part 64. The rigid endoscope 60 is attached to the grip arm 50 so that the axis of the insertion portion 61 and the rotation axis RC are substantially the same (coaxial). The light guide portion 62 is provided in the insertion portion 61 and guides light used for illumination in the patient's body to the insertion portion 61 from the outside.

  The connection part 63 is used for connection between the insertion part 61 and the camera part 64. The camera unit 64 converts the image guided from the insertion unit 61 into an electrical signal. The cable unit 65 is used when outputting the electrical signal of the image converted by the camera unit 64 to an external device.

Next, the operation of the arm device 1 having the above configuration will be described.
In laparoscopic surgery, the arm device 1 operates so that the rigid endoscope 60 takes a desired posture at a desired position. In the arm base 10, the holding base 30, the connecting arm 40, the gripping arm are obtained by rotating the first base 11, the second base 12, and the third base around the rotary shaft 21, the rotary shaft 22, and the rotary shaft 23. The part 50 and the rigid endoscope 60 are moved to the approximate desired position.

  The holding arm unit 30, the connecting arm unit 40, and the gripping arm unit 50 are rotated or rotated around the rotation axis RA, the rotation axis RB, and the rotation axis RC so that the rigid endoscope 60 takes a desired posture at a desired position. Is called.

  First, when the holding arm portion 30 rotates about the rotation axis RB with respect to the third base portion 13, the connecting arm portion 40, the gripping arm portion 50, and the rigid mirror 60 draw an arc-shaped trajectory in the X direction in FIG. 1. Moving. In other words, for example, the rigid endoscope 60 moves in the vertical direction.

  When the connecting arm portion 40 rotates about the rotation axis RA with respect to the holding arm portion 30, the gripping arm portion 50 and the rigid mirror 60 move while drawing an arc-shaped trajectory in the Z direction in FIG. In other words, for example, the rigid endoscope 60 moves in the left-right direction.

  In particular, when the gripping arm unit 50 and the rigid endoscope 60 move while drawing an arc-shaped trajectory in the positive direction of the Z direction, the connecting arm unit 40 and the gripping arm unit 50 first enter the adjacent space AS. When the movement continues while drawing an arcuate trajectory, the connecting arm portion 40 and the gripping arm portion 50 enter the internal space IS.

  When the tip region 32 is formed without being bent, in other words, when compared to the case where the tip region 32 is formed in a straight line along the rotation axis RB, the adjacent space AS and the internal space IS having the same size can be easily secured. Thus, a larger movement range can be secured. Conversely, in order to ensure the same movement range, it is only necessary to secure a smaller adjacent space AS and internal space IS.

  By providing the holding arm 30 with the rotation axis RA and the rotation axis RB, the tip of the rigid endoscope 60 inserted in the trocar (not shown) can be moved in the front-rear direction and the left-right direction. Therefore, the distal end of the rigid endoscope 60 can be directed in a direction that an operator performing laparoscopic surgery wants to see.

  When the gripping arm unit 50 rotates about the rotation axis RC with respect to the connecting arm unit 40, the rigid mirror 60 rotates about the rotation axis RC together with the gripping arm unit 50. By rotating the rigid endoscope 60 around the rotation axis RC, it becomes possible to change the observation direction (angle) of the surgical site by the rigid endoscope 60.

  According to the arm device 1 configured as described above, since the arrangement of the rotation axis RB and the rotation axis RA has a twisted relationship, the arm base portion 10 and the holding arm portion are compared with the arrangement in which the rotation axis RB and the rotation axis RA intersect. 30, it is easy to suppress interference between the connecting arm part 40 and the grip arm part 50, and it is easy to secure a movable range of the tip of the grip arm part 50. Also, at least one of the holding arm unit 30, the connecting arm unit 40, and the gripping arm unit 50 necessary to ensure the movable range of the tip of the gripping arm unit 50 as compared with the arrangement in which the rotational shaft RB and the rotational shaft RA intersect. One length (size) can be reduced.

  By forming the distal end region portion 32 through which the rotation axis RA of the holding arm portion 30 passes in a direction intersecting the rotation axis RB, it becomes easier to ensure the movable range of the distal end of the insertion portion 61 of the rigid endoscope 60. That is, a region adjacent to the tip region 32 and on the side where the tip region 32 is curved can be secured as the adjacent space AS. The part 50 can rotate around the rotation axis RA.

