JP7429507B2 - Puncture robot - Google Patents

Description

The present invention relates to a puncturing robot.

Minimally invasive treatments are being considered from the perspective of reducing the burden on patients. Puncture is a method of administering drugs into a patient's body using a thin needle, and is attracting attention as a minimally invasive method. This puncturing is conventionally performed by a skilled doctor or the like.

In recent years, the number of cases in which puncture is applied has been expanding, and for example, treatment using puncture is sometimes performed on affected areas located deep within the body. However, a high degree of skill is required to reliably reach the deep affected area with a thin puncture needle. Therefore, puncturing using a robot is being considered. For example, Patent Documents 1 to 4 disclose techniques related to puncturing performed using a robot.

Patent Document 1 discloses a technique related to image-guided medical treatment. This procedure utilizes medical images acquired in real time. Patent Documents 2 and 3 disclose puncture support devices. This device performs puncture while confirming the position of the puncture needle using ultrasound tomographic images. Patent Document 4 discloses an injection device used when acquiring a computerized tomographic image. This device is equipped with a plurality of syringes holding drug solutions. Each of the syringes is provided with an actuator for supplying the drug solution.

Special Publication No. 2005-510289 Japanese Patent Application Publication No. 2015-154826 Japanese Patent Application Publication No. 2016-123794 US Patent Application Publication No. 2003/0171670

In order to reduce the burden on the patient, it is desirable to use a thinner puncture needle and complete the procedure in a shorter time. However, as the puncture needle becomes thinner, the movement of the puncture needle during insertion tends to become unstable. As a result, the insertion must be performed while confirming the position of the puncture needle by obtaining an X-ray image or a computerized tomographic image, which increases the treatment time.

Therefore, an object of the present invention is to provide a puncturing robot that can reduce the burden caused by puncturing.

One form of the present invention is a puncture robot that performs puncture using a puncture needle, and includes a first base body extending in a predetermined direction, and a puncture robot that is connected to the first base body and holds a proximal end of the puncture needle. a drive mechanism that vibrates along a predetermined direction and rotates around a predetermined direction; the drive mechanism includes a second base body connected to the first base body; a drive shaft that holds the proximal end of the puncture needle; , a first drive unit attached to the second base body to vibrate the drive shaft and allow rotation of the drive shaft; and a first drive unit attached to the second base body to rotate the drive shaft and allow vibration of the drive shaft. 2 drive parts.

This puncture robot has a drive mechanism that rotates and/or vibrates the puncture needle. In the drive mechanism, a first drive section and a second drive section are attached to the second base body. According to this structure, each of the drive mechanisms is supported by the second base, so that the influence of one drive section on the other drive section can be suppressed when each drive mechanism operates. In this way, an unnecessary increase in load on each driving section is suppressed, so that the movement of the puncture needle during insertion can be more stabilized. As a result, it becomes easier for the puncture needle to reach the affected area in a shorter time, so the burden caused by puncturing can be reduced.

In one form, the first drive unit includes a first actuator that is fixed to the second base and generates vibration force for vibration, and is coupled to the first actuator and the drive shaft to transmit the vibration force to the drive shaft. a second actuator that is fixed to the second base and generates a rotational force for rotation; and a second actuator that is connected to the second actuator and the drive shaft; It may also include a second transmission section that transmits rotational force to the drive shaft. According to this structure, each drive section can simultaneously apply vibration and rotation to the drive shaft. Therefore, movement of the puncture needle during insertion is further stabilized. As a result, it becomes easier for the puncture needle to reach the affected area in a shorter time, thereby further reducing the burden caused by puncturing.

In one form, the first transmission section includes a beam section including an input end that contacts the first actuator, an output end that has a first through hole through which the drive shaft is inserted, and a beam section that includes the drive shaft that is inserted through the through hole. , a restraint part that restrains the output end in a predetermined direction and allows rotation around the predetermined direction. According to this structure, the operation of allowing rotation of the drive shaft and imparting vibration to the drive shaft can be realized with a simple configuration.

In one form, the second transmission part has a rotation transmission part connected to the second actuator, and a second through hole connected to the rotation transmission part and into which the drive shaft is inserted, and the second transmission part is inserted into the second through hole. The rotating drive shaft may be constrained around a predetermined direction and may include a rotational drive unit that allows vibration along the predetermined direction. According to this structure, the operation of allowing vibration of the drive shaft and imparting rotation to the drive shaft can be realized with a simple configuration.

In one form, the drive shaft includes a first connection part connected to the first drive part, a second connection part connected to the second drive part, and a needle connection part connected to the puncture needle, The second connection part may be provided between the first connection part and the needle connection part. According to this configuration, the drive shaft can be vibrated and/or rotated in a good condition.

In one form, the puncture robot further includes a drug injection mechanism that is connected to the puncture needle and provides a drug to the puncture needle, and the drug injection mechanism includes a revolver that includes a syringe attachment section to which a plurality of syringes containing drugs are attached; a third actuator that presses a plunger inserted into the syringe, and the revolver and the actuator may move relative to each other. According to this configuration, a plurality of syringes are connected to the puncture needle. As a result, it becomes possible to eliminate the need for replacement work such as disconnecting the puncture needle from the syringe and connecting a new syringe. Therefore, the treatment time can be further shortened.

In one form, the relative movement of the revolver and the third actuator may be rotation. According to this configuration, the drug injection mechanism can be downsized.

In one form, the puncturing robot further includes a third base body to which the drug injection mechanism is fixed, a third actuator is fixed to the third base body, and the revolver may rotate relative to the third actuator. According to this configuration, the revolver rotates when the revolver is selected by being pressed by the actuator. This rotation allows the medicinal solution within the syringe to be stirred.

In one form, the puncture robot may further include a holding mechanism that is detachably attached to the tip of the drive shaft and holds the puncture needle. According to this configuration, the connection between the puncture needle and the drive shaft can be quickly released.

In one form, the first base includes a table provided to intersect with the puncture needle, has a through hole through which the puncture needle is inserted, a guide plate disposed on the table, and a guide plate that is attached to the table. The device may further include a restraining mechanism for detachably holding the device. According to this configuration, the connection between the puncture needle and the drive mechanism can be quickly released.

According to the present invention, a puncturing robot capable of reducing the burden caused by puncturing is provided.

FIG. 1 is a diagram showing an example of application of the puncture system. FIG. 2 is a perspective view showing the puncture device and the drug injection device. FIG. 3 is a perspective view of the puncture device. FIG. 4 is a perspective view showing a cross section of the vibration unit of the puncture device. FIG. 5 is a perspective view showing the rotation unit of the puncture device. Part (a) of FIG. 6 is a plan view showing the gear of the rotation unit, and part (b) of FIG. 6 is a perspective view showing the shaft. FIG. 7 is a perspective view showing the puncture needle fixture. Part (a) of FIG. 8 is a plan view showing a connected state in the puncture needle attachment/detaching mechanism, and part (b) of FIG. 8 is a plan view showing a released state of the puncture needle attachment/detachment mechanism. FIG. 9 is a perspective view showing the puncture needle guide. Part (a) of FIG. 10 is a plan view showing the puncture needle guide in a fixed state, and part (b) of FIG. 10 is a plan view showing the puncture needle guide in a released state. FIG. 11 is a perspective view showing a cross section of the drug injection device. Parts (a), (b), and (c) of FIG. 12 are plan views showing modified examples of the gear of the rotation unit. Parts (a) and (b) of FIG. 13 are diagrams showing a modification of the drug injection device. Parts (a), (b), (c), and (d) of FIG. 14 are views showing another modification of the drug injection device. FIG. 15 is a perspective view showing a puncture needle fixing device according to a modified example. FIG. 16 is a diagram showing the operation of the puncture needle fixing device according to the modified example.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description will be omitted.

In recent years, the track record of biological tissue diagnosis, radioablation, and puncture treatments such as drug injection has expanded to computed tomography (CT), magnetic resonance imaging (MRI), and X-ray fluoroscopy ( Improvements are being made through the use of medical imaging equipment that utilizes the principles of x-ray fluoroscopy (X-ray fluoroscopy) and ultrasound imaging. However, the currently practiced puncture treatment using medical image diagnostic equipment has several problems.

The first problem is that a certain level of skill is required for the treatment. A thin puncture needle is used for puncture treatment. As a result, the invasiveness to the patient is low, and the burden on the patient can be suppressed. However, thin puncture needles are extremely flexible. This deflection makes accurate puncture of targets within the patient's body difficult. Therefore, a skilled technique is required when performing the treatment. The second problem is the increase in treatment time due to the round trip between the photography room and the operation room. In treatments using medical image diagnostic equipment, imaging and confirmation of the needle tip position are repeated. This repetition takes a considerable amount of time to complete the treatment.

Therefore, there is a need for a puncture system that can perform highly accurate automatic puncture without requiring skilled techniques and shorten the treatment time by remote control.

In view of the above circumstances, the inventors of the present application have made extensive studies to realize a linear puncturing operation by applying vibration and rotation to the puncturing needle, and a system that can quickly connect to a robot in the event of an unforeseen situation. We have developed a puncture system that can perform a separation operation to separate the puncture needle and an injection operation to selectively inject multiple types of drugs required for the treatment.

