JPH08107898A - Manipulator for operator - Google Patents

Abstract

PURPOSE: To provide a manipulator for operation which prevents its arm from being interfered with a patient or a surgeon. CONSTITUTION: This manipulator 5 for operation is provided with a first working arm 8 which is driven to rotate by centering a first shaft while being driven to advance or retract linearly along the first shaft and a second working arm 10 which is linked to the first working arm 8 while being driven to advance or retract linearly along a second shaft vertical to the first shaft.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope in which a body wall such as an abdominal wall is provided with an insertion hole, and an endoscope or a treatment tool is percutaneously inserted into the body cavity through the insertion hole for treatment. The present invention relates to a surgical manipulator used for lower surgery.

[0002]

2. Description of the Related Art Conventionally, an endoscopic view has been made in which a body wall such as an abdominal wall is provided with an insertion hole and an endoscope or a treatment instrument is percutaneously inserted into the body cavity through the insertion hole to perform various treatments in the body cavity. Mirror surgery is performed. Such an operation method is widely performed as a minimally invasive operation that does not require a large incision, such as a cholecystectomy operation and an operation of removing and removing a part of the lung.

On the other hand, there is known a manipulator for surgery which carries an endoscope and a treatment tool, operates the endoscope and the treatment tool by remote control, and performs a surgery on behalf of the operator. In this surgical manipulator, an arm portion including an endoscope and a treatment tool usually has a multi-joint structure, and each joint portion is operated by an actuator to facilitate an approach to a target site in a body cavity. .

As the manipulator for surgery, as shown in US Pat. No. 5,271,384, it is equipped with a mounting portion to be mounted on a bedside rail, and an operation is performed by operating an arm extending from this mounting portion. As shown in US Pat. No. 5,184,601, a large control device is provided, and an arm forming a horizontal joint structure is drive-controlled by this control device, or Japanese Patent Application No. 5-285206. In some cases, the drive arm has a parallel link structure as shown in the document.

[0005]

However, US Pat. No. 5
In the surgical manipulator shown in U.S. Pat. No. 271,384, since the arm extending from the attachment part attached to the bedside rail is very large, it may interfere with the patient or doctor during the operation and hinder the progress of the operation. is there. Further, in this surgical manipulator, a cable for supplying power to the manipulator is exposed to the outside, and the cable also protrudes from a joint part of the arm, and such a cable may interfere with a patient or a doctor during surgery.

In addition, in the surgical manipulator shown in US Pat. No. 5,184,601, a large control device is installed at the bedside, which disturbs a doctor or a patient in a narrow operating room, and also has an endoscope or a procedure. Since the structure of the arm for holding the tool is a horizontal multi-joint structure, there is a drawback in that the joint expands to both sides of the arm when the arm is moved back and forth in the horizontal direction, which interferes with the doctor and the patient.

Further, in the surgical manipulator disclosed in Japanese Patent Application No. 5-285206, since the driving arms have a parallel link structure, when the arms are moved back and forth in the horizontal direction, There is a drawback in that the arm protrudes to the rear of the and the doctor and the arm interfere with each other.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a surgical manipulator in which an arm does not interfere with a patient or a doctor.

[0009]

In order to solve the above problems, the surgical manipulator of the present invention is rotationally driven about a first axis and is linearly moved back and forth along the first axis. A first actuating arm and a second actuating arm which is connected to the first actuating arm and is linearly driven back and forth along a second axis perpendicular to the first axis. is there.

[0010]

The operation manipulator having the above-mentioned configuration is configured as a cylindrical coordinate system manipulator having no joints.
Therefore, for example, an endoscope or a treatment instrument attached to the tip of the second operating arm by the second operating arm that only linearly drives horizontally and the first operating arm that only rotates and vertically moves. Etc. can be arranged at a desired orientation and position, and when the arm is driven, the joint expands in the direction perpendicular to the arm advancing / retreating direction like the horizontal multi-joint structure, or the rear end of the arm like the parallel link structure. The part does not project backward in the advancing / retreating direction, and the arm does not interfere with the patient or the doctor.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 5 show a first embodiment of the present invention. FIG. 1 shows the overall configuration of the surgical manipulator 5 of this embodiment, and FIG. 2 shows the plan view of FIG. In FIG. 1, 1 is an operating table (hereinafter referred to as a bed), 2 is a patient, and 3 is bedside rails provided on both side walls of the bed 1. An operation manipulator 5 having an endoscope 4 detachably attached to the bedside rail 3 is detachably attached via a bed fixing portion 19.

The manipulator 5 for surgery has a first main body 7 which is arranged perpendicularly to the bedside rail 3, and is inserted into the first main body 7 and is vertically movable with respect to the first main body 7. And a vertical drive arm 8 as a rotatable operation axis, and a bed 1 provided at an end of the vertical drive arm 8 and
A second main body 9 arranged horizontally (vertically with respect to the first main body 7) with respect to Horizontal drive arm 10 as an operation axis that can be driven vertically (to the main body 7)
And a joint portion 29 as a joint portion provided at the tip of the horizontal drive arm 10.
A treatment tool (not shown) or the like can be detachably attached. In the figure, the driving directions of the vertical drive arm 8 and the horizontal drive arm 10 as the operation axes are a.
(Turning), b (up and down), and c (back and forth). Further, the arms 8 and 10 do not have to be exactly vertical, and may be arranged almost vertically. This also applies to the horizontal relationship between the bed 1 and the horizontal drive arm 10.

Drive of the vertical drive arm 8 protruding and retracted with respect to the first main body 7 in the a direction (swirl) and the b direction (up and down),
C of the horizontal drive arm 10 protruding and retracting with respect to the second main body 9
Driving in the direction (front and rear) is performed by an actuator (not shown) such as an electromagnetic motor. That is, the surgical manipulator 5 is configured as a so-called cylindrical coordinate system manipulator having an operation axis that can be driven in the a (turning) direction, the b (vertical) direction, and the c (front and back) direction.

In this structure, the vertical drive arm 8 is provided at a position offset to the left with respect to the central axis of the first main body 7 when the first main body 7 is viewed from the bedside rail 3 side. Has been.

The surgical manipulator 5 having the above-mentioned configuration is connected to an operation input means (not shown) installed in an area which can be operated by an operator through a manipulator control device (not shown). That is, the manipulator control device controls the drive of the surgical manipulator 5 based on the operation signal from the operation input means.
As the operation input means, for example, a three-dimensional digitizer, joystick, or key switch is used.

