JP6827518B2 - Manipulator arm and patient side system used in surgical system - Google Patents

Description

The present invention relates to manipulator arms and patient-side systems used in surgical systems.

A master-slave type system having a plurality of manipulator arms and performing a surgical operation by moving the plurality of manipulator arms based on an operation of a practitioner is known (see, for example, Patent Documents 1 and 2). In such a system, a surgical instrument is attached to the tip of each manipulator arm, and a translation mechanism for linearly moving the attached surgical instrument is provided.

As a translation mechanism for linearly moving a surgical instrument attached to the tip of a manipulator arm, a manipulator provided so as to expand and contract a base link, an idler link, and a carriage link is known (see Patent Document 3 below). The translation mechanism described in Patent Document 3 has three translation mechanisms by setting the moving direction of the second link with respect to the first link and the moving direction of the third link with respect to the second link in the three links. The link can be expanded and contracted.

Special Table 2017-515524 Special Table 2017-513550 U.S. Pat. No. 8,182,470

However, with conventional translational mechanisms, there is room for improvement in the linear movement speed of surgical instruments.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a manipulator arm for a surgical system capable of rapidly linearly moving a surgical instrument with a simple configuration. To do.

The manipulator arm for a surgical system according to one aspect of the present invention includes an arm body portion having a plurality of link portions and a plurality of joints, and a translation mechanism provided at the tip end portion of the arm body portion. The translation mechanism is a tip-side unit including a proximal end unit connected to the tip of the arm body and an instrument holder with a motor to which the surgical instrument is attached and drives the attached surgical instrument. The connecting unit includes a connecting unit for connecting the base end side unit and the tip end side unit, and an electric wiring circuit for electrically connecting the base end side unit and the tip end side unit. , The first pulley and the second pulley, and the first pulley and the second pulley are hung around, and can reciprocate in the first direction toward the second pulley and the second direction opposite to the first pulley. A belt member is provided, the base end side unit is attached to the first mounting position of the belt member, and the tip end side unit is in a direction opposite to the moving direction of the base end side unit with respect to the connecting unit. It is attached to the second attachment position of the belt member so as to move to.

According to the above configuration, the moving direction of the tip side unit with respect to the connecting unit is opposite to the moving direction of the base end side unit with respect to the connecting unit due to the connecting unit provided with the belt member hung around the first pulley and the second pulley. They are connected so that they are oriented. This makes it possible to quickly move the surgical instrument in a straight line with a simple configuration.

When the distal end unit is located closest to one of the first pulley and the second pulley, the proximal end unit is closest to the other of the first pulley and the second pulley. It may be attached to the belt member so as to be located at the position.

The electrical wiring circuit may include a flexible printed wiring section. Further, the electric wiring circuit extends in the first direction from the first fixed position fixed to the base end side unit, extends in the second direction via the first bending back portion, and extends to the first pulley and the said. A first flexible printed wiring portion fixed to the connecting unit at a second fixed position between the second pulley and a second bending extending in the first direction from a third fixed position fixed to the tip side unit. A second flexible print wiring portion extending in the second direction via a return portion and fixed to the connecting unit at a fourth fixed position between the first pulley and the second pulley, and the first flexible print. A connecting wiring portion that electrically connects the wiring portion and the second flexible printed wiring portion may be provided. As a result, when the base end side unit and the tip end side unit move relative to each other via the connecting unit, the first bending back portion in the first flexible printed wiring portion and the second bending back portion in the second flexible printed wiring portion become second. Move in one or second direction. Therefore, the volume in the connecting unit required for electrical wiring can be minimized without hindering the translational operation of the tip-side unit with respect to the base-end-side unit. As a result, it is possible to suppress the increase in size while arranging the electrical wiring inside the translation mechanism.

The positions of the first bending back portion and the second bending back portion are configured to change according to a change in the positional relationship between the tip end side unit and the base end side unit by the belt member. May be good.

The first flexible printed wiring board, the second flexible printed wiring board, and the connecting wiring board may be configured by bending one flexible printed wiring board. According to this, since the electrical wiring inside the translation mechanism is configured by one flexible printed wiring board, the volume required for the electrical wiring can be made smaller with a simple configuration.

The first length from the first fixed position of the first flexible printed wiring portion to the first bent-back portion extends from the fourth fixed position of the second flexible printed wiring portion to the second bent-back portion. It may be configured to be equal to the second length. Further, when the positional relationship between the first mounting position and the second mounting position is changed by the belt member, the first length of the first flexible printed wiring section and the first of the second flexible printed wiring section. The two lengths may be changed while maintaining the same relationship with each other.

According to this, the design of the first flexible printed wiring portion and the design of the second flexible printed wiring portion can be made the same design. Further, since the operation of the first flexible printed wiring unit and the operation of the second flexible printed wiring unit are the same, the lifespan of both is substantially the same, and the maintenance and management of the electrical wiring becomes easy.

The connecting unit includes a first wall portion to which the base end side unit is slidably attached, a second wall portion to which the tip end side unit is slidably attached, the first wall portion, and the belt member. Between the first gap in which the first flexible printed wiring portion is accommodated, and between the second wall portion and the belt member, a second gap in which the second flexible printed wiring portion is accommodated. The first gap is partitioned by an inner wall of the first wall portion and a first guide member arranged so as to face the inner wall of the first wall portion, and the second gap is the said. It is partitioned by an inner wall of the second wall portion and a second guide member arranged so as to face the inner wall of the second wall portion, and the first guide member is attached to the belt member at the first attachment position. The second guide member may be attached to the belt member at the second attachment position.

According to this, the first flexible printed wiring portion is arranged in the first gap defined by the inner wall of the first wall portion and the first guide member, and the operation of the first flexible printed wiring portion by the first guide member. Is guided. Further, the second flexible printed wiring portion is arranged in the second gap defined by the inner wall of the second wall portion and the second guide member, and the operation of the second flexible printed wiring portion is guided by the second guide member. To. As a result, it is possible to ensure smooth operation of each flexible printed wiring unit while reducing the volume of the wiring space in each flexible printed wiring unit. Further, since the first guide member is attached to the first attachment position, it moves with the movement of the proximal end side unit. Since the second guide member is attached to the second attachment position, it moves with the movement of the tip side unit. Therefore, it is possible to prevent each flexible printed wiring portion from being worn by rubbing against the guide member while appropriately guiding each flexible printed wiring portion by these guide members.

The second fixed position may be a position opposite to the fourth fixed position with respect to the plane including the rotation axes of the first pulley and the second pulley.

The arm main body portion includes a first arm link portion constituting the tip portion, and the base end side unit may be connected to the first arm link portion via a first bending joint. Good. The arm body portion further includes a second arm link portion, and the second arm link portion may be connected to the first arm link portion via a second bending joint. The arm body portion further includes a third arm link portion, and the third arm link portion may be connected to the second arm link portion via a twist joint.

The connecting unit may include a motor for driving one of the first pulley and the second pulley.

The patient-side system according to another aspect of the present invention is a patient-side system used in a surgical system, and includes a manipulator arm having the above configuration, an arm base that holds a base end portion of the manipulator arm, and a multi-axis system. It includes a robot arm, and includes a positioner for moving the arm base and a carriage for holding the positioner.

The above objectives, other objectives, features, and advantages of the present invention will be apparent from the detailed description of the preferred embodiments below, with reference to the accompanying drawings.

The present invention has the effect that the linear movement of the surgical instrument can be performed quickly with a simple configuration.

FIG. 1 is a schematic diagram showing an overall configuration of a surgical system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the overall configuration of the manipulator arm in the surgical system shown in FIG. FIG. 3 is a side view schematically illustrating the fourth link shown in FIG. FIG. 4 is a block diagram showing a schematic configuration of a control system of a manipulator arm of the surgical system shown in FIG. FIG. 5 is a schematic view showing the internal structure of the connecting unit of the translation mechanism according to the present embodiment. FIG. 6 is a schematic view showing the internal structure of the connecting unit of the translation mechanism according to the present embodiment. FIG. 7 is a perspective view showing the electrical wiring circuit in the extended state shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the present embodiment. Further, in the following, the same or corresponding elements will be designated by the same reference numerals throughout all the figures, and duplicate description thereof will be omitted.

