JP2003127085A - Operation manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation manipulator having a sterilizable treatment tool. SOLUTION: An end effector 252 is replacably connected to an end effector mounting platform 256a on the tip of an arm 256 of an manipulator 251, wherein electric power for driving a servo motor 253 in the end effector 252 is supplied from a power supply coil 259 for driving the end effector mounting platform 256a of the arm 256 to an attaching/detaching part of the end effector mounting platform 256a and the end effector 252 by means of electromagnetic coupling.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robotic end.
Diagnosis and treatment mounted on a robot like a surgery
To a medical device that performs 2. Description of the Related Art Recently, operability of surgery has been improved and functions have been expanded.
For example, robotic end surgery
A medical device is attached to the robot as shown in
It is thought that something to do the replacement. [0003] This kind of body cavity
The insertion part of the medical device body inserted into the
A tactile sensor is provided on the gripper that grips tissue at the tip,
In order to prevent tissue damage when grasping.
However, the tactile sensor itself or the tactile sensor
Safety in the event that the sensor wiring is broken
May not be secured. [0004] The present invention has been made in view of the above circumstances
The goal is to ensure that a single failure of the sensor
An object of the present invention is to provide a medical device capable of ensuring the performance. [0005] The invention according to claim 1 is characterized in that
Treatment unit attached to the end of the arm of the purator body
And a treatment unit with a built-in electric drive element
Replaceable connection with the treatment unit mounting part
The treatment unit mounting portion and each of the treatment units
For driving the treatment unit to the electric drive element
An electric power supply for supplying electric power from the arm by electromagnetic coupling.
Surgical manipulator characterized by providing feeding means
is there. According to the first aspect of the present invention, the electric drive element includes
The stored treatment unit can be attached to and detached from the arm
The drive power to the electric drive element is electromagnetically coupled from the arm.
Energy supply means
Cables and connectors are not required,
No need to take protective measures during sterilization
It is. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1A to 3 show medical instruments.
An example is shown. FIG. 2 shows a doctor for endoscopic surgery.
1 shows a schematic configuration of the entire medical instrument system. Figure
In 2, 1 is a main body of the external device. This external device body
1 includes a light source device 3 and a camera control unit on a support base 2.
Knit (CCU) 4, tactile detection control unit 5, drive control unit
6, a suction / insufflation part 7 is provided. here
The drive control unit 6 includes a plurality of external operation units 8a, 8b, 8
c is connected. In addition, CCU4 has a TV monitor
9 is connected. Reference numeral 10 denotes a bed 11 in an operating room, for example.
It is a medical device mounting base to be attached to the device. This mounting base 1
0 denotes the endoscope 12, the first treatment tool 13, and the second treatment tool 1.
Terminal part 1 to which various medical instruments such as 4 are detachably attached
5a, 15b and 15c are provided. An endoscope 12 is inserted into the body.
External part which is connected to the entrance part 16 and the base end part and is arranged outside the body
An arrangement unit 17 is provided. In addition, extracorporeal placement unit 1
One end of a cable 18 is connected to 7. This
The other end of the cable 18 is connected to the mounting base 1 via a connector 19.
0 is detachably connected to the connector receiver of No. 0. The first treatment instrument 13 is inserted into the body.
Insertion part 20 to be connected to the base end,
And the extracorporeal arrangement portion 21 is provided.
Is connected to one end of a cable 22.
2 is connected to the mounting base 10 via a connector 23.
It is detachably connected to the receptacle. Further, the second treatment tool 14 is also a first treatment tool.
13 and an insertion portion 24 to be inserted into the body,
And an extracorporeal arrangement part 25 to be placed is provided.
Is connected to one end of a cable 26.
6 is connected to the mounting base 10 via a connector 27.
It is configured so as to be detachably connected to the container receiver. The terminal of the mounting base 10 is connected to an external device.
Parts 28 and 29 are provided. These external connections 2
8 and 29 are connection cables 30 and 3 on the external device body 1 side.
1 is detachable via connectors 30a and 31a, respectively
It is connected to the. Then, the endoscope 12, the first treatment instrument 13,
The second treatment tool 14 is an internal wiring and connection of the mounting table 10.
Connected to the external device body 1 via cables 30 and 31
The endoscope 12 is controlled by the external operation unit 8a, for example.
The operation is controlled, and the first treatment tool is operated by the external operation unit 8b.
13 is controlled, and the second operation is performed by the external operation unit 8c.
The operation of the treatment tool 14 is controlled. Further
The observation image taken by the endoscope 12 is a TV monitor.
Data 9 is displayed. FIG. 1A shows the insertion of the first treatment instrument 13.
3 shows a distal end portion of the entrance 20. In this insertion part 20
Is externally connected to the sheath 32 through a distal end opening of the sheath 32.
And a gripping tool 33 that is housed so as to be protrudable from
You. A pair of openable / closable grips are provided at the tip of the gripper 33.
Members 34a and 34b are provided. Here, at least one gripping member 34a
A tactile sensor 35 having robustness is attached to the inner surface of
Have been. The tactile sensor 35 has a sensor shown in FIG.
Formed by a distributed sensor unit 36 which is a sensor array.
Has been established. The sensor unit 36 includes a plurality of sensors.
The sensors 37 are arranged in a matrix substantially vertically and horizontally.
Each is juxtaposed. Also, as shown in FIG.
Several rows and even rows are independently detected by independent detection circuits 38.
Stand-up detection and output one sensor output from the detected value
A signal processing circuit 39 is provided. In FIG. 3,
40 is a comparison circuit, and 41 is an arithmetic circuit. Here, the signal of each sensor 37 is a matrix.
Switch each sensor 37 in the
And output in time series as shown in Fig. 1 (C).
Is done. In the signal processing circuit 39, for example,
Two adjacent sensors 37, for example C ₁₁ And C _{twenty one} But
If they are almost the same value, add them to calculate the average. Also,
If one of the wires breaks and the output is out of the proper value, the other
The other output is the sensor output. These decisions are made by the comparison circuit
40 and the arithmetic circuit 41. Next, the operation of the above configuration will be described.
First, during the endoscopic surgery, the information is displayed on the TV monitor 9.
First treatment while viewing the observation image from the endoscope 12
The tool 13 and the second treatment tool 14 are operated. And the first
Tip of insertion section 20 of second treatment tool 13 and second treatment tool
The distal end of the insertion portion 24 is an eye of an affected part in a body cavity of a patient.
Guided to near the target site. Here, the first treatment tool 13
And the second treatment tool 14 are operated independently of each other,
Appropriate measures are taken for the part. Further, when the first treatment tool 13 is used,
The gripper 33 is moved beyond the sheath 32 by operating the operation section 8b.
The end of the grip 33 protrudes outward from the end opening.