This puncture system can be applied to the treatment environment shown in FIG. A patient 201 enters an imaging room 202 , and an operator 203 enters an operation room 204 . In the imaging room 202, for example, a computerized tomographic imaging device 206, a bed 207, and the main part of the puncture system 1 (the puncture support robot system 2) are arranged. The operation room 204 is separated from the imaging room 202 by a wall 208. The operation terminal 3 of the puncture system 1 is also arranged in the operation room 204. That is, the puncture system 1 is placed across rooms separated from each other. The operator 203 performs the treatment while operating and/or monitoring the puncture system 1. Treatments required during the treatment are performed using the operation terminal 3 of the puncture system 1 located in the operation room 204. As a result, the operator 203 basically does not need to enter the imaging room 202 from the start to the end of the treatment.

<Puncture support robot system>
The puncture support robot system 2 includes a puncture robot 4 and a robot control device 6. The puncture robot 4 is a multi-degree-of-freedom arm-type robot having multiple joints. This puncturing robot 4 is controlled by a robot control device 6. The robot control device 6 provides control signals to the puncture robot 4 based on information provided from the puncture planning device 7 .

<Robot control device>
The robot control device 6 operates the puncture robot 4 based on the information provided from the puncture planning device 7. Furthermore, the robot control device 6 obtains the state of the puncture needle 8 based on information from various sensors provided in the puncture robot 4. The robot control device 6 is, for example, a computer, and the above functions are realized by the computer executing a predetermined program.
<Puncture planning device>
The puncture planning device 7 is a computer system that determines operating conditions for the puncture support robot system 2. The puncture planning device 7 may be arranged in the imaging room 202 or outside the imaging room 202 (for example, in the operation room 204). The puncture planning device 7 calculates a puncture path and a puncture control amount using image information such as a tomographic image of a patient. Here, the "puncture path" is a line connecting the puncture start position on the body surface and the puncture target, and refers to the trajectory along which the puncture needle 8 passes. Furthermore, "puncture path planning" refers to setting a puncture path in which the deflection of the puncture needle 8 (error when the needle tip reaches the puncture target) is minimized. Furthermore, "puncture control" refers to movement control of the puncture needle 8 to reduce deflection of the puncture needle 8. Furthermore, "puncture control planning" refers to setting optimal control parameters that minimize deflection in puncture control depending on the tissue to be passed.

By inserting the puncture needle 8 along the puncture path, deviation from the target is minimized. As already mentioned, the puncture needle 8 is extremely thin (eg, 0.53 mm in diameter) and flexible. Furthermore, even if a force along the axial direction is accurately applied to the puncture needle 8, the shape of the tip thereof causes the puncture needle 8 to bend. In order to suppress such deflection, the puncture needle 8 is subjected to vibration along the axial direction or rotational vibration alternately rotating around the axis. These operations of the puncture needle 8 eliminate the non-uniformity of force caused by the shape of the tip. Therefore, displacement of the puncture needle 8 from the puncture path can be further suppressed.

The puncture planning device 7 provides the puncture support robot system 2 with the puncture path and puncture control amount. The manner in which information is provided from the puncture planning device 7 to the puncture support robot system 2 is not particularly limited. The puncture planning device 7 may be connected to the puncture support robot system 2 by wire or wirelessly, and information may be transmitted from the puncture planning device 7 to the puncture support robot system 2. Further, the information generated by the puncture planning device 7 may be recorded on an information recording medium such as a memory card, and transmitted by causing the puncture support robot system 2 to read the information on the medium.

Puncture planning device 7 has one or more computers. When the puncture planning device 7 has a plurality of computers, each functional element of the puncture planning device 7, which will be described later, may be realized by distributed processing. The types of individual computers that constitute the puncture planning device 7 are not limited. For example, it may be a stationary or portable personal computer. Further, a workstation may be used, or a mobile terminal such as a high-performance mobile phone (smartphone), a mobile phone, or a personal digital assistant (PDA) may be used. Alternatively, the puncture planning device 7 may be constructed by combining various types of computers. When the puncture planning device 7 is composed of a plurality of computers, these computers are connected via a communication network such as the Internet or an intranet.

<Robot>
The puncture robot 4 includes a robot frame 9, a robot arm 11 (third base body), a puncture device 12, and a drug injection device 13 (medicine injection mechanism).

Note that in the following description, XYZ axes will be defined for convenience of explanation. It is assumed that the Z-axis is the direction in which the puncture needle 8 extends. In other words, the Z-axis can be said to be the direction in which the puncture needle 8 reciprocates and vibrate, and can also be said to be the axis of rotation of the puncture needle 8. The X-axis and the Y-axis are axes perpendicular to the Z-axis. These XYZ axes are assumed to be a coordinate system defined for the puncture device 12 and the drug injection device 13. Therefore, when the puncture device 12 and the drug injection device 13 are moved by the robot arm 11, the coordinate system also accompanies the movement of the puncture device 12 and the drug injection device 13. In other words, the coordinate system is not an absolute coordinate system defined for the space in which the puncture robot 4 is placed.

The robot frame 9 is a stand for the puncture robot 4 and is arranged to straddle the bed 207 and the patient 201. The robot frame 9 includes rollers and is movable in the lengthwise direction of the patient 201.

The robot arm 11 places the puncture device 12 and drug injection device 13 at desired positions. That is, the robot arm 11 has a first end fixed to the robot frame 9, and a puncture device 12 and a drug injection device 13 arranged at the second end. More specifically, the drug injection device 13 is fixed to the second end. The robot arm 11 has a drive unit such as an actuator, a motor, and a vibration element. Furthermore, the robot arm 11 may have several angle sensors to obtain the position and orientation of the lancing device 12.

<Puncture device>
As shown in FIG. 2, the puncture device 12 controls the operation of the puncture needle 8. The operation of the puncture needle 8 is determined by the movement speed (puncture speed) indicating the distance that the puncture needle 8 moves along the puncture path per unit time, and the frequency of vibration along the axial direction of the puncture needle 8 (puncture frequency: (a first frequency) and a rotational speed around the axis (a second frequency). Note that the puncturing device 12 does not have to select the puncturing speed and the puncturing frequency as the operation target, but not the rotation speed. Furthermore, the puncturing device 12 does not need to select the puncturing speed and rotational speed, but not the vibration frequency, as the operation targets. This "not selecting" may mean, for example, keeping the rotational speed or operating frequency at a constant value. According to this configuration, the puncture device 12 applies vibration and rotation to the puncture needle 8 simultaneously or selectively. As a result, the puncture device 12 can reduce the deflection of the puncture needle 8 and realize linear puncture.

As shown in FIG. 3, the puncture device 12 includes a linear drive mechanism 16, a vibration rotation drive mechanism 17 (drive mechanism), and a safety attachment/detachment mechanism 51. The shaft 14 holds the puncture needle 8 at its lower end via a safety attachment/detachment mechanism 51. The linear drive mechanism 16 linearly moves the shaft 14 along the direction of its axis via the vibration rotation drive mechanism 17. As the puncture needle 8 is moved by this linear drive mechanism 16, the puncture needle 8 is inserted into the patient 201. The vibration rotation drive mechanism 17 applies vibration and rotation to the puncture needle 8 via the shaft 14. The safety attachment/detachment mechanism 51 separates the puncture needle 8 from the linear drive mechanism 16 and the vibration rotation drive mechanism 17 as necessary.

<Linear drive mechanism>
The linear drive mechanism 16 has a main base 19 (first base), a linear motor 21, and a table 22 as main components.

The main base 19 is a member that serves as the basis of the linear drive mechanism 16 and, by extension, the puncture device 12. The main base 19 is a rectangular plate-shaped member extending in the Z-axis direction (predetermined direction). A drug injection device 13 is fixed to the back surface of the main base 19 (see FIG. 2). A linear motor 21 and a table 22, as well as a vibration rotation drive mechanism 17 and a safety attachment/detachment mechanism 51 are arranged on the main surface of the main base 19.

The linear motor 21 is a drive source for linear movement along the Z-axis direction. The linear motor 21 has a guide section 23 and a motor section 24. The guide section 23 guides the table 22 along the Z-axis direction. The motor section 24 generates a driving force that moves the table 22 along the Z-axis direction.

The table 22 receives driving force from the motor section 24 and reciprocates along the Z-axis direction by the guide section 23. The table 22 is provided with the vibration rotation drive mechanism 17 and a part of the safety attachment/detachment mechanism 51. Therefore, when the table 22 moves, the vibration rotation drive mechanism 17 and a part of the safety attachment/detachment mechanism 51 accompany the movement of the table 22. As a result, when the table 22 moves in the negative Z-axis direction (downward), the puncture needle 8 is inserted into the body of the patient 201. Conversely, when the table 22 moves in the positive Z-axis direction (upward), the puncture needle 8 is pulled out of the patient's 201 body.

<Vibration rotation drive mechanism>
The vibration rotation drive mechanism 17 includes a shaft 14 (drive shaft), a sub-base 26 (second base), a vibration unit 27 (first drive section), and a rotation unit 28 (second drive section) as main components. ) and has.

