CN1840296A - 动力传递机构和操纵装置 - Google Patents
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Abstract
提供手术辅助用操纵装置或能源设备等的狭窄部修补用操纵装置，能小型化，高可靠性化，高刚性化，高操作性化的由钢丝和滑轮构成的动力传递机构。在由钢丝(可挠性动力传递构件)和一对滑轮构成的动力传递机构部中，使钢丝通过具有钢丝能通过的孔的圆柱状或者圆锥状的固定销并固定在具有狭槽和圆柱状或圆锥状的孔的滑轮上，在驱动侧滑轮和从动侧滑轮之间的钢丝部分上通过中空轴或者用实心轴连结。再在具有作业部、操作部和连结部的操纵装置处于基准姿势时，使驱动侧滑轮和从动侧滑轮的回转轴处于被扭转的状态，使连结部附近的偏心质量被配置成相对于连结部大致垂直向下。
Description
本申请为株式会社东芝提交的、申请号为“2004100318909”、申请日为“2004年3月31日”的发明专利申请的分案申请。
技术领域
本发明涉及手术辅助用操纵装置或能源设备等的狭窄部修补用的操纵装置。特别提供能实现小型化、高可靠性、高刚度、高操作性的由钢丝、滑轮构成的动力传递机构。
背景技术
以前，在胆囊摘除手术等腹腔镜下手术中，如图31所示，在患者150的腹部开几个小孔151、152、153，在这些小孔上安装固定装置(トラカ一ル)154，经固定装置(トラカ一ル)154，把内视镜161、钳子171、172等插入这些孔内，手术者(通常是外科医生)160，在用监视器162观看内视镜161的图像的同时进行手术。这样的手术方法，由于不需要开腹，患者的负担少，术后的恢复和到出院的天数大幅度地降低，因此，人们期待其应用领域扩大。
在这样的背景下，发明者们提出了图32所示的在原有的钳子上加入了机械手技术的医疗用操纵装置(机械手钳子)1(参照日本特开2000-350735号公报)。该操纵装置1是医疗用操纵装置，备有：具有姿势操作部23和处置操作部24的操作指令部20；一端侧与前述操作指令部20连接的连结部30；与前述连结部30的另一端侧连结的/具有处置部14、能在2个自由度或2个自由度以上变更姿势地支承前述处置部14的支承部15、16的作业部10、把来自前述姿势操作部23的操作指令送往前述支承部并变更前述处置部14的姿势，同时把来自前述处置操作部24的操作指令送往前述处置部使前述处置部14动作的控制部(未图示)。
再有，本发明者们，作为适用于缝合结扎作业的自由度配置，提出了图33所示的医疗用操纵装置(参照日本特开2002-102248号公报)。医疗用操纵装置1备有作业部10、操作指令部20、两端与作业部10和操作指令部20连接的连结部30。作业部10具有支承部和在手术部位实施处置的处置部(抓爪)，支承部具有垂直于连结部30的中心轴方向31的第1回转轴11和垂直于第1回转轴11的第2回转轴12，处置部14的中心轴方向被配置成与第2回转轴12大致平行。换句话说，作业部10具有作为能在2个自由度上变更姿势地支承抓爪14的支承部的偏转轴关节支承部15和滚动轴关节支承部16。操作指令部20具有由与连结部30的中心轴方向31垂直的第3回转轴21和与第3回转轴21垂直的第4回转轴22构成的姿势操作部23、与操作者把持操作时的操作者的手腕的回转方向和第4回转轴22的轴向大致平行的处置操作部24。在手术部位实施处置的处置部14的把持动作13，由处置操作部24的把持动作25进行。
对于远距离操作型主从操纵装置，该机械手钳子把操作部(主部)和钳子前端部的手(从部)连结成一体，能进行作为原有的钳子的优点的手术者进行的简单而可靠的敏捷的操作和作为操纵装置的优点的细微的动作和从困难的角度进行的操作。由于在前端部备有弯曲和回转等关节，所以可以自由自在地变动手的姿势，使从前难以使用钳子进行的各种各样的方向的缝合作业和结扎作业变得容易。另外，在右手使用机械手钳子，左手使用原有的钳子的情况下，可以和原有的手术器械一起使用。由于系统简单和紧凑，所以具有可以用低成本引入实施的优点。