The connection between the manipulator control device and the surgical manipulator 5 connects the electric signal line connected to the manipulator control device to the connector 18 provided on the first main body 7 of the surgical manipulator 5. It is done by The connector 18 is attached to the right side surface of the first main body 7 when the first main body 7 is viewed from the bedside rail 3 side. That is, the connector 18 and the vertical drive arm 8 are provided on the opposite sides of the central axis of the first main body 7. The connector 18 may be provided on the second body 9 or may be provided on both the first body 7 and the second body 9.

The endoscope 4 attached to the surgical manipulator 5 has an insertion section 4a which can be inserted into the body cavity of the patient 2, and a CCD camera 6 as an observation means is provided at the tip of the insertion section 4a. Is provided. This CCD camera 6
The image obtained by the above is displayed by an image display means (not shown). Examples of the image display means include a TV monitor and an HMD (Head Mounted Dis).
play) A three-dimensional display is used. In addition,
Instead of providing the CCD camera 6, an optical system image transmission means such as a relay lens is provided in the insertion portion 4a and a camera capable of observing the in-vivo image transmitted by the optical system image transmission means is provided at the base end portion of the endoscope 4. You may wear it. In this case, if two systems of the optical system image transmission means are provided and two cameras corresponding to each of these transmission means are mounted,
It is possible to obtain a stereoscopic image.

Next, the connecting portion 29 provided at the tip of the horizontal drive arm 10 will be described with reference to FIG.

A fitting hole 11 is concentrically provided at the tip of the horizontal drive arm 10 as an operation axis in the horizontal direction c. A shaft portion 13 is rotatably supported in the fitting hole 11 via a bearing 12. The shaft portion 13 is integrally provided with a bifurcated bearing support portion 14.
The bearing 15 is provided at a right angle to the bearing 12. Then, the insertion receiving portion 16 as the joint shaft
Are rotatably supported by bearings 15. Therefore, the insertion receiving portion 16 can rotate around the axis (a) of the horizontal drive arm 10 together with the shaft portion 13, and at the same time, the axis center (a) of the horizontal drive arm 10 with respect to the shaft portion 13.
It can rotate around the axis (b) orthogonal to. That is, the insertion receiving portion 16 can rotate with two degrees of freedom.

A mounting hole 17 into which the insertion portion 4a of the endoscope 4 can be inserted is provided in the axial center portion d of the insertion receiving portion 16. Therefore, if the insertion portion 4a of the endoscope 4 is inserted into the mounting hole 17 and then fixed to the insertion receiving portion 16 by a nut (not shown), the insertion portion 4 of the endoscope 4 is inserted.
The a can rotate with two degrees of freedom together with the insertion receiving portion 16.

Next, the surgical manipulator 5 is attached to the bed 1.
The bed fixing portion 19 fixed to the above will be described with reference to FIG.

The bed fixing portion 19 has two claws 20a and 20b facing each other vertically and a grip 21 capable of arbitrarily changing the distance between the claws 20a and 20b.
It consists of and. A screw is formed at the tip of the grip 21, and the lower claw portion 20b screwed and fixed to the grip 21 is screwed into the upper claw 20a so that the upper claw 20b is screwed. 20a can be approached. Therefore, if the grip 21 is rotated with the bedside rail 3 positioned between the claws 20a and 20b, the bedside rail 3 is sandwiched between the claws 20a and 20b, and the manipulator 5 for surgery is used.
Is fixed to the bedside rail 3. The bed fixing portion 19 is fixed to the first main body 7 of the surgical manipulator 5 with two screws 22 and 22. The first body 7 is formed with a pair of screw holes 7a and 7b corresponding to the two screws 22 and 22, respectively. In addition, 2
The pair of screw holes corresponding to the two screws 22 and 22 are not only 7a and 7b, but 7a ', 7b' ... (only 7a, 7b and 7a ', 7b' are shown in FIG. 4), A predetermined number of them are formed in the longitudinal axis direction of the first main body 7, and the screw holes into which the two screws 22, 22 are to be screwed are selected according to the situation, so that the surgical manipulator 5 for the bed 1 The height position can be adjusted.

When the manipulator 5 for surgery is not mounted on the bed 1 and is not used, it is transported or stored while being fixedly mounted on the cart 23 as shown in FIG.
The fixed portion 24 of the cart 23 can be moved in the vertical direction by a lever 90. In this case, the surgical manipulator 5 is mounted and fixed on the cart 23 by detachably mounting the first main body 7 on the cart fixing portion 24 fixedly provided on the cart 23. Further, in this configuration, the cart fixing portion 24 can be formed by applying a slight force.
The surgical manipulator 5 can be easily attached to and detached from.

A surgical manipulator 5 having such a configuration
To attach the to the bedside rail 3, first, depending on the height of the patient 2 of the bed 1 and the connecting portion 29, the first main body 7
The fixing position of the bed fixing portion 19 with respect to is selected. That is, the screws 22, 22 of the bed fixing portion 19 are screwed into the screw holes 7a, 7b on the first main body 7 corresponding to the height of the bedside rail 3 to move the bed fixing portion 19 to the first position. It is fixed to the main body 7. Thereafter, the surgical manipulator 5 is moved to a predetermined position on the bed 1 while being placed on the cart 23. Then, the lever 90 fixes the bed fixing portion 1
Adjust the height of 9 to the height of the bedside rail 3. Then, in this state, the surgical manipulator 5 is fixed to the bedside rail 3 by the bed fixing portion 19. At this time, at the same time, the cart fixing portion 24 is removed.

Next, the insertion portion 4a of the endoscope 4 is inserted into the body of the patient 2. Then, when the operator operates the operation input means in order to obtain an observation image by the endoscope 4 at a desired orientation and position, the manipulator control device,
The position of the insertion portion 4a of the endoscope 4 is calculated based on this operation signal, and the surgical manipulator 5 is drive-controlled so that the endoscope 4 is at the position corresponding to the operation signal.

