JP2005168846A - Bending operation member and manipulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bending operation member and a manipulator capable of preventing a gas inside a high pressure area from leaking to the outside and maintaining the internal pressure of the high pressure area even when a tip part is introduced into the area of the pressure higher than a peripheral pressure. <P>SOLUTION: The tip part of the bending operation member and the manipulator is constituted of a multi-node slider link mechanism and also constituted of a bending forceps part provided with a forceps member and can be inserted to the inside of an object such as the inside of an abdominal cavity. A link member 23 for transmitting driving power to the bending forceps part is housed inside a frame 24 having a hollow part so as to be connected to the bending forceps part, a guide link part 26 composed of a PC for covering and guiding the link member 23 in slidable contact is enclosed in the hollow part, and the gas is prevented from leaking from the tip part through the frame 24 to the outside in the state of being inserted to the inside of the object. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a bending motion member and a manipulator, and is particularly suitable for application to a manipulator used when working in a space having a pressure higher than atmospheric pressure.

  In recent years, minimally invasive surgery can be mentioned as one of the important fields in the development of surgery.

  That is, in general, in surgical operation, in order to secure not only the site to be treated when performing treatment but also the approach path to reach this treatment site and the surgical work area, incision of normal tissue, etc. Is required. For example, when removing the gallbladder, it is necessary to cut the stomach and muscles of the tummy and insert a surgical instrument such as scissors into the abdominal cavity.

  Therefore, it is necessary to perform an operation with reduced damage to the patient at the time of the operation and a possibility of giving the damage, and a minimally invasive operation is adopted as an operation capable of suppressing such damage.

  However, the minimally invasive surgery having the advantage of reducing damage to the patient has various problems in order to achieve minimal invasiveness. The problem is mainly due to the low degree of freedom of surgical instruments such as laparoscopes and long forceps used in surgery.

  Specifically, since these surgical instruments are introduced into the abdominal cavity through an incision hole or trocar on the abdominal wall, the approach to the affected area is limited considering that points such as the incision hole are almost fixed. Only from the direction. This results in a limitation of the surgical technique, and there is a problem that the difficulty of the operation increases.

  Therefore, in order to solve such a problem, development of a manipulator in which a new degree of freedom is added to a conventional surgical instrument has been advanced, and various proposals have been made.

  Along with the development of such a manipulator, a forceps manipulator using a multi-node slider / link mechanism has been proposed. A portion of the multi-node slider / link mechanism of the forceps manipulator is shown in FIG.

  As shown in FIG. 6, in the forceps manipulator according to this prior art, the one-degree-of-freedom bending mechanism of the slider / link mechanism is rotated by three frames 101, 102, 103 and two pins that can be rotated ± 45 degrees. It comprises shafts 104 and 105 (2-pin joint), drive link nodes 106, 107 and 108, and restraint link nodes 109 and 110.

  Then, by sliding the drive link node 108 in a predetermined direction, moments around the rotation shafts 104 and 105 are given to the respective frames 101, 102, and 103. The restraining link nodes 109 and 110 are link nodes for limiting the operation so that the second frame starts the rotation operation for the first time after the distal end frame 101 rotates ± 45 degrees.

With such a configuration, it is possible to bend ± 90 degrees on both sides for one degree of freedom. Then, by connecting two one-degree-of-freedom bending mechanisms forward and backward so as to be 90 degrees in the bending direction, a manipulator that can be bent up to 90 degrees independently of each other can be configured.
Japanese Patent Laid-Open No. 9-276289 Yamashita and three others, "Development of a bending forceps manipulator for endoscopic surgery using a multi-node slider-link mechanism": The 12th Computer Assisted Imaging Society Conference and 11th Annual Meeting of the Japan Society for Computer Aided Surgery Shu, p.129-130,2002 Yamashita and three others, "Development of a multi-degree-of-freedom manipulator for endoscopic surgery using a multi-segment slider-link mechanism": Abstracts of the 41st Annual Meeting of the MEE Society of Japan, p.66

  However, the above-described conventional manipulator has the following problems.

  That is, when performing minimally invasive surgery using a manipulator, for example, when introducing a manipulator having a surgical instrument disposed on the movable part at the tip into the abdominal cavity through an incision hole on the abdominal wall, etc., as much as possible In order to facilitate, a method is employed in which the abdominal cavity is pressurized to a pressure higher than the atmospheric pressure, and a space for expanding the visual field and performing surgery is secured to some extent.