FIG. 1 is a schematic diagram showing an overall configuration of a surgical system to which a translational mechanism according to an embodiment of the present invention is applied. The surgical operation system 100 is a system in which a practitioner such as a doctor performs endoscopic surgery on a patient P using a patient-side system 1, such as robot-assisted surgery or robot remote surgery. Note that FIG. 1 shows the ratio of the sizes of the positioner 7 and the plurality of manipulator arms 3 to a ratio different from the actual size.

The surgical system 100 includes a patient-side system 1 and an operating device 2 (see FIG. 4 described later) for operating the patient-side system 1. The operation device 2 is arranged away from the patient side system 1, and the patient side system 1 is remotely controlled by the operation device 2 at the time of treatment. The practitioner inputs an operation to be performed by the patient side system 1 to the operation device 2, and the operation device 2 transmits the operation command to the patient side system 1. Then, the patient-side system 1 receives an operation command transmitted from the operation device 2, and operates the surgical instrument 40 or the like having a long-axis shaft provided in the patient-side system 1 based on the operation command.

The operating device 2 is a device for operating the patient-side system 1 by forming an interface between the surgical system 100 and the practitioner. The operating device 2 is installed in the operating room beside the operating table 111, away from the operating table 111, or outside the operating room. Although not shown, the operation device 2 includes an operation input unit such as an operation manipulator arm and an operation pedal for the practitioner to input an operation command, and an endoscope assembly (not shown) attached to the patient side system 1 as a surgical instrument 40. Includes a monitor that displays images taken in (not shown). The practitioner operates the operation input unit and inputs an operation command to the operation device 2 while visually recognizing the affected part (treatment site 110) on the monitor. The operation command input to the operation device 2 is transmitted to the control unit 600 described later of the patient side system 1 by wire or wirelessly.

The patient-side system 1 constitutes an interface between the surgical system 100 and the patient P. The patient-side system 1 is arranged in the operating room beside the operating table 111 on which the patient P lies. The operating room is a sterilized field.

The patient-side system 1 includes a positioner 7, an arm base (platform) 5 attached to the tip of the positioner 7, and a plurality of patient-side manipulator arms detachably attached to the arm base 5 (hereinafter, simply "arm 3"). ") And. The positioner 7 extends from a predetermined base and connects the predetermined base and the arm base 5. In the present embodiment, the positioner 7 is configured as a multi-axis robot, and the position of the arm base 5 can be three-dimensionally moved with respect to the movable carriage 70 which is a predetermined base. The arm 3 and arm base 5 are covered with a sterile drape (not shown), which shields the arm 3 and arm base 5 from the sterile field in the operating room.

The tips of the plurality of arms 3 are each configured as an instrument holding portion 36 capable of holding and driving the surgical instrument 40. An endoscope assembly (not shown) is held at the tip of one of the plurality of arms 3. The instrument 42 is detachably held at the tip of the remaining arm of the plurality of arms 3. Hereinafter, the arm 3 to which the endoscope assembly is attached may be referred to as a “camera arm”, and the arm 3 to which the instrument 42 is attached may be referred to as an “instrument arm”. The patient-side system 1 in the present embodiment includes a total of four arms 3 including one camera arm and three instrument arms.

In the patient-side system 1 described above, the arm base 5 has a function as a "hub" that serves as a base for a plurality of arms 3. In the present embodiment, the positioner 7 and the arm base 5 constitute a manipulator arm support 10 that movably supports a plurality of arms 3. However, the positioner 7 does not have to be a multi-axis robot. For example, the positioner 7 may be a linear rail for supporting the arm base 5, an elevating device, or a bracket mounted on the ceiling or wall. The predetermined base to which the positioner 7 is connected is not limited to a movable configuration such as the carriage 70. For example, the predetermined base may be the wall, floor of the operating room or a fixture fixed thereto.

In the patient-side system 1 described above, elements are connected in a series from the positioner 7 to the endoscopic assembly or each instrument 42. In the present specification, in the above series of elements, the end portion on the side toward the positioner 7 (more specifically, the base 90 which is the connection portion of the positioner 7 with the carriage 70) is referred to as a "base end portion", and vice versa. The end on the side is referred to as the "tip".

Hereinafter, the carriage 70, the positioner 7, the arm base 5, and the plurality of manipulator arms 3 will be described in detail.

As shown in FIG. 1, the bogie 70 includes a bogie main body 71, front wheels 72, rear wheels 73, and a handle 74. The front wheels 72 and the rear wheels 73 are rotatably attached to the bogie body 71, whereby the bogie body 71 is configured to be movable. The rear wheel 73 is configured to be rotatable around the rotation axis of the handle 74, and the practitioner or the treatment assistant O grasps the handle 74 and rotates it around the rotation axis to rotate the carriage body 71. It is possible to change the direction of travel.

The operation of the patient-side system 1 is controlled by the control unit 600. The control unit 600 is composed of a computer such as a microcontroller. Inside the dolly body 71, a control unit 600, a control program used for operation control, and a storage unit 602 for storing various data are stored. Further, the carriage body 71 is mainly provided with an operation unit 604 for setting and inputting the positions and postures (preparatory postures described later) of the positioner 7, the arm base 5, and the plurality of arms 3 before the treatment. The 604 is composed of, for example, a touch panel or the like.

The positioner 7 includes a base 90 attached to the bogie main body 71, and a plurality of positioner link portions sequentially connected from the base 90 toward the tip portion. The positioner 7 constitutes a plurality of joint portions by sequentially connecting one positioner link portion so as to rotate with respect to the other one positioner link portion. The plurality of positioner link portions include the first link 91 to the sixth link 96. The plurality of joints include the first joint J71 to the seventh joint J77. The plurality of joints in the present embodiment are composed of rotary joints provided with a rotation axis, but at least some of the joints may be composed of linear motion joints.

More specifically, the base end portion of the first link 91 is connected to the tip end portion of the base 90 via the first joint J71 which is a torsion (roll) joint. The base end portion of the second link 92 is connected to the tip end portion of the first link 91 via a second joint J72 which is a bending (pitch) joint. The base end portion of the third link 93 is connected to the tip end portion of the second link 92 via a third joint J73 which is a bending joint. The base end of the fourth link 94 is connected to the tip of the third link 93 via a fourth joint J74, which is a twisting joint. The base end portion of the fifth link 95 is connected to the tip end portion of the fourth link 94 via a fifth joint J75 which is a bending joint. The base end portion of the sixth link 96 is connected to the tip end portion of the fifth link 95 via a sixth joint J76 which is a twist joint. A positioner attachment portion 51 of the arm base 5 is connected to the tip end portion of the sixth link 96 via a seventh joint J77 which is a torsion joint. As a result, the positioner 7 is configured as a multi-axis joint (7-axis joint) arm having a plurality of degrees of freedom (7 degrees of freedom).

As described above, the sixth link 96, which is a positioner link portion attached to the positioner attachment portion 51 of the arm base 5, has a sixth joint J76 which is a joint portion on the proximal end side and a seventh joint J77 which is a joint portion on the distal end side. Both are configured as twisted joints. Further, in the present embodiment, the rotation axis of the sixth joint J76 is inclined relative to the rotation axis of the seventh joint J77. More specifically, the rotation axis of the 6th joint J76 is inclined with respect to the longitudinal direction of the 6th link 96, and the rotation axis of the 7th joint J77 is orthogonal to the longitudinal direction of the 6th link 96. There is. The rotation axis of the 6th joint J76 and the rotation axis of the 7th joint J77 intersect at their respective extension lines. That is, the rotating surface of the 6th joint J76 is inclined with respect to the rotating surface of the 7th joint J77.

