JP6894954B2 - Medical manipulator and surgical system equipped with it - Google Patents

Description

The present invention relates to a medical manipulator and a surgical system including the medical manipulator.

Conventionally, a master-slave type surgical operation system having a plurality of manipulator arms and moving a plurality of manipulator arms based on an operation of a practitioner to perform a surgical operation is known (for example, Patent Documents 1, 2, and 3). reference). In such a surgical system, the plurality of manipulator arms are arranged close to each other so that a plurality of manipulator arms can cooperate with each other to perform a fine operation on one operation site.

In the surgical system of Patent Documents 1 and 2, the base end portions (support portions) of the plurality of manipulator arms are fixed to the platform. Further, in the surgical operation system of Patent Document 3, two manipulator arms are attached to an arm base, and the arm bases are configured to move on rails.

Special Table 2017-515522 Japanese Patent Application Laid-Open No. 2008-528130 Japanese Unexamined Patent Publication No. 2012-024920

However, in the surgical operation systems of Patent Documents 1 and 2, since the manipulator arm is fixed to the platform, the degree of freedom of the manipulator arm is improved according to the surgical procedure and the degree of urgency when the manipulator arm is operating. It is difficult to make it. In addition, it may not be possible to prevent interference between the manipulator arms. Further, in the surgical operation system of Patent Document 3, although the manipulator arm group can be moved, it is difficult to improve the degree of freedom of the manipulator arm as in Patent Documents 1 and 2, and the manipulator. It may not be possible to prevent the arms from interfering with each other.

Therefore, the present invention provides a medical manipulator capable of improving the degree of freedom when arranging a plurality of multi-degree-of-freedom manipulator arms for a patient and preventing interference between the multi-degree-of-freedom manipulator arms. The purpose is to provide a surgical system in place.

The medical manipulator of the present invention is a medical manipulator used in a surgical system, and is a first multi-degree-of-freedom manipulator arm configured to hold a medical device at the tip and having 6 or more degrees of freedom. A second multi-degree-of-freedom manipulator arm configured to hold the medical device at the tip and having 6 or more degrees of freedom, and a second multi-degree-of-freedom manipulator arm configured to hold the medical device at the tip with 6 or more degrees of freedom. a third multiple-degree-of-freedom manipulator arm having, configured to hold the medical instrument to the distal end portion, and the fourth multi-degree-of-freedom manipulator arm having six or more degrees of freedom, said first to fourth multi The base ends of the degree-of-freedom manipulator arms are held in order, and the base ends of the first and fourth multi-degree-of-freedom manipulator arms are movably held so that the second and third degrees of freedom manipulator arms can be moved. an arm base elongated configured to fix and hold the respective proximal ends of freedom manipulator arm, by moving the proximal end of the first multiple-degree-of-freedom manipulator arm, the arm base A first moving mechanism configured to change the distance from the base end portion of the second multi-degree-of-freedom manipulator arm fixedly held by the fourth multi-degree-of-freedom manipulator arm and the base end portion of the fourth multi-degree-of-freedom manipulator arm. By moving, the arm base is moved with the second moving mechanism configured to change the distance from the base end portion of the third multi-degree-of-freedom manipulator arm fixedly held by the arm base. The first moving mechanism is provided with a positioner configured as described above, and the first moving mechanism is stretched on each of the plurality of first rollers fixedly arranged in the arm base and the plurality of first rollers. The base of the first slide belt, the first drive motor for rotating at least one of the plurality of first rollers, the first slide belt, and the first multi-degree-of-freedom manipulator arm. A first connecting member for connecting the ends is provided, and the second moving mechanism includes a plurality of second rollers fixedly arranged in the arm base, and the plurality of second rollers. A second slide belt stretched on each of the above, a second drive motor for rotating at least one of the plurality of second rollers, the second slide belt, and the fourth. It is provided with a second connecting member for connecting the base end portion of the multi-degree-of-freedom manipulator arm.

According to the present invention, the movement mechanism changes the distance between the base end portion of the first multi-degree-of-freedom manipulator arm and the base end portion of the second multi-degree-of-freedom manipulator arm. As a result, the degree of freedom in arranging the plurality of manipulator arms with respect to the patient can be improved according to the surgical procedure and the degree of urgency, and interference between the multi-degree-of-freedom manipulator arms can be prevented. In particular, even when the manipulator arm is operating during surgery, the degree of freedom of the manipulator arm can be improved, and interference between the multi-degree-of-freedom manipulator arms can be prevented.