  By forming the distal end region portion 32 of the holding arm portion 30 in a U shape and holding the connecting arm portion 40 between the distal end region portion 32A and the distal end region portion 32B so as to be rotatable about the rotation axis RA. Further, it becomes easier to secure the movable range of the distal end of the insertion portion 61 of the rigid endoscope 60. In particular, by providing the internal space IS between the connecting arm portion 40 and the bottom side of the U-shaped portion of the holding arm portion 30, the grip arm portion 50 can enter the internal space IS, and the rigid mirror 60. It becomes easier to ensure the movable range of the tip of the insertion portion 61.

  The shaft portion that holds the connection arm portion 40 around the rotation axis RA with respect to the holding arm portion 30 is divided into one shaft portion 33A and the other shaft portion 33B, so that the shaft portion is formed inside the connection arm portion 40. Compared to the case of holding by one shaft portion penetrating, it becomes easier to secure a space that can be used in the connecting arm portion 40, and the connecting arm portion 40 can be easily downsized.

  By providing the drive unit 42, the posture of the rigid endoscope 60 around the rotation axis RC can be controlled to a desired posture. For example, when the rigid endoscope 60 is a camera that captures an image, it becomes easy to control the orientation of the captured image to a desired orientation.

  By disposing the drive unit 42 at a position sandwiching the rotation axis RA between the distal end of the connection arm unit 40, it is easy to reduce the counterweight that balances around the rotation axis RA in the connection arm unit 40. That is, by using the drive unit 42 as a part of the counterweight, it is easy to reduce the counterweight used only for balancing. Moreover, it becomes easy to miniaturize the connection arm part 40 by reducing the space which arrange | positions the weight used only for balancing.

  As described above, the grip arm portion 50 is made of a material having a relatively low specific gravity, and the connecting arm portion 40 is made of a material having a relatively high specific gravity, thereby achieving a balance around the rotation axis RA of the connecting arm portion 40. Therefore, it is easy to reduce the weight used only for the purpose.

  The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the above embodiment, the present invention has been described by applying the present invention to the arm device 1 that supports an endoscope in laparoscopic surgery. However, the present invention is limited to the arm device 1 that supports an endoscope. It can be applied to those supporting other devices.

  DESCRIPTION OF SYMBOLS 1 ... Arm apparatus, 10 ... Arm base, 30 ... Holding | maintenance arm part, 31 ... Base end area | region part (one end part), 32, 32A, 32B ... Tip area | region part (the other end part), 33A ... One axis | shaft Part 33B ... the other shaft part 40 ... the connecting arm part 50 ... the grip arm part 60 ... the rigid endoscope (object), RA ... the rotation axis (second rotation axis), RB ... the rotation axis (first Rotation axis), RC ... rotation axis (third rotation axis)

Claims (7)

An arm base,
One end is disposed adjacent to the arm base, has a portion extending along a first rotation axis passing through the one end, and is around the first rotation axis with respect to the arm base. A holding arm portion rotatably arranged;
A second rotation which is arranged adjacent to the other end of the holding arm, intersects the first rotation axis through the other end and has a torsional relationship separated from the first rotation axis A connecting arm portion having a shape extending crossing an axis, and arranged to be rotatable around the second rotation axis with respect to the holding arm portion;
An end that is disposed adjacent to an end of the connecting arm and extends along a third rotation axis that intersects the second rotation axis and is opposite to an end adjacent to the connection arm. A gripping arm portion that is capable of gripping an object and is arranged to be rotatable about the third rotation axis with respect to the connection arm portion;
An arm device is provided.   The holding arm portion includes a proximal end region portion extending along the first rotation axis on the one end portion side, and a direction intersecting the first rotation axis on the other end portion side. The arm device according to claim 1, further comprising an extended tip region portion.   The other end portion of the holding arm portion is formed in a U shape that holds the connecting arm portion in between so as to be rotatable around the second rotation axis, and on the bottom side of the U shape, The arm device according to claim 1, wherein a space is provided between the connecting arm portion and the arm device.   Between the one of the other end portions of the holding arm portion formed in a U shape and the connecting arm portion, one of the connecting arm portions is supported so as to be rotatable around the second rotation axis. A shaft portion is provided, and the other shaft portion is provided between the other end portion of the other end portion and the connection arm portion so as to support the connection arm portion so as to be rotatable around the second axis. The arm device according to claim 3.   5. The drive unit according to claim 1, wherein a drive unit that rotates the grip arm unit around the third rotation axis based on a control signal input from outside is provided in the connection arm unit. The arm device according to item.   The arm device according to claim 5, wherein the drive unit is disposed at a position where the second rotation axis is sandwiched between the driving arm and the tip of the connecting arm unit.   The arm device according to any one of claims 1 to 6, wherein the material constituting the grip arm portion has a specific gravity smaller than that of the material constituting the connection arm portion.

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