另外，同样构成的操纵装置，也适用于在作业者难以直接在现场进行作业的场所的作业，也就是说，也适用于能源设备等的狭窄部的修补作业。当然，操纵装置的尺寸(长度、粗细度、大小等)要根据作业内容、作业区域进行设计。从而不一定局限于医疗用。
手术辅助用操纵装置或能源设备等的狭窄部修补用操纵装置，要求小型和重量轻、高可靠性、高刚性、高操作性、高作业性、低成本，为此，必须使动力传递机构小型和重量轻、高可靠性、高刚性和低成本。在日本特开2000-350735号公报或日本特开2002-102248号公报中所示的操纵装置中，由于存在主从一体化的限制，所以动力传递机构的形状、尺寸、配置等对操作性有很大的影响。
在以操纵装置为首的机械手、机电设备中，作为把驱动器的动力传递给指尖效果器(例如，机械手和工具等)的动力传递机构，一般使用由钢丝和滑轮构成的动力传递机构。在由钢丝和滑轮构成的动力传递机构中，在需要多圈回转的动作范围的场合，通常，如图22所示，在滑轮50、51上卷绕钢丝52，由摩擦力进行动力传递。为了加大传递转矩，必须加大摩擦力，可以增大钢丝卷绕在滑轮上的角度、进行多圈回转的卷绕、或者增大钢丝的张力。但是，由于基本上是由摩擦进行驱动，所以在因钢丝伸长而张力下降的场合，会在钢丝和滑轮之间产生打滑，导致传递转矩降低。为此，有时附加张力调整机构，但这样会使机构变得复杂，成为装置大型化、成本高的原因。还会导致关节刚性的降低。另外，为了把钢丝多圈回转地卷绕在滑轮上，需要与卷绕的回转圈数对应的滑轮宽度，从而成为装置大型化的原因。说起来，对于手术辅助用操纵装置或能源设备等的狭窄部修补用操纵装置来说，通常都没有足够的用于多圈回转卷绕的空间。另外，为了把钢丝固定在滑轮上，如图23所示，通常使用固定构件53A进行固定。但是，在多圈回转卷绕钢丝的场合，由于固定构件和钢丝进行干扰，所以通常动作范围(回转角)不到180度。作为增加卷绕角的方法，有日本专利第2519749号公报提供的方法，但最大也只到270度左右，多圈回转到360度以上是困难的。在滑轮的回转范围受限制的状态下，操纵装置关节的动作区域即指尖效果器的作业区域变得狭窄，在作业上产生障碍，使作业性和操作性大幅度地降低。为了得到在作业上没有障碍的充分的作业区域，需要尽可能多的回转圈数，但是使用由原有的方法形成的动力传递机构是很难实现的。
另一方面，在图24所示的由钢丝和滑轮构成的动力传递机构中，在钢丝直径细的场合或驱动滑轮和从动滑轮之间的距离长的场合，在动力传递时钢丝的弹性变形(伸长)的影响变大，有时不能进行足够的动力传递。另外，在固定了驱动侧滑轮的保持状态或在伺服锁定状态下，存在着在从动轴(输出轴)侧不能得到足够的回转刚性的问题。在不能得到所希望的回转刚性的场合，不能进行可靠的作业，从而操作性降低，作业性变差。
另外，在图25、图27所示的主部和从部一体化的整体型的主从操纵装置中，通常在连结部30附近产生偏心质量。由于该偏心质量的配置，由于重力的影响，在连结部附近产生非操作者意图的回转力矩，从而导致操作性降低。特别，在操作时的初期状态或在作为操作中的最为标准的姿势的操纵装置的基准姿势时，在由偏心质量在连结部附近产生回转力矩的场合，由于操作者承担多余的操作力，所以导致操作性大幅度地降低。另外，如图25所示，对于共同滚动轴、俯仰轴、滚动轴的情况，把作业部的姿势从图示的基准姿势的状态向偏转方向(横向、左右方向)变化，因为姿势特异所以是困难的。另外，在图29所示的自由度构成、共同滚动轴、偏转轴、滚动轴的情况，使作业部的姿势从图示的基准姿势的状态向俯仰方向(纵向、上下方向)变化，因为姿势特异所以是困难的。在实际的操作中，把作业部的姿势从基准姿势的状态向横向和纵向诱导的比例是很多的，对于图25和图29所示的自由度配置，会导致操作性降低。
发明内容