<Shaft>
The shaft 14 is a rod-shaped member extending in the Z-axis direction, and the puncture needle 8 is attached to the lower end of the shaft 14 via a puncture needle fixture 48, which will be described later. The shaft 14 is connected to the vibration rotation drive mechanism 17 and transmits the driving force (vibration force and rotation force) provided from the vibration rotation drive mechanism 17 to the puncture needle 8. Further, the shaft 14 is connected to the linear drive mechanism 16 via the vibration rotation drive mechanism 17 and transmits the driving force provided from the linear drive mechanism 16 to the puncture needle 8.

The sub-base 26 supports a vibration unit 27 and a rotation unit 28. Specifically, the sub-base 26 is connected to the table 22, and a vibration unit 27 and a rotation unit 28 are fixed thereto. According to this configuration, when the table 22 moves, the sub-base 26 moves. The vibration unit 27 and rotation unit 28 on the sub-base 26 also move. Further, the vibration unit 27 is fixed at a different position from the rotation unit 28. In other words, the vibration unit 27 and the rotation unit 28 are fixed to the sub-base 26 in parallel with each other. That is, the vibration rotation drive mechanism 17 does not have a series connection structure in which the vibration unit 27 is fixed to the sub-base 26 and the rotation unit 28 is further fixed to the vibration unit 27.

<Vibration unit>
The vibration unit 27 shown in FIG. 4 provides vibration along the Z-axis direction to the shaft 14. In other words, the vibration unit 27 provides vibration along the axial direction (Z-axis direction) of the puncture needle 8. The vibration unit 27 is attached to the upper end side of the shaft 14. In other words, the vibration unit 27 is arranged on the main surface of the sub-base 26.

The vibration unit 27 has a piezo motor 29 (first actuator) and a vibration transmission section 31 (first transmission section) as main components. The piezo motor 29 generates force for vibration, and the vibration transmission section 31 transmits the force to the shaft 14.

The piezo motor 29 includes a piezo element that deforms in response to an applied voltage, and the deformation of the piezo element generates a force for vibration. That is, the mode of vibration is controlled by the voltage applied to the piezo motor 29. For example, the puncturing frequency is controlled by the frequency of the voltage applied to the piezo motor 29.

The piezo motor 29 has a substantially rectangular parallelepiped shape, but there is no particular restriction on its outer shape. Piezo motor 29 is fixed to the main surface of sub-base 26. Further, the output surface 29a of the piezo motor 29 is connected to the vibration transmission section 31. In other words, the piezo motor 29 generates vibrations based on the sub-base 26.

The vibration transmission section 31 restrains the shaft 14 in the Z-axis direction. That is, the vibration transmission section 31 provides the shaft 14 with vibration along the Z-axis direction. On the other hand, the vibration transmission section 31 allows the shaft 14 to rotate around the Z-axis.

The vibration transmission section 31 has a vibration beam 32 (beam section) and a restraint section 35 as main components.

The vibrating beam 32 is a plate-shaped member extending in the Y-axis direction. A base end 32c (input end) of the vibrating beam 32 is connected to a piezo motor 29. At the tip 32b (output end) of the vibrating beam 32, an upper bearing 33, a lower bearing 34, an upper restraint disk 36, and a lower restraint disk 37 are arranged. Furthermore, a through hole 32a (first through hole) is provided on the tip side of the vibrating beam 32. A connecting portion 14r (first connecting portion) of the shaft 14 is inserted through the through hole 32a. The inner diameter of the through hole 32a is larger than the outer diameter of the shaft 14. That is, a gap is provided between the inner peripheral surface of the through hole 32a and the outer peripheral surface of the shaft 14.

The restraint section 35 includes an upper bearing 33, a lower bearing 34, an upper restraint disk 36, and a lower restraint disk 37.

The upper bearing 33 is a so-called thrust bearing, and receives a load along the rotation axis (Z-axis direction). The lower housing of the upper bearing 33 contacts the main surface of the vibrating beam 32, and the upper housing of the upper bearing 33 contacts the upper restraining disk 36. That is, the upper bearing 33 is sandwiched between the vibrating beam 32 and the upper restraint disk 36.

The upper restraint disk 36 is arranged above the upper bearing 33. The upper restraint disk 36 is fixed to the shaft 14. Specifically, the upper restraining disk 36 does not move relative to the shaft 14 in the Z-axis direction. Further, the upper restraint disk 36 does not rotate around the Z-axis with respect to the shaft 14. For example, the upper restraining disk 36 has an annular shape having a through hole 36a, into which the upper end side of the shaft 14 is inserted. The inner diameter of the through hole 36a is approximately the same as or slightly larger than the outer diameter of the shaft 14. The upper restraint disk 36 has a threaded hole 36b that extends from the outer circumferential surface toward the inner circumferential surface of the through hole 36a. A bolt 36A is screwed into this screw hole 36b. The upper restraining disk 36 is fixed to the shaft 14 by pressing the tip of the bolt 36A against the outer peripheral surface of the shaft 14. According to this configuration, the load of the shaft 14 is applied to the upper restraint disk 36, and the upper restraint disk 36 further presses the upper bearing 33 in the negative Z-axis direction (downward). In other words, it can be said that the shaft 14 is suspended using the upper restraint disk 36 as a support point.

The lower bearing 34 is also a so-called thrust bearing. The upper housing of the lower bearing 34 contacts the back surface of the vibrating beam 32, and the lower housing of the lower bearing 34 contacts the lower restraining disk 37. That is, the lower bearing 34 is sandwiched between the vibrating beam 32 and the lower restraining disk 37.

The lower restraining disk 37 is arranged below the lower bearing 34. The lower restraining disk 37 is fixed to the shaft 14. Specifically, the lower restraint disk 37 does not move relative to the shaft 14 in the Z-axis direction. Further, the lower restraining disk 37 does not rotate around the Z-axis with respect to the shaft 14. The lower restraint disk 37 has the same structure as the upper restraint disk 36. The lower restraining disk 37 also has a through hole 37a and a screw hole 37b. Then, a bolt 37c is screwed into the screw hole 37b. With this structure, the lower restraining disk 37 is fixed to the shaft 14.

According to this configuration, the output surface 29a of the piezo motor 29 is deformed, causing the vibration beam 32 to vibrate in the positive and negative Z-axis directions. When the vibrating beam 32 moves in the positive Z-axis direction (upward), the upper bearing 33, the lower bearing 34, the upper restraining disk 36, and the lower restraining disk 37 also move upward. Since the shaft 14 is fixed to the upper restraint disc 36 and the lower restraint disc 37, the shaft 14 also moves upward as the upper restraint disc 36 and the lower restraint disc 37 move. Similarly, when the vibrating beam 32 moves in the negative Z-axis direction (downward), the upper bearing 33, the lower bearing 34, the upper restraining disk 36, and the lower restraining disk 37 also move downward. Therefore, as the upper restraint disk 36 and the lower restraint disk 37 move, the shaft 14 also moves downward. By repeating these movements in the positive Z-axis direction and negative Z-axis direction, the puncture needle 8 is provided with reciprocating vibration along the Z-axis direction.

On the other hand, since the upper restraint disk 36 is fixed to the shaft 14 by the bolt 34c, when the shaft 14 rotates around the Z-axis, the upper restraint disk 36 also accompanies the rotation. Since the upper bearing 33 is sandwiched between the upper restraining disk 36 and the vibrating beam 32, the rotation of the upper restraining disk 36 is cut off by the upper bearing 33 and is not transmitted to the vibrating beam 32. In other words, the rotation of the upper restraining disk 36 is converted into the rotation of the rollers of the upper bearing 33. Therefore, the bearing case in contact with the upper restraint disk 36 rotates together with the upper restraint disk 36, but another bearing case in contact with the vibration beam 32 does not rotate.

A similar effect occurs in the lower bearing 34 as well. That is, when the shaft 14 rotates around the Z-axis, the lower restraining disk 37 also rotates. However, the rotation of the lower restraining disk 37 is not transmitted to the vibrating beam 32 due to the action of the lower bearing 34.

<Rotating unit>
As shown in FIG. 5, rotation unit 28 provides torque to shaft 14. In other words, the rotation unit 28 provides rotation of the puncture needle 8 about the Z-axis. The rotation unit 28 is arranged on the back side of the sub-base 26 and connected between the upper end and the lower end of the shaft 14. In other words, the rotation unit 28 is arranged below the vibration unit 27 (on the patient 201 side).

The rotation unit 28 has a motor 38 (second actuator) and a torque transmission section 39 (second transmission section) as main components. The motor 38 generates torque for rotation, and the torque transmission section 39 transmits the torque to the shaft 14.

The motor 38 is fixed to the back surface of the sub-base 26 via an adapter 41. The motor 38 may be, for example, a stepping motor. The output shaft of the motor 38 is parallel to the Z-axis, and faces the back surface of the sub-base 26. A torque transmission section 39 is connected to the output shaft. The rotation direction and rotation speed of the motor 38 are controlled in accordance with a control signal transmitted from the robot control device 6. For example, the robot control device 6 rotates the output shaft 180 degrees clockwise, and then rotates it 180 degrees counterclockwise.