The grip members 34a and 34b of the sections are opened and closed. Further, the closing operation of the gripping members 34a, 34b
When the target tissue such as the affected part is gripped in the middle of
The touch was felt by the tactile sensor 35 on the inner surface of the material 34a.
Detected immediately. When the tactile sensor 35 operates,
The signal processing circuit 39 outputs one sensor output. You
That is, each cell in the sensor unit 36 of the tactile sensor 35 is
The odd-numbered rows and the even-numbered rows of the sensor 37 are independent detection circuits 3
8 is detected independently by the
The sensor output is output. Therefore, in the above configuration, the tactile sensor
A plurality of sensors 37 in the sensor unit 36 of the sensor 35.
Vertically and horizontally arranged in a substantially matrix shape
And the sensor wiring and the detection circuit 38 are provided independently.
Therefore, a plurality of sensors in the sensor unit 36 are provided.
Somewhere in the satellite 37 is broken such as disconnection or sensor destruction
, The sensor output can be reliably obtained. In the above example, the sensor of the tactile sensor 35
The sensor output is obtained from the two sensor cells in the unit 36.
Obtained, but one sensor output can be obtained from more cells.
May be implemented. FIGS. 4 and 5 show FIGS.
13 shows a first modification of the medical device of No. 3. this
Are provided in the sensor unit 36 as shown in FIG.
Sensor block that combines sensors 37 into one block
And a plurality of cells 51 are provided to serve as cells in each sensor block 51.
The output of each sensor 37 is added to generate one output.
It is something that has been achieved. FIG. 5 shows the signal processing circuit 52.
is there. Here, 53 is each sensor in each sensor block 51.
An adding circuit that adds the outputs of the outputs 37 and outputs one output;
Numeral 54 denotes a detection for detecting an output signal from the addition circuit 53.
Circuit. Therefore, in the above configuration, each sensor
If the number of sensors 37 in the sublock 51 is large,
Even if one sensor 37 breaks, the effect on output is minimal.
Can be kept to a minimum. FIG. 6 shows the medical device shown in FIGS.
It shows a second modification of the tool. This is shown in FIG.
(A) The system of the medical instrument for endoscopic surgery shown in FIG.
On the outer surface of the sheath 32 of the first treatment tool 13 in the system
Distribution type tactile sensor 61, 6 having three robustness
2, 63 are provided. Here, the first tactile sensor 61 is a TV monitor.
Are arranged in the range projected on the screen 9. Ma
In addition, the second tactile sensor 62 is located closer to the distal end than the terminal portion 15b.
And the third tactile sensor 62 is connected to the
It is located on the original side. Therefore, in the above configuration, the second
If an object hits the tactile sensor 62 and outputs an output,
In the part that is not shown on the monitor 9,
The untreated tissue or the treatment tool is
Since it is detected that it hits the outer surface of the case 32,
The surgical operation is stopped. Further, an output is output from the third tactile sensor 62.
In such a case, the outer surface of the sheath 32 of the first treatment instrument 13
Of the terminal part 15b on the base side
And what other operators have touched
Is considered, so the operation is also stopped. In FIG. 6, the second treatment instrument 14 is inserted.
A curved portion 64 for lifting the living tissue is provided on the distal end side of the insertion portion 24.
It is arranged. And on the tip side of this curved portion 64
The fourth tactile sensor 65, and the fifth tactile sensor 6 on the middle side
6. A sixth tactile sensor 67 is provided at the base side.
Have been. The fourth to sixth tactile sensors 65 to 65
Lifting of living tissue based on output from 67
The situation is determined. Here, the fourth to sixth criteria serving as criteria for determination
The combination state of the output from each of the tactile sensors 65 to 67 is as follows.
Table 1 below. [Table 1] Here, in the case of (1), the holding portion 64
The living tissue to be lifted is large and not lifted
Is determined to be. In the case of (2), the second treatment tool
The other end of the living tissue that the tip of the insertion portion 24 of 14 lifts
It is determined that it has not protruded. In case of (3)
The pushing of the distal end of the insertion portion 24 of the second treatment instrument 14 is not
It is judged as a foot condition. (4) In case of living tissue
It is determined that the lifting has been completed successfully. And this
The operation of the first treatment instrument 13 is controlled based on the determination result of
You. This is because the insertion portion of the second treatment instrument 14
24 shows an example of a case in which a living tissue is lifted by the curved portion 64 of FIG.
However, it can be clipped securely in the end GIA, etc.
It may be used to judge whether or not there is. FIG. 7 is a schematic configuration of the entire operation system.
It is shown. This surgical system includes intraoperative bioimages
3D simulation system and screen display
A tool input system is provided, and these are linked.
And operate within the same system. Here, an intraoperative biological image three-dimensional simulation
Pre-operative biological image information is stored in three-dimensional
Means for displaying on the monitor 71, an endoscopic image during the operation,
Means for accumulating ultrasound images and three-dimensional information before the operation.
As a foundation, it captures intraoperative image information,
While calculating the information of the site obtained from the intraoperative image information
And the information of the part that has not been obtained as three-dimensional information before the operation
Means for correcting, accumulating and displaying this.
You. An appliance input system by screen display is
3D simulation of endoscopic images or intraoperative biological images
The organs on one of the images
The forceps held or excluded are displayed on the image of the monitor 72.
Then, when instructed to another position, the manipulator that supports the forceps
But does not hurt the organ so that it automatically moves to that position
It is configured to operate within the limit. Therefore, in the case of the above construction,
Pre-operation by 3D body image simulation system
Accumulate biological image information (CT, NMR, US tomographic images)
Combine the image from the intraoperative object and the endoscopic image
An original simulation image is formed, and this is
Can be displayed. Therefore, preoperative CT, NMR, or supersonic
Wave diagnostic information is obtained and used as a guide for intraoperative puncture, etc.
The target organ moves relatively like the brain
If it is not available, it is effective.
Operation may cause moving objects to become unsuitable.
In addition, there is no
Can be placed. In addition, on an endoscope image or simulation
Exclusion of organs from one position to another using forceps
When you specify the position of the organ after retraction on the image,
It can be evacuated dynamically. Therefore, part of the body cavity
During surgery, the position of instruments in the body cavity and the
When it is necessary to confirm the position, etc.
Changing the position of the endoscope and changing the field of view like a surgical operation
Eliminates the need for measures such as reducing the efficiency of endoscopic surgery
be able to. FIG. 8 (A) shows a remote operation of the intracavity operation.
Articulated manipulator, a manipulator for intracavity surgery performed at
FIG. This articulated manipure
The tip of the insertion section 82 inserted into the body
A first curved portion 83 arranged on the distal end side, and a first bay
A second curved portion 84 connected to the rear end of the curved portion 83 is provided.