In the above invention, the arm base includes a long base main body portion, a first inclined portion connected to the first end portion of the base main body portion so as to be inclined with respect to the base main body portion, and the base main body. The second end portion of the portion is provided with a second inclined portion that is inclinedly connected to the base main body portion, and the first inclined portion holds the base end portion of the first multi-degree-of-freedom manipulator arm. and, the base body portion is fixed and held to each of the base end portion of the second and third multiple-degree-of-freedom manipulator arm, the base end portion of the second inclined portion and the fourth multiple-degree-of-freedom manipulator arm It is preferably configured to hold.

According to the above configuration, the approach of the multi-degree-of-freedom manipulator arm to the patient becomes easy.

In the above invention, the first and second multi-DOF manipulator arms preferably have 6 or more degrees of freedom.

According to the above configuration, it becomes easy to prevent interference between the multi-degree-of-freedom manipulator arms, and it becomes easy to approach the patient.

Surgical system of the present invention is configured to hold the medical instrument tip, the first multiple-degree-of-freedom manipulator arm having six or more degrees of freedom, is configured to hold the medical instrument tip, A second multi-degree manipulator arm with 6 or more degrees of freedom, a third multi-degree manipulator arm configured to hold the medical device at the tip and having 6 or more degrees of freedom, and a medical treatment at the tip is configured to hold an instrument, a fourth multiple-degree-of-freedom and a medical manipulator having a manipulator arm, an instruction device for instructing the operation of the first to fourth multi-degree-of-freedom manipulator arm having six or more degrees of freedom When, and wherein the medical manipulator, the first, holds the respective base end portion of the fourth multiple-degree-of-freedom manipulator arm in order, the first and fourth multiple-degree-of-freedom manipulator arm An elongated arm base configured to movably hold each of the base ends of the second and third multi-degree-of-freedom manipulator arms, and to hold the base ends of the second and third multi-degree-of-freedom manipulator arms in a fixed manner. by moving the base end portion of the multi-degree-of-freedom manipulator arm 1, which is configured to change the distance between the base end portion of the fixed held in the arm base second multiple-degree-of-freedom manipulator arm The distance between the first moving mechanism and the base end portion of the third multi-degree-of-freedom manipulator arm fixedly held by the arm base by moving the base end portion of the fourth multi-degree-of-freedom manipulator arm. The first moving mechanism includes a second moving mechanism configured to change the arm base and a positioner configured to move the arm base and position it in a predetermined position, and the first moving mechanism is inside the arm base. rotating a first roller of the plurality of fixed holding, first the slide belt, which is stretched over each of the plurality of first rollers, at least one of said plurality of first roller a first drive motor which causes a first coupling member for coupling a proximal end of said first slide belt first multiple-degree-of-freedom manipulator arm, wherein the second moving mechanism , A plurality of second rollers fixedly arranged in the arm base, a second slide belt stretched on each of the plurality of second rollers, and at least one of the plurality of second rollers. A second drive motor that rotates one, a second that connects the second slide belt and the base end of the fourth multi-degree-of-freedom manipulator arm. A connecting member, a shall comprise a.

According to the present invention, in the configuration in which the surgical system includes the medical manipulator described above, the base end portion of the first multi-degree-of-freedom manipulator arm and the base end portion of the second multi-degree-of-freedom manipulator arm are provided by a moving mechanism. The interval of is changed. As a result, the degree of freedom in arranging the plurality of manipulator arms with respect to the patient can be improved according to the surgical procedure and the degree of urgency, and interference between the multi-degree-of-freedom manipulator arms can be prevented. In particular, even when the manipulator arms are operating during surgery, interference between the multi-degree-of-freedom manipulator arms can be prevented.

In the above invention, the medical manipulator may comprise an operation input unit for instructing to move the respective proximal ends of the first and fourth multiple-degree-of-freedom manipulator arm relative to the arm base. Further, the operation input unit, at the time of surgery is a preceding stage setup, configure each of the base end portion of the first and fourth multiple-degree-of-freedom manipulator arm to perform the instruction to move relative to the arm base It is preferable that it is done.

According to the above configuration, the operation of positioning the arm base with respect to the patient at the time of setup can be easily performed. In addition, the distance between the arms can be easily changed by the moving mechanism so that the arms do not interfere with each other during setup.

In the above invention, the moving mechanism is the first multi-degree-of-freedom manipulator arm in order to prevent the first multi-degree-of-freedom manipulator arm and the second multi-degree-of-freedom manipulator arm from interfering with each other during surgery. It is preferable that the base end portion of the arm base is moved with respect to the arm base.

According to the above configuration, when the first and second arms are operated by a doctor during surgery, the distance between the arms can be easily changed by the moving mechanism so that the arms do not interfere with each other. it can.