As described above, the surgical manipulator 5 of the present embodiment is configured as a cylindrical coordinate system manipulator having no joint, except for the joint portion 29 (joint portion) provided at the tip of the horizontal drive arm 10. Has been done. That is, the endoscope 4 attached to the connecting portion 29 by the horizontal drive arm 10 as an operation axis that performs only linear horizontal drive and the vertical drive arm 8 as an operation axis that only rotates and vertically moves. The treatment tool or the like can be arranged at a desired orientation and position. Moreover, in the case of the present embodiment, even if the horizontal drive arm 10 is retracted in order to arrange the endoscope 4, the treatment tool, etc. at a desired orientation and position, the horizontal drive arm 10 is housed in the second main body 9. Therefore, the manipulator portion that protrudes horizontally from the bed size is always constant regardless of whether the arm 10 advances or retracts, and the protrusion amount is such that it does not interfere with the patient or doctor as shown in FIG. Has become. Note that this point also applies to the vertical drive arm 8.

Therefore, the surgical manipulator 5 of this embodiment has a structure in which, when the arm is driven, the joint expands in a direction perpendicular to the advancing / retreating direction of the arm like a horizontal multi-joint structure, or the rear end of the arm like a parallel link structure. The part does not project backward in the advancing / retreating direction, and the arm does not interfere with the patient or the doctor.

Further, the surgical manipulator 5 of the present embodiment.
Since the mounting position on the bedside rail 3 can be arbitrarily determined by the bed fixing portion 19 described above, it can be mounted at a position where the operation of the arms 8 and 10 does not interfere with the patient or the doctor. .

Further, in this embodiment, the mounting height of the surgical manipulator 5 to the bedside rail 3 can be adjusted by the mounting position of the bed fixing portion 19 to the first main body 7. Therefore, by changing the mounting position of the bed fixing portion 19 according to the size of the patient 2 and the like,
Interference with the patient 2 can be avoided, and the endoscope 4
The movable range of the tip of the can be changed.

Since the operation manipulator 5 can be attached to the bedside rail 3 simultaneously with the removal of the manipulator 5 from the cart 23, a nurse or a doctor does not need to lift the operation manipulator 5 and the installation is easy. is there.

Further, since the vertical drive arm 8 and the connector 18 are offset from each other with respect to the central axis of the first main body 7, when the first main body 7 is viewed from the bedside rail 3 side, The number of protrusions to the left of the main body 7 of the
Interference with a doctor standing on the left side of the main body 7 is reduced. In addition,
When the doctor stands on the right side of the main body 7, these positions may be reversed.

FIG. 6 shows a modified example of the bed fixing portion. As illustrated, the bed fixing portion 19 ′ is fixed to a rail block 28 that is linearly slidable in the axial direction of the first main body 7 along a rail 27 provided on the first main body 7. Of course, in this case, the bed fixing portion 19 'and the rail block 28 may be integrated.
Further, in this configuration, the rail block 28 is moved to the rail 27 by the stopper 26 provided on the rail block 28.
It is designed to be fixed at any position above. For example, by screwing the stopper 26 into the rail block 28, the end surface of the stopper 26 is brought into pressure contact with the surface of the rail 27 to fix the rail block 28 to the rail 27.

When the height position of the surgical manipulator 5 with respect to the bed 1 is adjusted by using the bed fixing portion 19 'having the above structure, the rail block 28 is slid to a predetermined position on the rail 27, and the position thereof is slid. With stopper 2
It may be fixed by 6. By using this slidable bed fixing portion 19 ', the bed fixing portion 19 described above can be used.
The height of the surgical manipulator 5 can be adjusted more finely than that (see FIG. 4).

FIG. 7 shows a second embodiment of the present invention. In this embodiment, the manipulator 5 for surgery shown in FIG. 1 is used.
Vertical drive arm 8 provided by being inserted into the first main body 7 of
The drive mechanism of FIG. In the figure, 8 indicates a vertical drive arm, and 7 indicates a first main body.

The drive mechanism for rotating the vertical drive arm 8 (indicated by a in the figure) is connected to the first motor 120, the speed reducer 121 connected to the first motor 120, and the speed reducer 121. The rotational force transmission element 12 that is movable and that transmits the rotational force of the first motor 120 to the vertical arm 8
Consists of two.

The rotational force transmitting element 122, which is capable of direct movement, is the first
Spline shaft 123 erected in the longitudinal direction of the main body 7 of the
And a rotation transmission mechanism provided on the spline nut 137. As the spline shaft 123, a ball spline or an involute spline can be used. A gear, a belt, a chain or the like is preferable as the rotation transmission mechanism, and in the case of the belt, a timing belt, a steel belt or the like can be used. In this embodiment, a gear is used as the rotation transmission mechanism. That is, the torque transmission element 122 of the present embodiment includes the spline shaft 123,
The first gear 124 provided on the spline nut 137
a and a second gear 124b that meshes with the first gear 124a and is provided at the end of the vertical drive arm 8. In addition, the first gear 124a and the second gear 124
Both b are stored in the gear box 125.

The drive mechanism for vertically moving the vertical drive arm 8 (indicated by b in the figure) is the second motor 126.
And a ball screw 127 connected to the second motor 126 and provided upright in the longitudinal direction of the first main body 7, and a nut 128 capable of directly moving on the ball screw 127. The nut 128 is fixed to the gear box 125.

Two linear guide rails 138 are erected on the first main body 7 in the longitudinal direction thereof. Further, linear motion mechanisms 129a and 129b are fixed to the linear guide rails 138 and 138 so as to be vertically movable, and a ball screw 127 is disposed between the linear motion mechanisms 129a and 129b. That is, the linear motion mechanism 1
29a and 129b, the ball screw 127, and the spline shaft 123 are arranged in parallel with each other.
The speed reducer 121 and the second motor 126 are fixed to the first main body 7.

The amount of advance / retreat of the vertical drive arm 8 is such that the upper and lower end faces of the linear motion mechanisms 129a, 129b that advance and retreat together with the vertical drive arm 8 are brought into contact with the upper and lower abutment faces in the first main body 7. It is mechanically restricted by the abutment. Therefore, stoppers 131 are provided at the upper and lower ends of the linear motion mechanisms 129a and 129b to absorb the shock at the time of contact. In this case, the stopper 13
Although rubber is used as 1, any elastic body may be used.

Further, in order to mechanically limit the turning amount of the vertical drive arm 8, the spline shaft 123 and the speed reducer 121 are used.
As shown in FIG. 7D, a mechanical stopper 132 is provided at the joining portion with. The mechanical stopper 132 includes a dog 133 provided at a joint between the spline shaft 123 and the speed reducer 121, a stopper 136 provided on the first main body 7, and rubbers 134 and 134 provided on both sides of the stopper 136. Composed of and. When the dog 133 rotates along with the rotation of the spline shaft 123 that rotates the vertical drive arm 8, the dog 133 causes the stopper 136 to rotate.
It is configured to come into contact with the rubbers 134, 134 provided on the.