The arm base 5 is attached to the arm base main body 50, the upper portion (base end side) of the arm base main body 50, and the positioner attachment portion 51 to which the tip end portion of the positioner 7 is attached, and the lower portion (tip end side) of the arm base main body 50. It is provided with at least one arm attachment portion 52, which is attached to and to which base end portions of a plurality of arms 3 are attached. The arm base 5 is configured to be rotatable relative to the tip of the positioner 7 (sixth link 96) around the arm base rotation axis V77, which is the rotation axis of the seventh joint J77. In the present embodiment, a plurality of (four) arm mounting portions 52 are provided according to the plurality (four) arms 3. By fixing the bases 80 of the plurality of arms 3 to the plurality of arm mounting portions 52, the base end portions of the plurality of arms 3 (the first link 81 described later) are the rotation axes of the first joint J31 described later. It is configured to be relatively rotatable around the arm base end rotation axis V31.

FIG. 2 is a schematic diagram showing the overall configuration of the manipulator arm in the surgical system shown in FIG. FIG. 2 shows a schematic configuration of one arm 3 to which the instrument 42 of the plurality of arms 3 included in the patient-side system 1 is attached. In the present embodiment, the plurality of arms 3 included in the patient-side system 1 all have the same or similar configurations, but at least one of the plurality of arms 3 has a configuration different from that of the other arms (for example, different). It may have a degree of freedom, etc.). As shown in FIG. 2, the arm 3 includes an arm main body 30 and a translation mechanism 35 connected to the tip of the arm main body 30. The plurality of arms 3 are configured so that their respective tip portions can move three-dimensionally with respect to the base end portion. At the tip of the arm 3, an instrument holding portion 36 capable of holding the surgical instrument 40 (instrument 42 or endoscopic assembly) is provided. The instrument holding unit 36 is provided with four rotational drive units that engage with four rotating bodies provided in the drive unit 45 of the surgical instrument 40, and each rotational drive unit incorporates a motor M39. In the present embodiment, the instrument holding portion 36 is provided in the translation mechanism 35.

The instrument 42 has a drive unit 45 provided at the base end portion, an end effector (treatment tool) 44 provided at the tip end portion, and an elongated shaft 43 connecting the drive unit 45 and the end effector 44. Have. A major axis direction Dt is defined for the instrument 42, and the drive unit 45, the shaft 43, and the end effector 44 are arranged along the major axis direction Dt. The drive unit 45 has four rotating bodies that engage with the four rotating driving parts of the instrument holding portion 36, and transmits the rotation of each rotating body to the end effector 44 via an elongated element such as a cable or a rod. It is configured as follows. The end effector 44 of the instrument 42 is a surgical instrument with working joints (eg, forceps, scissors, graspers, needle holders, microdissectors, staple appliers, tackers, suction cleaning tools, snare wires, and clippers. Pliers, etc.) and surgical instruments without joints (eg, cutting blades, cautery probes, washer, catheters, suction orifices, etc.) are selected from the group. "Surgical instruments" as used herein and in the claims include both cameras and lights and instruments that make up the endoscopic assembly.

When the arm 3 is an instrument arm, the instrument 42 is detachably held by the instrument holding portion 36. The shaft 43 of the instrument 42 held by the instrument holding portion 36 extends along the major axis direction Dt. When the arm 3 is a camera arm, the endoscope assembly is detachably held by the instrument holding portion 36. Here, the instrument holding portion 36 provided on the camera arm has the same shape and structure as the instrument holding portion 36 provided on the instrument arm, but may have a different shape or structure.

The arm 3 is configured to be removable from the arm base 5. The arm 3 is water resistant, heat resistant, and chemical resistant for cleaning and sterilization. There are various methods for sterilizing the arm 3, and for example, a high-pressure steam sterilization method, an EOG sterilization method, a chemical sterilization method using a disinfectant, and the like can be selectively used.

The arm main body portion 30 includes a base 80 that is detachably attached to the arm base 5, and a plurality of arm link portions that are sequentially connected from the base 80 toward the tip portion. The arm 3 constitutes a plurality of joint portions by sequentially connecting one arm link portion so as to rotate with respect to the other one arm link portion. The plurality of arm link portions include the first link 81 to the seventh link 87. The plurality of joints include the first joint J31 to the seventh joint J37. The plurality of joints in the present embodiment are composed of rotary joints provided with a rotation axis, but at least some of the joints may be composed of linear motion joints.

More specifically, the base end portion of the first link 81 is connected to the tip end portion of the base 80 via the first joint J31 which is a torsion (roll) joint. The base end portion of the second link 82 is connected to the tip end portion of the first link 81 via a second joint J32 which is a bending (pitch) joint. The base end portion of the third link 83 is connected to the tip end portion of the second link 82 via a third joint J33 which is a twist joint. The base end portion of the fourth link 84 is connected to the tip end portion of the third link 83 via the fourth joint J34 which is a bending joint. The base end portion of the fifth link 85 is connected to the tip end portion of the fourth link 84 via a fifth joint J35 which is a torsion joint. The base end portion of the sixth link 86 is connected to the tip end portion of the fifth link 85 via a sixth joint J36 which is a bending joint. The base end portion of the translation mechanism 35 is connected to the tip end portion of the sixth link 86 via a seventh joint J37 which is a bending joint. As a result, the arm 3 is configured as a multi-axis joint (7-axis joint) arm having a plurality of degrees of freedom (7 degrees of freedom). Therefore, the arm 3 can change the overall posture of the arm 3 without changing the position and posture of the tip end portion of the arm 3.

In the present embodiment, the first link 81 has a bent shape between adjacent joints J31 and J32. In other words, the first link 81 is configured so that the rotation axis of the first joint J31 and the rotation axis of the second joint J32 do not intersect. That is, the first link 81 has a first portion 81a extending in a predetermined first direction (direction of rotation axis of the first joint J31) from the first joint J31 on the proximal end side, and a first portion from the tip portion of the first portion 81a. It has a second portion 81b that extends in a second direction (and is orthogonal to the second joint J32) that intersects the extending direction of the portion 81a and is connected to the second joint J32 on the distal end side. The angle formed by the first direction and the second direction in the first link 81 is, for example, 120 degrees or more and 160 degrees or less (for example, 140 degrees). The first portion 81a and the second portion 81b are smoothly connected. As a result, even if a part of the arm link portions has a bent shape, it is possible to easily pass a wire (not shown) such as an electric wiring through the plurality of arm link portions.

Further, the fourth link 84 has a bent shape between the adjacent joints J34 and J35. In other words, the fourth link 84 is configured so that the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35 do not intersect. That is, the fourth link 84 is a first portion extending from the fourth joint J34 on the proximal end side in a predetermined first direction (direction orthogonal to both the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35). A second joint extending from the tip of the first portion 84a to the fifth joint J35 on the distal end side extending in the second direction (direction of the rotation axis of the fifth joint J35) intersecting the extending direction of the first portion 84a. It has two portions 84b. The angle formed by the first direction and the second direction in the fourth link 84 is, for example, 70 degrees or more and 110 degrees or less (for example, 90 degrees). The first portion 84a and the second portion 84b are smoothly connected.

In particular, the fourth link 84 is configured so that the link length is shorter than that of other joints. FIG. 3 is a side view schematically illustrating the fourth link 84 shown in FIG. As shown in FIG. 3, for example, in the fourth link 84, the length L1 in the first direction between the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35 is the radius R4 of the fourth joint J34. Alternatively, it is configured to be 4 times or less, more preferably 3 times or less, the radius R5 of the fifth joint J35. The radius R4 of the fourth joint J34 is defined as the distance between the rotation axis of the fourth joint J34 and the position of the proximal end portion of the fourth link 84 in the first direction. Further, the radius R5 of the fifth joint J35 is defined as a distance between the rotation axis of the fifth joint J35 and the tip position of the fourth link 84 in the first direction. Further, the fourth link 84 is configured such that the length L1 is twice or less the sum of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35. More preferably, the length L1 is the sum of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35, whichever is shorter of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35. The length is shorter than the length including the radius R5 of.