Have been killed. Further, the first end 85 of the insertion portion 82
The driving device 86 for the bending portion 83 and the second bending portion 84
Is provided. Note that the first bending portion 83 and the second
Since the driving device 86 of the bending portion 84 has substantially the same configuration,
8 (A) shows only the driving device 86 of the second bending portion 84.
You. The driving device 86 has the second bending portion 84
A towing machine for towing a pair of angle wires 87, 88
A drive motor 90 for the structure 89 is provided. In addition,
In the middle of the single wires 87 and 88, a compliance
Each of the setting units 91 is provided. FIG. 8B shows the compliance setting section.
9 shows a schematic configuration of the device 91. This compliant
The cylinder 92 and the cylinder 92
And a piston 93 disposed at the same position. Soshi
The piston rod 94 of the piston 93
The wires 87 and 88 are provided in the middle. Further, the coil spring 9 is provided in the cylinder 92.
5 are provided. Also, outside the one end side of the cylinder 92
One of the connecting pipes 97 is connected to the pipe connecting section 96 protruding from the peripheral surface.
The ends are connected. The other end of the connecting pipe 97 is
Connected to the amplifier 98. Then, the compliance is controlled by the pump 98.
By changing the hydraulic pressure in the cylinder 92 of the
Controls compliance when pulling wires 87 and 88
Can be controlled. For example, during the bending operation of the second bending portion 84
As in the case where the distal end of the insertion portion 82 contacts the body cavity wall,
When you do not want to apply excessive force when pulling the ears 87 and 88
First, reduce the pressure in the cylinder 92 and
The tension of the wires 87 and 88 is released by the elasticity of the spring 95. On the contrary, when the wires 87 and 88 are pulled,
To apply a force, the pressure in the cylinder 92 is increased. What
In FIG. 8 (B), only a coil is provided on the left side of the piston 93.
Although the hook 95 is provided, it may be provided on both sides. Therefore, in the above configuration, the pump
98, the cylinder 9 of the compliance setting unit 91
2 to change the hydraulic pressure in the
Compliance can be controlled
Without providing a special tactile sensor to the
Safety can be improved. FIGS. 9A and 9B show the wire drive.
The dynamic driving device 86 is suitable for the bending-type manipulator 101.
This is an example of the use. Here, the bending type manipure
When approaching the data 101 to the affected tissue H, FIG.
As shown in (A), angle wires 87 and 8 for each joint are used.
8 is elastic and flexible. Then, the treatment of the affected tissue H
At the time of placing work, as shown in FIG.
The elasticity of the joint part 101a on the hand side of the data 101
The hardness is increased, and the tip working joint 101b is increased in elasticity.
I am trying to do it. FIG. 10 is different from FIG.
3 shows a compliance setting unit 102 of FIG.
This compliance setting unit 102 includes each angle Y
Of the SMA coil 103 provided in the middle of the
Energization control to control spring elasticity by temperature change
A section 104 is provided. FIG. 11 shows a structure different from that of FIG.
3 shows a compliance setting unit 111. this
Is a large-diameter pulley 1 in the middle of each angle wire 87, 88.
12 and two small-diameter pulleys 113 and 114 are interposed,
Large-diameter pulley 1 disposed between small-diameter pulleys 113 and 114
12 and one end of the SMA coil 115
The other end of the SMA coil 115 was fixed to an appropriate fixing portion.
Things. Also in this case, the temperature change of the SMA coil 115
Control section 116 for controlling the spring elasticity
Is provided. FIG. 12 shows the compliance of FIG.
9 shows a modification of the setting unit 111. This is shown in FIG.
One SMA coil 115 is formed by a coil spring 121.
And adsorbs the large-diameter pulley 112 so that it can come and go.
An electromagnetic chuck 122 is provided. Here, when the electromagnetic chuck 122 is turned off,
Is released due to the elasticity of the spring 121 connected to the pulley 112.
The tension of the glue wires 87, 88 is relaxed. In addition,
The pulley 112 is attracted and fixed when the magnetic chuck 122 is ON.
Then, the tension of the angle wires 87 and 88 is directly applied. FIGS. 14 and 15 have a safety mechanism.
3 shows a treatment robot 131. This treatment robot
The arm 131 is provided with an articulated manipulator 132.
ing. This manipulator 132 has a plurality of arm sections.
133 are rotatably connected via joints 134, respectively.
Have been. In this case, the joint 134 of the arm 133
Is provided with a joint rotation motor 135.
Further, the motor 135 of each arm 133 is connected to the cable 1
It is connected to the controller 137 via. In addition, at the tip of the most advanced arm 133
Is provided with a treatment tool support member 138. This treatment tool
The support member 138 is fixed to the tip of the arm 133
It is attracted by the electromagnet 139 so as to be detachable. this
The electromagnet 139 is connected to the controller 1 via the cable 140.
37. Further, the treatment tool support member 138 has a threaded portion.
The treatment tool 141 is detachably attached by a material.
You. The driving device 142 of the treatment tool 141 is a cable 14
3 is connected to the controller 137. Further, the treatment tool 141 includes a trocar 144.
It is inserted into the body through. Of this trocar 144
At the base end, a substantially box-shaped treatment instrument receiving member as shown in FIG.
145 are fixed. This treatment tool receiving member 145
The treatment instrument 141 communicating with the trocar 144 is provided at the shaft center.
An insertion hole is formed. Further, the inside of the treatment instrument receiving member 145
The inner box 146 is mounted so that it can slide up and down in FIG.
Have been. In this case, the inner bottom portion of the treatment instrument receiving member 145
In a state where the inner box 146 is pressed upward in FIG.
A biasing spring member 147 is provided. In addition, inner box 1
An insertion hole for the treatment instrument 141 is formed in the axis of 46.
You. Next, the operation of the above configuration will be described.
First, the operation of each arm 133 of the manipulator 132
Sometimes the treatment tool is supported in conjunction with the movement of this arm 133
The member 138 and the treatment tool 141 operate. At this time,
The power of the value set in the controller 137 in advance
The current is supplied to the electromagnet 139, and the treatment tool support member 138
It is attracted to the electromagnet 139 of the arm 133 with a predetermined attractive force.
Have been. Then, the treatment instrument 141 is inserted deeply into the body.
When the treatment tool 141 is inserted,
Inner box 146 inside treatment instrument receiving member 145 is spring member 1
The inner bottom side of the treatment instrument receiving member 145 against the spring force of 47
Is pressed. Here, the treatment tool 141 contacts the living tissue H.
When the treatment tool 141 receives the reaction force from the tissue H,
The arm 133 of the treatment tool support member 138
When the sliding force exceeds the electromagnetic force of the electromagnet 139,
In this case, the distance between the treatment tool support member 138 and the arm 133 is
To separate. At this time, the treatment instrument 141 is inserted into the body.