A first proximity switch 130a for detecting the end position of the vertical drive arm 8 in the advancing / retreating direction is provided at each of the upper end portion and the lower end portion of the first main body 7.
In this case, the first proximity switch 130a detects the end position of the vertical drive arm 8 in the forward / backward direction by using the gear box 125 that moves forward / backward with the vertical drive arm 8 as a detector. Further, a second proximity switch 130b for detecting the end position of the vertical drive arm 8 in the turning direction is provided on the upper end of the first main body 7. In this case, the second proximity switch 130b is controlled by the detection body 135 provided at the end of the spline 123 that rotates the vertical drive arm 8.
The end position of the vertical drive arm 8 in the turning direction is detected.

These proximity switches 130a and 130b
Is arranged at a position where the end positions of the vertical drive arm 8 in the advancing / retreating direction and the turning direction do not exceed the above-mentioned mechanical limits of the advancing / retreating amount and the turning amount of the vertical drive arm 8.

In the case of this embodiment, the vertical drive arm 8
Although a proximity switch is used as a means for detecting the end position of the forward / backward direction and the turning direction, the present invention is not limited to this, and any switch or sensor may be used. For example, an optical photo sensor or a micro switch may be used.

Further, the selection of the reduction ratio in the turning operation and the advancing / retreating operation of the vertical drive arm 8 is selected so as to be sufficiently decelerated with respect to the maximum rotation speed of the first motor 120 or the second motor 126. Has been done. Further, the second motor 126 is provided with a brake mechanism 139 that operates when the power of the motor 126 is turned off.

Next, the turning operation of the vertical drive arm 8 will be described. First, when the first motor 120 rotates,
The rotation is transmitted to the speed reducer 121, and the spline shaft 123
Rotates. The rotation of the spline shaft 123 is transmitted to the first gear 124a provided on the spline nut 137, and the second gear 124b that meshes with the first gear 124a.
Rotates. As a result, the vertical drive arm 8 fixed to the second gear 124b pivots.

When the vertical drive arm 8 reaches the end position in the turning direction, the second proximity switch 130b senses the detection body 135 fixed to the spline shaft 123, and the first motor 120 stops. Even if the vertical drive arm 8 crosses over the second proximity switch 130b and further over the turning end position for some reason, the dog 133 comes into contact with the stopper 136, and the turning of the vertical drive arm 8 is limited.

Next, the forward / backward (up / down) operation of the vertical drive arm 8 will be described. First, when the second motor 126 rotates, the rotation is transmitted to the ball screw 127, and the nut 128 moves back and forth along the ball screw 127. As a result, the gearbox 125 fixed to the nut 128 is
Is moved back and forth and is stored in the gearbox 125
The vertical drive arm 8 fixed to the gear 124b moves forward and backward.

When the vertical drive arm 8 reaches the end position in the forward / backward direction, the first proximity switch 130a senses the gear box 125 moving forward / backward together with the vertical drive arm 8, and the second motor 126 stops. For some reason, the gearbox 125 causes the first proximity switch 130a to
Even when the forward / backward end position is exceeded, the stopper 131 provided at the end of the linear motion mechanism 129a, 129b.
Comes into contact with the contact surface of the first main body 7, so that the vertical drive arm 8 is restricted from advancing and retracting.

As described above, since the vertical drive arm 8 of this embodiment has two degrees of freedom of turning and advancing and retreating, and projects only vertically upward, compared with a manipulator having two other joints. The amount of protrusion is small. Therefore, it does not interfere with the patient or doctor.

Further, since the vertical drive arm 8 of the present embodiment is provided with the rotational force transmitting element 122 capable of direct movement, it is not necessary to directly attach the motors 120 and 126 to the gear box 125, whereby the motors 120 and 126 can be eliminated. 126
There is no need for wiring processing. Therefore, the motor 1
Compared with the case where 20 and 126 are attached to the gear box 125, the first main body 7 and thus the manipulator 5 as a whole can be downsized because there is no need for wiring processing, and due to this downsizing, interference with a doctor or a patient is possible. Can be reduced.

The nut 137 of the spline shaft 123 is also used.
Since the teeth of the gear are provided in the gear, the rotational force transmission element 122 can be downsized, and thus the surgical manipulator 5 can be downsized.

Further, for some reason, the motors 120, 12
Even if 6 reaches the maximum speed, since the reduction ratio is large, the advancing / retreating and turning speeds of the vertical drive arm 8 are not dangerous to the patient or the doctor. When the power of the second motor 126 is turned off, the brake mechanism 139
, The vertical drive arm 8 does not fall,
It is safe.

FIG. 8 shows a modification of the second embodiment. However, the second main body 9 shown in FIG. 1 is shown fixed to the end of the vertical drive arm 8. The drive mechanism of the vertical drive arm 8 is the same as in the second embodiment.

As shown in the figure, the horizontal drive arm 10 is connected to the second main body 9 so as to be movable back and forth. At the tip of the horizontal drive arm 10, there is provided a connecting portion 29 to which an endoscope or a surgical instrument (not shown) can be detachably fixed. An actuator (not shown) for driving the horizontal drive arm 10 forward and backward, a linear motion mechanism (not shown), and other electric devices (not shown) are arranged in the second main body 9. .

The vertical drive arm 8 is formed in a pipe shape. A cable protection member 143 is connected to the lower end of the vertical drive arm 8. Cable protection member 1
The other end of 43 is fixed to the fixing member 144 as shown in FIG.
It is fixed to the first body 7 by.

The cable 142 for supplying electric power to the actuator and electric equipment incorporated in the second main body 9 is
It is inserted into the vertical drive arm 8 having a pipe shape, passes through the cable protection member 143, and is connected to the connector 18.

In this configuration, the cable protection member 1
Although a coil spring is used as 43, a protective sheath may be used. In addition, the cable 142 has a length that does not break with the operation of the vertical drive arm 8.

In the configuration described above, the vertical drive arm 8
When the vertical drive arm 8 is swung and moved back and forth by driving the drive mechanism of No. 2, the cable 142 also operates in accordance with this operation, but the cable 142 is inserted into the vertical drive arm 8 and the coil spring (the cable protection member 143) is used. Since it is protected, it does not interfere with other internal components in the first body 7 and does not cut.