According to the present invention, a medical manipulator capable of improving the degree of freedom in arranging a plurality of multi-degree-of-freedom manipulator arms with respect to a patient and preventing interference between the multi-degree-of-freedom manipulator arms, and a surgical operation including the same. The system can be provided.

It is a perspective view which shows the surgical operation system which concerns on one Embodiment of this invention. It is a figure which shows the structure of the manipulator arm in the surgical operation system of FIG. It is a block diagram which shows the structure of the control system in the surgical operation system of FIG. It is a front view which shows the structure of the arm base of FIG. It is a top view of the arm base of FIG. (A) is a front view showing a modified example of the arm base, and (b) is a front view showing another modified example of the arm base.

Hereinafter, the surgical operation system according to the embodiment of the present invention will be described with reference to the drawings. The surgical system described below is only one embodiment of the present invention. Therefore, the present invention is not limited to the following embodiments, and additions, deletions, and changes can be made without departing from the spirit of the present invention.

As shown in FIG. 1, the surgical operation system 100 is a system in which a practitioner such as a doctor performs endoscopic surgery on a patient using a medical manipulator 1, such as robot-assisted surgery and robot remote surgery. ..

The surgical system 100 includes a medical manipulator 1 which is a patient-side system, and an instruction device 2 for operating a multi-degree-of-freedom manipulator arm (hereinafter, simply referred to as an arm) 3 of the medical manipulator 1. The instruction device 2 is arranged away from the medical manipulator 1, and the arm 3 is remotely controlled by the instruction device 2. The practitioner inputs an operation to be performed by the arm 3 to the instruction device 2, and the instruction device 2 transmits the operation command to the medical manipulator 1. The medical manipulator 1 receives an operation command transmitted from the instruction device 2, and based on this operation command, a long-axis medical device such as an endoscope assembly or an instrument included in the arm 3 of the medical manipulator 1. Operate 4.

The instruction device 2 is a device for operating the arm 3 by forming an interface between the surgical operation system 100 and the practitioner. The instruction device 2 is arranged in the operating room or outside the operating room. The instruction device 2 includes an operation manipulator arm 51 for the practitioner to input an operation command, an operation pedal 52, a touch panel 53, a monitor 54 for displaying an image taken by the endoscope assembly, and a face of an operator such as a doctor. A support arm 55 for supporting the monitor 54 and a bar 56 on which the touch panel 53 is arranged are included at the height position of the monitor 54. The practitioner operates the operation manipulator arm 51 and the operation pedal 52 while visually recognizing the affected part on the monitor 54 to input an operation command to the instruction device 2. The operation command input to the instruction device 2 is transmitted to the controller 6 of the medical manipulator 1 by wire or wirelessly. The operation of the arm 3 is controlled by the controller 6. The controller 6 is composed of a computer such as a microcontroller.

The medical manipulator 1 constitutes an interface between the surgical system 100 and the patient. The medical manipulator 1 is arranged in an operating room, which is a sterilized sterile field.

The medical manipulator 1 includes a positioner 7, a long arm base 5 attached to the tip of the positioner 7, and a plurality of arm bases 5 to which the base end is detachably attached (4 in this embodiment). The arm 3 of the book) is provided. The medical manipulator 1 is configured so that a plurality of arms 3 take a folded storage posture. The four arms 3 are referred to as arms 3A, 3B, 3C, and 3D, respectively. These arms 3A, 3B, 3C, and 3D are held side by side in this order in the longitudinal direction of the arm base 5.

The positioner 7 is configured as a vertical articulated robot, and is provided on the base body 70a of the trolley 70 arranged at a predetermined position in the operating room, and the position of the arm base 5 can be moved three-dimensionally. it can. The positioner 7 and arm base 5 are covered with a sterile drape (not shown), and the positioner 7 and arm base 5 are shielded from the sterile field in the operating room. A touch panel display 48, which is an operation input unit, is provided on the handle 74 of the carriage 70. The touch panel display 48 is configured to display information data related to the condition of the medical manipulator 1, information about a specific operation, and information about the entire surgical operation system 100. The touch panel display 48 gives an instruction to move the base end portions of the arms 3A and 3D with respect to the arm base 5. Further, the touch panel display 48 is configured as an input device that receives an input of an operation related to the positioner 7 of the medical manipulator 1. That is, the touch panel display 48 is configured to give an instruction to move the arm base 5 by the positioner 7.

Of the plurality of arms 3, the tip of the arm 3A holds, for example, a replacement instrument (for example, forceps) as a medical device 4. An instrument such as forceps is held at the tip of the arm 3B as a medical device 4. Further, for example, an endoscope assembly is held at the tip of the arm 3C as a medical device 4. The tip of the arm 3D holds, for example, a replacement endoscope assembly as a medical device 4.