  When the tip of the manipulator is introduced into the abdominal cavity in a state where the abdominal cavity is pressurized, there is a problem that air in the abdominal cavity leaks out. If the gas in the abdominal cavity leaks, a burden arises that it is necessary to pressurize the abdominal cavity again or constantly supply air.

  Then, when this inventor examined the cause of this air leakage, it came to discover that the following reasons exist about air leakage.

  That is, in order to operate the movable part composed of the link mechanism at the tip part of the manipulator as described above, a bending space (for example, a wedge-shaped part) is required at the bending part of the adjacent frame. In order to move the frame, the driving force must be transmitted to the movable part at the tip.

  And in order to transmit a driving force to this front-end | tip part, as shown in FIG. 6, link members, such as the drive link node 108, are needed. Furthermore, a tube having a hollow portion is also required to connect and hold the link member to the movable portion up to the tip portion.

  The inventor pays attention to the structural constraints of these manipulators, and it is considered that gas in the space whose pressure is higher than the atmospheric pressure leaks outside through the bent portion of the frame and the hollow portion of the tube. I came to remember that this is one of the causes of air leakage.

  What has been described above is not limited to minimally invasive surgery, and is driven by introducing the distal end portion of a manipulator and the distal end portion of a bending motion member configured to be detachable from the manipulator into a pressure space higher than the surrounding pressure. In some cases, the same problem arises.

  Therefore, the object of the present invention is to introduce the bending operation member and the manipulator tip into the space higher than the surrounding pressure, and the gas inside the high pressure region is externally transmitted through the bending operation member and the manipulator movable means. An object of the present invention is to provide a bending motion member and a manipulator that can maintain pressure in a high-pressure space by preventing leakage into the space.

In order to achieve the above object, the first invention of the present invention provides:
Movable means configured to bendable at the tip side part;
Driving force transmitting means configured to be able to transmit driving force to the movable means;
A member insertion means coupled to the movable means and having a hollow portion in which the driving force transmission means is accommodated;
It is a bending operation member characterized by having an airtight member provided in the hollow portion.

  In the first aspect of the invention, typically, a pair of forceps members in which at least one forceps member is configured to be rotatable are provided at the distal end of the movable means, and according to the driving force transmitted by the driving force transmitting means. Thus, the pair of forceps members are configured to be able to grip a solid object.

The second invention of this invention is:
Movable means configured to bendable at the tip side part;
Driving force generating means configured to be able to generate a driving force for operating the movable means;
Driving force transmitting means configured to be able to transmit the driving force generated by the driving force generating means to the movable means;
A member insertion means coupled to the movable means and having a hollow portion in which the driving force transmission means is housed;
And a hermetic member provided in the hollow portion.

  In the second aspect of the invention, typically, a pair of forceps members in which at least one forceps member is configured to be rotatable are provided at the distal end of the movable means, and the driving force generated by the driving force generating means is By being transmitted by the driving force transmitting means, a solid object can be gripped by a pair of forceps members.

  In the present invention, typically, when the driving force is transmitted to the movable means by the driving force transmitting means, the airtight member is configured to be in sliding contact with the driving force transmitting means.

  In this invention, typically, the movable means is configured to have a plurality of joint portions, and after the bending of the joint portion on the distal end side is finished in two adjacent joint portions of the plurality of joint portions. The rear end side joint is configured to start a bending motion.

  The technical idea of the present invention is not necessarily limited to the above-described combination, and includes a technical idea realized by arbitrarily combining the above-described plurality of inventions.

  As described above, according to the bending operation member and the manipulator according to the present invention, the operation is performed by inserting the movable part of the manipulator or the bending operation member into the substantially sealed space where the pressure is higher than the external air pressure. In this case, it is possible to reduce and prevent the gas inside the sealed area from leaking to the outside, so that it is troublesome to pressurize the air inside the sealed area again or keep supplying the gas inside the sealed area. Can be reduced.