Further, since the cable 142 does not project from the second main body 9 to the outside, it does not interfere with the doctor or the patient when the arms 8 and 10 move.

Further, since the coil spring as the cable protection member 143 has a characteristic of attempting to recover from the bent state to the straight extended state, the cable 142 is perpendicular to the advancing / retreating direction of the cable 142 due to the advancing / retreating of the vertical drive arm 8. To prevent bulging in any direction. Therefore, the cable 1
The coil spring that protects 42 does not interfere with other internal components in the first main body 7, and the cable 142 does not cut.

FIG. 9 shows a modified example of the connecting portion 29 attached to the tip of the horizontal drive arm.

As shown, a spherical bearing 83 is provided at the tip of the horizontal drive arm 10. The spherical bearing 83 is provided with a mounting hole 84 that has a degree of freedom of rotation in three directions around the point e and into which the insertion portion 4a of the endoscope 4 (or the insertion portion of the treatment tool) can be inserted. An insertion portion attachment portion 85 has is provided. Then, the mounting hole 84
The insertion section 4 of the endoscope 4 (or the insertion section of the treatment tool) can be inserted into the endoscope and the insertion section 4 can be fixed by a nut (not shown).

According to such a structure of the connecting portion 29, the structure of the connecting portion 29 can be miniaturized, so that it does not interfere with the patient.

FIG. 10 shows another modification of the connecting portion 29. As shown in the figure, a bearing support hole 86 is provided at the tip of the horizontal drive arm 10 in a direction orthogonal to the axial direction of the arm 10, and a shaft portion 88 is rotated in the bearing support hole 86 via a bearing 87. It is supported freely.

On the other hand, a fitting hole 91 is formed in the insertion portion mounting portion 90 having the mounting hole 89, and the tip portion of the shaft portion 88 is rotatably supported in the fitting hole 91 via a bearing 92. ing. Further, the first shaft 93 and the second shaft 94 are orthogonal to each other,
The second shaft 94 and the insertion portion central axis 95 are orthogonal to each other, but the first shaft 93 and the insertion portion central axis 95 do not intersect. Then, the insertion portion 4 of the endoscope 4 (or the insertion portion of the treatment tool) can be inserted into the mounting hole 89, and the insertion portion 4 can be fixed by a nut (not shown).

According to the structure of the connecting portion 29, the distance (L) between the first shaft 93 and the insertion portion central axis 95 is constant.
Therefore, when the first shaft 93 rotates, the insertion portion 4a and the distal end portion of the horizontal drive arm 10 are less likely to interfere with each other, so that the rotation range of the first shaft 93 can be wide, and thus the insertion portion 4a can be rotated. The point of action of the tip can be moved over a wide range.
Further, since the structure of the coupling portion 29 can be downsized, it does not interfere with the patient.

FIG. 11 shows a third embodiment of the present invention. The present embodiment shows a drive mechanism of a horizontal drive arm 10 that is provided by being inserted into the second main body 9 of the surgical manipulator 5 shown in FIG. In the figure, 9 indicates a second body, and 10 indicates a horizontal drive arm.

As shown in the figure, the distal end of the horizontal drive arm 10 is provided with a connecting portion 29 to which at least one of an endoscope and a surgical instrument (not shown) can be detachably fixed.
The coupling part 29 has the structure shown in FIG.

The horizontal drive arm 10 is formed in a pipe shape, and a part of the ball screw shaft 150 is inserted through the arm 10 in the longitudinal direction thereof. In this case, the ball screw shaft 150 may be any linear drive element. For example, a trapezoidal screw and a feed screw are suitable. Further, the ball screw shaft 150 is provided with a nut 146 which is movable back and forth along the ball screw shaft 150.

A rail 151 is arranged below the horizontal drive arm 10 in parallel with the horizontal drive arm 10. A linear slider 145 is slidably mounted on the rail 151. At both ends of the rail 151,
Stopper 15 that determines the end position of linear motion slider 151
6, 156 are provided. The stopper 156 is preferably formed of an elastic body such as rubber.

In this structure, the horizontal drive arm 1
0, the nut 146, and the linear motion slider 151 are connected to each other by a joint member 154 so that they can be integrally advanced and retracted.

A motor 15 is provided at a position in the base end portion of the horizontal drive arm 10 and behind the vertical drive arm 8.
3 are provided. That is, the motor 153 is provided behind the joint between the vertical drive arm 8 and the second main body 9. The rotation axis of the motor 153 is arranged parallel to the ball screw shaft 150. In this case, the motor 153 is provided at a position that does not exceed the entire length of the ball screw shaft 150.

Needless to say, the position of the motor 153 is not limited to the rear of the vertical drive arm 8 and may be on both sides of the ball screw shaft 150 or on the upper side of the ball screw shaft 150.

A first pulley 155a is fixed to the base end of the ball screw shaft 150. A second pulley 155b is fixed to the shaft of the motor 153, and the first pulley 155a and the second pulley 155b are connected via a timing belt 152. In this case, the timing belt 152, the first pulley 155a, and the second pulley 155b are not limited to this, and may be any rotation transmission mechanism, for example, a steel belt, a gear, a chain, etc. are preferable. The reduction ratio of such a rotation transmission mechanism is
Horizontal drive arm 1 even when the maximum rotation speed of the motor 153 is reached
It is large enough to slow down the progression of zero.

Proximity switches 157 and 157 for detecting the final end of the horizontal drive arm 10 in the advancing / retreating direction are provided at the front end and the base end of the second main body 9, respectively. The proximity switches 157 and 157 may be sensors or switches. Examples of the switch include a micro switch and a switch using a Hall element. Further, as the sensor, a photo sensor using light and the like can be mentioned. Proximity switch 15 used in this embodiment
7, 157, the joint member 154 moving forward and backward together with the horizontal drive arm 10 is used as a detection body, and the horizontal drive arm 1
The end of 0 in the forward / backward direction is detected.

The stoppers 156 and 156 provided at both ends of the rail 151 are arranged at positions beyond the final end position of the horizontal drive arm 10 detected by the proximity switch 157.

Next, the horizontal drive arm 10 is moved back and forth (horizontal).
The operation will be described. First, when the motor is rotationally driven, the rotation is transmitted to the ball screw shaft 150 via the timing belt 152. When the ball screw shaft 150 rotates, the nut 154 attached to the ball screw shaft 150 advances and retracts, and the joint member 154 integrated with the nut 154 advances and retracts. Therefore, the horizontal drive arm 10 connected to the joint member 154 also moves back and forth with respect to the second main body 9.