The torque transmission section 39 includes a plurality of (four) gears 42, 43, 44, and 46. Gears 42, 43, and 44 constitute a gear unit 45. Gear 42 is fixed to the output shaft. Gear 43 is meshed with gear 42. Gear 44 meshes with gear 43. The gears 43 and 44 are inserted into a gear shaft protruding from the back surface of the sub-base 26. Gear 46 meshes with gear 44 . The gear 46 is attached to the back surface of the sub-base 26 via an axial bearing 47 (see FIG. 4). The gear 46 can rotate relative to the sub-base 26 via the axial bearing 47 .

As shown in part (a) of FIG. 6, the gear 46 (rotary drive unit) has a hole 46a (second through hole). This hole 46a has a shape that corresponds to the cross-sectional shape of the shaft 14 (see part (b) of FIG. 6). Specifically, the shaft 14 has a shaft portion 14a (second connecting portion) disposed in the hole 46a. The cross-sectional shape of this shaft portion 14a is, for example, approximately triangular. Note that the shaft portion 14a shown in part (b) of FIG. 6 is chamfered at the top of an equilateral triangle. The shape of the hole 46a is also substantially triangular in accordance with the cross-sectional shape of the shaft portion 14a. However, the opening area of the hole 46a is larger than the cross-sectional area of the shaft portion 14a. That is, a gap is provided between the shaft portion 14a and the gear 46.

The rotational drive section is connected to the rotating body section and has a second through hole through which the drive shaft is inserted, and restrains the drive shaft inserted into the second through hole around a predetermined direction. Any material may be used as long as it allows vibration along a predetermined direction. For example, instead of the gear 46, the rotation drive unit may employ a pulley or a non-contact drive unit such as a magnet.

According to such a configuration, when the gear 46 rotates, a portion of the inner surface of the hole 46a is pressed against the shaft portion 14a. In other words, the shaft portion 14a is restrained relative to the gear 46 in the Z-axis direction. There are a total of three pressing locations. At this pressing location, the gear 46 presses the shaft portion 14a, thereby transmitting torque. On the other hand, since a gap is provided between the shaft portion 14a and the gear 46, the edge of the shaft portion 14a is cut off from the gear 46 in the Z-axis direction. That is, the shaft portion 14a is not restrained by the gear 46 in the Z-axis direction. As a result, even if the shaft portion 14a moves in the Z-axis direction, the gear 46 does not move with the movement. That is, even if the shaft 14 vibrates in the Z-axis direction due to the vibration unit 27, the vibration is not transmitted between the shaft portion 14a and the hole 46a of the gear 46. Therefore, the vibration unit 27 does not directly affect the operation of the rotation unit 28.

The explanation regarding the above-mentioned puncture device 12 is summarized as follows.

The puncturing device 12 is a mechanism for puncturing by achieving both vibration in the axial direction and rotation around the axis. In the puncture device 12, a shaft (shaft 14) that holds the puncture needle 8 has a polygonal portion (eg, triangular, shaft portion 14a). The shaft is connected to a vibration actuator (piezo motor 29) via a vibration beam 32, which is a member for transmitting vibrations. The shaft is rotatable relative to the vibrating beam 32, and the vibration of the vibrating actuator is provided via the vibrating beam 32. The vibration actuator is fixed to a base member (main base 19). The base member is connected to a moving part (table 22) of a linear actuator (linear motor 21). The member for transmitting rotation (gear 89) has a hole 46a in the center that is shaped to fit into the polygonal portion (shaft portion 14a) of the shaft. The polygonal part (shaft part 14a) of the shaft (shaft 14) and the hole 46a of the gear 46 have a small gap so that the shaft can freely move in the axial direction. The member (gear 46) is connected to the rotation actuator (motor 38) via other rotation transmission bodies (gears 42, 43, 44). The rotary actuator (motor 38) is fixed to the base member (main base 19).

The puncture device 12 described above is a vibration-rotation compatible mechanism that can perform both vibration in the axial direction and rotation around the axis. The vibration-rotation compatible mechanism includes a base member (main base 19), a shaft (shaft 14) that holds the puncture needle 8, a vibration beam 32 for transmitting vibration, and gears 42, 43, 44 for transmitting rotation. 46, a vibration actuator (piezo motor 29), and a rotation actuator (motor 38). A polygonal portion (shaft portion 14a) provided on the shaft 14 meshes with a hole 46a provided in the gear 46. This configuration provides rotation transmitted to gear 46 from the rotary actuator to shaft 14 . In order to transmit rotation, it is sufficient that the shaft 14 collides with the gear 46 at at least one location when the shaft 14 rotates in each of the forward and reverse directions.

The cross-sectional shape of the shaft portion 14a of the shaft 14 does not have to be similar to the shape of the hole 46a. A minute gap exists between the polygonal portion (shaft portion 14a) and the hole 46a that engages with the shaft portion 14a, allowing the shaft 14 to freely slide in the Z-axis direction. Due to this gap, the vibration of the shaft 14 is not inhibited by the gear 46. Further, the shaft 14 and the vibration actuator (piezo motor 29) are connected using a thrust type upper bearing 33 and a lower bearing 34. This connection allows vibrations to be transmitted without inhibiting the rotation of the shaft 14.

Note that as a configuration that achieves both vibration and rotation, there may be a configuration in which a vibration actuator and a rotation actuator are connected in series. The vibration actuator vibrates the rotary actuator together. With this configuration, the weight of the object to be vibrated increases, making it impossible to vibrate at high speed.

In short, the configuration of the puncture device 12 of this embodiment is as follows.

The puncture device 12 includes a puncture needle fixture 48 (needle fixture) for attaching the puncture needle 8, and a puncture needle fixture 48 that allows the puncture needle 8 to vibrate in the axial direction and rotate about the axis of the needle. The vibration rotation drive mechanism 17 (vibration rotation compatible mechanism) for adding the vibration rotation drive mechanism 17 (vibration rotation compatible mechanism), the linear drive mechanism 16 (drive unit) that drives the vibration rotation drive mechanism 17 in the Z-axis direction, and the puncture needle 8 so that it can move straight. It has a puncture needle guide 49 for restricting the degree of freedom on a plane perpendicular to the needle 8, and a safety attachment/detachment mechanism 51 that allows the puncture needle 8 to be attached electrically or physically.

The vibration rotation drive mechanism 17 (vibration rotation compatible mechanism) includes a sub-base 26 (base member), a piezo motor 29 (vibration actuator) fixed so as not to move relative to the sub-base 26, and a piezo motor 29 (vibration actuator) that A vibrating beam 32 is fixed to a piezo motor 29 so as to move relative to the vibrating beam 32, and a shaft 14 is connected to the vibrating beam 32 so as to be rotatable around the Z axis, although it does not move in translation relative to the vibrating beam 32. , a motor 38 (rotary actuator) fixed so as not to move relative to the sub-base 26, and a gear 46 that transmits rotation from the motor 38 to the shaft 14.

The shaft 14 has a shaft portion 14a having a non-circular cross-sectional shape around its axis.

<Safety attachment/detachment mechanism>
As shown in FIG. 3, the puncture needle 8 is connected to the shaft 14 via a puncture needle fixture 48 attached to the tip of the shaft 14. This puncture needle fixture 48 restrains the puncture needle 8 along the Z-axis direction, and also restrains rotation around the Z-axis. Therefore, the puncture needle 8 is allowed to vibrate and rotate as the shaft 14 vibrates and rotates. Furthermore, according to the puncture needle fixture 48 described above, the puncture needle 8 has its base end held by the puncture needle fixture 48, and its distal end is a free end. Therefore, in the puncture robot 4, the puncture needle 8 is restrained by a puncture needle guide 49 placed near the tip of the puncture needle 8, more specifically, on the skin of the patient 201. This restriction is restriction in directions (X-axis direction and Y-axis direction) perpendicular to the Z-axis direction. According to the puncture needle guide 49, the puncture needle 8 can be maintained at a desired angle (for example, vertically) with respect to the skin of the patient 201. Puncture needle guide 49 is attached to the lower end of main base 19. Therefore, when the sub-base 26 moves in the negative Z-axis direction with respect to the main base 19, the puncture needle 8 accompanies the movement, but the puncture needle guide 49 does not follow the movement of the sub-base 26. As a result, the puncture needle 8 continues to be supported during the treatment.

By the way, it may be necessary to separate the puncture needle 8 from the puncture robot 4 if the patient 201 suddenly moves during the puncture or if the patient's condition suddenly changes. After the separation, the puncture robot 4 is evacuated from the patient 201 to ensure the safety of the patient 201. From this point of view, the puncture robot 4 includes a safety attachment/detachment mechanism 51 (holding mechanism) and a guide attachment/detachment mechanism 52 (restraint mechanism) for quickly separating the puncture needle 8.

<Puncture needle fixture>
As shown in FIG. 7, the puncture needle fixture 48 includes a first adapter 53 and a second adapter 54. Both the first adapter 53 and the second adapter 54 have a cylindrical shape. The first adapter 53 and the second adapter 54 are arranged such that their axes overlap with the axis of the puncture needle 8.