The other links 82, 83, 85, 86 are formed linearly between adjacent joints. In other words, the other links 82, 83, 85, 86 are configured so that the rotation axes of adjacent joints intersect with each other.

Each arm link portion is configured so that the area of the cross section orthogonal to the longitudinal direction is smaller than that of the arm link portion (or the base 80) connected to the proximal end portion side of the arm link portion. As a result, the arm 3 is configured to become thinner gradually from the base end portion to the tip end portion. Further, in each of the joints J32, J34, J36 which are bending joints, the tips of the arm link portions 81, 83, 85 on the proximal end side are located on one side in the rotation axis direction with reference to the central portion in the rotation axis direction of the joint portion. However, the base ends of the arm link portions 82, 84, 86 on the tip end side of the arm link portions 81, 83, 85 on the other side in the rotation axis direction with reference to the central portion in the rotation axis direction of the joint portion. It is configured to be positioned so as to face the tip. That is, these joints J32, J34, and J36 are composed of notched joints.

Then, the width in the rotation axis direction of the joint portion, that is, the outer end portion in the rotation axis direction of the tip portions of the arm link portions 81, 83, 85 on the base end portion side, and the arm link portion 82 on the tip end portion side, The distance between the base ends of 84 and 86 and the outer ends in the rotation axis direction is in the longitudinal direction of the portion located on the base end side from the tip ends of the arm link portions 81, 83, 85 on the base end side. It is shorter than the diameter (maximum dimension) of the orthogonal cross section.

In this way, each joint portion and the arm link portion on the tip end side thereof are configured to be narrower than the arm link portion on the proximal end side, so that the width becomes narrower as it approaches the treatment site 110 of the patient P. In the workspace, the range of movement of each arm 3 (the range that does not interfere with other arms 3) can be increased.

The outer shell of the arm body 30 is mainly made of a member having heat resistance and chemical resistance such as stainless steel. Further, openings such as inspection holes of the arm main body 30 are covered with a resin cover. By forming the cover with a member such as resin, it is possible to reduce the weight of the portion that does not contribute to the strength of the arm 3. As a result, even if the cover should fall or the arm 3 hits another arm 3 or the treatment assistant O or the like, the impact can be reduced. The outer shell of the arm body 30 may include a portion made of a resin member. Further, a seal (not shown) for providing water resistance is provided at the connecting portion between the links. This seal has heat resistance corresponding to the high-pressure steam sterilization method and chemical resistance to disinfectants. In the connecting portion between the links, the end portion of the other link is inserted inside the end portion of one of the linked links, and the seal is arranged so as to fill the space between the end portions of these links. By doing so, the seal is hidden from the appearance. As a result, the ingress of water, chemicals, and vapors between the seal and the link is suppressed.

The translation mechanism 35 is provided at the tip of the arm body 30. The translation mechanism 35 translates the instrument holding portion 36 attached to the tip of the translation mechanism 35 in the major axis direction Dt, thereby moving the instrument 42 attached to the instrument holding portion 36 in the extending direction of the shaft 43. It is a mechanism that translates to.

The translation mechanism 35 includes a base end side unit 61 connected to the tip end portion of the arm body portion 30 (the tip end portion of the sixth link 86) via a seventh joint J37, which is a bending joint, and a tip end side unit 62. It has a connecting unit 63 for interlocking the base end side unit 61 and the tip end side unit 62, and an interlocking mechanism 60 (see FIG. 6 to be described later) provided in the connecting unit 63. The seventh joint J37 extends in a direction orthogonal to the long axis direction Dt. The connecting unit 63 extends along the major axis direction Dt.

The translation mechanism 35 changes the relative position of the base end side unit 61 and the connecting unit 63 in the long axis direction Dt by the interlocking mechanism 60, and the relative position of the connecting unit 63 and the tip side unit 62 in the long axis direction Dt. By changing, the position of the instrument 42 attached to the instrument holding portion 36 provided in the distal end side unit 62 with respect to the proximal end side unit 61 in the major axis direction can be changed. A more detailed configuration of the translation mechanism 35 will be described later.

FIG. 4 is a block diagram showing a schematic configuration of a control system of a manipulator arm of the surgical system shown in FIG. The arm body 30 having the above configuration detects the rotation angles of the driving servomotors (denoted as SM in FIG. 4) M31 to M37 and the servomotors M31 to M37 corresponding to the joints J31 to J37 of the arm 3. An encoder (denoted as EN in FIG. 4) E31 to E37 and a speed reducer (not shown) for decelerating the output of the servomotors M31 to M37 to increase the torque are provided. Similarly, the positioner 7 includes a servomotor M71 to M77 for driving, an encoder E71 to E77 for detecting the rotation angle of the servomotors M71 to M77, and a servomotor corresponding to the joints J71 to J77 of the positioner 7. A speed reducer (not shown) is provided to reduce the output of M71 to M77 to increase the torque.

In FIG. 4, among the joints J31 to J37 and J71 to J77, the control system of the first joint J31 and the seventh joint J37 of the arm 3 and the first joint J71 and the seventh joint J77 of the positioner 7 is typical. The control systems of the other joints J33 to J36 and J72 to J76 are omitted. Further, the translation mechanism 35 is used to rotate a servomotor M38 for rotating the first pulley 65, which will be described later, for translation operation, and four rotating bodies provided in the drive unit 45 of the surgical instrument 40. A plurality of (for example, four) servomotors M39, encoders E38 and E39 for detecting the rotation angles of the servomotors M38 and M39, and a speed reducer for reducing the output of the servomotors M38 and M39 to increase torque (not shown). ) And are provided.

The encoders E31 to E39 and E71 to E77 are provided as an example of the rotation position detecting means for detecting the rotation position (rotation angle) of the servomotors M31 to M39 and M71 to M77, and the encoders E31 to E39 and E71 to E71 to E71. A rotation position detecting means such as a resolver may be used instead of the E77. Further, each of the above-mentioned elements of the drive system of the arm 3 and the wiring and the control unit for them are made of a high temperature resistant material and have heat resistance for sterilization treatment.

The control unit 600 includes an arm control unit 601 that controls the movement of the plurality of arms 3 based on the operation command, and a positioner control unit 603 that controls the movement of the positioner 7 based on the operation command. Servo control units C31 to C39 are electrically connected to the arm control unit 601, and servomotors M31 to M39 are electrically connected to the arm control unit 601 via an amplifier circuit or the like (not shown). Similarly, the servo control units C71 to C77 are electrically connected to the positioner control unit 603, and the servomotors M31 to M39 are electrically connected to the positioner control unit 603 via an amplifier circuit or the like (not shown).

In the above configuration, the position / posture command of the tip of the arm 3 is input to the arm control unit 601 based on the operation command input to the operation device 2 at the time of treatment. The arm control unit 601 generates a position command value for each servomotor M31 to M39 based on the position / attitude command, and outputs the position command value to the corresponding servo control units C31 to C39. The servo control units C31 to C39 that have acquired the position command value generate and output a drive command value (torque command value) based on the rotation angle and the position command value detected by the encoders E31 to E39. The amplifier circuit that has acquired the drive command value supplies the drive current corresponding to the drive command value to the servomotors M31 to M39. In this way, the servomotors M31 to M39 are servo-controlled so that the tip of the arm 3 reaches the position and posture corresponding to the position / posture command. Further, the position / posture command of the tip of the positioner 7 is input to the positioner control unit 603 based on the operation command input to the operation unit 604 before the treatment. The positioner control unit 603 controls the position and attitude of the positioner 7 based on the position / attitude command, similarly to the arm control unit 601.