When the horizontal drive arm 10 is located at the final end, the proximity switch 157 senses the joint member 154 and the motor 153 is forcibly stopped. When the horizontal drive arm 10 does not stop at the final end for some reason, the stopper 156 mechanically stops the horizontal drive arm 10.

As described above, the horizontal drive arm 10 of the present embodiment only moves back and forth in a straight line, and does not spread to both sides from the forward / backward direction at the time of driving like an arm having a joint structure. In addition, when it is retracted, it does not project rearward from the second main body 9. Therefore, the arm 10 does not interfere with the doctor or the patient as the arm 10 moves back and forth.

Further, proximity switches 157 and 157 for detecting the final end of the horizontal drive arm 10 and stoppers 156 and 1
Since the double safety mechanism including 56 regulates the amount of advance / retreat of the horizontal drive arm 10, it is possible to avoid a situation in which the patient or the doctor is injured by the advance / retreat drive of the arm 10.

Further, since the load acting on the horizontal drive arm 10 can be supported by the linear motion slider 145, it is possible to provide the surgical manipulator 5 having high strength.

Further, in this embodiment, a part of the ball screw shaft 150 is housed in the horizontal drive arm 10, and the space in the horizontal drive arm 10 is effectively utilized.
Therefore, the second main body 9 and thus the surgical manipulator 5 can be downsized, and interference with a patient or a doctor can be reduced.

Further, since the motor 153 is provided at the rear of the joint between the vertical drive arm 8 and the second main body 9, the motor 153 is arranged at the rear of the ball screw shaft 150 as compared with the case of directly disposing the motor 153. The amount of rearward protrusion of the main body 9 can be reduced. Therefore, it is possible to prevent interference with a doctor or a patient located behind the second main body 9.

Further, since the operating shaft of the coupling portion 29 is rotatable, even if the patient 2 moves and the insertion hole of the endoscope 4 shifts,
No excessive force is applied to the insertion hole.

Further, since the joint portion 29 has the structure shown in FIG. 10, the structure of the joint portion 29 can be made small, so that interference with the patient can be avoided.

FIG. 12 shows a fourth embodiment of the present invention. Like the third embodiment, this embodiment also shows the drive mechanism of the horizontal drive arm 10 that is provided by being inserted into the second main body 9 of the surgical manipulator 5 shown in FIG. In the figure, 8 is a vertical drive arm, 9 is a second main body, and 10 is a pipe-shaped horizontal drive arm. In this embodiment, the horizontal drive arm 10 can perform not only the forward / backward movement but also the rotation movement.

As shown in the figure, the rotary drive mechanism for rotationally driving the horizontal drive arm 10 includes a spline nut 162 fixed to the horizontal drive arm 10 and a spline nut 1.
62, a spline shaft 161 which is directly movable with respect to 62 and a part of which is disposed in the horizontal drive arm 10, and a spline shaft 16
The first reduction gear 163 fixed to one end, the first pulley 164a fixed to the input shaft of the reduction gear 163, the first motor 174, and the first rotation shaft fixed to the output shaft of the first motor 174. It is composed of two pulleys 164b and a belt 165 which is engaged with the first pulley 164a and the second pulley 164b.

The forward / backward drive mechanism for moving the horizontal drive arm 10 forward / backward includes a ball screw shaft 168 arranged in parallel with the spline shaft 161, a ball screw nut 169 which moves forward / backward by the rotation of the ball screw shaft 168, and a ball screw shaft 168. A third pulley 166a fixed to the end of the second motor 173, a fourth pulley 166b fixed to the output shaft of the second motor 173, a third pulley 166a and a fourth pulley 166a. Pulley 1
66b and a belt 167 hooked on the belt 66b.

Further, the linear guide rail 1 is arranged parallel to the spline shaft 161 and the ball screw shaft 168.
71 is arranged, and on this linear guide rail 171,
A linear guide block 170 is mounted so that it can move back and forth. It should be noted that stoppers 172a and 172b that determine the end position of the linear guide block 170 in the advancing and retracting direction are provided at both ends of the linear guide rail 171.

In this structure, the ball screw nut 169, the linear guide block 170, and the horizontal drive arm 10 are connected to each other by the joint member 175 so that they can be integrally advanced and retracted. The horizontal drive arm 10 is rotatably connected to the joint member 175. In addition, the motors 173, 174
Is attached to a position that does not exceed the total length of the spline shaft 161 and the ball screw shaft 168.

Next, the operation of the horizontal drive arm 10 having the above structure will be described. First, when the first motor 174 is rotationally driven, the rotation is transmitted to the speed reducer 163 via the belt 165. As a result, the spline shaft 161 rotates, and the horizontal drive arm 10 fixed to the spline nut 162 rotates.

When the second motor 173 is driven to rotate, the ball screw shaft 16 is passed through the belt 167.
8 rotates. As a result, the ball screw nut 169 moves forward and backward, the joint member 175 integrated with the ball screw nut 169 moves forward and backward, and the horizontal drive arm 10 moves forward and backward accordingly.

According to the above construction, the rotating operation and the advancing / retreating operation of the arm 10 can be performed at the same time, and these operating mechanisms do not interfere with each other.

Further, since the motors 173 and 174 are mounted at positions that do not exceed the entire lengths of the spline shaft 161 and the ball screw shaft 168, the motors 173 and 174 are attached to the rear ends of the spline shaft 161 and the ball screw shaft 168.
The amount of rearward protrusion of the second main body 9 can be reduced as compared with the case where the second main body 9 is attached. Therefore, even when the second main body 9 is rotated by the vertical arm 8, it is possible to prevent interference between the second main body 9 and the operator as much as possible.

Further, since the spline shaft 161 is housed in the horizontal drive arm 10 and the space in the arm 10 is effectively used, the second main body 9 and thus the surgical manipulator 5 can be miniaturized.

FIG. 13 shows a fifth embodiment of the present invention. In the figure, 1 is an operating table and 2 is a patient. Bedside rails 3 are provided on both sides of the operating table 1. On the left side of the bedside rail 3, surgical instruments (hereinafter,
It is called a treatment tool 204. ) Is fixed to the first slave manipulator (hereinafter referred to as a treatment manipulator 205). Further, on the right side of the bedside rail 3, a second slave manipulator (hereinafter, referred to as an observation manipulator 207) to which an endoscope 206 capable of stereoscopic observation is fixed is attached.