In the medical manipulator 1, 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 S that movably supports a plurality of arms 3. However, the manipulator arm support S may include at least the arm base 5, and instead of the positioner 7, the manipulator arm support 5 is supported by, for example, a linear motion rail, an elevating device, or a bracket attached to a ceiling or a wall. The manipulator arm support S may be configured by the above.

In the medical manipulator 1, elements are connected in a series from the positioner 7 to the medical device 4. Hereinafter, in the present specification, in the above series of elements, the end portion on the side facing the positioner 7 is referred to as a base end portion, and the end portion on the opposite side is referred to as a tip end portion.

As shown in FIG. 2, when the medical device 4 is an instrument, the medical device 4 has a drive unit 89 provided at its base end. The end effector at the tip of this instrument is an instrument with working joints (eg, forceps, scissors, graspers, needle holders, microdissectors, staple appliers, tackers, suction cleaning tools, snare wires, and , Clip appliers, etc.), and articulated instruments (eg, cutting blades, ablation probes, washer, catheters, suction orifices, etc.).

In the treatment using the medical manipulator 1, the controller 6 that receives the operation command from the touch panel display 48 first operates the positioner 7 so that the arm base 5 and the operating table or the patient are in a predetermined positional relationship. The arm base 5 is positioned. Next, the controller 6 operates each arm 3 to position the medical device 4 so that the sleeve (cannula sleeve) placed on the body surface of the patient and the medical device 4 have a predetermined initial positional relationship. .. In addition, by sliding the arm 3 by the controller 6, the distance between the base end portions of the arm 3 is appropriately adjusted. Details will be described later. The positioning operation of the positioner 7 and the positioning operation of each arm 3 may be performed at the same time. Then, as a general rule, the controller 6 performs the treatment while the positioner 7 is stationary and the medical device 4 is operated by each arm 3 in response to an operation command from the instruction device 2 to appropriately displace and change the posture.

Subsequently, the detailed configuration of the arm 3 will be described. As shown in FIG. 2, the arm 3 includes an arm main body 30 and a translational arm 35 connected to the tip end portion of the arm main body 30, and the tip end portion can be moved in a three-dimensional space with respect to the base end portion. It is configured so that it can be done. In the present embodiment, the plurality of arms 3 included in the medical manipulator 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. You may. A holder 36 capable of holding the medical device 4 is provided at the tip of the arm 3.

The arm 3 is configured to be removable from the arm base 5. The arm 3 has water resistance, heat resistance, and chemical resistance for cleaning and sterilizing treatments. 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 are selectively used.

The arm body 30 includes a base 80 that is detachably attached to the arm base 5 and first links 81 to 6th links 86 that are sequentially connected from the base 80 toward the tip portion. More specifically, the base end portion of the first link 81 is connected to the tip end portion of the base 80 via a twist joint J31. The base end of the second link 82 is connected to the tip of the first link 81 via a twist joint J32. The base end portion of the third link 83 is connected to the tip end portion of the second link 82 via a bending joint J33. The base end portion of the fourth link 84 is connected to the tip end portion of the third link 83 via a twist joint J34. The base end of the fifth link 85 is connected to the tip of the fourth link 84 via a bending joint J35. The base end of the sixth link 86 is connected to the tip of the fifth link 85 via a twist joint J36. The base end of the translation arm 35 is connected to the tip of the sixth link 86 via a bending joint J37. As a result, the arm 3 is configured as a 7-axis joint arm including a redundant shaft (twisted joint J32 in the present embodiment). That is, the arm 3 has 6 or more degrees of freedom. Therefore, the arm 3 can change its posture without changing the position of the tip end portion of the arm 3.

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, 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 arm 35 moves the holder 36 attached to the tip of the holder 36 in the axial direction of the medical device 4, so that the medical device 4 attached to the holder 36 is moved in the axial direction.

The translational arm 35 has a proximal end side link 61, an distal end side link 62, a proximal end side link 61, and a distal end side link 62 connected to the tip end portion of the sixth link 86 of the arm body 30 via a bending joint J37. It has a connecting shaft 63 for connecting the above and an interlocking mechanism (not shown). Further, a rotation shaft 68 is provided at the tip of the translation arm 35, that is, at the tip of the tip side link 62. The drive source of the translation arm 35 is provided at the tip end portion of the arm body 30, that is, the sixth link 86. The connecting shaft 63 is arranged in parallel with the bending joint J37, and the distal end side link 62 is configured to be rotatable around the connecting shaft 63 with respect to the proximal end side link 61. As the above-mentioned interlocking mechanism, a known link mechanism can be adopted, and for example, a structure using a pulley and a timing belt may be used, or a mechanism including a gear train may be used.