Due to the restoring force of the spring member 147 contracted by
The inner box 146 inside the fixture receiving member 145 is pushed upward.
It is. Therefore, since the treatment tool 141 is also pushed upward,
Excessive force is prevented from being applied to the living tissue H. Therefore, in the case of the above configuration,
The pressure value acting between the weave H and the treatment tool 141 is abnormally high.
Then, the space between the treatment instrument support member 138 and the arm 133 is
After the separation, the treatment tool is restored by the restoring force of the spring member 147.
The inner box 146 inside the receiving member 145 is pushed upward,
The treatment tool 141 is also pushed upward and detached from the living tissue.
Then, the operator mistakenly applies a strong force to the living tissue H from the treatment tool 141.
It can increase the safety of the treatment without giving any force.
it can. After use, it is necessary to remove the screw member.
Thus, the treatment tool 141 can be easily separated from the treatment tool support member 138.
Since it can be separated, only the treatment tool 141 is disinfected and
Sterilization is possible, and disinfection and sterilization of the treatment instrument 141 are easy.
It becomes. FIG. 16 shows a modification of the treatment robot shown in FIG.
It shows a form example. This is because the treatment tool support member 138
And the arm 133 are connected in a fixed state.
The treatment tool receiving member 14 of the treatment tool support member 138
The pressure sensor 15 is provided on the lower surface and the side
1 and the sensor output line of the pressure sensor 151
Passes through the inside of the arm 133 and is connected to the constant current circuit 152.
The sensor output is input to the controller 137.
It is intended to be empowered. Therefore, in the above configuration, the manifold
The operation of the treatment device 141 by the operation of the
During the operation of being deeply inserted into the treatment instrument support member 138,
The pressure sensors 151 on the lower and side surfaces of the
5 by contacting the inner box 146 inside.
The output is sent to the controller 137. Here, the controller 137 is set in advance.
By setting the upper limit of the sensor output to
A strong pressure that causes the sensor output value to exceed the upper limit
When added to the living body from the fixture 141, the controller 1
37 turns off the power of the driving device 142,
Since the movement of the arm 133 stops, the contracted spring member 14
7 acts on the inner box 146 to restore it to its natural length.
When the 146 is pushed upward, the treatment tool 141 also moves upward.
To prevent excessive pressure on the living tissue H
Can be stopped. Further, water is supplied from the treatment tool 141 to the living tissue H.
The treatment tool support member 13 may be in a state where excessive pressure in the horizontal direction is applied.
8 is detected by the pressure sensor 151 on the side surface. That
Therefore, also in this case, excessive horizontal pressure is applied.
When detected by the pressure sensor 151, the driving device
142 is turned off and the arm 133 moves
Since it stops, the treatment tool 141 is also pushed upward,
Excessive pressure can be prevented from being applied to the tissue H. But
As a result, living organisms caused by excessive pressure in the horizontal direction
The danger of crushing or perforation of the tissue H can be avoided. FIG. 17A shows the detection of the thread tension.
To prevent damage to living tissue.
Surgery with tension detection mechanism having means for controlling the turbulator
1 shows a schematic configuration of the entire device 161. The surgical apparatus 161 includes an articulated manipulator.
A lator 162 is provided. This manipulator 1
A plurality of arms 163 are provided at 62. Each
The arm 163 is provided with a joint and its rotation mechanism.
I have. Also, at the tip of the most advanced arm 163,
The base ends of a pair of treatment tools 164 are connected. Each place
A living tissue or a medical device is gripped at the tip of the fixture 164.
An openable and closable grip 165 is provided. This place
In this case, the treatment tool (not shown) is rotated at the tip of the arm 163.
A mechanism is provided, and the distal end of each treatment tool 164 is provided.
The unit is provided with a gripper opening / closing mechanism (not shown). Sa
In addition, the manipulator 162 and each arm 163 are processed.
Robot drive control device 16 for controlling movement of fixture 164
6 is connected. Further, the inner surface of one gripping portion 165 has a tip
A thread insertion port 165a is formed on the side of the
Inside the thread insertion passage 16 communicated with the thread insertion port 165a.
5b is extended toward the connecting portion side with the treatment instrument 164.
You. FIG. 17B shows the inside of the treatment tool 164.
167 for thread insertion extending along the axial direction
a is provided. A thread is provided at the base end of the cavity 167a.
A winding storage chamber 167b is formed. Further, the holding portion 165 of the treatment tool 164 is
With the double needle 176 held, the thread insertion port of the holding portion 165 is inserted.
165a through the thread insertion passage 165b,
The thread 177 guided from the suture needle 176 is contained in the cavity 167a.
Will be delivered. Further, the thread 1 is stored in the thread winding storage chamber 167b.
A spool 168 for winding 77 is provided. The bobbin 168 has a center rod 169 and a bobbin 169.
And a cylinder 170 around the periphery. Further
In addition, a thread winding storage chamber 167b is provided at the tip of the arm 163.
A recess 171 communicating with the inside is formed. The outside of the partition wall 172 at the inner bottom of the concave portion 171
A hook 173 is attached to the surface. And this
Of the hook 173 and the rod 169 at the center of the bobbin 168
The spaces are connected by a string 174. Further, a strain gauge is provided on the inner surface of the partition wall 172.
175 are adhered. Gauge from this gauge 175
The output line passes through the inside of the arm part 163 and the constant current circuit 1
79 is connected. This circuit 179 has a
Switch 178 is connected, and this switch 178
The bobbin lock attached to the center rod 169 of the bobbin 168
Connection mechanism 180. Next, the operation of the above configuration will be described.
First, the grasping portion 165 of the treatment tool 164 grasps the needle 176 and
When starting sewing, the spool lock switch 178 is turned off.
It is F. Therefore, the spool 168 rotates,
The thread 177 extends until 177 reaches the suture site in the tissue.
Go on. Also, tighten the seam, tie the thread,
Turn the pin lock switch 178 ON when you are done
And by applying tension to the thread 177,
finish. Here, during the suturing operation, the tissue other than the intended tissue is
If the thread 177 is entangled with the thread,
When tension is applied, abnormal tension is applied to the thread 177
Will be. At this time, the rod 169 at the center of the bobbin 168
Is connected to this rod 169 because the thread is pulled by the thread 177.
The hook 173 is pulled by the tension thread 174
It is. As a result, the partition wall 172 is bent, and is bonded to this.
From the deformation of the strain gauge 175, the constant current circuit 17
9 outputs the gauge output. Here, a new thread lock switch
If the upper limit of the gauge output is set in 178,
Abnormally strong tension applied to the thread 177 exceeding the limit
When there is a risk of damaging living tissue
The switch 178 is turned off, and the spool 168 is turned off.