Both the manipulator for treatment 205 and the manipulator for observation 207, as an operating mechanism, have first operating axes 205a and 207a which pivot about a vertical axis and linearly move up and down, and the first operation. Axis 205
a, 207a and second operation shafts 205b and 207b that move horizontally and second operation shafts 205b and 20b.
Coupling portion 205 as a joint portion provided at the tip of 7b
c and 207c.

The treatment manipulator 205 is connected via a treatment manipulator control device 208 to a master manipulator 209 installed in a region where an operator can operate.

The observation manipulator 207 is connected to a three-dimensional digitizer 211 as a position detection sensor via an observation manipulator control device 210, and this three-dimensional digitizer 211 serves as a display device fixed to the operator's head. It is fixed to the HMD 112. 3
The three-dimensional digitizer 211 may be directly fixed to the operator's head, or a joystick or a key switch may be used in place of the master manipulator 209 and the three-dimensional digitizer 211.

The manipulator 205 for treatment and the manipulator 207 for observation have the first movement axes 205a, 2a.
07a and the second operating shafts 205b and 207b are driven by an actuator (not shown) such as an electromagnetic motor.

As described above, the manipulators 205 and 207 of this embodiment form a so-called cylindrical coordinate system manipulator drive structure having the motion axes of the rotation a, the vertical movement b, and the horizontal movement c.

On the other hand, a CCD camera 213 is provided as an observation means at the tip of the insertion section 206a of the endoscope 206. The image obtained by the CCD camera 213 can be observed by the HMD 212, but a TV monitor may be used. In addition, CCD camera 2
Two 13 may be provided at the tip of the two units so that the image can be stereoscopically observed by the HMD 212. Furthermore, CCD
In place of the camera 213, an optical system image transmitting means such as a relay lens is provided in the insertion portion 206a, a camera is attached to the base end portion of the insertion portion 206a, and two optical system image transmitting means are provided, and the insertion portion is provided. Two cameras may be attached to the base end of 206a to enable stereoscopic observation.

Further, the grasping forceps 214 as a treatment means is provided at the distal end portion of the insertion portion 204a of the treatment instrument 204, but a scalpel, a suture instrument or the like may be used. An actuator (not shown) that mainly opens and closes the grasping forceps 214 is provided at the base end of the insertion portion 205a.

Incidentally, in the above structure, the treatment instrument 204
Although the insertion portions 204a and 206a of the endoscope 206 are linear, as shown in FIG. 14, the bending portion 240 is provided at the distal end portions of the treatment tool 204 and the insertion portions 204a and 206a of the endoscope 206. It doesn't matter. This curved portion 240
Has a bending motion mechanism with two degrees of freedom,
Actuator 2 provided at the base ends of 4a and 206a
Driven by 41. A wire is used as the power transmission means of the actuator 241. Insertion part 204
a and 206a are operation shafts 24 that rotate around this central axis.
Have two. The operating shaft 242 is an actuator 241.
Driven by. That is, the actuator 241
Is transmitted to the operating shaft 242 by the drive transmitting means 243 such as a spur gear or a timing belt, and the operating shaft 242 is rotated.

Manipulators 205 and 207 having the above configuration
According to the point of action 209 of the master manipulator 209
a, the position of, for example, the center 211a of the three-dimensional digitizer 211 of the HMD 212 is calculated by the manipulator control device 208, and the master manipulator 20
9 of the insertion points 204a and 206a at the center 211a of the dimensional digitizer 211.
It is operated so that the positions of 37a and 237b coincide with each other.

As described above, the surgical manipulators 205 and 207 of this embodiment are constructed as cylindrical coordinate system manipulators having no joints. That is, the second operation axes 205b, 20 that perform only linear horizontal drive
7b and a first operating shaft 20 that rotates and moves up and down only
5a and 207a, the connecting portions 205c and 207c
The endoscope 206 and the treatment instrument 204 attached to the can be arranged at a desired orientation and position. Moreover, in the case of the present embodiment, even if the second operation shafts 205b and 207b are retracted in order to dispose the endoscope 206 and the treatment tool 204 at a desired orientation and position,
Movement axes 205b and 207b of the manipulator 205,
Since it is housed in 207, the manipulator portion protruding horizontally from the bed size is the second operation axis 205.
b and 207b are always constant irrespective of whether they advance or retreat, and the amount of protrusion is such that it does not interfere with the patient or doctor as shown in FIG. This point is the first
The same applies to the operation axes 205a and 207a.

Therefore, in the manipulators 205 and 207 for surgery of this embodiment, when the arm is driven, the joint expands in the direction perpendicular to the advancing / retreating direction of the arm like the horizontal multi-joint structure, or the arm moves like the parallel link structure. The rear end does not project rearward in the advancing / retreating direction, and the arm does not interfere with the patient or doctor.

Further, in this embodiment, when the head position is moved while looking at the stereoscopic image displayed on the HMD 212, the observation position (operative field) of the 3D scope 206 that can be stereoscopically observed following the operation is displayed. Since it operates, the surgeon can feel as if he or she is inside the body cavity. Furthermore, HMD
The master manipulator 209 is operated while viewing the stereoscopic image displayed on the display 212, and the treatment manipulator 205 is operated.
With this operation, since the treatment can be performed in the presence of being in a body cavity, endoscopic surgery can be performed with the sensation of a laparotomy.

FIG. 15 shows a sixth embodiment of the present invention. As shown, the slave manipulator 351
Is an instrument 353 having an insertion portion 352 that can be inserted into the body
And a robot 354 which supports the device 353 and has a plurality of axes of freedom of linear movement and rotation.

A three-dimensional (three-dimensional) scope 355 and a pair of treatment tools 356 and 357 are provided at the tip of the insertion portion 352. The distal end portion of the scope 355 and the pair of treatment tools 356 and 357 can be bent with multiple degrees of freedom.

The slave manipulator 351 has a first operating shaft 340 and a first operating shaft 340 which rotate about a vertical axis and linearly move up and down as an operating mechanism.
A second motion axis 34 that is orthogonal to and linearly moves in the horizontal direction.
And 2 and form a so-called cylindrical coordinate system manipulator structure.

On the other hand, as the operating means, there is a master manipulator 361 having a multi-joint structure, and at the tip of this master manipulator 361, an HMD 362 and a pair of treatment instrument operating arms 363, 364 are provided. One and the other of the treatment instrument operating arms 363 and 364 individually correspond to the one and the other of the pair of treatment instruments 356 and 357, respectively, so that the treatment instrument operation arms 363 and 364 individually move as masters and slaves. Controlled by.