Further, the control unit 600 is provided with a storage unit 602 capable of reading data in the arm control unit 601, and surgical information is stored in advance. This surgical information includes a combination of a plurality of arms 3 used in the surgery.

Further, the storage unit 602 stores information such as the length along the long axis direction Dt of the surgical instrument (endoscope assembly or each instrument) held at the tip end portion of the arm 3. As a result, the arm control unit 601 can grasp the position of the tip of the surgical instrument held by the tip of the arm 3 based on the position / posture command of the tip of the arm 3.

Hereinafter, the translation mechanism 35 in the present embodiment will be described in more detail. 5 and 6 are schematic views showing the internal structure of the connecting unit of the translation mechanism according to the present embodiment. FIG. 5 shows a contracted state, and FIG. 6 shows an extended state.

The connecting unit 63 has a first wall portion 631 to which the base end side unit 61 is slidably attached in the long axis direction Dt and a second wall portion 632 to which the tip end side unit 62 is slidably attached in the long axis direction Dt. And have. The base end side unit 61 and the first wall portion 631 are connected by the first sliding mechanism 141 so as to be relatively movable in the long axis direction Dt. Similarly, the second wall portion 632 and the tip end side unit 62 are connected by the second sliding mechanism 142 so as to be relatively movable in the long axis direction Dt.

The interlocking mechanism 60 is composed of a first pulley 65 which is a drive pulley pivotally supported by the connecting unit 63, a second pulley 66 which is a driven pulley, and an endless belt hung around the first pulley 65 and the second pulley 66. A belt member 67 and a certain belt member 67 are provided. In the present embodiment, the first pulley 65 is located on the proximal end side of the instrument 42 with respect to the major axis direction Dt, and the second pulley 66 is located on the distal end side thereof.

The base end side unit 61 is a predetermined position of the belt member 67 on the first surface SP1 side of the plane SP with reference to the plane SP including the rotation shaft 65s of the first pulley 65 and the rotation shaft 66s of the second pulley 66. 1 Mounted at mounting position 67a. Further, the distal end side unit 62 is attached to the second attachment position 67b of the belt member 67 so as to move in the direction opposite to the moving direction of the proximal end side unit 61 with respect to the connecting unit 63. The second mounting position 67b is located on the second surface SP2 side of the flat surface SP of the belt member 67 opposite to the first surface SP1.

At this time, with respect to the first mounting position 67a and the second mounting position 67b, the second mounting position 67b is so that the first mounting position 67a is located closer to one of the first pulley 65 and the second pulley 66. It is configured to be located closer to the other of the 1 pulley 65 and the 2nd pulley 66. That is, when the distal end side unit 62 is located closest to one of the first pulley 65 and the second pulley 66, the proximal end side unit 61 is placed on the other of the first pulley 65 and the second pulley 66. Located in the closest position. For example, in the contracted state shown in FIG. 5, the first mounting position 67a is located close to the second pulley 66, and the second mounting position 67b is located close to the first pulley 65. In the extended state shown in FIG. 6, the first mounting position 67a is located close to the first pulley 65, and the second mounting position 67b is located close to the second pulley 66.

Assuming that the direction from the first pulley 65 to the second pulley 66 is the first direction, the first mounting position 67a of the belt member 67 moves in the first direction due to the clockwise rotation of the first pulley 65. Close to the 2 pulley 66, the 2nd mounting position 67b moves in the second direction opposite to the 1st direction and is close to the 1st pulley 65 (when moving from the state of FIG. 6 to the state of FIG. 5). As the 1 pulley 65 rotates counterclockwise, the first mounting position 67a of the belt member 67 moves in the second direction and approaches the first pulley 65, and the second mounting position 67b moves in the first direction. Close to the second pulley 66 (when moving from the state of FIG. 5 to the state of FIG. 6). As a result, the base end side unit 61 moves from the position close to the second pulley 66 to the position close to the first pulley 65, so that the tip end side unit 62 moves from the position close to the first pulley 65 to the second pulley 66. Move to a position close to.

That is, the proximal end side unit 61 or the distal end side unit 62 moves the distance between the first pulley 65 and the second pulley 66 with respect to the connecting unit 63, so that the distal end side unit 62 with respect to the proximal end side unit 61 The position will move about twice the distance between the first pulley 65 and the second pulley 66. As described above, the interlocking mechanism 60 in the present embodiment is a double speed mechanism in which the relative position change of the tip side unit 62 with respect to the base end side unit 61 due to the relative position change of the connection unit 63 with respect to the base end side unit 61 is doubled. It is composed.

According to the above configuration, the connecting unit 63 including the belt member 67 hung around the first pulley 65 and the second pulley 66 connects the base end side unit 61 in the moving direction of the tip side unit 62 with respect to the connecting unit 63. They are connected so as to be in the direction opposite to the moving direction with respect to the unit 63. This makes it possible to quickly move the surgical instrument 40 in a straight line with a simple configuration.

The translational mechanism 35 in the present embodiment is further provided in the connecting unit 63, and includes an electric wiring circuit 121 that enables electrical connection between the proximal end side unit 61 and the distal end side unit 62.

The electric wiring circuit 121 includes a first flexible printed wiring unit 122, a second flexible printed wiring unit 123, and a connecting wiring unit 124. The seventh joint J37 between the sixth link 86 and the base end side unit 61 of the translation mechanism 35 is provided with a through hole 61a in the center for passing a cable wiring (not shown). The electrical wiring (cable wiring or the like) wired in the arm 3 is introduced into the base end side unit 61 through the through hole 61a. The base end portion of the first flexible printed wiring portion 122 is connected to the cable wiring introduced into the base end side unit 61 through the through hole 61a. As a result, electric power and control signals from the electrical wiring wired through the carriage 70, the positioner 7, the arm base 5, and the arm 3 are supplied to the electrical wiring circuit 121 of the translation mechanism 35.

The distal unit 62 includes a motor for driving the surgical instrument 40. More specifically, the tip side unit 62 incorporates four servomotors M39 for rotating the four rotating bodies provided in the drive unit 45 of the surgical instrument 40 described above. As a result, it is not necessary to drive the shaft of the tip side unit 62 for driving the surgical instrument 40 with a cable or the like, and the structure of the translation mechanism 35 can be simplified.

The second flexible printed wiring unit 123 is electrically connected to the tip side unit 62 in order to drive each of the servomotors M39 described above. As a result, the electric power and the control signal from the electric wiring wired through the arm 3 and the like are supplied to the tip side unit 62 via the electric wiring circuit 121 of the translation mechanism 35.

The first flexible printed wiring portion 122 is fixed to the base end side unit 61 at the first attachment position 67a of the base end side unit 61 and the first fixed position 122a which is the same position in the moving direction of the belt member 67. Assuming that the direction from the first pulley 65 to the second pulley 66 is the first direction, the first flexible printed wiring portion 122 extends in the first direction from the first fixed position 122a and has an arc shape while maintaining a restoring force on the way. (1st bending back portion C1), inverted in the 2nd direction opposite to the 1st direction, and connected to the connecting unit 63 at the 2nd fixed position 122b between the 1st pulley 65 and the 2nd pulley 66. It is fixed.

The second flexible printed wiring portion 123 is fixed to the tip side unit 62 at the second attachment position 67b of the tip side unit 62 and the third fixed position 123a which is the same position in the moving direction of the belt member 67. The second flexible printed wiring portion 123 extends in the first direction from the third fixed position 123a, is bent back in an arc shape while maintaining the restoring force on the way (second bending back portion C2), and is inverted in the second direction. , Is fixed to the connecting unit 63 at the fourth fixed position 123b between the first pulley 65 and the second pulley 66.