The first adapter 53 includes a case 56 and a safety attachment/detachment mechanism 51 disposed in the case 56. The case 56 has a cylindrical shape, has an upper end to which the lower end of the shaft 14 is fixed, and a lower end to which the second adapter 54 is removably connected. Note that in FIG. 7, in order to illustrate the internal configuration of the first adapter 53, the flange 14f (needle connecting portion) (see FIG. 3) of the shaft 14 fixed to the upper end side of the first adapter 53 is omitted. ing. A pair of flat parts 57 are provided on the outer peripheral surface of the case 56. The flat portions 57 are provided at positions facing the first adapter 53 across the axis thereof. The plane portion 57 is provided with a through hole 58 that is inserted through the inside of the case 56, and a portion of the safety attachment/detachment mechanism 51 protrudes from the through hole 58.

The through hole 58 is provided on the lower end side of the case 56. The through hole 58 includes a first portion 58a extending in the Z-axis direction and a second portion 58b extending in the circumferential direction from the middle of the first portion 58a. A portion of the second adapter 54 is inserted into the first portion 58a, and a portion (claw 61e) of the safety attachment/detachment mechanism 51 that engages with the second adapter 54 is also arranged. Another part (release button 61c) of the safety attachment/detachment mechanism 51 is inserted into the second portion 58b.

As shown in part (a) of FIG. 8, the safety attachment/detachment mechanism 51 has a pair of link mechanisms 59. The link mechanism 59 includes a lever 61 and a linear motor 62. The lever 61 has a substantially L-shape when viewed from above, and has a first side 61a and a second side 61b. The first side portion 61a extends from the inside of the case 56 to the outside of the case 56 via the through hole 58. The first side portion 61a may have a linear shape or may have a circular arc shape. The tip of the first side portion 61a protrudes from the through hole 58 and functions as a release button 61c.

The second side portion 61b is arranged inside the case 56. The second side portion 61b may have a linear shape, or may have one or more bent portions when viewed from above. A rotating portion 61d is provided between the end and the tip that are continuous with the first side portion 61a. A torsion spring is provided in the rotating portion 61d. This torsion spring generates a torque T1 in a direction that causes the release button 61c of the first side portion 61a to protrude outward.

Furthermore, the lever 61 has a claw 61e provided on the second side portion 61b. The claw 61e is provided between the rotating portion 61d and the end portion from which the first side portion 61a projects. This claw 61e protrudes in a direction intersecting the Z-axis direction and is disposed inside the through hole 58. The second adapter 54 inserted into the first portion 58a of the through hole 58 is provided with an engagement hole 64a. The claw 61e is inserted into this engagement hole 64a. The second adapter 54 is connected to the first adapter 53 by the claw 61e and the engagement hole 64a.

The linear motor 62 has an output shaft 62a that reciprocates in its axial direction. The tip of the output shaft 62a abuts near the tip of the second side 61b of the lever 61. Note that the output shaft 62a only needs to press the lever 61 in the extended state, and the tip of the output shaft 62a may or may not touch the lever 61 in the retracted state. . When the output shaft 62a presses the lever 61 (see part (b) of FIG. 8), a torque T2 is generated that is opposite to the torque of the torsion spring. When the lever 61 is rotated by the torque T2, the claw 61e is retracted toward the case 56, so that the engagement between the claw 61e and the engagement hole 64a is released. Therefore, the connection between the first adapter 53 and the second adapter 54 is released.

The second adapter 54 connects the puncture needle 8 to the first adapter 53. The second adapter 54 has a substantially cylindrical shape. The upper end of the second adapter 54 is removably connected to the lower end of the first adapter 53. Specifically, a pair of connecting protrusions 64 are provided at the upper end of the second adapter 54 . The connecting protrusion 64 extends in the Z-axis direction. The connecting protrusion 64 is then inserted into the through hole 58 of the first adapter 53. Further, the connecting protrusion 64 is provided with a rectangular engagement hole 64a. As described above, the claw 61e of the safety attachment/detachment mechanism 51 is inserted into the engagement hole 64a.

As shown in FIG. 5, the lower end of the second adapter 54 removably holds a needle unit 66 having the puncture needle 8. The needle unit 66 includes a puncture needle 8 and a needle adapter 67. A groove 54a for detachably holding the needle adapter 67 is provided at the lower end of the second adapter 54. The needle adapter 67 is inserted into the groove 54a from a direction intersecting the Z-axis direction.

The puncture needle fixture 48 has a first state in which the second adapter 54 is connected to the first adapter 53 and a second state in which the second adapter 54 is separated from the first adapter 53. This state switching is controlled by an electrical signal provided to the linear motor 62.

First, in a first state, that is, a connected state (see part (a) of FIG. 8), the output shaft 62a of the linear motor 62 is in a retracted state. Then, the claw 61e of the lever 61 is arranged in the through hole 58 of the case 56 by the torque T1 of the torsion spring. The claw 61e is engaged with the engagement hole 64a of the second adapter 54.

In order to switch from the connected state to the second state, ie, the disengaged state (see part (b) of FIG. 8), the output shaft 62a of the linear motor 62 is extended. Then, the lever 61 rotates around the rotating portion 61d against the torque T1 of the torsion spring (see the direction of the torque T2). As a result, the claw portion 6e is housed within the case 56. As a result, the connection state between the first adapter 53 and the second adapter 54 is released. Note that the connection state can also be released by manually pressing the release button 61c.

<Puncture needle guide>
As shown in FIG. 9, the puncture needle guide 49 includes a needle tip guide 68, a guide base 69, and a guide attachment/detachment mechanism 52. The puncture needle 8 is inserted through the needle tip guide 68 to guide the puncture needle 8. The needle tip guide 68 is detachably held on the guide base 69 by the attachment/detachment mechanism 52 .

The needle tip guide 68 includes a guide plate 72 and a guide cylinder 73. The guide plate 72 has a substantially square shape when viewed in plan from the Z-axis direction. A guide cylinder 73 is fixed to the back surface of the guide plate 72. For example, the center axis of the guide cylinder 73 may overlap the center axis of the guide plate 72. The guide plate 72 and the guide cylinder 73 are provided with a guide hole 68a through which the puncture needle 8 is inserted. The guide hole 68a restricts movement of the puncture needle 8 in a direction intersecting the Z-axis direction. Therefore, the inner diameter of the guide hole 68a is slightly larger than the outer diameter of the puncture needle 8.

The guide base 69 attaches the needle tip guide 68 to the main base 19. The guide base 69 is a plate-shaped component that has a rectangular shape when viewed from above. The guide base 69 is fixed to the main base 19 via a two-axis stage 70. The guide base 69 has a groove 69a for the needle tip guide 68. A guide cylinder 73 of the needle tip guide 68 is arranged in this groove 69a. Therefore, the width of the groove portion 69a is larger than the outer diameter of the guide cylinder 73. On the other hand, the main surface of the guide base 69 is in contact with the back surface of the guide plate 72 . Therefore, the width of the groove portion 69a is shorter than the length of one side of the guide plate 72.

The attachment/detachment mechanism 52 detachably holds the end face of the guide plate 72. Specifically, the attachment/detachment mechanism 52 sandwiches mutually opposing end surfaces 72a and 72b of the guide plate 72. The attachment/detachment mechanism 52 includes a support frame 74, a movable lever 76, and a linear motor 77.

The support frame 74 has a substantially L-shape when viewed in plan from the Z-axis direction. The support frame 74 is fixed to the guide base 69 and does not move or rotate relative to the guide base 69. The side 74a of the support frame 74 extends in the Y-axis direction. In other words, the side 74a is parallel to the direction in which the groove portion 69a extends (Y-axis direction). An end surface 72a of the guide plate 72 comes into contact with the side 74a. Another side 74b of the support frame 74 extends in the X-axis direction. An end surface 72c of the guide plate 72 comes into contact with the side 74b.

The movable lever 76 presses the end surface 72b of the guide plate 72. The movable lever 76 has a rotating portion 76a, and is rotatably connected to the guide base 69 by the rotating portion 76a. Specifically, the rotating portion 76a is provided at the base end of the movable lever 76, and the movable lever 76 rotates about the rotating portion 76a as a rotation axis. A torsion spring 78 (see FIG. 10) is provided on the rotating portion 76a. The linear motor 77 is a linear motor in which the output shaft 62a reciprocates along its axial direction. The linear motor 77 is attached to the main surface of the guide base 69.

As shown in part (a) of FIG. 10, the tip of the output shaft 77a presses the end of the torsion spring 78. For example, when the output shaft 77a is extended, the tip of the output shaft 77a presses the end of the torsion spring 78. Then, this pressing force generates a restoring force, and the restoring force generates a torque that presses the movable lever 76 against the guide plate 72. That is, when fixing the needle tip guide 68 to the guide base 69, the output shaft 77a of the linear motor 77 is extended.

As shown in part (b) of FIG. 10, when the output shaft 77a is retracted, the tip of the output shaft 77a is separated from the end of the torsion spring 78. Then, the restoring force generated by the pressure disappears. Therefore, the force that forces the movable lever 76 to press against the guide plate 72 also disappears. At this time, the movable lever 76 can freely rotate around the rotating portion 76a. That is, when removing the needle tip guide 68 from the guide base 69, the output shaft 77a of the linear motor 77 is retracted.

The explanation regarding the safety attachment/detachment mechanism 51 mentioned above is summarized as follows.