Is rotated, the thread 177 returns to a free state. Therefore, in the above configuration,
Treatment implement 164 having cavity 167a for accommodating thread 177
Is provided, the sticking of the thread 177 is reduced. Sa
Further, the tension of the thread 177 is measured by the strain gauge 175.
In addition to detecting, the manipulator 16
2 is controlled so that the tension of the thread 177 is
Therefore, the danger of damage to living tissue can be prevented. FIG. 18A shows the operation of FIG.
9 shows a modification of the device. Here, FIG.
As shown in (B), the inner surface of one gripper 165
A second opening 181 is formed on the base end side, and the treatment tool 16
The tip of the cavity 167a formed inside the fourth
Is communicated with the opening 181. In addition, the other grip
A position corresponding to the second opening 181 is provided on the inner surface of the portion 165.
Is provided with a blade 182. Next, the operation of the above configuration will be described.
When ligating a blood vessel or the like, as shown in FIG.
The thread 17 locked by the spool 168 inside the fixture 164
7 is grasped by the grasping portion 165 of the other treatment tool 164,
The ligation operation is performed while applying tension to the thread 177. Finally, when the ligation is completed, the thread 177
The robot drive control unit in advance.
The output value of the strain gauge is set in the display 166, and this value is
When a strong tension is applied to the yarn 177
The drive control device 166 operates so as to close the gripper 165.
The blade 182 moves down with the gripper 165. this
Sometimes the thread 177 is under strong tension
At the upper surface of the second opening 181. That
Therefore, the blade 182 is moved to the second position while the gripper 165 is fully closed.
Since the thread 177 contacts the thread 177 through the opening 181, the thread 17
7 runs out. In addition, the yarn 177 may be applied to an unintended structure or the like.
If the tension of the thread 177 becomes abnormally strong,
As in the case of FIG. 17A, the gauge output is taken out,
Set the upper limit value in the robot drive controller 166
If the above mechanism breaks the thread 177 and damages the tissue,
Can be prevented. Therefore, in the above configuration,
With the grip 165 fully closed, the blade 1
I can cut 77, so the thread 177 stuck
In this case, re-sewing can be easily performed. FIG. 19 shows the detection of a change in the position of the patient.
Body that has a mechanism to prevent danger to living tissue
9 shows a surgical apparatus 191 with position change detection means.
The surgical device 191 includes a manipure having a plurality of joints.
Data 192 is provided. This manipulator 19
2 has a plurality of arm portions 193. This
The arm 193 has a joint and a rotation inside the joint.
Or a motor 194 for opening and closing the treatment instrument gripping portion.
ing. Also, at the tip of the most advanced arm portion 193,
Is attached to the base end of the treatment instrument 195. This action
The tool 195 is a trocar fitted with a hole in the patient's skin.
196 is inserted into the This trocar 19
6. A piezoelectric film 197 is wound around the outer peripheral wall
Is glued. This film 197 passes through an amplification circuit 198
And connected to the control circuit 199 of the surgical device 191.
You. The control circuit 199 includes a motor 194 and a driving device.
Device 200 is connected. Next, the operation of the above configuration will be described.
First, during surgery, when the operator changes the patient's position,
In the first moment, the pressure from the skin of the living body is applied to the trocar 196.
Joins. At this time, the outer skin of the trocar 196
The above-mentioned pressure is applied by the piezoelectric film 197 in the portion that comes into contact with the skin.
Is detected, a pulse voltage as shown in FIG. 20 is generated.
I do. This pulse voltage is increased by the amplifier circuit 198.
The signal is transmitted to the control circuit 199 in the state of being widened. This pa
When inputting a loose voltage, the control circuit 199 sends the motor 194
A signal to turn off the power is sent to the motor 194,
The joint of the arm 193 is switched to the free state. Thus, during the change of the patient's position
In the arm section 193, the joint is held in a free state,
As it moves in conjunction with the movement of Lacar 196,
There is no image. Also, when the patient is changed to a desired position,
When the position conversion operation is completed, the trocar 196 is
Since pressure from the patient's skin is applied, the piezoelectric
The output pulse from the film 197 is controlled as described above.
When the signal is sent to the control circuit 199, the power of the motor 194 is turned on.
Is sent to the motor 194. Therefore, once
Arm 193 can be fixed again.
Therefore, the surgeon can perform surgery at the desired position again.
Wear. Therefore, in the above configuration, the patient
A piezoelectric filter provided on a trocar 196 inserted into the body
Using the output detected by the
The state of the patient 192 can be controlled so that the patient's body can be controlled.
Surgery performed while changing the position can be performed quickly,
In addition, damage to living tissue can be prevented. Therefore, the patient
Trocar pressure on the living body
Damage can be prevented. FIG. 21 shows the operation apparatus 191 of FIG.
It shows a modified example. This is the trocar 196
Piezoelectric film 19 wound and adhered to the outer peripheral wall
7 through the amplifier circuit 198 and the buzzer switch 201.
The user 200 is connected. In this case, the operator changes the position of the patient.
While performing surgery at a certain position without conversion,
In the unlikely event that the patient's body moves slightly or
The arm of the manipulator 192 contacts the patient's body
When the portion 193 malfunctions, the piezoelectric film 197
Since slight pressure is applied from the patient's skin, this film 1
97 voltage output pulses are amplified by the amplifier circuit 198,
When sent to the buzzer switch 201, only the pulse generation time
Turns on, the buzzer 202 sounds, and warns the surgeon
Can be Note that this depends on the magnitude of the pulse.
Of the buzzer 202 also goes up and down. Therefore, in the above configuration, the buzzer
By listening to the sound generated by 202,
The surgeon immediately knows that the patient's body has changed slightly.
In addition, the loudness of the sound is used to determine whether the change is abrupt.
One measure that can be separated and prevents damage to living tissue
It becomes. FIG. 22 shows the state of the living tissue at the time of failure.
Surgical manipulator that can easily release the contact state
FIG. This surgical manipure
The motor 211 is provided with a multi-joint arm 212.
ing. The distal end of the arm 212 has a treatment tool drive
A unit 213 is attached. This treatment tool drive unit
An insertion part 214 to be inserted into the body is connected to the knit 213
Have been. The bending portion 21 is provided at the tip of the insertion portion 214.
The treatment section 216 is connected via the reference numeral 5. This treatment section
216 includes, for example, a needle holder, a biopsy forceps for collecting living tissue.
There is a grasping forceps for grasping a living tissue or a living tissue. The drive unit 213 includes the treatment section 21.
6 and the actuator for operating the bending portion 215
Is stored. The operation of this actuator
The treatment section is provided by a mechanical transmission element 218 such as an ear or a rod.
216 and the bending portion 215, but the fixing screw 2
17 is loosened, the insertion portion 214 is inserted as shown in FIG.