  Further, according to the manipulator according to the present invention, in the minimally invasive surgical operation, even if the operation is performed with the body inside the abdominal cavity of the patient being operated at a pressure higher than the atmospheric pressure, the air in the abdominal cavity of the patient is Since leakage to the outside can be prevented, it is possible to facilitate minimally invasive surgery by the operator while maintaining safety.

  Hereinafter, a manipulator according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the overall structure of a manipulator according to this embodiment.

(manipulator)
As shown in FIG. 1A, the manipulator according to this embodiment includes an actuator unit 1 as a driving force generating unit and a joint-type bending forceps unit 2.

  The actuator unit 1 is mainly composed of a stainless steel (SUS304), and includes an outer case 11 as a housing, three motors 12 with a speed reducer provided in three motor bases 12a, a connection plate 13a, and a connection spring 13b. It comprises three joint arms 13 provided, an arm guide 14 for guiding the joint arms 13, a bearing base 15, a guide base 16, a bearing case 17 and a coupling 18.

  Further, as shown in FIGS. 1A and 1B, on the side of the joint portion 19 in the outer case 11 of the actuator portion 1, there is a connection guide groove 11 a for connection with the joint portion 19 of the joint-type bending forceps portion 2, for example. It is formed in an L shape.

  The actuator unit 1 is configured such that a driving force is generated by a motor 12 with a speed reducer. This driving force is transmitted to the joint arm 13 through the bearing case 17 and the coupling 18.

  The joint arm 13 is for transmitting a driving force to a forceps part that is a movable part at the tip of the joint-type bending forceps part 2. Further, the joint arm 13 is configured to be movable in the longitudinal direction of the actuator unit 1 in accordance with the driving accompanying the generation of the driving force.

  The joint-type bending forceps portion 2 includes a bending forceps portion 30 having a gripping portion as a forceps member composed of a multi-node slider / link mechanism on the distal end side, and a joint portion 19 for connecting to the actuator portion 1 on the other end side. Are connected by a frame 24 having a hollow portion.

  Of these, the joint portion 19 includes a joint case 19a and a grip base 19b, and an attachment / detachment pin 20 that fits into the connection guide groove 11a as a fastener when the actuator portion 1 is attached / detached.

  Inside the joint case 19a, there are provided three sets of connecting pins 21 and a locating base 22 that are configured to be connected to the three joint arms 13 described above. The three sets of connecting pins 21 and the locating base 22 are respectively provided at one end on the joint portion 19 side of the three link members 23 that transmit the driving force to the bending forceps portion 30 on the distal end side.

  Here, the connection between the connecting pin 21 and the locate base 22 and the joint arm 13 will be described with reference to the drawings. FIG. 2A shows the joint arm 13 according to this embodiment, FIG. 2B shows the connection pin 21 and the locate base 22 at one end of the link member 23 according to this embodiment, and FIG. FIG. 2 is a cross-sectional view of the positional relationship between the connecting pin 21 and the locate base 22 and the joint arm 13 along the line CC in FIG. 1.

As shown in FIG. 2A, the joint arm 13 according to this embodiment is connected to the connecting plate 1.
3a and an arm main body 13e. The connection plate 13a is formed of a plate-like member having an opening 13c formed in the vicinity of one end on the joint case 19a side and bent in a “square shape” so that the outer side of the arm body 13e has a mountain shape. The connecting plate 13a is configured to bend while having a biasing force in a direction substantially perpendicular to the plate-like surface.

  As shown in FIG. 2B, the locate base 22 according to this embodiment is formed in a plate shape, and a portion where the connecting pin 21 is provided has a stepped shape and is formed in a convex shape. Further, one end of the plate-like locate base 22 is bent so as to fix one end of the link member 23, and is connected to one end of the link member 23. In this embodiment, the connecting pin 21 is provided at a substantially central portion of the stepped surface of the locate base 22. That is, the connecting pin 21 is provided at a position where it can be fitted to the opening 13c of the connecting plate 13a of the joint arm 13 described above.

(Connection between actuator and joint-type bending forceps)
Next, the fitting between the connecting pin 21 and the opening 13c will be described.

  First, the actuator part 1 and the joint type bending forceps part 2 are connected. That is, the detachable pin 20 of the joint-type bending forceps 2 is fitted into the connection guide groove 11a (see FIG. 1B) of the actuator 1. As a result, the joint arm 13 enters the inside of the joint portion 19 of the joint-type bending forceps portion 2. At this time, the initial positional relationship between the connecting pin 21 and the locate base 22 and the joint arm 13 is a dotted line portion (separation side) in FIG. 2C.