More specifically, the first flexible printed wiring portion 122 extends from the first fixed position 122a in a direction close to the second pulley 66, and the first bending back portion C1 is on the second pulley 66 side (instrument 42). It is convex toward the tip side, that is, the side where the translation mechanism 35 extends). Similarly, the second flexible printed wiring portion 123 extends from the third fixed position 123a in a direction close to the second pulley 66, and the second bending back portion C2 is on the second pulley 66 side (the tip side of the instrument 42, That is, it is convex toward the side on which the translation mechanism 35 extends). The second fixed position 122b is a position where the first flexible printed wiring portion 122 is attached to the connecting unit 63 on the first surface SP1 side of the plane SP. Further, the fourth fixed position 123b is a position where the second flexible printed wiring portion 123 is attached to the connecting unit 63 on the second surface SP2 side opposite to the first surface SP1 of the plane SP. That is, the second fixed position 122b is a position opposite to the fourth fixed position 123b with respect to the plane SP.

The connecting wiring unit 124 electrically connects the second fixed position 122b of the first flexible printed wiring unit 122 and the fourth fixed position 123b of the second flexible printed wiring unit 123. The connecting wiring portion 124 is provided between the first pulley 65 and the second pulley 66. In the examples of FIGS. 5 and 6, it is located at the center between the first pulley 65 and the second pulley 66. The motor (servo motor) M38 (see FIG. 4) that drives the first pulley 65 is built in the connecting unit 63. Although not shown, the connecting wiring unit 124 is electrically connected to the servomotor M38 (see FIG. 4), and the servomotor M38 operates using the electric power supplied by the electric wiring circuit 121 as a power source, and is an electric wiring circuit. It is controlled by a control signal transmitted through 121.

The first flexible printed wiring unit 122 and the second flexible printed wiring unit 123 are first attached to the bending back portions C1 and C2 that are bent back with a restoring force in the extending direction (long axis direction Dt) of the belt member 67. It is configured to change according to the positional relationship between the position 67a and the second mounting position 67b. That is, the positions of the first bending back portion C1 and the second bending back portion C2 are configured to change according to the change in the positional relationship between the tip end side unit 62 and the proximal end side unit 61 by the belt member 67. The belt.

In the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123, the bending back portions C1 and C2 that are bent back with a restoring force are both located close to the second pulley 66 and the connecting wiring portion. It changes between the position close to 124 (the second pulley 66 side of the connecting wiring portion 124).

For example, in the contracted state shown in FIG. 5, when the first mounting position 67a is located close to the second pulley 66 and the second mounting position 67b is located close to the first pulley 65, the first bending is performed. The return portion C1 is located close to the second pulley 66, and the second bending return portion C2 is located close to the connecting wiring portion 124. Further, in the extended state shown in FIG. 6, when the first mounting position 67a is located near the first pulley 65 and the second mounting position 67b is located near the second pulley 66, the first bending is performed. The return portion C1 is located close to the connecting wiring portion 124, and the second bent return portion C2 is located close to the second pulley 66.

According to the above configuration, when the proximal end side unit 61 and the distal end side unit 62 move relative to each other via the connecting unit 63, the first flexible printed wiring portion C1 and the second flexible printed wiring portion in the first flexible printed wiring portion 112 The second bending back portion C2 in 123 moves in the first direction or the second direction. Therefore, the volume in the connecting unit 63 required for electrical wiring can be minimized without hindering the translational operation of the tip side unit 62 with respect to the base end side unit 61. As a result, it is possible to suppress the increase in size while arranging the electrical wiring inside the translation mechanism 35.

The connecting unit 63 has a first gap A1 in which the first flexible printed wiring portion 122 is housed between the first wall portion 631 and the belt member 67. Further, the connecting unit 63 has a second gap A2 in which the second flexible printed wiring portion 123 is housed between the second wall portion 632 and the belt member 67.

The first gap A1 is partitioned by an inner wall of the first wall portion 631 and a first guide member 131 arranged so as to face the inner wall of the first wall portion 631. Further, the second gap A2 is partitioned by an inner wall of the second wall portion 632 and a second guide member 132 arranged so as to face the inner wall of the second wall portion 632. The first guide member 131 and the second guide member 132 each extend in the extending direction of the belt member 67. The first gap A1 and the second gap A2 are partitioned by a pair of side walls (not shown) orthogonal to the first wall portion 631 and the second wall portion 632 with respect to the rotation axes 65s and 66s directions of the pulleys 65 and 66. There is.

In the present embodiment, the third guide member 133 extending in the extending direction of the belt member 67 along the inner wall of the first wall portion 631 and the belt member 67 extending along the inner wall of the second wall portion 632 are further extended. It has a fourth guide member 134 extending in the existing direction. The third guide member 133 is fixed to the inner wall of the first wall portion 631. The fourth guide member 134 is fixed to the inner wall of the second wall portion 632. Therefore, the first gap A1 is partitioned by the first guide member 131 and the third guide member 133. The second gap A2 is partitioned by a second guide member 132 and a fourth guide member 134.

With such a configuration, the first flexible printed wiring portion 122 is arranged in the first gap A1 partitioned by the first guide member 131 and the third guide member 133, and the first guide member 131 and the third guide member are arranged. At 133, the operation of the first flexible printed wiring unit 122 is guided. Further, the second flexible printed wiring portion 123 is arranged in the second gap A2 partitioned by the second guide member 132 and the fourth guide member 134, and the second guide member 132 and the fourth guide member 134 are used for the second. The operation of the flexible printed wiring unit 123 is guided. As a result, the smooth operation of the flexible printed wiring units 122 and 123 can be ensured while reducing the volume of the wiring space in the flexible printed wiring units 122 and 123.

The first guide member 131 is attached to the belt member 67 at the first attachment position 67a. Therefore, the first guide member 131 moves in the extending direction of the belt member 67 as the base end side unit 61 moves. Further, the second guide member 132 is attached to the belt member 67 at the second attachment position 67b. Therefore, the second guide member 132 moves in the extending direction of the belt member 67 as the tip end side unit 62 moves.

The portion of the first flexible printed wiring portion 122 between the first fixed position 122a and the first bending back portion C1 is located at a position in contact with or close to the first guide member 131. Therefore, this portion becomes a portion guided by the first guide member 131. As the base end side unit 61 moves from a position close to the second pulley 66 to a position close to the first pulley 65 (changes from FIG. 5 to FIG. 6), the first flexible printed wiring unit 122 becomes the first guide member. The area that can come into contact with 131 increases. However, during such movement, since the first guide member 131 moves together with the proximal end side unit 61, the first flexible printed wiring portion 122 does not rub against the first guide member 131. In other words, the movement of the base end side unit 61 does not cause the first flexible printed wiring portion 122 and the first guide member 131 to be misaligned in the extending direction of the belt member 67.

Similarly, the portion of the second flexible printed wiring portion 123 between the third fixed position 123a and the second bending back portion C2 is located at a position in contact with or close to the second guide member 132. Therefore, this portion becomes a portion guided by the second guide member 132. As the tip-side unit 62 moves from a position close to the second pulley 66 to a position close to the first pulley 65 (changes from FIG. 6 to FIG. 5), the second flexible printed wiring unit 123 becomes the second guide member 132. The area that can be contacted with is increased. However, during such movement, since the second guide member 132 moves together with the tip side unit 62, the second flexible printed wiring portion 123 does not rub against the second guide member 132. In other words, the movement of the tip side unit 62 does not cause the second flexible printed wiring portion 123 and the second guide member 132 to be misaligned in the extending direction of the belt member 67.

Further, the portion of the first flexible printed wiring portion 122 between the first bending back portion C1 and the second fixed position 122b is located at a position in contact with or close to the third guide member 133. Therefore, this portion becomes a portion guided by the third guide member 133. As the base end side unit 61 moves from a position close to the first pulley 65 to a position close to the second pulley 66 (changes from FIG. 6 to FIG. 5), the first flexible printed wiring portion 122 becomes the third guide member. The area that can come into contact with 133 increases. However, in such a movement, the second fixed position 122b fixed to the connecting unit 63 does not move (it moves relative to the connecting unit 63 when viewed from the base end side unit 61), so that the first flexible printed wiring unit 122 Does not rub against the third guide member 133. In other words, the movement of the base end side unit 61 does not cause the first flexible printed wiring portion 122 and the third guide member 133 to be misaligned in the extending direction of the belt member 67.