本发明的动力传递机构，备有可挠性动力传递构件、一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮、把前述可挠性动力传递构件分别固定在前述一对滑轮上的一对圆柱状或者圆锥状的固定销，其特征在于，前述各固定销具有在横向上形成的动力传递构件通过孔，使前述可挠性动力传递构件通过该动力传递构件通过孔，把该状态下的前述一对固定销在埋入状态下分别压入前述一对滑轮的销埋入孔内，把前述可挠性动力传递构件固定在前述一对滑轮上，同时把前述可挠性动力传递构件在嵌入于前述一对滑轮的外周面上的前述埋入孔的周向两侧上形成的狭槽内的状态下进行收纳。
再有，本发明的动力传递机构，其特征在于，前述各固定销上的前述动力传递构件通过孔，具有在前述压入时使该动力传递构件通过孔缩径、沿该固定销的轴向形成的缩径用的狭缝部。
再有，本发明的动力传递机构，备有可挠性动力传递构件、一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮，其特征在于，把前述可挠性动力传递构件上的作为架设于前述一对滑轮之间的部分的2根动力传递系统之中的、作为至少承受高张力侧的动力传递系统的前述可挠性动力传递构件用中空轴覆盖或切断后用实心轴连结。
另外，本发明的动力传递机构，其特征在于，前述中空轴，通过在多个位置上与通过其内部的前述可挠性动力传递构件固定而一体化。
另外，本发明的动力传递机构，其特征在于，还备有能滑动地插入并支承前述中空轴或者前述实心轴的支承构件。
再有，本发明的一种操纵装置，备有作业部、连结部和操作部，来自该操作部的操作指令通过前述连结部传到前述作业部，使该作业部动作，其特征在于，具有把来自前述作业部的操作指令传到前述操作部的动力传递机构、以及驱动该动力传递机构并作为前述连结部附近的偏心质量的驱动装置，前述动力传递机构具有可挠性动力传递构件和一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮，在操纵装置处于基准姿势时，作为前述连结部附近的偏心质量的前述驱动装置，把前述驱动侧滑轮和前述从动侧滑轮设置成它们的回转轴处于相互扭转的状态，使之相对于前述连结部配置成大致垂直向下。
再有，本发明的操纵装置，其特征在于，自由度构成为由连结部的共同滚动轴、容许横向回转的偏转轴和容许纵向回转的俯仰轴的中间的容许向斜方向回转的弯曲轴、滚动轴构成的自由度构成。
根据本发明，在钢丝(可挠性动力传递构件)和滑轮构成的动力传递机构中，不需要摩擦驱动场合的张力调整机构，通过钢丝和钢丝与滑轮的系结部互不干扰的构成，可以省空间，多圈回转，可以因楔型效果得到强大的系结力。由此，操纵装置关节的动作区域即指尖效果器的作业区域变大，由于得到了在作业上没有障碍的充分的作业区域，所以作业性和操作性大幅度地提高。
另外，在驱动侧滑轮和从动侧滑轮之间的至少承受高张力的钢丝侧的钢丝部分上，由于覆盖着中空轴或者用实心轴连结，所以即使在钢丝直径细的场合或驱动滑轮和从动滑轮之间的距离长的场合，在动力传递时钢丝的弹性变形(伸长)的影响也很小，可以传递足够的动力，而在固定驱动侧滑轮的保持状态和伺服锁定状态下，在从动轴(输出轴)一侧得到了足够的回转刚性。由此，可以可靠地进行动力传递，作业性和操作性大幅度地提高。
再有，在操作的初期状态时或操作中的作为最为标准的姿势的操纵装置的基准姿势时，由于连结部附近不产生因偏心质量形成的回转力矩，所以操作者不承担多余的操作力，作业性和操作性大幅度地上升。另外，由于自由度构成成为连结部的共同滚动轴、偏转轴(横向)和俯仰轴的中间方向(倾斜方向)的弯曲轴、滚动轴的自由度构成，因此，从基准姿势开始的作业部的姿势诱导变得容易，作业性和操作性大幅度地提高。
即，可以提供小型和重量轻、高可靠性、高刚性、低成本的动力传递机构，由于有这样的动力传递机构，可以提供备有高操作性、高作业性的手术辅助用操纵装置和能源设备等的狭窄部修补用操纵装置。
附图说明
图1是本发明的第1实施例的动力传递机构的正视图，左右侧视图和d-d线、e-e线剖面图。
图2是表示本发明的第1实施例的动力传递系统整体的概略分解立体图。
图3是把本发明的第1实施例的动力传递机构装入操纵装置时的概略整体立体图。
图4是本发明的第1实施例的动力传递机构的滑轮的立体图。