The puncture needle 8 is fixed to the shaft 14 by a puncture needle fixture 48, and its degrees of freedom other than linear motion are restricted by a puncture needle guide 49. However, if the patient 201 suddenly moves during puncture or if the patient's condition suddenly changes, the safety of the patient 201 can be ensured by separating the puncture needle 8 from the puncture robot 4 and then evacuating only the puncture robot 4. There is a need to. Therefore, we proposed the following attachment/detachment mechanism.

The puncture needle fixing device 48 is provided with at least one lever 61 (two levers in the embodiment) for fixing the second adapter 54 holding the puncture needle 8 to the first adapter 53. The lever 61 is rotatably fixed to the case 56. The linear motor 62 (for example, an ultrasonic linear actuator) is fixed to the case 56 so as not to move relative to the case 56. The driving portion of the linear motor 62 collides with the lever 61 during driving. This collision causes the lever 61 to rotate. Rotation of the lever 61 releases the connection between the first adapter 53 and the second adapter 54 .

The puncture needle guide 49 has a needle tip guide 68 for restricting movement of the puncture needle 8 only in the linear direction. The puncture needle guide 49 has a support frame 74 shaped to come into contact with the guide plate 72 of the needle tip guide 68 in at least two places. The support frame 74 is fixed to the guide base 69 so as not to move relative to it. Further, the movable lever 76 is rotatably fixed to the guide base 69. The movable lever 76 receives a force directed toward pressing the needle tip guide 68 against the support frame 74 by a torsion spring 78 . The other end of the torsion spring 78 is pressed against an output shaft 77a of a linear motor 77 that is fixed so that it cannot move relative to the movable lever 76. By driving the linear motor 77, the torsion spring 78 is released and the fixation of the needle tip guide 68 is released.

The safety detachment mechanism 51 uses electrical signals to remotely and automatically detach the needle to ensure the safety of the patient 201. Note that in consideration of the trouble of attaching and detaching in practical use, it may be physically removed manually. By releasing the connection between the first adapter 53 and the second adapter 54, the puncture needle 8 can freely move in the linear direction. By removing the needle tip guide 68, the puncture needle 8 can freely move in a plane direction other than the linear movement. These may be performed at the same time, or only one of them may be performed at the discretion of the doctor.

Further, the configuration of the safety attachment/detachment mechanism 51 of this embodiment is briefly as follows.

The safety attachment/detachment mechanism consists of a needle fixing device detachment mechanism in which a needle fixing part is attached and the needle fixing device can be removed by electrical or physical operation, and a needle fixing device detachment mechanism in which a needle guide is attached and the needle fixing device can be removed by electrical or physical operation. and a needle guide removal mechanism that allows the guide to be removed.

The puncture needle fixing device 48 includes a case 56, a lever 61 rotatably fixed to the case 56 and for fixing the needle fixing device, and fixed so as not to move relative to the case 56. It has a linear motor 21 arranged so that the lever 61 rotates when the drive part collides with the lever 61.

The puncture needle guide 49 is fixed to a guide base 69 so as not to move relative to the guide base 69, and is rotatable with respect to the guide base 69 and a support frame 74 having a shape in which at least two points of the needle guide are in contact with each other. A movable lever 76 is fixed to the movable lever 76 and arranged so as to contact at least one part of the needle guide during rotation, and a linear motor 21, one end of which is fixed to the movable lever 76 and the other end surface of the linear motor 21. It has a torsion spring 78 arranged so as to be pressed against the driving part.

<Drug injection device>
By the way, in the treatment using the puncture needle 8, a wide variety of drugs may be used. In this case, it is necessary to change the medicine provided to the puncture needle 8 as necessary. From this point of view, the puncture robot 4 includes a drug injection device 13 that allows the drug to be supplied to the puncture needle 8 to be easily changed.

As shown in FIG. 11, the drug injection device 13 includes a revolver 79, a device main body 81, a rotation mechanism 82, and an extrusion mechanism 83 as main components. A syringe 84 containing a drug is attached to the revolver 79. This revolver 79 is connected to the device main body 81 so as to rotate around an axis relative to the device main body 81 . The drug injection device 13 moves the syringe 84 containing the drug to be provided to the puncture needle 8 to a position corresponding to the syringe lever 86 by rotating the revolver 79 using the rotation mechanism 82 . Then, the drug injection device 13 supplies the drug to the puncture needle 8 by pressing the plunger 87 with the extrusion mechanism 83 .

According to this configuration, the drug injection device 13 selects a drug to be provided and provides the drug to the puncture needle 8 using the rotation mechanism 82 and the extrusion mechanism 83. That is, the drug injection device 13 uses at least two actuators to provide drugs to the puncture needle 8 from the syringes 84, which number is greater than the number of actuators.

The drug injection device 13 will be explained in more detail below.

The revolver 79 holds a plurality of syringes 84 and rotates with respect to the device main body 81. The revolver 79 has a cylindrical shape. Revolver 79 has a front end and a rear end. A device main body 81 is connected to the rear end of the revolver 79 . A plurality of syringe mounting portions 88 are provided on the circumferential surface of the revolver 79. The syringe mounting part 88 has a groove extending in the axial direction of the revolver 79 and a fixing part that fixes the syringe 84 disposed in the groove. That is, the axis of the syringe 84 is spaced apart from the center axis of the revolver 79 by a predetermined distance in the diametrical direction. Further, the syringes 84 are arranged at equal intervals (for example, every 45 degrees) around the central axis of the revolver 79. According to this spacing, revolver 79 holds eight syringes 84. Note that the number of syringes 84 held by the revolver 79 is not limited to eight. The number may be eight or more or eight or less. The syringe 84 is connected to the puncture needle 8 via a tube and a drug switching mechanism.

The revolver 79 has an opening 79h provided at the front end. The front end of the device main body 81 is exposed through this opening 79h. The revolver 79 has a gear 89 fixed around the opening 79h. The gear 89 is for rotating the revolver 79 relative to the device main body 81. The axis of the gear 89 is arranged inside the revolver 79 so as to overlap with the axis of the revolver 79.

The device main body 81 includes a housing 91 and an internal frame 92. The housing 91 has a cylindrical shape. Housing 91 has a front end and a rear end. A rear end of the revolver 79 is arranged at the front end of the housing 91 . The rear end of the housing 91 is fixed to the robot arm 11. The internal frame 92 is disposed inside the housing 91 and serves as the basis for the extrusion mechanism 83 and the rotation mechanism 82 . Since the internal frame 92 is fixed to the housing 91, it does not move or rotate relative to the housing 91. Further, the front end of the internal frame 92 is exposed through an opening 79h provided at the front end of the revolver 79. The aforementioned puncture device 12 is fixed to the exposed front end via an adapter 93. Specifically, the main base 19 of the puncture device 12 is fixed to the internal frame 92 via an adapter 93.

A rotation mechanism 82 is provided at the front of the internal frame 92 . The rotation mechanism 82 has a shaft portion 92a, a bearing 94, a gear 89, a pinion 96, and a motor 97 as main components. The shaft portion 92a is a cylindrical portion extending along the rotation axis of the revolver 79. The shaft portion 92a is a part of the internal frame 92. The revolver 79 rotates around this shaft portion 92a. Specifically, a bearing 94 is provided between the gear flange 98 of the revolver 79 and the shaft portion 92a. That is, the inner peripheral surface of the bearing 94 is fixed to the shaft portion 92a, and the outer peripheral surface of the bearing 94 is fixed to the gear flange 98. Further, a rolling support mechanism 99 is provided between the rear end of the revolver 79 and the front end of the housing 91. The rolling support mechanism 99 rotatably supports the rear end of the revolver 79 by the front end of the housing 91. The rolling support mechanism 99 includes a revolver groove provided at the rear end of the revolver 79, a housing groove provided at the front end of the housing 91, and a plurality of rolling elements arranged between the revolver groove and the housing groove. . These configurations allow the revolver 79 to rotate smoothly with respect to the device main body 81.

Pinion 96 is spaced diametrically from the axis of rotation. Specifically, the pinion 96 is provided near the outer periphery of the gear 89 at a position where it meshes with the gear 89. Both the gear 89 and the pinion 96 are spur gears, and the gear 89 provided on the revolver 79 has a larger diameter than the pinion 96 provided on the device main body 81. The pinion 96 is connected to an output shaft 97a of a motor 97. Motor 97 is fixed to internal frame 92.

According to the rotation mechanism 82, when the motor 97 is driven, its output shaft 97a rotates. As the output shaft 97a rotates, the pinion 96 rotates, and the gear 89 that meshes with the pinion 96 rotates. Rotation of gear 89 causes revolver 79 to rotate. That is, by controlling the rotation speed of the motor 97, the rotational position of the revolver 79 can be controlled. Note that the motor 97 may be controlled by the robot control device 6.

An extrusion mechanism 83 is fixed to the main surface of the internal frame 92. The extrusion mechanism 83 includes a linear motor 101 (third actuator) and a syringe lever 86. The linear motor 101 generates a driving force along the axis of rotation of the revolver 79. The linear motor 101 may be controlled by the robot control device 6. A syringe lever 86 is fixed to the table of the linear motor 101. Therefore, the syringe lever 86 reciprocates along the axis of rotation of the revolver 79.