Similarly, the portion of the second flexible printed wiring portion 123 between the second bending back portion C2 and the fourth fixed position 123b is located at a position in contact with or close to the fourth guide member 134. Therefore, this portion becomes a portion guided by the fourth guide member 134. As the tip-side unit 62 moves from a position close to the first pulley 65 to a position close to the second pulley 66 (changes from FIG. 5 to FIG. 6), the second flexible printed wiring unit 123 becomes the fourth guide member 134. The area that can be contacted with is increased. However, in such a movement, the fourth fixed position 123b fixed to the connecting unit 63 does not move (when viewed from the tip side unit 62, it moves relative to the connecting unit 63), so that the second flexible printed wiring unit 123 moves. It does not rub against the fourth guide member 134. In other words, the movement of the tip side unit 62 does not cause the second flexible printed wiring portion 123 and the fourth guide member 134 to be displaced in the extending direction of the belt member 67.

As described above, these guide members 131 to 134 do not rub against the corresponding flexible printed wiring portions 122 and 123 when the proximal end side unit 61 and the distal end side unit 62 move relative to the connecting unit 63. Therefore, it is possible to prevent the flexible printed wiring portions 122 and 123 from being worn by rubbing against the guide members 131 to 134 while appropriately guiding the flexible printed wiring portions 122 and 123 by these guide members 131 to 134. it can.

The length of the first guide member 131 is the base end portion (1st flexible printed wiring portion 122) of the first flexible printed wiring portion 122 at a position (FIG. 6) where the base end side unit 61 (first mounting position 67a) is closest to the first pulley 65. It is determined based on the distance from the first fixed position 122a) to the apex of the first bending back portion C1. Similarly, the length of the second guide member 132 is the second of the second flexible printed wiring portion 123 at the position where the tip side unit 62 (second mounting position 67b) is closest to the first pulley 65 (FIG. 5). It is determined based on the distance from the apex of the bent-back portion C2 to the tip portion (third fixed position 123a).

Further, the length of the third guide member 133 is the first of the first flexible printed wiring portion 122 at the position where the base end side unit 61 (first mounting position 67a) is closest to the second pulley 66 (FIG. 5). It is determined based on the distance from the apex of the bent-back portion C1 to the tip portion (second fixed position 122b). Similarly, the length of the fourth guide member 134 is the base end of the second flexible printed wiring portion 123 at the position where the tip side unit 62 (second mounting position 67b) is closest to the second pulley 66 (FIG. 6). It is determined based on the distance from the portion (fourth fixed position 123b) to the apex of the second bending back portion C2.

FIG. 7 is a perspective view showing the electrical wiring circuit in the extended state shown in FIG. The configurations other than the electrical wiring circuit 121 (first flexible printed wiring unit 122, second flexible printed wiring unit 123, and connecting wiring unit 124) in the translation mechanism 35 are not shown. The first flexible printed wiring board 122, the second flexible printed wiring board 123, and the connecting wiring board 124 are configured by bending one flexible printed wiring board at a second fixed position 122b and a fourth fixed position 123b. ..

Therefore, the connecting wiring portion 124 extends along the side wall of the connecting unit 63. The electric wiring circuit 121 composed of one flexible printed wiring board is fixed to the connecting unit 63 by locking the connecting wiring portion 124 to the connecting unit 63.

Further, the connection portion 122c of the first flexible printed wiring portion 122 to the proximal end side unit 61 is the first flexible printed wiring portion 122 in the longitudinal direction proximal end portion with respect to the width direction of the first flexible printed wiring portion 122. 1 A portion extending laterally from the fixed position 122a is bent. Similarly, the connection portion 123c of the second flexible printed wiring portion 123 to the tip side unit 62 is the third at the tip portion in the longitudinal direction of the second flexible printed wiring portion 123 with respect to the width direction of the second flexible printed wiring portion 123. A portion extending laterally from the fixed position 123a is bent.

Flexible printed wiring boards are also called FPCs (Flexible Printed Circuits), and are configured by attaching wiring or circuits made of conductive metal such as copper on a thin base film (base film) having insulation properties such as polyimide. .. For this reason, the flexible printed wiring board is thin and has a restoring force that tends to return to a flat surface when the flat flexible printed wiring board is bent back into an arc shape due to the flexibility of the base material. Therefore, the shapes of the first flexible printed wiring section 122 and the second flexible printed wiring section 123 are uniquely determined based on the positional relationship between the fixed positions 122b and 123b and the mounting positions 67a and 67b, respectively.

According to the above configuration, the proximal end side unit 61 and the distal end side unit 62 are electrically connected to the inside of the connecting unit 63 in which the belt member 67 hung around the first pulley 65 and the second pulley 66 is housed. A first flexible printed wiring unit 122, a connecting wiring unit 124, and a second flexible printed wiring unit 123 are arranged as electrical wiring.

The first flexible printed wiring portion 122 arranged between the base end side unit 61 and the connecting unit 63 is bent back in an arc shape in the first bending back portion C1 while maintaining the restoring force. Further, the second flexible printed wiring portion 123 arranged between the tip side unit 62 and the connecting unit 63 is bent back in an arc shape in the second bending back portion C2 while maintaining the restoring force.

As a result, when the connecting unit 63 moves relative to the base end side unit 61 and the tip end side unit 62 moves relative to the connecting unit 63, the first flexible printed wiring section 122 and the second flexible printed wiring section The arcuate positions (bending back portions C1 and C2) in 123 move along the extending direction (longitudinal direction Dt) of the belt member 67. Therefore, the volume in the connecting unit 63 required for electrical wiring can be minimized without interfering with the translational operation by the proximal end unit 61 and the distal end unit 62. As a result, it is possible to suppress the increase in size while arranging the electrical wiring inside the translation mechanism 35.

Further, according to the above configuration, since the electrical wiring inside the translation mechanism 35 is configured by one flexible printed wiring board, the volume required for the electrical wiring can be made smaller with a simple configuration.

In the present embodiment, the first flexible printed wiring section 122 and the second flexible printed wiring section 123 are configured so that the lengths from the base end portion to the tip portion via the bending back portions C1 and C2 are equal to each other. There is. Further, in the first flexible printed wiring section 122 and the second flexible printed wiring section 123, the lengths extending in the extending direction (long axis direction Dt) of the belt member 67 are the first mounting position 67a and the second mounting position 67b. Are equal to each other regardless of their positional relationship.

More specifically, between the apex of the first bending back portion C1 of the first flexible printed wiring portion 122 and the end portion (first fixed position 122a or second fixed position 122b) on the side far from the first bending back portion C1. Distance LP1 and the apex of the second bending back portion C2 of the second flexible printed wiring portion 123 and the end portion (third fixed position 123a or fourth fixed position 123b) on the side far from the second bending back portion C1. The distance LP2 between them is constant and equal to each other regardless of the contracted state shown in FIG. 5, the extended state shown in FIG. 6, and the state in between.

At this time, the first length from the first fixed position 122a of the first flexible printed wiring portion 122 to the first bending back portion C1 is the second bending back portion from the fourth fixed position 123b of the second flexible printed wiring portion 123. Equal to the second length leading to C2. Further, when the positional relationship between the first mounting position 67a and the second mounting position 67b is changed by the belt member 67, the first length and the second length are changed while maintaining the same relationship with each other.

According to this, the design of the first flexible printed wiring unit 122 and the design of the second flexible printed wiring unit 123 can be the same design. Further, since the operation of the first flexible printed wiring unit 122 and the operation of the second flexible printed wiring unit 123 are the same, the lifespan of both is almost the same, and the maintenance of the electrical wiring in the translation mechanism 35 is easy. Become.