  Thereafter, when the fitting is advanced along the shape of the coupling guide groove 11a, the actuator portion 1 and the joint-type bending forceps portion 2 are rotated relative to each other around the central axis. Thereby, the positional relationship from the cross-sectional side of the connecting pin 21, the locate base 22, and the joint arm 13 becomes a solid line part (joining side) in FIG. 2C. If the actuator part 1 and the joint-type bending forceps part 2 are merely rotated and connected to each other around the central axis, the connecting pin 21 and the opening 13c are not fitted. The state at this time is shown in FIG. 3A.

  As shown in FIG. 3A, in the initial state in which the actuator unit 1 and the joint-type bending forceps unit 2 are coupled, the coupling pin 21 and the opening 13c are located in substantially the same plane, but both are fitted. It will be in a state that is not.

  Thereafter, as shown in FIG. 3B, the joint arm 13 is advanced to the connecting pin 21 side by driving the motor 12 with a speed reducer. As the joint arm 13 advances, the portion of the arm body 13e on the side of the connecting plate 13a advances so as to be guided by the stepped portion of the locate base 22. At the same time, the distal end portion of the connecting plate 13a is lifted so as to slidably contact the upper end of the connecting pin 21, and is deformed so as to bend while generating an elastic force.

  Thereafter, when the joint arm 13 is further advanced, as shown in FIG. 3C, the opening 13c and the connecting pin 21 are matched, and the connecting plate 13a is connected to the opening 13c by the elastic force generated in the connecting plate 13a. The pin 21 is fitted.

  By a series of these operations, the connecting pin 21 and the opening 13c are fitted, and the joint arm 13 and the locate base 22 are connected. As a result, the driving force generated by the motor 12 with speed reducer can be transmitted to the link member 23 through the joint arm 13 and the locate base 22.

  In addition, when removing the actuator part 1 and the joint type bending forceps part 2, the operation | movement contrary to the above-mentioned coupling | bonding is performed. That is, the actuator unit 1 and the joint-type bending forceps unit 2 are rotated around their central axes to the separation side shown in FIG. 2C. Thereby, the joint arm 13 is lifted to the projecting side of the connecting pin 21 in the locate base 22, and the fitting between the connecting pin 21 and the opening 13c is released. Then, it moves to the direction which removes the attachment / detachment pin 20 along the shape of the connection guide groove 11a. Thus, the actuator unit 1 and the joint-type bending forceps unit 2 are separated.

  Usually, in surgery, it is necessary to frequently replace surgical tools. However, by configuring the actuator unit 1 and the joint-type bending forceps unit 2 to be connectable and detachable as described above, the weight is reduced. Since only the joint-type bending forceps 2 as the end effector can be exchanged without exchanging a certain actuator 1, necessary tools can be exchanged efficiently and in a short time.

  Moreover, since the joint part 19 in the end effector part such as the joint-type bending forceps part 2 is configured as described above, the actuator part 1 can be shared by a plurality of types of end effector parts. Can be achieved. In addition, by configuring the end effector section and the actuator section 1 to be separable, cleaning and sterilization can be easily performed.

  In addition, under the connected state of the actuator unit 1 and the joint-type bending forceps unit 2, the three link members 23 that transmit the driving force of the motor 12 with speed reducer are housed in a cylindrical frame 24 having a hollow portion. ing.

(Gas leakage prevention mechanism)
A link base 25 made of, for example, polycarbonate (PC) for holding the link member 23 is provided inside the connecting portion between the frame 24 and the joint portion 19.

  Further, as shown in FIG. 4, the link guide portion 26 is enclosed from the grip base 19 b inside the frame 24 to a middle portion toward the tip side. The link guide portion 26 is for holding the link members 23a, 23b, and 23c, and for blocking fluid such as gas entering from the bending forceps portion 30 on the distal end side. Thereby, it is possible to prevent the gas from leaking outside through the frame 24 and the joint portion 19 inside the frame 24.