A first translation arm drive shaft and a second translation arm drive shaft (both not shown) arranged coaxially with the bending joint J37 are provided at the base end portion (connecting portion with the sixth link 86) of the tip side link 62. Has been done. The second translation arm drive shaft is connected to the interlocking mechanism, and the second translation arm drive shaft is differentiated from the first translation arm drive shaft to rotate the base end side link 61 around the bending joint J37. The movement angle, the rotation angle around the connecting shaft 63 of the tip side link 62, and the rotation angle around the rotation shaft 68 of the holder 36 are translated so as to maintain a predetermined ratio (for example, 1: 2: 1). The arm 35 operates in translation. As the first translation arm drive shaft and the second translation arm drive shaft rotate synchronously, the entire translation arm 35 rotates around the bending joint J37 with respect to the arm body 30.

Subsequently, as shown in FIG. 3, the arm body 30 has encoders E31 to E36 for detecting the rotation angles of the driving servomotors M31 to M36 and the servomotors M31 to M36 corresponding to the joints J31 to J36. , And a speed reducer (not shown) that reduces the output of the servomotors M31 to M36 to increase the torque. In FIG. 3, among the joints J31 to J36, the control system of the torsion joint J31 and the torsion joint J36 is typically shown, and the control systems of the other joints J33 to J35 are omitted. Further, the arm body 30 drives the servomotor M37a for driving the first translation arm drive shaft and the second translation arm drive shaft corresponding to the joint J37 in which the translation arm 35 operates in translation or rotation. Servo motors M37b for this purpose, encoders E37a and E37b for detecting the rotation angles of the servomotors M37a and M37b, and speed reducers (not shown) for decelerating the outputs of the servomotors M37a and M37b to increase the torque are provided.

The encoders E31 to E36, E37a, and E37b are provided as an example of the rotation position detecting means for detecting the rotation position (rotation angle) of the servomotors M31 to M36, M37a, and M37b. A rotation position detecting means such as a resolver may be used instead of the E37b. Further, 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 controller 6 includes an arm control unit 601 that controls the movement (movement other than the slide movement) of the plurality of arms 3 based on an operation command, and an arm slide control unit 610 that controls the slide movement of the arm 3. Servo control units C31 to C36, C37a, and C37b are electrically connected to the arm control unit 601, and servomotors M31 to M36, M37a, and M37b are electrically connected to the arm control unit 601 via an amplifier circuit (not shown) or the like.

Based on the operation command input to the instruction device 2, the position / orientation command of the tip of the arm 3 is input to the arm control unit 601. The arm control unit 601 generates and outputs a position command value based on the position / orientation command and the rotation angles detected by the encoders E31 to E36, E37a, and E37b. The servo control units C31 to C36, C37a, and C37b that have acquired this position command value generate a drive command value (torque command value) based on the rotation angle and the position command value detected by the encoders E31 to E36, E37a, and E37b. And output. The amplifier circuit that has acquired this drive command value supplies the drive current corresponding to the drive command value to the servomotors M31 to M36, M37a, and M37b. In this way, the servomotors M31 to M36, M37a, and M37b are servo-controlled so that the tip of the arm 3 reaches the position and posture corresponding to the position / posture command.

The controller 6 is provided with a storage unit 602 capable of reading data from the arm control unit 601. The storage unit 602 stores in advance the surgical information input via the instruction device 2 or the touch panel display 48.

The storage unit 602 stores information such as the length of the medical device 4 held at the tip of the arm 3. As a result, the arm control unit 601 can grasp the position of the tip end portion of the medical device 4 held by the tip end portion of the arm 3 based on the position / posture command of the tip end portion of the arm 3. Further, the storage unit 602 stores processing data for performing determination processing of interference between the arms 3.

During the operation using the surgical operation system 100, the arm control unit 601 is configured to control the operation of the plurality of arms 3 based on the operation command from the instruction device 2. At this time, the arm control unit 601 uses the processing data stored in the storage unit 602 to perform a process of determining whether or not the plurality of arms 3 interfere with each other. When it is determined that the interference occurs, the arm control unit 601 is configured to control the operation of each arm 3 so that the interference does not occur.

The arm slide control unit 610 receives an operation command generated by an operation of the touch panel display 48 by a surgical assistant or the like in order to prevent interference between the arms 3 during setup, which is a stage before surgery, according to conditions such as surgical procedure. Based on this, the distance between the base ends of the arms 3 is changed in advance. Further, in order to prevent the arms 3 from interfering with each other during the treatment, the arm slide control unit 610 uses the processing data stored in the storage unit 602 based on the operation command from the instruction device 2 operated by the doctor. Interference determination processing is performed. Then, when it is determined that the arms 3 interfere with each other, the arm slide control unit 610 is configured to change the distance between the base end portions of the arms 3 so as not to cause the interference.