From the above, the translation mechanism 35 in the present embodiment can have a suitable configuration as a translation mechanism provided on the arm 3 applied to the surgical system 100.

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed only as an example and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present invention. The details of its structure and / or function can be substantially changed without departing from the spirit of the present invention.

Further, in the above embodiment, in the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123 of the electric wiring circuit 121, the bent back portions C1 and C2 are on the tip side (second pulley) of the instrument 42, respectively. Although it is formed so as to be convex on the 66 side), it may be formed so as to be convex on the base end side (first pulley 65 side) of the instrument 42.

Further, in the above embodiment, an example is shown in which the first flexible printed wiring unit 122, the connecting wiring unit 124, and the second flexible printed wiring unit 123 constituting the electric wiring circuit 121 are composed of one flexible printed wiring board. However, it is not limited to this. For example, the first flexible printed wiring unit 122 and the second flexible printed wiring unit 123 may be configured separately. At this time, the connecting wiring portion 124 may be composed of a flexible printed wiring board or another wiring structure (cable wiring or the like).

Further, in the above embodiment, the configuration in which the guide members 131 to 134 for guiding the flexible printed wiring portions 122 and 123 are provided in the connecting unit 63 has been described, but the present invention is not limited to this. For example, the first guide member 131 and the second guide member 132 may be provided, and the third guide member 133 and the fourth guide member 134 may not be provided. Alternatively, the guide members 131 to 134 may not be provided.

Further, in the above embodiment, the configuration in which the translation mechanism 35 includes one connecting unit 63 has been described, but a plurality of connecting units 63 may be provided. For example, two connecting units may be provided between the base end side unit 61 and the tip end side unit 62. In this case, each of the two connecting units is provided with an interlocking mechanism 60. A base end side unit 61 and a second connecting unit are attached to the belt member 67 of the first connecting unit, and the first connecting unit and the tip side are attached to the belt member 67 of the second connecting unit. The unit 62 and the unit 62 are attached. The configuration of the electrical wiring circuit 121 can be configured in the same manner as the electrical wiring circuit 121 of the coupling unit 63 in the above embodiment for both the first coupling unit and the second coupling unit.

Further, the number (number of degrees of freedom) and shape of the plurality of joints (plurality of links) in the plurality of arms 3 and / or the positioners 7 are not limited to the above embodiments, and various aspects may be adopted.

The present invention is useful for rapid linear movement of surgical instruments with a simple configuration.

1 Patient side system 3 Arm (manipulator arm)
5 Arm base 7 Positioner 30 Arm body 35 Translation mechanism 40 Surgical instrument 42 Instrument (surgical instrument)
60 Interlocking mechanism 61 Base end unit 62 Tip end unit 63 Connecting unit 65 1st pulley 66 2nd pulley 67 Belt member 67a 1st mounting position 67b 2nd mounting position 70 trolley 100 Surgical system 121 Electrical wiring circuit 122 1st flexible Printed wiring part 122a 1st fixed position 122b 2nd fixed position 123 2nd flexible printed wiring part 123a 3rd fixed position 123b 4th fixed position 124 Connecting wiring part 131 1st guide member 132 2nd guide member 631 1st wall part 632 2nd wall part A1 1st gap A2 2nd gap C1 1st bending back part C2 2nd bending back part M38, M39 Motor

Claims (15)

A manipulator arm used in surgical systems
An arm body with multiple links and multiple joints,
A translation mechanism provided at the tip of the arm body is provided.
The translation mechanism
A base end unit connected to the tip of the arm body and
A tip-side unit with an instrument holder that is fitted with a surgical instrument and has a motor that drives the attached surgical instrument.
A connecting unit that connects the base end side unit and the tip end side unit,
An electric wiring circuit for electrically connecting the base end side unit and the tip end side unit is provided.
The connecting unit is
A belt that is hung around the first pulley and the second pulley and the first pulley and the second pulley, and can reciprocate in the first direction from the first pulley to the second pulley and in the second direction opposite to the first direction. With parts,
The base end side unit is attached to the first attachment position of the belt member, and is attached.
The manipulator arm is attached to the second mounting position of the belt member so that the tip end side unit moves in a direction opposite to the moving direction of the base end side unit with respect to the connecting unit. When the distal end unit is located closest to one of the first pulley and the second pulley, the proximal end unit is closest to the other of the first pulley and the second pulley. The manipulator arm according to claim 1, which is attached to the belt member so as to be located at a position. The manipulator arm according to claim 1 or 2, wherein the electrical wiring circuit includes a flexible printed wiring section. The electrical wiring circuit
It extends in the first direction from the first fixed position fixed to the base end side unit, extends in the second direction via the first bending back portion, and extends between the first pulley and the second pulley. 2 The first flexible printed wiring unit fixed to the connecting unit at a fixed position,
A fourth extending from the third fixed position fixed to the tip-side unit in the first direction, extending in the second direction via the second bending back portion, and between the first pulley and the second pulley. A second flexible printed wiring unit fixed to the connecting unit at a fixed position,
The manipulator arm according to any one of claims 1 to 3, further comprising a connecting wiring portion that electrically connects the first flexible printed wiring portion and the second flexible printed wiring portion. The positions of the first bending back portion and the second bending back portion are configured to change according to a change in the positional relationship between the tip end side unit and the base end side unit by the belt member. The manipulator arm according to claim 4. The manipulator arm according to claim 4 or 5, wherein the first flexible printed wiring section, the second flexible printed wiring section, and the connecting wiring section are formed by bending one flexible printed wiring board. The first length from the first fixed position of the first flexible printed wiring portion to the first bent-back portion extends from the fourth fixed position of the second flexible printed wiring portion to the second bent-back portion. The manipulator arm according to any one of claims 4 to 6, which is equal to the second length. When the positional relationship between the first mounting position and the second mounting position is changed by the belt member, the first length and the second length are changed while maintaining the same relationship with each other. Item 7. The manipulator arm according to item 7. The connecting unit is
The first wall portion to which the base end side unit is slidably attached and
The second wall portion to which the tip side unit is slidably attached and
Between the first wall portion and the belt member, a first gap in which the first flexible printed wiring portion is housed and
Between the second wall portion and the belt member, there is a second gap in which the second flexible printed wiring portion is accommodated.
The first gap is partitioned by an inner wall of the first wall portion and a first guide member arranged so as to face the inner wall of the first wall portion.
The second gap is partitioned by an inner wall of the second wall portion and a second guide member arranged so as to face the inner wall of the second wall portion.
The first guide member is attached to the belt member at the first attachment position.
The manipulator arm according to any one of claims 4 to 8, wherein the second guide member is attached to the belt member at the second attachment position. The manipulator according to any one of claims 4 to 9 , wherein the second fixed position is a position opposite to the fourth fixed position with respect to a plane including the rotation axes of the first pulley and the second pulley. arm. The manipulator arm according to any one of claims 1 to 10 , wherein the connecting unit includes a motor for driving one of the first pulley and the second pulley. The arm main body portion includes a first arm link portion constituting the tip portion, and the proximal end side unit is connected to the first arm link via a first bending joint. Item 2. The manipulator arm according to any one of Items 1 to 11. 12. The arm main body further includes a second arm link portion, and the second arm link portion is connected to the first arm link portion via a second bending joint, claim 12. The manipulator arm described. 13. The thirteenth aspect of the present invention, wherein the arm main body further includes a third arm link portion, and the third arm link portion is connected to the second arm link portion via a twist joint. Manipulator arm. A patient-side system used in a surgical system
The manipulator arm according to any one of claims 1 to 14 .
An arm base that holds the base end of the manipulator arm and
A positioner that includes a multi-axis robot arm and moves the arm base,
The dolly that holds the positioner and
A patient-side system.