  When the link members 23a, 23b, and 23c transmit the driving force along the longitudinal direction of the frame 24, the link members 23a, 23b, and 23c and the link guide portion 26 are in sliding contact. Therefore, as the material of the link guide portion 26, a material having high sliding contact durability with the link member 23 and low gas permeability (breathability), for example, polycarbonate (PC) is employed.

(Multi-section slider / link mechanism)
The movable bending forceps 30 to which the driving force is transmitted by the link member 23 housed in the frame 24 with improved airtightness is a multi-node slider / link mechanism. That is, when the driving force is transmitted by the link member 23, the distal end side bending forceps portion 30 is configured to be able to be bent while preventing gas from passing inside the frame 24 and maintaining airtightness. .

  Specifically, in the bending forceps portion 30 by the manipulator according to this embodiment, the first frame 31, the second frame 32, the third frame 33, the fourth frame 34, and the fifth frame 35 are coaxial. Are connected in series.

  The first frame 31 and the second frame 32 are connected by a first frame pin 36 to constitute a first joint portion 50. Further, the second frame 32 and the third frame 33 are connected by a second frame pin 37 to constitute a second joint portion 51. And these 1st joint parts 50 and the 2nd joint part 51 are comprised so that it may bend in the direction along the same surface.

  Specifically, the first joint unit 50 is configured to be bendable to an angle of 45 degrees, for example, with the first frame pin 36 as a rotation axis, and the second joint unit 51 is configured to For example, it can be bent up to an angle of 45 degrees in the same direction as the bending.

  Therefore, the first joint portion 50 and the second joint portion 51 are configured so that the third frame 33 to the first frame 31 can be bent to an angle of 90 degrees, for example. Since the first joint portion 50 and the second joint portion 51 constitute a multi-node slider / link mechanism, the second joint portion 51 is bent until the bending operation of the first joint portion 50 is completed. The operation does not start.

  Further, the third frame 33 and the fourth frame 34 on the rear end side are connected by a third frame pin 38. The fourth frame 34 and the fifth frame 35 are connected by a guide pin 39. The third frame 33, the fourth frame 34, and the fifth frame 35 are in the same plane with the third frame pin 38 and the guide pin 39 as rotational axes at the respective joints. It is configured to be bendable in the direction along.

  That is, in the third frame 33 to the fifth frame 35, as in the case of the first frame 31 to the third frame 33, the multi-joint slider having the first joint portion 50 and the second joint portion 51. -It consists of a link mechanism.

  The bending direction of the multi-node slider / link mechanism constituted by the third frame 33 to the fifth frame 35 and the multi-node slider / link mechanism constituted by the first frame 31 to the third frame 33 Are configured to be perpendicular to each other.

  Thereby, the bending along the predetermined surface at the tip of the bending forceps 30 and the bending along the surface orthogonal to this surface are combined to increase the degree of freedom regarding the bending operation.

(Joint structure of the second joint)
As described above, the multi-joint slider / link mechanism having the first joint portion 50 and the second joint portion 51 described above does not start the bending operation of the second joint portion 51 until the bending operation of the first joint portion 50 is completed. In addition, the bending direction of the first joint part 50 and the bending direction of the second joint part 51 are the same. However, when the bending forceps 30 receives its own weight or other external force from the outside, the second joint 51 may be bent before the first joint 50 is bent. The second joint portion 51 may be bent slightly in the direction opposite to the original bending direction with respect to the bending operation in the one joint portion 50.

  When such a phenomenon occurs in the second joint portion 51, a phenomenon referred to as “galling” may occur in the link portion of the multi-joint slider-link mechanism, and in some cases, bending forceps The part 30 itself does not move.

  Usually, in order to prevent such “galling”, a method using a lubricant can be considered. However, when the manipulator according to this embodiment is used for, for example, minimally invasive surgery, these first joint portions are used. Lubricant cannot be used for movable parts such as 50 and the second joint part 51, and it is necessary to perform a so-called non-lubricating operation.

  Therefore, in the second joint portion 51 according to this embodiment, a configuration for preventing the galling phenomenon of the multi-node slider / link mechanism without using a lubricant will be described. FIG. 5A shows the second joint portion 51, and FIG. 5B shows a partial cross-sectional view along the line BB in the joint portion 51 a of the second joint portion 51. In the following description, the second joint portion 51 including the second frame 32 and the third frame 33 will be described as an example. However, the second joint portion 51 includes the fourth frame 34 and the fifth frame 35. The same configuration is also adopted in the second joint 51 to be performed.