Next, the configuration of the arm base 5 and the configuration of changing the distance between the base end portions of the arm 3 will be described. As shown in FIG. 4, the arm base 5 has two moving mechanisms 47. The moving mechanism 47 includes a first moving mechanism 47A that changes the distance between the base end portion of the arm 3A on one end side of the four arms 3 and the base end portion of the arm 3B adjacent thereto, and the other end side. It includes a second moving mechanism 47B that changes the distance between the base end portion of the arm 3D and the base end portion of the arm 3C adjacent thereto. The first moving mechanism 47A is arranged in the inclined portion 5c described later to move the arm 3A, and the second moving mechanism 47B is arranged in the inclined portion 5b described later in order to move the arm 3D. Hereinafter, a detailed description will be given.

As shown in FIG. 4, the arm base 5 is formed in a substantially V shape in front view. Specifically, the arm base 5 has an elongated base main body portion 5a and elongated inclined portions 5b and 5c connected to the base main body portion 5a in an inclined manner. The inclined portion 5b is integrally connected to the second end portion (right end in FIG. 4) 5a2 of the base main body portion 5a, and the inclined portion 5c is connected to the first end portion (left end in FIG. 4) 5a1 of the base main body portion 5a. It is connected integrally. The inclined portion 5b is inclined toward the patient when the base main body portion 5a is arranged at a position facing the patient. Further, the inclined portion 5c is inclined toward the patient when the base main body portion 5a is arranged at a position facing the patient. With such a configuration, the arm base 5 is shaped so as to follow the curve of the patient's abdomen when placed at a position facing the patient's abdomen.

Here, in the present embodiment, the arm 3B and the arm 3C of the four arms 3 are provided in a state of being fixed to the arm base 5 (base main body portion 5a of the arm base 5). On the other hand, the arm 3D is provided on the arm base 5 so as to be slidable in the inclined direction of the inclined portion 5b, and the arm 3A is provided on the arm base 5 so as to be slidable in the inclined direction of the inclined portion 5c. That is, the arm 3D is configured to move in the direction of approaching and away from the adjacent arms 3C, and the arm 3A is configured to move in the direction of approaching and away from the adjacent arms 3B. There is.

The arm base 5 is configured in a housing shape, and the above-mentioned moving mechanisms 47A and 47B are provided in the arm base 5. Specifically, the moving mechanisms 47A and 47B have four rollers 40, a slide belt 41 stretched on the four rollers 40 and configured to be rotatable, and the slide belt 41 and the arm 3D. It has a connecting member 42 to be connected, a drive motor 611 (see FIG. 5), and a drive belt 45 (see FIG. 5). A speed reducer (not shown) for decelerating the output of the drive motor 611 and an encoder (not shown) for detecting the rotation angle of the drive motor 611 are provided.

Each roller 40 is arranged at each apex position of the rectangle so that the slide belt 41 is stretched in a substantially rectangular shape in a front view. The connecting member 42 is connected to a portion of the slide belt 41 stretched between a pair of rollers 40 (a pair of lower rollers 40 in FIG. 4) arranged in the inclined direction of the inclined portion 5b. Further, as shown in FIG. 5, the drive belt 45 is stretched on the rotation shaft of the drive motor 611 and one roller 40 (for example, the upper left roller 40 in FIG. 4). That is, the upper left roller 40 in FIG. 4 is configured as a driving roller, and the other three rollers 40 are configured as driven rollers.

In the above configuration, when the distance between the base end portion of the arm 3D and the base end portion of the arm 3C is changed, the drive motor 611 is driven by the arm slide control unit 610, so that each roller 40 is moved. It rotates clockwise or counterclockwise via the drive belt 45. As a result, the slide belt 41 rotates, so that the connecting member 42 moves to one side or the other side of the inclined portion 5b in the inclined direction. As a result, the arm 3D can be slid along the inclination direction of the inclined portion 5b. As a result, the arm 3D can be moved in the direction closer to and away from the arm 3C, and the distance between the base end portion of the arm 3D and the base end portion of the arm 3C can be changed. In addition, in the configuration in which the arm 3A is slid along the inclination direction of the inclined portion 5c by the moving mechanism 47A to change the distance between the base end portion of the arm 3A and the base end portion of the arm 3B, the arm 3D is moved by the moving mechanism 47B. Since it is the same as the configuration of sliding by, further description will be omitted.