Together with the mechanical transmission element 218
ing. Note that the arm 212 and the treatment section 216 are
Driven by an actuator built in 212,
The position and speed are controlled by a computer. Therefore, in the case of the above configuration, the operation
Insertion part 216 and arm 212 for manipulator 211
The mechanical treatment drive unit 213 on the side of the
Since the set screw 217 is provided, the computer, actuator
During surgery due to data failure or power outage, etc.
If the condenser 211 stops operating,
By loosening 217, the insertion portion 214 is separated,
As shown in FIG. 23 (B), remove the insertion portion 214 out of the body.
It is possible to put out. At this time, the treatment section 216 and the bending section 215
Operates mechanically because it is separated from the actuator
Freedom, straight line, convenient to take out
Can be shaped. FIG. 24A shows the operation manifold shown in FIG.
14 shows a modified example of the purator 211. this is,
A drive unit is attached to the tip of the arm 212 of the manipulator 211.
A knit mounting portion 221 is provided to mount the drive unit.
The treatment tool drive unit 213 is detachably connected to the part 221
It was done. In this case, the drive unit mounting portion 221
Actuator is connected to the joint 222 of the drive unit 213
A connector section 223 for connecting the electrical signal of the eta;
And a pair of positioning pins 225
Is provided. Further, in the treatment tool drive unit 213,
The joint 213a with the arm 212 is provided with the arm 212 side.
Connector portion detachably connected to the connector portion 223
227 and positioning pin 225 on arm 212 side are inserted
A pair of pin insertion holes 226 and a pair of screw holes 228
Are provided. Then, the treatment tool drive unit 213 is connected.
Between the portion 213a and the coupling portion 222 on the arm 212 side.
At the time of connection, the connector unit 223 on the arm 212 side and the drive unit
When the connection with the connector portion 227 on the side of the
In both cases, the positioning pin 225 is inserted into the pin insertion hole 226
In this state, the fixing screw 229 is inserted through the screw insertion hole 224.
And screwed into the screw hole 228. Further, the driving unit 213 is
If 9 is removed, it will be separated from the arm 212 side,
If the manipulator 211 stops working due to
The drive unit 213 can be separated from the arm 212 side.
With this, the insertion portion 214 can be taken out of the body.
is there. FIGS. 25A to 25D and FIG.
(A) and (B) show the arm 212 of the manipulator 211.
At least two types of treatment units for the tip of
231 and 232 are interchangeably connected. The treatment unit depends on the purpose of the treatment.
Needle holder 231 shown in FIG. 25 (B) and FIG.
Although there are different shapes such as the gripping forceps 232,
Since the portion 213a is common, the arm 212 can be replaced.
Noh. Note that the insertion portion 23 is provided in the grasping forceps 232.
3 is provided with a gripper 234 that can be opened and closed at the tip thereof.
You. Further, the connectors 223 and 227 are
2 for the connection line of the drive control circuit 243 of the motor 242
44, 245 and the types of the treatment units 231, 232
There is a terminal 246 for the determination line. Here, the treatment units 231 and 232 side
The determination terminal 246 is short-circuited to VCC and any of AD1 to ADn
The combination that is short-circuited
1, 232 types are assigned. Also,
The control unit 241 of the manipulator 211 determines that a short circuit has occurred.
Detection consisting of a photocoupler 247 that detects lines
A circuit 248 is provided. Therefore, the treatment unit 231 or 23
2 connector section 227 on the manipulator 211 side.
When connected to the treatment unit 223, the treatment unit 231 or
232 types can be recognized. Accordingly, in the case of the above configuration, the treatment unit
The type of the knits 231 and 232 can be recognized.
Thus, the number of joints, length,
For controlling joint stroke, maximum speed, drive mechanism speed ratio, etc.
Required information is recorded in advance in the manipulator control device 241.
It is possible to select from the stored data. So
Therefore, the operation is performed by one manipulator 211.
The manipulator 211 according to the contents of the treatment.
The treatment units 231 and 232 at the tip can be appropriately replaced.
Thus, a plurality of treatments can be performed by one device. FIG. 27 shows a first embodiment of the present invention.
Medical robot manipulator (manipulator book
251). This manipulator 25
1 has a built-in electric drive element for observation and processing inside the patient's body cavity.
End effector (treatment unit) 252 for performing placement
Are detachably attached. This end effector
252 has an insertion portion 254 to be inserted into the patient's body cavity.
The distal end of the insertion portion 254 has a curved portion 25.
5 are provided. And this end effector 2
The servo motor as a driving element shown in FIG.
Motor 253 is built-in.
Is driven to drive the tip as shown by the dotted line in FIG.
The bending portion 255 bends. Further, the manipulator 251 has a spatial
Next, the end effector 252 is positioned at a desired position.
Arm 256 is provided. This arm 25
6 has an end effector 2 as shown in FIG.
A mounting base (treatment unit mounting portion) 256a is provided.
Have been killed. And, the mounting base 256 of the arm 256
a, the end effector 252 is detachably attached.
Have been. [0118] The arm 256 is not shown for each joint.
Built-in servo motor for driving. These services
The motor is driven by the end effector 252 and the arm 256.
Connected to the control device 257 for controlling the motor
I have. The control device 257 controls the desired
The operation of the arm 256 and the operation of the end effector 252 are performed.
I can do it. Reference numeral 258 denotes an input means, which is used by the operator.
The input information is transmitted to the controller 257, thereby
The end end effector 252 and the arm 256 are
Thus, a desired operation can be performed. This input device
For example, joysticks and industrial robots
Teaching pendants, etc.
I don't know. FIG. 29 shows the end effector 252 and
It shows a driving power supply unit between the arm 256 and the arm 256.
You. In this case, the end effector mounting of the arm 256
A drive power supply coil (power supply means) is provided on the table 256a.
259 are provided, and the end effector 252 has a servo.
Coil (power supply means) 26 connected to motor 253
0 is arranged at a position corresponding to the coil 259. Then, the service output from the control device 257 is output.
Power for driving the servo motor 253 from the arm 256.
It can be supplied to the effector 252 by electromagnetic coupling.
I can do it. By the way, using a medical robot,
After performing internal observation and treatment, the end effector 252
Since it is inserted into the cavity, it must be sterilized and disinfected.
Sometimes not. Therefore, with the above configuration, the tip end
Since the effector 252 can be removed,
Can be sterilized. In addition, the electromagnetic force generated by the coils 259 and 260
Energy is coupled to the end effector 252 in the end effector 252.
The motor is supplied to the servomotor 253 and driven.
As a means of energy supply for removal
No need for wires and connectors to connect them
There is no need to take protective measures when sterilizing parts. Further, the energy supply method by electromagnetic coupling is used.
