JP2007229493A - Medical manipulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a medical instrument the safety of which can be improved by securing cleaning properties and sterilization properties by simple constitution. <P>SOLUTION: A medical manipulator includes a structure in which a hollow part 242 is formed, a cleaning port 243 which is disposed in this structure and guides a liquid from the outside of the structure to the inside of the hollow part, a bearing part 261c having a first recessed part formed in the hollow part, a cleaning passage 247 which has a second recessed part formed to protrude outward from the outer peripheral part of the first recessed part at least at a part, is disposed in the hollow part, and guides the liquid flowing in from the cleaning port to the bearing part, a rotary part rotatably supported on the bearing part, a treating part inserted into the affected part, a power transmission member for transmitting the power of the rotary part to the treating part, a power source for rotating the rotary part, a controlling part for controlling the power source, and an inputting part for inputting a control command in the controlling part. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a medical instrument such as a medical manipulator, and particularly relates to a device having a complicated structure and requiring cleaning and sterilization.

  In laparoscopic surgery such as cholecystectomy, a small hole is made in the abdomen of the patient, a trocar is attached to that part, an endoscope and forceps are inserted through the trocar, and the operator views the endoscope image. Surgery is performed by operating the forceps while looking at the monitor. Since such an operation method does not require laparotomy, the burden on the patient is small, and the number of days until recovery and discharge from the operation is greatly reduced. As described above, laparoscopic surgery is excellent in that the burden on the patient is small, and expansion of the application field is expected.

  However, on the other hand, the surgeon is not able to see the affected area directly, and uses forceps with poor operability that are only provided with an open / close gripper, which is not necessarily suitable for surgery. Was necessary.

  Therefore, the freedom force of the posture is given to the forceps tip, the operator operates the operation part (master part) having a plurality of degrees of freedom, and the working part (slave part) of the tip having a plurality of degrees of freedom moves the operation part. Research and introduction of laparoscopic surgery using a master-slave system that operates according to the current situation. As one of the master-slave type medical manipulators, there is a remote operation type in which an operation unit and a work unit are located apart from each other. The remote-operated medical manipulator is provided with a plurality of slave arms on the patient side, operates a master located away from the patient, and controls the position and posture of the medical manipulator tip.

  In addition, as a master-slave type medical manipulator structure, there is an integrated medical master-slave manipulator in which an operation unit and a working unit have some common axes and are easy to introduce with a simple system (for example, see Patent Document 1). .

In contrast to the remote-controlled medical manipulators mentioned above, this integrated medical manipulator allows the operator to stand on the patient's side and directly operate the manipulator, thus greatly reducing safety problems. In addition, it is a multi-degree-of-freedom forceps, an electric knife, or an ultrasonic knife that drives the degree of freedom of the working part of the instrument with a mechanical type instead of an electric type, and the distal treatment section operates as operated by the operator. Research into higher functionality, such as appliances, has been promoted and introduced.
JP 2000-350735 A

  The medical device described above has the following problems. That is, these medical instruments have higher functions and smaller diameters, and the structure becomes more complicated. When cleaning such medical instruments, cleaning apparatuses such as ultrasonic cleaners and washer-disinfectors that are generally widely used can completely clean the insides of these medical instruments. Have difficulty. This is because dirt such as blood and tissue pieces accumulated in details cannot be removed sufficiently by the conventional cleaning method. Therefore, in medical institutions, the workers carefully brush these complex instruments, wash the hollow tube with running water for a long time, disassemble the instruments once if necessary, and perform cleaning for each part. Reassembly is required.

  As described above, since there are many manual operations and the method is not generally established, it is not always possible to guarantee the cleanability. Furthermore, if there is any cleaning residue, it may cause sterilization failure in the subsequent sterilization process. Medical instruments with high functionality and incorporating various electronic devices cannot withstand high pressure steam sterilization and are often treated with ethylene oxide gas sterilization. However, the structure of the medical instrument becomes complicated, and sterilization gas does not spread over the details, and problems such as poor sterilization are likely to occur. This is a serious problem that can lead to medical accidents.

  As described above, when it is judged that safety cannot be ensured when the medical instrument is reused only by performing cleaning and sterilization in the medical institution, the medical instrument is treated as a disposable medical instrument. There are many cases. Disposable medical devices are often washed in the manufacturing process and sterilized by γ-rays after packaging, ensuring safety with respect to washing and sterilization. However, with higher functionality, the cost of medical equipment increases, and it is uneconomical to treat such medical equipment as disposable, and it can also be a cause of medical waste from an environmental point of view. Is not preferred.

  In addition, some attempts have been made to solve the problems of poor cleaning and poor sterilization caused by the complicated structure of medical instruments by improving the cleaning device, cleaning agent, sterilization device and their methods. However, they do not represent sufficient cleaning and sterilization capabilities across all medical devices.

  As described above, while various highly functional medical devices are being researched and introduced, they are in an environment where sufficient cleanability and sterilization cannot be secured from the technical and cost viewpoints. There remains a problem that safety cannot be sufficiently secured in the use of the device.

  Then, this invention aims at providing the medical instrument which can improve safety | security by ensuring washability and sterilization by a simple structure.

  In order to solve the above problems and achieve the object, the medical manipulator of the present invention is configured as follows.

A structure having a hollow portion formed therein;
A washing port for introducing a fluid into the hollow part from the outside of the structure provided in the structure;
A bearing portion having a first recess formed in the hollow portion;
At least part of the second recess formed to protrude outward from the outer peripheral portion of the first recess is provided in the hollow portion, and fluid flowing from the cleaning port is introduced into the bearing portion. A cleaning channel;
A rotating part rotatably supported by the bearing part;
A treatment section for insertion into the affected area;
A power transmission member for transmitting the power of the rotating part to the treatment part;
A power source for rotating the rotating part;
A control unit for controlling the power source;
An input unit for inputting a control command to the control unit;
A medical manipulator characterized by comprising:

  According to the present invention, it is possible to improve safety by ensuring cleanability and sterilization with a simple structure.