图5是本发明的第1实施例的动力传递机构的滑轮固定销的立体图。
图6是表示本发明的第1实施例的动力传递机构的组装顺序的工序图。
图7是本发明的第1实施例的动力传递机构的固定销的各种形状的例子的正视图。
图8是本发明的第2实施例的动力传递机构的例子的正视图。
图9是本发明的第2实施例的动力传递机构的例子的正视图。
图10是本发明的第2实施例的动力传递机构的例子的正视图。
图11是本发明的第2实施例的动力传递机构的例子的正视图。
图12是本发明的第2实施例的动力传递机构的例子的正视图。
图13是本发明的第2实施例的动力传递机构的支承构件的正视图。
图14是本发明的第2实施例的动力传递机构的支承构件装在管子内的状态的横截面图。
图15是本发明的第3实施例的操纵装置的立体图。
图16是表示本发明的第3实施例的操纵装置的钢丝和滑轮的关系的立体图。
图17是本发明的第3实施例的操纵装置的立体图。
图18是表示本发明的第3实施例的操纵装置的钢丝和滑轮的关系的立体图。
图19是本发明的第3实施例的操纵装置的立体图。
图20是表示本发明的第3实施例的操纵装置的钢丝和滑轮的关系的立体图。
图21是表示手术者的姿势的图。
图22是原有的动力传递机构的正视图、左右侧视图和d-d线、e-e线剖面图。
图23是原有的动力传递机构的正视图、左右侧视图和剖面图。
图24是原有的动力传递机构的正视图。
图25是原有的操纵装置的立体图。
图26是表示原有的操纵装置的钢丝和滑轮的关系的立体图。
图27是原有的操纵装置的立体图。
图28是表示原有的操纵装置的钢丝和滑轮的关系的立体图。
图29是原有的操纵装置的立体图。
图30是表示原有的操纵装置的钢丝和滑轮的关系的立体图。
图31是说明内视镜(腹腔镜)下的手术的图。
图32是原有的操纵装置的立体图。
图33是原有的操纵装置的立体图。
具体实施方式
下面参照附图对本发明的实施例进行说明。
图1是表示本发明的第1实施例的操纵装置的动力传递机构的驱动侧和从动侧的钢丝和滑轮部的剖面图和侧视图。图2是表示动力传递系统整体的分解状态的概略构成图，图3是组装成操纵装置场合的概略构成图。如图1所示，本发明的第1实施例的操纵装置的动力传递机构，由驱动侧滑轮50、从动侧滑轮51、钢丝(可挠性动力传递构件)52、圆柱状或圆锥状的销53、钢丝连结构件(未图示)构成。钢丝一般是不锈钢钢丝绳，但钨或纤维系列材料等其他的材质的材料也没有问题，只要是具有可挠性的材料就可以。在本发明中，把它们全都称为钢丝。钢丝连结构件是把一根直线状的钢丝的两端连结起来形成环状的必需的构件。
钢丝52被构成环状，在本发明的第1实施例中，在滑轮50、51上分别绕1.5圈。钢丝52用固定销53固定在滑轮50、51上(系结部)。在该构成中，能得到最大±270度的动作范围。
图2作为表示动力传递系统整体的概略构成图的一例，图示了在驱动侧滑轮50上安装带减速器的马达54，在从动侧滑轮51上安装臂55的例子，但也不一定是这样的构成，基本是用于把驱动侧的动力传递给从动侧的动力传递机构。在图3中图示了组装成操纵装置1的场合的概略构成图，但也不一定是本构成。操纵装置1由作业部10、操作部20、连结部30和控制部(未图示)等构成，操作者通过操作前述操作部来诱导作业部的位置姿势。由于本操纵装置在狭窄部进行作业乃至通过狭窄部进行作业，所以作业部10需要构成小型的紧凑体。为了得到高的操作性和作业性，需要足够的动作区域(从动轴的回转角度)。
下面，为了详细地表示驱动部，把滑轮50和51的立体图表示在图4中。基本上驱动滑轮50和从动滑轮51可以是相同的构造。在滑轮50上具有宽度能嵌入钢丝的狭槽部56和在其大致中心部上的圆柱状或者圆锥状的孔57。图5是表示用于把钢丝12固定在滑轮50上的固定销53的立体图。固定销53是圆柱状或者圆锥状的，在大致中心上有能通过钢丝的孔58。图6(a)-(c)是表示固定顺序的图。在使钢丝通过在大致中心上存在钢丝能通过的孔的圆柱状或圆锥状的固定销53之后，通过把圆柱状或者圆锥状的固定销53插入滑轮50的圆柱状或者圆锥状的孔57内，从而把钢丝52固定在滑轮50上。通过使销53的上面与滑轮50的外周面的高度大致一致，使相邻的钢丝在回转角度大时也互不干扰。通过做成圆锥状而产生楔型效果，可以更牢固地将钢丝52固定在滑轮50上。从而，在把钢丝52更牢固地固定在滑轮50上的同时可以多圈回转。