Because it performs the same function as an isolation transformer,
There is no danger of electric shock due to leakage current. Therefore, sterilization
Countermeasures and electric shock countermeasures are possible, and
In addition, a safe medical robot can be realized. FIG. 30 shows the end effector 252 and
14 shows a modification of the driving power supply unit between the arm 256 and the driving power supply unit.
Things. This is the end effector of arm 256
A pair of electrodes 261 and 262 are provided inside the mounting base 256a.
And place it inside the end effector 252.
One of the electrodes 261 and 262 is disposed to face each other.
The pair of electrodes 263 and 264 are provided. As a result, the electric capacitance is
The coupling is realized, and by passing an alternating current to that part,
To the servomotor 253 inside the
It is possible to supply power. Therefore, even with the above configuration, the end
Sterilization of connection between effector 252 and arm 256
DC component that makes protection measures unnecessary and easily flows to the human body
Is configured to cut off the power of
Is reduced. As a result, sterilization measures and electric shock measures
Medical robots that are both hygienic and electrically safe
Can be realized. FIG. 31 shows that even if a power failure occurs during surgery,
Medical robot manipulator that allows continuation of surgical procedures
3 shows a system of the estimator 256. this is,
The battery unit 272 is built in the control device 257 to control
The device 257 is connected to a normal power outlet
) When operating with the power supplied from 271
Does not function, but once the main power supply 271 is supplied
The battery unit 272 functions when it is no longer used.
Things. FIG. 32 shows the main power supply 271 and the battery.
9 shows a connection circuit with the rear part 272. Where 2
Reference numeral 73 denotes a power supply detecting means comprising a potential difference detecting circuit,
Checks whether power is supplied from the
It is to know. 274 is a power supply detecting means 2
Battery charged in advance by the detection information from 73
The manipulator 256 is operated by the power supply from the
This is a control circuit for determining whether to control. Furthermore, 2
75 is a main power supply 271 according to a command from the control circuit 274.
For switching between the battery and the battery unit 272
It is a step. In the above configuration, the main power supply 27 is operated during the operation.
When power from the power supply 1 is no longer supplied due to a power failure,
The power supply detecting means 273 in the battery
4 outputs an electric signal indicating that the power is
Control circuit 274 switches to switching means 275
The manipulator controller 2
57 is supplied with power from the battery unit 272.
You. Further, when the main power supply 271 recovers from the power failure,
The power detection unit 273 in the battery unit 272
The recovery signal is output to the control circuit 274, and the control circuit 274
From the power supply switching means 275 to the main power supply 271
Take over. As a result, as soon as the power outage recovers,
The driving of the battery unit 272 is stopped, and the
Energy can be used without waste. Therefore, art
Power can be supplied even if a power failure occurs during
Surgery can be performed continuously. FIG. 33A is important for the operator.
Possible to automatically provide the field of view and save labor for holding the scope
9 shows a simple treatment instrument tracking type scope 281. here
282 is a treatment tool, and 283 is a tip of the treatment tool 282.
It is the treatment section of the department. Further, the position of the treatment tool 282 is
・ Moving coil 284 for posture detection is attached
You. A reference numeral 285 designates a vertical articulated robot having six degrees of freedom.
It is. This vertical articulated 6-DOF robot 285
The scope 292 and the imaging unit 293
Is attached. Further, a vertical articulated 6-degree-of-freedom robot 2
85 arms are provided with 6 joints 286-291
ing. The position and orientation of the scope 292 are
Obtained from the angle of each joint 286-291 of the bot 285
You. In addition, the position / posture of the treatment tool 282 is used as a reference.
The fixed transmitter 294 has a relative positional relationship with the robot 285.
It is provided in a designated place. FIG. 33B shows a treatment tool tracking type scoring device.
26 shows a processing circuit of the loop 281. Where 295
Is a position / posture detecting device of the treatment instrument 282, and 296 is a tip portion.
Tip position calculation unit for calculating the position of the treatment unit 283 of
97 is a rotation angle calculator for each axis of the robot, 298 is a monitor
Be a driver. In this case, the position / posture detecting device 29
5 has a movable coil 284 and a fixed transmitter 294, respectively.
It is connected. Next, the operation of the above configuration will be described.
A movable coil 284 composed of three coils, and three movable coils
Induction using fixed transmitter 294 consisting of coils
Of the movable coil 284 to the fixed transmitter 294 using
The method for obtaining the relative position and posture is described in Japanese Patent Application No. Hei.
Known as disclosed in 35019. this
Moving coil 2 to fixed oscillator 294 using the method
The relative positional relationship of 84 is obtained. Further, to the treatment tool 282 of the movable coil 284
Since the mounting position and direction of the moving coil 2 are known,
84 to the treatment section 283 at the distal end of the treatment instrument 282
Is used, the position of the distal end of the treatment tool 282 can be obtained.
You. Further, the robot 285 and the fixed transmitter 2
Since the relationship of 94 is also known,
The position of the distal end of the treatment tool 282 and the direction of the treatment tool 282
Desired. Therefore, the extension of the axis of the scope 292
Robot so that the distal end of the treatment tool 282 passes on a straight line
By controlling the rotation angle of each axis of
The tip of the treatment tool 282 is always captured at the center of the image of the
be able to. Therefore, in the case of the above configuration, the robot
The rotation angle of each axis of the
The constraint condition that the distance of the tip of the loop 292 is constant
If you add and decide, you will always get an image with a constant magnification.
You. Also, the axis of the scope 292 is located on the designated space.
By adding a constraint that always passes through the point,
When using a trocar in endoscopic surgery
The part can be kept still. The present invention is not limited to the above embodiment.
It is not intended to deviate from the scope of the present invention.
Of course, it can be modified. According to the present invention, an apparatus having a plurality of sensors is provided.
Medical device body with cloth-type sensor unit inserted into body cavity
Of the sensor unit, and
For controlling the medical device based on the number of sensor outputs
With the provision of means, even if a single failure occurs in the sensor,
Integrity can be ensured.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 (A) is a perspective view showing a grip portion of a treatment tool,
(B) is a plan view showing a sensor unit of the tactile sensor,
(C) is a diagram showing a signal output from the sensor unit. FIG. 2 is a schematic configuration diagram of the entire system of a medical instrument for endoscopic surgery. FIG. 3 is a block diagram illustrating a signal processing circuit. FIG. 4 is a plan view of a sensor unit of a tactile sensor showing a main configuration of a first modification of the medical device of FIGS. 1A to 3; FIG. 5 is a block diagram illustrating a signal processing circuit. FIG. 6 is a schematic configuration diagram of the entire system of a second modified example of the medical device of FIGS. 1A to 3; FIG. 7 is a schematic configuration diagram showing an intraoperative living body image three-dimensional simulation system. 8A is a schematic configuration diagram of a manipulator for intra-body cavity surgery, and FIG. 8B is a longitudinal sectional view showing a compliance setting unit of the articulated manipulator. 9A and 9B show a bending type manipulator, and FIG.