The syringe lever 86 is an L-shaped component. A fixed side 86a of the syringe lever 86 is fixed to the table of the linear motor 101. The pressing side 86b of the syringe lever 86 stands up from the fixed side 86a and projects to the outside of the housing 91. When viewing the drug injection device 13 from the direction of the rotational axis of the revolver 79, the tip of the pressing side 86b protrudes beyond the outer peripheral surface of the revolver 79. The housing 91 is provided with a long hole 91h for the pressing side 86b, and the pressing side 86b projects through the long hole 91h. The elongated hole 91h extends along the axis of rotation of the revolver 79, and the syringe lever 86 can reciprocate by a distance in the longitudinal direction of the elongated hole 91h.

The explanation regarding the drug injection device 13 mentioned above is summarized as follows.

The drug injection device 13 switches and injects the drug using an actuator for extrusion and an actuator for selection. When performing a treatment in which various drugs are selectively injected, it is necessary to switch between multiple drugs during puncturing. Therefore, the drug injection device 13 realizes drug switching and injection using two actuators, one for extrusion and one for selection.

The extrusion mechanism 83 has a syringe lever 86 for extruding a drug solution installed in a moving part. The main body portion of the extrusion mechanism 83 is fixed to a rotating shaft member (device main body 81). The syringe 84 is arranged in a circle around the exterior member (the revolver 79). The exterior member is fixed via a bearing 94 so as to be rotatable relative to the device main body 81. The rotation mechanism 82 is fixed to a rotating shaft member and connected to the housing 91 via a gear 89.

The drug injection device 13 may include three or more syringes 84. The advantage of the drug injection device 13 is that the syringes 84 can be selected and injected using at least two actuators and fewer actuators than the number of syringes 84. The drug injection device 13 includes an extrusion mechanism 83, a rotation mechanism 82, structural members (a revolver 79 and a housing 91) for fixing each component, and a syringe mounting part 88 for fixing a syringe 84. By operating the rotation mechanism 82, a desired syringe 84 is moved in front of the syringe lever 86, and then, by operating the extrusion mechanism 83, the drug contained in the syringe 84 can be injected. The drug injection device 13 is able to select a desired syringe 84 from a large number of syringes 84 using a push-out actuator and a selection actuator, and provide the patient 201 with the drug contained in the selected syringe 84. .

In short, the configuration of the drug injection device 13 of this embodiment is as follows.

The drug injection device 13 includes a plurality of syringe mounting parts 88 for mounting three or more syringes 84, an extrusion mechanism 83 for supplying the drug held by any one of the syringes 84, and a plurality of syringe mounting parts 88 for mounting three or more syringes 84. and tubes connected to each.

The drug injection device 13, which is an extrusion switching mechanism, has at least two, and the number is smaller than the number of syringes 84, and is used for switching with at least one extrusion mechanism 83 used for extruding the drug solution. At least one rotation mechanism 82.

The drug injection device 13 has a syringe lever 86 fixed to the table of the linear motor 101 for extrusion and used to push in the plunger 87 of the syringe 84 . For example, the drug injection device 13 is equipped with a sensor that obtains the position of a syringe lever 86 (not shown), a sensor that obtains the pressure acting on the syringe lever 86, and a sensor that obtains the outflow amount of the drug, and uses the data obtained from these sensors. , the amount of pushing of the linear motor 101 may be controlled. The syringe mounting portion 88 is arranged so that the syringe 84 can be mounted in a circular manner. The motor 97 for switching switches the syringe 84 by rotating the revolver 79 that fixes the syringe 84, and pushes the plunger 87 of the syringe 84 by driving the linear motor 101 for extrusion.

The effects of the puncture robot 4 will be briefly explained below.

The vibration unit 27 includes a piezo motor 29 that is fixed to the sub-base 26 and generates vibration force for vibration, and a vibration transmission section 31 that is connected to the piezo motor 29 and the shaft 14 and transmits the vibration force to the shaft 14. has. The rotation unit 28 includes a motor 38 that is fixed to the sub-base 26 and generates rotational force for rotation, and a torque transmission section 39 that is connected to the motor 38 and the shaft 14 and transmits the rotational force to the shaft 14. has. According to this structure, the vibration unit 27 and the torque transmission section 39 can apply vibration and rotation to the shaft 14 at the same time. Therefore, the movement of the puncture needle 8 during insertion is further stabilized. As a result, it becomes easier for the puncture needle 8 to reach the affected area in a shorter time, so that the burden caused by puncturing can be further reduced.

The vibration transmission section 31 includes a vibrating beam 32 including a base end 32c that contacts the piezo motor 29, and a distal end 32b having a through hole 32a through which the shaft 14 is inserted, and a vibrating beam 32 that has a through hole 32a through which the shaft 14 is inserted. a restraining portion 35 that restrains the object in a predetermined direction and allows rotation about the predetermined direction. According to this structure, the operation of allowing rotation of the shaft 14 and imparting vibration to the shaft 14 can be realized with a simple configuration.

The torque transmission section 39 has a gear unit 45 (rotation transmission section) connected to the motor 38, and a hole 46a through which the shaft 14 is inserted while being connected to the gear unit 45. , and a gear 46 that restrains the vibration in a predetermined direction and allows vibration along the predetermined direction. According to this structure, the operation of allowing vibration of the shaft 14 and imparting rotation to the shaft 14 can be realized with a simple configuration.

The shaft 14 includes a connecting portion 14r connected to the vibration unit 27, a shaft portion 14a connected to the rotation unit 28, and a flange 14f connected to the puncture needle 8. The shaft portion 14a is provided between the connecting portion 14r and the flange 14f. According to this configuration, the shaft 14 can be vibrated and/or rotated in a good condition.

The puncture robot 4 further includes a drug injection device 13 that is connected to the puncture needle 8 and provides the puncture needle 8 with a drug. The drug injection device 13 includes a revolver 79 to which a plurality of syringes 84 containing drugs are attached, and a syringe lever 86 that presses a plunger 87 inserted into the syringe 84. The revolver 79 and the syringe lever 86 move relative to each other. According to this configuration, a plurality of syringes 84 are connected to the puncture needle 8. As a result, it becomes possible to eliminate the need for replacement work such as disconnecting the puncture needle 8 and syringe 84 and connecting a new syringe 84. Therefore, the treatment time can be further shortened.

The relative movement of revolver 79 and syringe lever 86 is rotation. According to this configuration, the drug injection device 13 can be downsized.

The puncture robot 4 further includes a robot arm 11 to which a drug injection device 13 is fixed. Linear motor 101 is fixed to robot arm 11 . The revolver 79 rotates relative to the syringe lever 86. According to this configuration, when the revolver 79 pressed by the linear motor 101 is selected, the revolver 79 rotates. This rotation allows the medicinal solution within the syringe 84 to be stirred.

The puncture robot 4 further includes a safety attachment/detachment mechanism 51 that is detachably attached to the tip of the shaft 14 and holds the puncture needle 8. According to this configuration, the connection between the puncture needle 8 and the shaft 14 can be quickly released.

The main base 19 includes a table provided to intersect with the puncture needle 8. The puncture robot 4 includes a guide hole 68a through which the puncture needle 8 is inserted, a guide plate 72 arranged on a table, and a guide attachment/detachment mechanism 52 that detachably holds the guide plate 72 on the table. Furthermore, it is equipped with. According to this configuration, the connection between the puncture needle 8 and the drive mechanism 30 can be quickly released.

<Modified example>
Although the embodiments of the present invention have been described, the present invention is not limited to the above embodiments.

In the rotation unit 28, the shape of the shaft portion 14a of the shaft 14 and the shape of the hole 46a of the gear 46 are not limited to the shape (approximately triangular) as shown in FIG. For example, the gear 46 has a hole 46a having a shape that collides with the shaft portion 14a of the shaft 14 at at least one location in each direction when the shaft 14 is rotated in forward and reverse directions around its axis. That's fine.

For example, as shown in part (a) of FIG. 12, the cross-sectional shape of the shaft portion 14b of the shaft 14A may be rectangular (square), and the shape of the hole 46b of the gear 46A may also be rectangular (square). Further, as shown in part (b) of FIG. 12, the cross-sectional shape of the shaft portion 14c of the shaft 14B may be an ellipse, and the shape of the hole 46c of the gear 46B may be rectangular (square). Furthermore, as shown in part (c) of FIG. 12, the cross-sectional shape of the shaft portion 14d of the shaft 14C is an ellipse, and the shape of the hole 46d of the gear 46C may also be an ellipse.

In the drug injection device 13, the device main body 81 is a fixed side, and the revolver 79 rotates with respect to the device main body 81. In other words, the selection of the drug was performed by rotating the syringe 84 relative to the syringe lever 86.

For example, as shown in parts (a) and (b) of FIG. 13, in the drug injection device 13A according to Modification 1, the revolver 79A may be on the fixed side, and the device main body 81A may be on the rotating side. In other words, a drug may be selected by rotating the syringe lever 86A with respect to the syringe 84A.

In other words, the drug injection device 13A (extrusion switching mechanism) is fixed to the linear motor 101A (driver) of the extrusion mechanism 83A (actuator for extrusion), and is a syringe used to push the syringe 84A. It has a lever 86A. The syringe mounting part 88A (syringe mounting part) is arranged so that the syringe 84A can be mounted in a circular manner. The rotation mechanism 82A (actuator for switching) switches the syringe 84A by rotating the extrusion mechanism 83A, and supplies the drug from the syringe 84A by driving the extrusion mechanism 83A.