图7是表示圆锥状或者圆柱状的销53的能通过钢丝的孔58的形状的例子的图。在圆形孔58的场合(a)，成本较低。另外，如图7(b)-(d)所示，通过形成狭缝部58a使孔58容易变形，能把由楔型效果产生的固紧力高效率地传给钢丝52，所以能进一步提高固紧力。
另外，在本发明的实施例中，通常通过把销子53插入圆锥孔57内的作业，可以同时进行钢丝52的固定到销53上的固定作业和销53的固定到滑轮50上的固定作业，所以能提高作业效率。
根据本发明的第1实施例，在由钢丝52和滑轮50、51构成的动力传递机构中，不需要摩擦驱动场合的张力调整机构，而且钢丝52和销子53在连接于滑轮50、51的系结部上互不干扰，省空间并能对应多圈回转，还能因楔型效果得到强大的系结力。由此，操纵装置关节的动作区域即指尖效果器的作业区域变宽，由于因此能得到作业上无障碍的足够的作业区域，所以作业性和操作性大幅度地提高。
图8-图12是表示本发明的第2实施例的操纵装置的动力传递机构的驱动侧和从动侧的钢丝和滑轮部分的剖面图。表示在钢丝52的滑轮50、51之间的部分上，插入中空轴或者用实心轴60连结的例子。钢丝52向滑轮上连结的连结方法，如这些图所示，考虑了各种各样的方案。它们中的任何一种都没有问题。图9、图11是使钢丝52通过下侧的中空轴60a且至少在2个位置进行固定(例如压紧)的构成。一般说来，由于固定部比钢丝52的拉伸强度差，所以确保固定部的强度可靠性是一个问题，但由于通过使钢丝52通过中空轴60a，至少钢丝52的拉伸强度被保证，所以可以避免因固定(例如压紧)不良引起的固定部的断裂的问题。
在图8-图11中。至少使承受高张力侧(下侧)的钢丝52贯通中空轴60a或者用实心轴棒60b连结。即，用中空轴60a或实心轴60b增强钢丝52中的架设在一对滑轮50、51之间的2根钢丝部分(动力传递系统)之中高张力侧的钢丝52。这样一来，在承受高张力的钢丝52是单侧的场合(假定是下侧的钢丝)，通过至少把承受高张力侧的钢丝52贯通中空轴60a或者用实心轴棒60b连结，可以得到满意的效果。
图12是通过圆盘状的支承构件61的孔61a、61a滑动自由地支承前述的中空轴60a或实心轴60b的构成例。在图12中，在支承构件61上有6个孔61a、61a...，其中2个通过中空轴60a或者实心轴棒60b对其进行支承。孔的数量与驱动轴数对应。
在使钢丝52的两侧(图中的上下)通过中空轴60a或者用实心轴60b连结的场合，当把驱动滑轮50和从动滑轮51的轴配置成朝向铅垂方向时，由于进行了重力平衡，中空轴60a或者实心轴60b的重力分量不会引起驱动力矩的增加。但是，当配置成朝向水平方向时，有时不能忽视中空轴60a或者实心轴60b的重力对钢丝52的张力的影响。根据情况会引起振动增大或钢丝断裂等事故。在这种场合下，通过用如图12所示那样的支承构件61支承，可以使重力的影响降低。另外，在把驱动滑轮50和从动滑轮51设置在作为连结部30的一部分的管子62内的场合，支承构件61可以把图13那样的圆盘状的支承构件，如图14所示，配置在管子62内隔开规定间隔的必要的位置上来进行固定。
根据本发明的第2实施例，由于使驱动滑轮50和从动滑轮51之间的至少承受高张力侧的钢丝部分通过中空轴60a或者用实心轴61b连结，因此即使在钢丝52的直径较细的场合或驱动滑轮50和从动滑轮51之间的距离较长的场合，也能减小动力传递时钢丝52的弹性变形(伸长)的影响，能进行可靠的动力传递，另外在固定了驱动侧滑轮的保持状态或伺服锁定的状态下，在从动轴(输出轴)侧可以得到足够的回转刚性。另外，由支承构件也可以避免由中空轴乃至实心轴的重力影响产生的振动增大或钢丝断裂等事故。因此，可以可靠地进行动力传递，大幅度地提高作业性和操作性。