FIG. 4B is a side view showing a state in which the bending manipulator approaches the diseased tissue, and FIG. FIG. 10 is a schematic configuration diagram showing a modification of the compliance setting unit. FIG. 11 is a schematic configuration diagram showing a second modification of the compliance setting unit. FIG. 12 is a schematic configuration diagram showing a third modification of the compliance setting unit. FIG. 13 is a schematic configuration diagram showing an electromagnetic chuck of a compliance setting unit. FIG. 14 is a perspective view showing the overall schematic configuration of a treatment robot with a safety mechanism. FIG. 15 is a schematic configuration diagram showing an upper structure of the trocar. FIG. 16 is a schematic configuration diagram showing a modification of the treatment robot of FIG. 14; 17A is a schematic configuration diagram of the entire surgical device with a tension detecting mechanism, and FIG. 17B is a schematic configuration diagram of a treatment tool. 18A is a schematic configuration diagram showing a modification of the surgical apparatus in FIG. 17A, and FIG. 18B is a schematic configuration diagram of a treatment tool. FIG. 19 is a schematic configuration diagram showing a surgical apparatus with body position change detection means. FIG. 20 is a characteristic diagram showing a pulse voltage generated when pressure is detected by a piezoelectric film. FIG. 21 is a schematic configuration diagram showing a modified example of the surgical apparatus in FIG. 19; FIG. 22 is a schematic configuration diagram showing a surgical manipulator. 23A is a perspective view showing a state in which a mechanical transmission element is separated together with an insertion portion, and FIG. 23B is a view in which a treatment portion 216 and a bending portion 215 separated from an actuator are stretched into a straight shape. FIG. 24A is a schematic configuration diagram showing a modified example of the surgical manipulator of FIG. 23, and FIG. 24B is a plan view showing a coupling portion on the drive unit side. 25A is a perspective view showing an arm of a surgical manipulator, FIG. 25B is a perspective view showing a treatment unit including a needle holder, FIG. 25C is a perspective view showing a treatment unit including a grasping forceps, and FIG. D) is a plan view showing the connecting portion on the treatment unit side. 26A is a schematic configuration diagram of the entire surgical manipulator, and FIG. 26B is a schematic configuration diagram of a control unit of the manipulator. FIG. 27 is a schematic configuration diagram of the entire medical robot manipulator according to the first embodiment of the present invention. FIG. 28 is a schematic configuration diagram showing a connecting portion between an end effector and an arm of the medical robot manipulator according to the first embodiment. FIG. 29 is a schematic configuration diagram showing a driving power supply unit between the end effector and the arm of the medical robot manipulator according to the first embodiment. FIG. 30 is a schematic configuration diagram showing a modified example of the drive power supply unit between the end effector and the arm of the medical robot manipulator according to the first embodiment. FIG. 31 is a schematic configuration diagram of the entire medical robot manipulator. FIG. 32 is a schematic configuration diagram showing a power supply detection circuit. FIG. 33A is a schematic configuration diagram of the entire treatment instrument tracking type scope, and FIG. 33B is a schematic configuration diagram showing a processing circuit. [Description of Signs] 251 Manipulator 256 Arm 256a End effector mounting base (treatment unit mounting section) 252 End effector 253 Servo motor (electric drive element) 259 Driving power supply coil (power supply means) 260 Coil (power supply means)

────────────────────────────────────────────────── ───
[Procedure amendment] [Date of submission] July 17, 2002 (2002.7.1
7) [Procedure amendment 1] [Document name to be amended] Description [Item name to be amended] 0001 [Correction method] Change [Contents of amendment] [0001] The present invention relates to diagnosis and diagnosis in a patient's body.
The present invention relates to a surgical manipulator for performing a procedure . [Procedure amendment 2] [Document name to be amended] Description [Item name to be amended] 0003 [Correction method] Change [Contents of amendment] [0003] In this kind, it is inserted into a body cavity. A tactile sensor is provided at an insertion portion of a medical instrument body to be used, for example, a grip portion for gripping tissue with a distal end of a treatment tool, so as to prevent damage to the tissue when gripping the tissue.
In addition, the connection between the robot and the medical device is supplied with energy.
A cable or a connector as a supply means is required.
Therefore, for example, autoclave sterilization
When the medical device is in a high pressure and high temperature environment
Between the robot and the medical device
It is necessary to take protective measures during sterilization. As a result,
There are problems such as complicated body structure and high cost.
You. [Procedure amendment 3] [Document name to be amended] Description [Item name to be amended] 0004 [Correction method] Change [Contents of amendment] The present invention has been made in view of the above circumstances. Cable as a means of energy supply
And connectors are not required, and the protection for sterilization of the connection part
Surgical tools that have a sterilizable treatment tool without the need for
An object of the present invention is to provide a manipulator . [Procedure amendment 4] [Document name to be amended] Description [Item name to be amended] 0143 [Amendment method] Change [Content of amendment] According to the present invention, an energy supply means is provided.
All cables and connectors are not required,
It is not necessary to take protective measures at the time of germs,
The surgical manipulator having the above can be provided .

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) A61B 19/00 502 A61B 19/00 502 (72) Inventor Akio Nakata 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (72) Inventor Naoki Uchiyama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Innovative Olympus Optical Co., Ltd. (72) Inventor Tatsuya Kubota 2-43-2 Hatagaya, Shibuya-ku, Tokyo Tatsuya Yamaguchi, inventor of Olympus Optical Co., Ltd. (72) 2-43-2, Hatagaya, Shibuya-ku, Tokyo Inventor Yasuhiro Ueda, inventor (72) of Olympus Optical Co., Ltd. 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (72) Inventor Toshimasa Kawai 2-43-2 Hatagaya, Shibuya-ku, Tokyo (72) Inventor, Masahiro Kudo 2-43-2 Hatagaya, Shibuya-ku, Tokyo ORINPASS Optical Industry Co., Ltd. (72) Inventor Yutaka Fujisawa 2-43-2, Hatagaya, Shibuya-ku, Tokyo Ori (72) Inventor Sakae Takehata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. F term (reference) 3C007 AS35 CY02 GS11 4C060 AA10 GG22 MM24 4C061 GG22 HH60 JJ20

Claims (1)

Claims: 1. A treatment unit attachment portion is provided at a distal end portion of an arm of a manipulator body, and a treatment unit having an electric drive element is exchangeably connected to the treatment unit attachment portion. A surgical manipulator comprising: a power supply unit that supplies driving power to an electric drive element of the treatment unit from the arm by electromagnetic coupling to a treatment unit attachment portion and a detachable portion between the treatment units.