  As shown in FIG. 5A, in the second joint portion 51 according to this embodiment, one end of the connecting side between the second frame 32 and the third frame 33 is formed in a ring shape, The joint portions 51a are configured by being connected to each other by the second frame pins 37.

  As shown in FIG. 5B, in this joint portion 51a, the ring-shaped portions connected by the second frame pins 37 in the second frame 32 and the third frame 33 are configured to be tapered. Has been.

  Specifically, the inner contact surface of the joint portion 51a with the third frame 33 in the second frame 32 is formed in a forward taper shape that is thicker toward the root, and the third frame 33 The outer contact surface in contact with the joint portion 51a is formed in a forward taper shape so as to follow the forward taper shape in the joint portion 51a of the second frame 32 in an unbent state.

  In the joint portion 51a formed in the forward taper shape of the two frames, when the second joint portion 51 is bent with the second frame pin 37 as an axis, the bending operation progresses. The thicker portions of the forward tapered shape in the second frame 32 and the third frame 33 overlap each other.

  With such a bending operation, when the thick portions of the forward tapered shape overlap each other, the force acting between the two members of the joint portion 51a in an unbent state (bending angle: 0 °). Compared with, the force becomes larger and the state becomes mechanically unstable.

  That is, as the bending operation of the second joint portion 51 proceeds, the force acting on the inner side of the joint portion 51a of the second frame 32 increases and acts on the outer side of the joint portion 51a of the third frame 33. The power to do is increased. As a result, the force at the joint 51a increases, the mechanical energy increases, and the state becomes mechanically unstable.

  Usually, a force is applied to the mechanical energy so that the magnitude thereof is minimized. For this reason, in the state where the second joint portion 51 is bent, a moment acts on the joint portion 51a in a direction in which the interaction force is minimized, and thus the magnitude of the moment required for the bending operation of the second joint portion 51 is large. However, it becomes large compared with the magnitude | size of the moment which bends the 1st joint part 50. FIG.

At the same time, a force is generated in the second joint portion 51 in a direction to return to the unbent state. Thereby, in the 2nd joint part 51, it becomes difficult to generate | occur | produce the bending operation which is not desired, and it can prevent starting bending operation, unless the force more than predetermined is applied from the outside.

  Therefore, by making the joint surface (contact surface) in the joint part 51a of the second frame 32 and the third frame 33 mutually forward tapered so as to follow the shape of each other in an unbent state, Since it is possible to suppress the occurrence of an undesired bending operation in the second joint portion 51, it is possible to prevent the second joint portion 51 from being caught, and thereby the operation of the bending forceps portion 30 can be performed smoothly and stably. It becomes possible to make it.

  In addition to the method of making the joint surface (contact surface) of the joint portion 51a of the second joint portion 50 as described above to have a forward taper shape, the magnitude of the force required to bend the second joint portion 51 is set to the first joint. It is possible to adopt various methods for applying a force to maintain the bending angle of the second joint portion 51 at 0 ° while configuring it to be larger than the force required for bending the portion 50. Is possible.

  Specifically, the joint portion 51a in the second joint portion 51 is constituted by a tight fit between the frames to increase the force required for bending, or the joint portion 51a of the second joint portion 51 is made of a spring washer. It is also possible to adopt a method of configuring the above.

  Further, in order to suppress the cause of the galling phenomenon itself, the second frame 32 constituting the second joint portion 51 and a movable link or a restraining link for bending the second joint portion 51 (both shown in FIG. It is also possible to adopt a method of minimizing the frictional force of the contact portion with the not shown. Specifically, the material constituting the movable link or the restraining link can be made of a material having a higher hardness than the material constituting the frame, or the link member can be subjected to a surface treatment.

  A movable forceps 40 that opens at an angle of, for example, 60 degrees, can be opened and closed, and can grip a tangible object of a predetermined size is provided at the distal end of the bending forceps portion 30. The movable forceps 40 includes a fixed gripping tooth 40a and a movable gripping tooth 40b.