When the position of the head is moved while looking at the stereoscopic image displayed on the HMD 362, the observation position (operative field) of the 3D scope 355 capable of stereoscopic observation is moved following the operation. Further, when the treatment operation arms 363 and 364 are operated and the treatment instruments 356 and 357 are operated while seeing the stereoscopic image displayed on the HMD 362, the treatment can be performed in a realistic sensation of being inside a body cavity. .

Therefore, also with this structure, the same effect as that of the fifth embodiment can be obtained.

The configurations described above can provide various configurations shown in the following paragraphs. 1. A first actuating arm that is driven to rotate about a first axis and linearly advances and retreats along the first axis; and a first actuating arm that is connected to the first actuating arm and that is perpendicular to the first axis. A manipulator for surgery, comprising: a second actuating arm that is linearly moved forward and backward along a second axis.

2. The surgical manipulator according to claim 1, further comprising manipulator mounting means for mounting the first operating arm vertically and detachably on the operating bed.

3. The surgical manipulator according to claim 1, further comprising a surgical instrument mounting means for detachably mounting a surgical instrument on a tip end portion of the second operation arm. 4. The manipulator for surgery according to the third aspect, wherein the surgical instrument mounting means is configured as a joint portion capable of performing a rotational motion with at least one degree of freedom.

5. A fourth aspect of the invention in which the surgical instrument mounting means is rotatable about a third axis orthogonal to the second axis and rotatable about a fourth axis orthogonal to the third axis. The manipulator for surgery according to the item.

6. The manipulator for surgery according to claim 5, wherein the fourth axis is orthogonal to the second axis.

7. The surgical manipulator according to claim 1, further comprising an endoscope mounting means for detachably mounting an endoscope on a tip end portion of the second operation arm.

8. 8. The manipulator for surgery according to claim 7, wherein the endoscope mounting means is configured as a joint portion capable of performing a rotational motion with at least one degree of freedom.

9. 2. The manipulator for surgery according to claim 1, further comprising mounting means for detachably mounting a surgical instrument and an endoscope on a distal end portion of the second operation arm.

10. 10. The manipulator for surgery according to claim 9, wherein the mounting means is configured as a joint portion capable of performing a rotational movement with at least one degree of freedom.

11. The manipulator for surgery according to the first aspect, wherein the first operating arm is rotationally driven by a rotational force transmitting means that is linearly driven along the first axis.

12. The rotational force transmitting means includes a ball spline shaft that is rotationally driven, a linear movement unit that is linearly movable along the ball spline shaft, and a rotational force of the ball spline shaft that is provided on the linear movement unit. The surgical manipulator according to claim 11, comprising a gear that can be transmitted to the first operating arm.

13. An electric signal cable for electrically connecting drive means for driving the first operation arm and the second operation arm and a control means for controlling the drive of the drive means is inserted and arranged in the first operation arm. The manipulator for surgery according to item 1, wherein:

14. A first motor that rotationally drives the first operating arm and a second motor that drives the first operating arm to move forward and backward are separately fixed in a housing that houses the first operating arm. The manipulator for surgery according to item 1, wherein:

15. 2. The manipulator for surgery according to claim 1, wherein the first arm and the second arm do not project their rear parts from the manipulator main body during operation thereof.

16. The manipulator for surgery according to claim 1, wherein the motor for driving the second actuating arm and the linear drive means are arranged in parallel with each other.

17. The manipulator for surgery according to claim 1, wherein the first actuating arm and the second actuating arm are inserted in a housing (manipulator main body) that houses them so as to be able to move forward and backward.

18. At least one of the actuators for driving the first operation arm and the second operation arm is provided at a position not exceeding the entire length of the drive unit for transmitting the driving force of the actuator to the first operation arm and the second operation arm. The surgical manipulator according to item 1, wherein

[0133]

As described above, since the surgical manipulator of the present invention is configured as a cylindrical coordinate system manipulator, the first working arm and the second working arm may interfere with a patient or a doctor. Absent.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a surgical manipulator according to a first embodiment of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a cross-sectional view of a coupling portion provided at a tip of a horizontal drive arm of the surgical manipulator shown in FIG.

FIG. 4 is a partial cross-sectional view of a bed fixing portion provided on the first main body of the surgical manipulator of FIG.

5 is a view showing a state in which the surgical manipulator of FIG. 1 is attached to a cart.

FIG. 6 is a partial cross-sectional view showing a modified example of the bed fixing portion of FIG.

7A is a configuration diagram showing a drive mechanism of a vertical drive arm of a surgical manipulator according to a second embodiment of the present invention, FIG. 7B is a view taken in the direction of arrows CC in FIG. 7A, (c) is a view taken in the direction of arrow AA in (a), and (d) is a view taken in the direction of arrow BB in (a).

8A is a configuration diagram showing a modified example of the drive mechanism of the vertical drive arm of FIG. 7, and FIG. 8B is a view taken in the direction of arrows D-D of FIG.

FIG. 9 is a cross-sectional view showing a first modified example of the coupling portion provided at the tip of the horizontal drive arm.

FIG. 10 is a cross-sectional view showing a second modification of the coupling portion provided at the tip of the horizontal drive arm.

FIG. 11 is a configuration diagram showing a drive mechanism of a horizontal drive arm of a surgical manipulator according to a third embodiment of the present invention.

FIG. 12 is a configuration diagram showing a drive mechanism of a horizontal drive arm of a surgical manipulator according to a fourth embodiment of the present invention.

FIG. 13 is an overall configuration diagram of a manipulator system including a surgical manipulator according to a fifth embodiment of the present invention.

FIG. 14 is a diagram showing an endoscope attached to the surgical manipulator of FIG. 13 and a drive mechanism of a treatment tool.

FIG. 15 is an overall configuration diagram of a manipulator system including a surgical manipulator according to a sixth embodiment of the present invention.

[Explanation of Codes] 5 ... Manipulator for surgery, 8 ... Vertical drive arm (first
Operating arm), 10 ... Horizontal drive arm (second operating arm).

Claims (1)

[Claims] 1. A first operating arm that is rotationally driven about a first axis and that is linearly moved back and forth along the first axis, and is connected to the first operating arm and is the first operating arm. And a second actuating arm that is linearly moved back and forth along a second axis perpendicular to the axis of the.