As described above, according to the surgical system 100 including the medical manipulator 1 of the present embodiment, the base end portion of the arm 3D and the proximal end portion of the arm 3C are obtained by sliding the arm 3D by the moving mechanism 47. The distance between the arm 3A and the base end of the arm 3A is changed by sliding the arm 3A. As a result, the degree of freedom in arranging each arm 3 with respect to the patient can be improved according to the surgical procedure, and interference between the arms 3 can be prevented.

Further, in the present embodiment, the arm base 5 is formed in a substantially V shape. This facilitates the approach of the arm 3 to the patient.

Further, in the present embodiment, the moving mechanism 47 is configured so that the distance between the base ends of the arms 3 can be changed during the operation. As a result, for example, even when an unexpected emergency response is required, the distance between the base ends of the arms 3 can be changed, and interference between the arms 3 can be prevented.

(Other embodiments)
In addition to the above embodiments, the present invention can be modified as follows without departing from the gist thereof.

In the above embodiment, the arm base 5 is formed in a substantially V shape in front view, but the present invention is not limited to this, and for example, as shown in FIG. 6A, the arm base 5 is linear in front view. The formed arm base 55 may be adopted, or as shown in FIG. 6B, the arm base 56 formed in an arc shape in a front view may be adopted. According to the configuration of FIG. 6B, the approach of the arm 3 to the patient is facilitated. Further, the arm base 5 may be formed in a shape such that the arm base 5 is mountain-folded at the center in the longitudinal direction.

Further, in the above embodiment, only the arms 3A and 3D located at both ends of the four arms 3 are slidable, but the present invention is not limited to this, and all four arms 3 are slidable. You may.

Further, in the above embodiment, the moving mechanism 47 having a configuration in which the arms 3A and 3D are slid by the sliding belt 41 is adopted, but the present invention is not limited to this, and the moving mechanism 47 is moved by another actuator such as a cylinder. The mechanism 47 may be configured.

1 Medical manipulator 2 Indicator 3 Multi-degree-of-freedom manipulator arm 3A Multi-degree-of-freedom manipulator arm (first multi-degree-of-freedom manipulator arm)
3B multi-degree-of-freedom manipulator arm (second multi-degree-of-freedom manipulator arm)
3C multi-degree-of-freedom manipulator arm (third multi-degree-of-freedom manipulator arm)
3D multi-degree-of-freedom manipulator arm (fourth multi-degree-of-freedom manipulator arm)
4 Medical equipment 5 Arm base 5a Base body 5a1 First end of base body 5a2 Second end of base body 5b Inclined part (second inclined part)
5c inclined part (first inclined part)
7 Positioner 47 Moving mechanism 47A 1st moving mechanism 47B 2nd moving mechanism 48 Touch panel display (operation input unit)
100 Surgical system

Claims (12)