  The fixed gripping teeth 40 a are fixed to the distal end side of the first frame 31. On the other hand, the movable gripping tooth 40b is formed at a predetermined angle θ (by an operation through an elastic body such as a spring (not shown) and one of the three link members 23 described above (for example, the link member 23c). For example, it can be opened and closed up to about 60 °.

  The manipulator according to this embodiment is configured as described above.

  In the present invention, not only the manipulator but also a device in which a movable part is provided at the tip part is inserted into the high pressure part in a region where the internal pressure is higher than the external pressure. However, the present invention can be applied to any apparatus in which a driving force is transmitted by a link member to perform work.

It is sectional drawing and the side view which show the manipulator by one Embodiment of this invention. It is a figure which shows the positional relationship in joining and isolation | separation of a joint arm to a manipulator by one Embodiment of this invention, a connection pin connected with a joint arm, and an actuator part and a joint part. It is a perspective view which shows the connection method of the actuator part and joint part in the manipulator by one Embodiment of this invention. It is a perspective cutaway view which shows the link guide part in the flame | frame in the manipulator by one Embodiment of this invention. It is a figure which shows the 2nd joint part and junction part with which the manipulator by one Embodiment of this invention was equipped. It is a basic diagram for demonstrating the multi-joint slider link mechanism by a prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Actuator part 2 Joint type bending forceps part 11 Outer case 11a Connection guide groove 12 Motor with speed reducer 12a Motor base 13 Joint arm 13a Connection plate 13b Connection spring 13c Opening 13e Arm body 14 Arm guide 15 Bearing base 16 Guide base 17 Bearing case 18 Coupling 19 Joint portion 19a Joint case 19b Grip base 20 Removable pin 21 Connecting pin 22 Locate base 23, 23a, 23b, 23c Link member 24 Frame 25 Link base 26 Link guide portion 30 Bending forceps portion 31 First frame 32 First frame 32 2nd frame 33 3rd frame 34 4th frame 35 5th frame 36 1st frame pin 37 2nd frame pin 3 Third frame pin 39 Guide pin 40 Movable forceps 40a Fixed gripping tooth 40b Moving gripping tooth 50 First joint portion 51 Second joint portion 51a Joint portion 101, 102, 103 Frame 104, 105 Rotating shaft 106, 107, 108 For driving Link section 108 Link section for driving 109, 110 Link section for restraint

Claims (8)

Movable means configured to bendable at the tip side part;
A driving force transmitting means configured to transmit a driving force to the movable means;
A member insertion means coupled to the movable means and having a hollow portion in which the driving force transmission means is housed;
A bending operation member comprising: an airtight member provided in the hollow portion. The bending operation member according to claim 1, wherein the airtight member is configured to be in sliding contact with the driving force transmitting unit when the driving force is transmitted to the movable unit by the driving force transmitting unit. The movable means is configured to have a plurality of joint portions,
The two adjacent joints of the plurality of joints are configured such that after the bending of the joints on the front end side is finished, the joints on the rear end side start a bending operation. The bending motion member according to claim 1 or 2. A pair of forceps members configured so that at least one forceps member is rotatable are provided at the tip of the movable means,
The bending operation according to any one of claims 1 to 3, wherein the pair of forceps members are configured to be able to grip a solid object according to the driving force transmitted by the driving force transmitting means. Element. Movable means configured to bendable at the tip side part;
Driving force generating means configured to be able to generate a driving force for operating the movable means;
Driving force transmitting means configured to transmit the driving force generated by the driving force generating means to the movable means;
A member insertion means coupled to the movable means and having a hollow portion in which the driving force transmission means is housed;
And a hermetic member provided in the hollow portion. The manipulator according to claim 5, wherein the airtight member is configured to be in sliding contact with the driving force transmitting means when the driving force is transmitted to the movable means by the driving force transmitting means. The movable means is configured to have a plurality of joint portions,
The two adjacent joints of the plurality of joints are configured such that the rear end side joint does not start the bending operation until the bending of the front end side joint is completed. The manipulator according to claim 5 or 6. A pair of forceps members configured so that at least one forceps member is rotatable are provided at the tip of the movable means,
The driving force generated by the driving force generating means is transmitted by the driving force transmitting means, so that the solid object is gripped by the pair of forceps members. The manipulator according to any one of 7 to 7.

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