图15～图20是本发明的第3实施例的操纵装置的立体图和表示它的钢丝和滑轮部的图。在主部和从部一体化的整体型的主从操纵装置中，通常产生连结部30附近的偏心质量。根据该偏心质量的位置，由于重力的影响，会在连结部30的附近产生操作者不希望的回转力矩，导致操作性降低。特别在操作时的初期状态或在作为操作中最为标准的姿势的操纵装置的基准姿势时，在由于偏心质量在连结部附近产生回转力矩的场合，由于操作者要承担多余的操作力，将导致操作性大幅度地降低。
通常，由于占质量比例大的是驱动马达54，所以在图15～20中，在操纵装置的基准姿势时，驱动马达54大致朝向上下方向。即，例如与图26相比，驱动轴滑轮50与从动轴滑轮51成为扭转的位置关系。根据作业对象的内容，操纵装置的最佳基准姿势不同，图15是成为共同滚动轴(连结部30的轴)、俯仰轴、滚动轴的自由度构成的场合。在原有的实施例中，如图25所示，基准姿势时马达54配置在水平方向，重量平衡差导致操作性下降。在本实施例中，在操纵装置的基准姿势时，由于在驱动轴滑轮50和从动轴滑轮51上加上了90度的扭转，使马达54大致处于下方，因此，重量平衡好且操作性优良。图16是表示钢丝52和滑轮50、51的关系的图。图17成为共同滚动轴、俯仰轴、偏转轴的自由度构成，如图18所示，同样地加上了90度扭转。另外，如同图所示，也不一定只是驱动滑轮50和从动滑轮51的组合，在与中途的空载滑轮51a之间也可以加上扭转。
图19是共同滚动轴、俯仰轴乃至偏转轴、滚动轴的自由度构成的场合，在驱动滑轮50和从动滑轮51上加上了大致45度的扭转。该场合，作业部10侧的回转轴63和驱动部20侧的回转轴64的方向成为大致一致的方向。在图15所示的共同滚动轴、俯仰轴、滚动轴的自由度构成的场合，使作业部10的姿势从该图所示的基准姿势状态向偏转方向(横向)变化，由于是特异姿势，所以是困难的。另外，在图29所示的共同滚动轴、偏转轴、滚动轴的自由度构成的场合，使作业部的姿势从图示的基准姿势的状态向俯仰方向(纵向)变化，由于是特异姿势，所以是困难的。在实际的操作中，使作业部的姿势从基准姿势的状态向横向和纵向诱导的比例很多，在图25和图29所示的原有例的自由度配置中，导致操作性下降。
另外，在腹腔镜下手术中，由于手术者160以图21那样的姿势进行手术，所以，手术者的手的方向成为最自然的方向时是向内侧约45度的方向。从而，根据图19的本发明的实施例，在共同滚动轴、俯仰轴和偏转轴的中间方向(约45度的倾斜)、滚动轴的自由度构成的场合，当手术者160的手的方向成为最自然的方向时，可以与操纵装置最容易操作的方向相一致，同时可以把有一定质量的马达54配置在稳定的向下的方向上。从而，可以降低极度的疲劳感，大幅度地提高操作性。2个滑轮50、51之间的倾斜也不一定必须是45度，只要稍微偏离俯仰轴方向、偏转轴方向即可，由于上下方向或左右方向偏离了特异姿势，所以操作性提高了。
另外，也可以自由地设定驱动轴滑轮和从动轴滑轮的扭转角度，使之根据作业对象的内容在操纵装置的最佳的基准姿势时，可以把马达大致设定在下方。
根据以上的本发明，在由钢丝和滑轮构成的动力传递机构中，不需要摩擦驱动场合的张力调整机构，另外，通过钢丝和钢丝与滑轮连接的系结部不相干扰的构成，可以省空间，应对多圈回转，并能得到具有楔型效果的牢固的系结力。因此，操纵装置关节的动作区域即指尖效果器的作业区域变大，由于可以得到作业上没有障碍的足够的作业区域，所以作业性和操作性大幅度地提高。
另外，由于使驱动滑轮和从动滑轮之间的2系统的钢丝中至少承受高张力的钢丝侧的钢丝部分通过中空轴乃至用实心轴连结，所以即使在钢丝直径细的场合或驱动滑轮和从动滑轮之间的距离长的场合，动力传递时钢丝的弹性变形(伸长)的影响也很小，可以进行足够的动力传递，另外，在固定了驱动侧滑轮的保持状态或伺服锁定状态下，在从动轴(输出轴)一侧可以得到足够的回转刚性。因此，可以进行可靠的动力传动。作业性和操作性大幅度地提高。