Further, for example, as shown in parts (a) and (b) of FIG. 14, the drug injection device 13B according to the second modification may include a revolver 79B and a device main body 81B. The revolver 79B holds a plurality of syringes 84B arranged in a straight line. Then, the device main body 81B moves linearly with respect to the revolver 79B. That is, the syringe lever 86B reciprocates in the direction in which the syringes 84B are arranged.

That is, the drug injection device 13B (extrusion switching mechanism) has a syringe lever 86B that is fixed to the linear motor 101B (drive unit) of the extrusion mechanism 83B (actuator for extrusion) and pushes the syringe 84B. The syringe mounting portion 88B is arranged so that the syringe 84B can be mounted linearly. The translation mechanism 82B (actuator for switching) switches the syringe 84B by translating the extrusion mechanism 83B, and supplies the drug from the syringe 84B by driving the extrusion mechanism 83B.

Furthermore, for example, as shown in parts (c) and (d) of FIG. 14, a medicine injection device 13C according to modification 3 may include a revolver 79C and a device main body 81C. The revolver 79C holds a plurality of syringes 84C arranged in a straight line. Then, the revolver 79C moves linearly with respect to the device main body 81C. That is, the syringes 84C reciprocate in the direction in which the syringes 84C are arranged.

In other words, the drug injection device 13C (extrusion switching mechanism) is fixed to the linear motor 101C (drive unit) of the extrusion mechanism 83C (actuator for extrusion), and the syringe 84C is It has a syringe lever 86C to be pushed. The syringe mounting part 88C is arranged so that the syringe 84C can be mounted linearly, and by translating the revolver 79C by the translation mechanism 82C, the syringe 84C is switched, and the medicine is supplied from the syringe 84C by driving the extrusion mechanism 83C. do.

<Modified example of puncture needle fixture>
FIG. 15 shows a modification of the puncture needle fixture 48A. Puncture needle fixture 48A includes a gripper 310 and a drive unit 320. The gripping tool 310 has a pair of arms 311, and grips the puncture needle 8 with the arms 311. The drive unit 320 switches the position of the arm 311 between a gripping position and a release position. Switching from the grip position to the release position can be performed by an actuator housed in the drive unit 320, or can be performed manually.

As shown in part (a) of FIG. 16 and part (b) of FIG. 16, the arm 311 includes a main body part 312 that is L-shaped when viewed from the side, and a connecting part 313 provided on the main body part 312. have A tip 312a of the main body 312 extends in the X direction and faces the tip 312a of the main body 312 of the other arm 311. The puncture needle 8 is sandwiched between these tips 312a. A groove is formed in the portion for gripping the puncture needle 8. The cross-sectional shape of the groove may be selected as appropriate depending on the shape of the gripped portion of the puncture needle 8. The base portion 312b of the main body portion 312 extends in the Z direction. A connecting portion 313 is provided on the base 312b. The connecting portion 313 is disposed inside the case 321 of the drive unit 320 and receives the force that drives the main body portion 312 . The connecting portion 313 includes a solenoid connecting portion 313a for driving the main body portion 312 and an operating claw 313b.

The drive unit 320 has a pair of drive mechanisms housed in a case 321. One drive mechanism corresponds to one arm 311. The drive mechanism includes a solenoid 331, which is a linear motor, and a spring unit 332.

One end of the drive shaft 331a of the solenoid 331 is connected to the upper end of the solenoid connecting portion 313a. The base end of the drive shaft 331a is connected to the solenoid 331. The compression spring 332s of the compression spring unit 332 is sandwiched between the solenoid 331 and the solenoid connection portion 313a. As a result, the compression spring 332s generates a force that moves the solenoid connection portion 313a away from the solenoid 331.

Note that the compression spring unit 332 may adopt various configurations. As shown in FIG. 15, the compression spring unit 332 has an adapter 332a connected to the drive shaft 331a, a spring support part 332b fixed to the case 321, and a space between the adapter 332a and the spring support part 332b. A pair of compression springs 332s may be provided. Further, as shown in FIG. 16, the compression spring unit 332 may be configured by a compression spring 332s disposed on the drive shaft 331a and sandwiched between the solenoid connection portion 313a and the solenoid 331.

The force of the compression spring 332s matches the direction in which the arm 311 grips the puncture needle 8. In other words, the arm 311 maintains the gripping state by the restoring force of the compression spring 332s. Specifically, when the solenoid 331 is not operating (not generating force), the drive shaft 331a is in a state of movement in the positive X direction due to the restoring force of the compression spring 332s ((a in FIG. 16). ). On the other hand, when the solenoid 331 is operating (generating force), the drive shaft 331a contracts. In other words, the distance between the solenoid 331 and the solenoid connection portion 313a becomes shorter. As a result, the solenoid connecting portion 313a moves in the negative X direction, so the arms 311 move away from each other. In other words, the state is released (see part (b) of FIG. 16).

Further, the drive shaft 331a has an operating claw 313b protruding from the bottom surface of the case 321. By operating the operating claws 313b (widening the interval between the operating claws 313b), it is also possible to shift from the gripping state to the release state. In other words, a state in which the distance between the solenoid 331 and the solenoid connecting portion 313a is shortened is realized by moving the operating claw 313b.

The modified puncture needle fixing device 48A does not require any separate parts to be attached to the needle fixing part, so the number of parts can be reduced. In addition, the modified puncture needle fixing device 48A has no restrictions on the direction in which the puncture needle 8 can be removed. In other words, with the connection state released, the puncture needle 8 can be removed by moving it in the horizontal direction (Y direction), or it can be removed by moving it in the vertical direction (direction in which the puncture needle 8 extends: Z direction). You can also do it.

DESCRIPTION OF SYMBOLS 1...Puncture system, 4...Puncture robot, 8...Puncture needle, 11...Robot arm, 12...Puncture device, 13...Drug injection device, 14...Shaft, 16...Linear drive mechanism, 17...Vibration rotation drive mechanism, 19... Main base, 26... Sub base, 27... Vibration unit, 28... Rotation unit, 30... Drive mechanism.

Claims (8)

A puncture robot that performs puncture using a puncture needle,
a first base body extending in a predetermined direction;
a drive mechanism connected to the first base body to hold the proximal end of the puncture needle, vibrate the puncture needle along a predetermined direction, and rotate the puncture needle around the predetermined direction;
The drive mechanism is
a second base connected to the first base;
a drive shaft that holds the proximal end of the puncture needle;
a first drive section that is attached to the second base and vibrates the drive shaft and allows rotation of the drive shaft;
a second drive unit attached to the second base body to rotate the drive shaft and allow vibration of the drive shaft ;
The first driving unit includes a first actuator fixed to the second base body to generate a vibration force for the vibration, and a first actuator connected to the first actuator and the drive shaft to generate the vibration force for the drive. a first transmission part that transmits transmission to the shaft;
The second drive unit includes a second actuator that is fixed to the second base and generates a rotational force for the rotation, and is connected to the second actuator and the drive shaft to generate the rotational force for the drive. a second transmission section that transmits transmission to the shaft;
The first transmission section is
a beam portion including an input end that contacts the first actuator, and an output end that has a first through hole through which the drive shaft is inserted;
a restraining part that restrains the drive shaft inserted into the through hole in the predetermined direction with respect to the output end and allows rotation about the predetermined direction;
Puncture robot. The second transmission section is
a rotation transmission unit connected to the second actuator;
A second through hole is connected to the rotation transmitting portion and through which the drive shaft is inserted, and the drive shaft inserted into the second through hole is restrained around the predetermined direction and the drive shaft is inserted into the second through hole. The puncturing robot according to claim 1 , comprising a rotational drive unit that allows vibration along a direction. The drive shaft includes a first connection part connected to the first drive part, a second connection part connected to the second drive part, and a needle connection part connected to the puncture needle,
The puncturing robot according to claim 1 or 2 , wherein the second connecting part is provided between the first connecting part and the needle connecting part. further comprising a drug injection mechanism connected to the puncture needle to provide a drug to the puncture needle,
The drug injection mechanism includes:
a revolver including a syringe attachment part to which a plurality of syringes containing the drug are attached;
a third actuator that presses a plunger inserted into the syringe,
The puncturing robot according to any one of claims 1 to 3 , wherein the revolver and the third actuator move relatively. The puncturing robot according to claim 4 , wherein the relative movement of the revolver and the third actuator is rotation. further comprising a third base to which the drug injection mechanism is fixed,
the third actuator is fixed to the third base,
The puncture robot according to claim 4 or 5 , wherein the revolver rotates with respect to the third actuator. The puncture robot according to any one of claims 1 to 6 , further comprising a holding mechanism that is detachably attached to the tip of the drive shaft and holds the puncture needle. The first base includes a table provided to intersect with the puncture needle,
a guide plate arranged on the table and having a through hole through which the puncture needle is inserted;
The puncturing robot according to any one of claims 1 to 7 , further comprising a restraining mechanism that removably holds the guide plate with respect to the table.

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