A medical manipulator used in surgical systems
A first multi-degree-of-freedom manipulator arm that is configured to hold a medical device at the tip and has 6 or more degrees of freedom.
A second multi-degree-of-freedom manipulator arm configured to hold the medical device at the tip and having 6 or more degrees of freedom.
A third multi-degree-of-freedom manipulator arm that is configured to hold a medical device at the tip and has 6 or more degrees of freedom.
A fourth multi-degree-of-freedom manipulator arm that is configured to hold a medical device at the tip and has six or more degrees of freedom.
Holds in turn a respective proximal end portions of the first to fourth multiple-degree-of-freedom manipulator arm, movably hold the respective proximal ends of the first and fourth multiple-degree-of-freedom manipulator arm, An elongated arm base configured to fix and hold the respective base ends of the second and third degree-of-freedom manipulator arms.
By moving the base end portion of the first multiple-degree-of-freedom manipulator arm, configured to change the distance between the base end portion of the fixed held in the arm base second multiple-degree-of-freedom manipulator arm The first movement mechanism and
By moving the base end portion of the fourth multi-degree-of-freedom manipulator arm, the distance from the base end portion of the third multi-degree-of-freedom manipulator arm fixedly held by the arm base is changed. The second movement mechanism and
With a positioner configured to move the arm base,
The first moving mechanism includes a plurality of first rollers fixedly arranged in the arm base, a first slide belt stretched on each of the plurality of first rollers, and the plurality of slide belts. A first connecting member that connects a first drive motor that rotates at least one of the first rollers, the first slide belt, and the base end portion of the first multi-degree-of-freedom manipulator arm. and, equipped with a,
The second moving mechanism includes a plurality of second rollers fixedly arranged in the arm base, a second slide belt stretched on each of the plurality of second rollers, and the plurality of slide belts. A second connecting member that connects a second drive motor that rotates at least one of the second rollers, the second slide belt, and the base end portion of the fourth multi-degree-of-freedom manipulator arm. And, equipped with a medical manipulator. The arm base includes a long base main body portion, a first inclined portion connected to the first end portion of the base main body portion in an inclined manner with respect to the base main body portion, and a second base main body portion. A second inclined portion, which is inclinedly connected to the base main body portion, is provided at the end portion.
The first inclined portion holds the base end portion of the first multi-degree-of-freedom manipulator arm , and the base main body portion fixedly holds the base end portions of the second and third multi-degree-of-freedom manipulator arms. the second inclined portion is configured to hold the proximal end of the fourth multiple-degree-of-freedom manipulator arm, medical manipulator according to claim 1. Before SL first moving mechanism, wherein arranged in the first inclined portion to move the first multiple-degree-of-freedom manipulator arm, the second moving mechanism, the fourth multi-degree-of-freedom manipulator arm The medical manipulator according to claim 2 , which is arranged on the second inclined portion for movement. The medical manipulator according to any one of claims 1 to 3 , wherein each of the first to fourth multi-degree-of-freedom manipulator arms has seven or more degrees of freedom. The medical manipulator according to any one of claims 1 to 4 , wherein the positioner is composed of a vertical articulated robot. Further comprising an operation input unit for performing an instruction to move the first and each of the base end portion of the fourth multi-degree-of-freedom manipulator arm relative to the arm base, according to any one of claims 1 to 5 Medical manipulator. The medical manipulator according to claim 6 , wherein the operation input unit is configured to give an instruction to move the arm base by the positioner. Control configured to control the first and second moving mechanisms so that the respective base ends of the first and fourth multi-degree-of-freedom manipulator arms are automatically moved relative to the arm base. The medical manipulator according to any one of claims 1 to 7, further comprising a part. Is configured to hold the medical instrument to the distal end portion, the first multiple-degree-of-freedom manipulator arm having six or more degrees of freedom, is configured to hold the medical instrument tip, the having 6 or more degrees of freedom A multi-degree-of-freedom manipulator arm with 2 degrees of freedom , configured to hold the medical device at the tip, a third multi-degree-of-freedom manipulator arm with 6 or more degrees of freedom, and a medical device at the tip. , A medical manipulator with a fourth degree of freedom manipulator arm with 6 or more degrees of freedom, and
Equipped with a pointing device for instructing the operation of the first to fourth multiple-degree-of-freedom manipulator arm,
The medical manipulator is
Holds in turn a respective proximal end portions of the first to fourth multiple-degree-of-freedom manipulator arm, movably hold the respective proximal ends of the first and fourth multiple-degree-of-freedom manipulator arm, An elongated arm base configured to fix and hold the respective base ends of the second and third degree-of-freedom manipulator arms.
By moving the base end portion of the first multiple-degree-of-freedom manipulator arm, configured to change the distance between the base end portion of the fixed held in the arm base second multiple-degree-of-freedom manipulator arm The first movement mechanism and
By moving the base end portion of the fourth multi-degree-of-freedom manipulator arm, the distance from the base end portion of the third multi-degree-of-freedom manipulator arm fixedly held by the arm base is changed. The second movement mechanism and
A positioner configured to move the arm base and position it in a predetermined position.
The first moving mechanism includes a plurality of first roller which is fixed and held to the arm in the base, a first slide belt stretched over each of the plurality of first rollers, said plurality of first a first drive motor for rotating at least one of the rollers, a first connecting member for connecting a proximal end of said first slide belt first multiple-degree-of-freedom manipulator arm and, with a,
The second moving mechanism includes a plurality of second rollers fixedly arranged in the arm base, a second slide belt stretched on each of the plurality of second rollers, and the plurality of second rollers. A second connecting member that connects a second drive motor that rotates at least one of the second rollers, the second slide belt, and the base end portion of the fourth multi-degree-of-freedom manipulator arm. If, Ru equipped with a surgical system. The medical manipulator includes an operation input unit for each of the base end portion makes a direction to transfer to the arm base of the first and fourth multiple-degree-of-freedom manipulator arm, surgery according to claim 9 system. The operation input unit, at the time of surgery is a preceding stage setup consists respective proximal ends of the first and fourth multiple-degree-of-freedom manipulator arm to perform the instruction to move relative to the arm base The surgical operation system according to claim 10. Control configured to control the first and second moving mechanisms so that the respective base ends of the first and fourth multi-degree-of-freedom manipulator arms are automatically moved relative to the arm base. The surgical operation system according to any one of claims 9 to 11 , further comprising a part.

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