再有，在操作时的初期状态或在作为操作中最为标准的姿势的操纵装置的基准姿势时，由于不产生由连结部附近的偏心质量引起的回转力矩，所以操作者不承担多余的操作力，作业性和操作性大幅度地提高。另外，由于自由度构成成为连结部的共同滚动轴、偏转轴、俯仰轴的中间方向弯曲轴、滚动轴的自由度构成，所以从基准姿势的状态开始的作业部的姿势诱导变得容易，作业性和操作性大幅度地提高。
也就是说，可以提高供小型和重量轻、高可靠性、高刚性、低成本的动力传递机构，另外，由于具有该动力传递机构，可以提供备有高操作性、高作业性的手术辅助用操纵装置和能源设备等狭窄部修补用操纵装置。
Claims (2)
1.一种操纵装置，备有作业部、连结部和操作部，来自该操作部的操作指令通过前述连结部传到前述作业部，使该作业部动作，其特征在于，
具有把来自前述作业部的操作指令传到前述操作部的动力传递机构、以及驱动该动力传递机构并作为前述连结部附近的偏心质量的驱动装置，
前述动力传递机构具有可挠性动力传递构件和一对卷绕了该可挠性动力传递构件的驱动侧滑轮和从动侧滑轮，
在操纵装置处于基准姿势时，作为前述连结部附近的偏心质量的前述驱动装置，把前述驱动侧滑轮和前述从动侧滑轮设置成它们的回转轴处于相互扭转的状态，使之相对于前述连结部配置成大致垂直向下。
2.如权利要求1所述的操纵装置，其特征在于，自由度构成成为由连结部的共同滚动轴、容许横向回转的偏转轴和容许纵向回转的俯仰轴的中间的容许向斜方向回转的弯曲轴、滚动轴构成的自由度构成。
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- 2004-03-30 US US10/811,848 patent/US7300373B2/en active Active
- 2004-03-31 CN CNB2006100801289A patent/CN100473870C/zh not_active Expired - Lifetime
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101687320A (zh) * | 2007-05-10 | 2010-03-31 | 史蒂文·D·索姆斯 | 利用旋转驱动器的机器人操作器 |
| CN101687320B (zh) * | 2007-05-10 | 2013-04-24 | 史蒂文·D·索姆斯 | 利用旋转驱动器的机器人操作器 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3944108B2 (ja) | 2007-07-11 |
| JP2004301275A (ja) | 2004-10-28 |
| KR20060017658A (ko) | 2006-02-24 |
| CN100431802C (zh) | 2008-11-12 |
| CN1847698A (zh) | 2006-10-18 |
| CN1533744A (zh) | 2004-10-06 |
| KR20040085062A (ko) | 2004-10-07 |
| KR100581298B1 (ko) | 2006-05-22 |
| US20090291795A1 (en) | 2009-11-26 |
| US20080051238A1 (en) | 2008-02-28 |
| US20040266574A1 (en) | 2004-12-30 |
| US20080051815A1 (en) | 2008-02-28 |
| US20080051239A1 (en) | 2008-02-28 |
| CN100473870C (zh) | 2009-04-01 |
| CN1282445C (zh) | 2006-11-01 |
| US7850563B2 (en) | 2010-12-14 |
| US7300373B2 (en) | 2007-11-27 |
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