  FIG. 1 is a perspective view showing a medical manipulator system 100 according to a first embodiment of the present invention. Here, an integrated medical manipulator will be described as an example. The medical manipulator system 100 includes a medical manipulator (medical instrument) 200 that operates in a master-slave manner, a control device 300 that controls and drives the medical manipulator 200, a command input device 400 that inputs an operator's command, An operation state indicator 500 that displays an operation state of the medical manipulator main body 200 is provided.

  As shown in FIGS. 2 and 3, the medical manipulator 200 includes an operation unit 210 and a working unit 220 that are provided so as to be freely separable. The operation unit 210 includes a frame 211. On one end side of the frame 211, a handle frame 212 provided so as to be rotatable around a rotation axis P and an opening / closing portion 213 provided on the handle frame 212 so as to be rotatable around a rotation axis Q are provided. . A driving unit 214 is provided on the other end side of the frame 211. The drive unit 214 is provided with drive motors 215 to 217. An angle sensor for reading the rotation angle and the opening / closing angle is attached to each rotating shaft and the opening / closing unit 213 of the operation unit 210, and the angle information operated by the operator is sequentially transmitted to the control device 300.

  The working unit 220 includes a treatment part 230 to be inserted into the affected part, a shaft case 240, and a connecting part 250 that connects the treatment part 230 and the shaft case 240.

  The treatment section 230 includes a gripper 231 that can be opened and closed, a roll direction support section 232 that rotatably supports the gripper 231 in the roll direction (arrow S direction), and the roll direction support section 232 that supports the yaw direction. And a yaw direction support portion 233 that is rotatably supported in the direction of arrow Y.

  A power transmission unit 260 for transmitting the driving force of the drive motors 215 to 217 of the drive unit 214 to the treatment unit 230 is accommodated in the shaft case 240 and the connection unit 250.

  The shaft case 240 includes a housing 241. In FIG. 5, one wall surface of the housing 241 is omitted. The housing 241 includes a hollow portion 242 and houses the rotation shafts 261 to 263 of the power transmission unit 260 as will be described later. Further, the casing 241 is formed with a cleaning port 243 that communicates the outside of the casing 241 with the hollow portion 242, so that cleaning water for cleaning the inside of the hollow portion 242 can flow into the casing 241. The cleaning port 243 is closed with a stopper in order to maintain airtightness.

  Bearing portions (concave portions) 244 to 246 are formed in the hollow portion 242, and bearings 261c to 263c of the rotating shafts 261 to 263 are detachably disposed. The bearings 244 to 246 are each formed with a cleaning channel 247, and the cleaning channel 247 is exposed to the hollow part 242 side in a state where the bearings 261c to 263c of the rotary shafts 261 to 263 are attached. ing.

  As shown in FIG. 5, the power transmission unit 260 includes rotating shafts 261 to 263 that are rotatably disposed in the hollow portion 242 of the shaft case 240 and wires 264 to 266 that are respectively spanned on shafts 261 a to 263 a described below. And a gear portion 267 operated by these wires 264 to 266.

  Rotating shafts 261 to 263 are formed on shafts 261a to 263a (262a is not shown) and one end side of these shafts 261a to 263a, and meshing portions 261b to 263b (262b is not to be engaged) respectively engaged with drive motors 215 to 217. And bearings 261c to 263c (262c not shown) formed on the other end side of the shafts 261a to 263a and attached to the bearing portions 244 to 246 of the shaft case 240.

  The opening / closing operation and posture of the gripper 231, the rotation operation of the roll direction support portion 232, and the yaw direction support portion 233 and the rotation operation operate according to the operator's command via the power transmission unit 260 described above.

  The control device 300 includes a power supply unit 301, a calculation unit 302, a motor drive circuit unit 303, a safety protection device 304, and various switches 305 and 306.

  The power supply unit 301 has a function of supplying necessary power from an external power supply to the arithmetic unit 302 and the motor drive circuit unit 303 via a transformer. The calculation unit 302 includes a CPU, a storage device, a logic circuit, an interface, and the like, reads the operation angle of the operation unit 210, generates a control target value for the drive motors 215 to 217 that drives the working unit 220, and the drive motor. It has a function of reading information of angle sensors that measure the operating angles of 215 to 217, comparing control target values of the drive motors 215 to 217, and calculating motor command inputs so as to eliminate the deviation. Further, signal inputs to the various switches 305, 306, etc. are monitored, and control calculations are performed according to a predetermined program. The calculation unit 302 repeats these processes according to a predetermined control cycle.

  The motor drive circuit 303 is a circuit that outputs power to the drive motors 215 to 217 in accordance with a command input from the calculation unit 302. The safety protection device 304 is a device that cuts off the power to the medical manipulator 200 and immediately stops its operation in preparation for an abnormal situation such as a calculation cycle abnormality of the calculation unit 302, a motor drive circuit abnormality, or an emergency stop command. . The various switches 305 and 306 are mounted on the casing of the control device 300, and are used for switching commands for operating states of the medical manipulator 200, power switching, and the like.

  The command input device 400 is a device for smoothly performing commands such as operation start and end of the medical manipulator, switching of the operation state, and the like by direct operation by the operator, and normally does not hinder the procedure. A foot switch is often used. Voice input or a switch attached to the medical manipulator 200 can also be used.

  The operation state display 500 displays the operation state of the medical manipulator 200, and improves the safety of the operation by making it easy for an operator or an assistant involved in the operation to check the operation state. It is often installed in the vicinity of the endoscope monitor so that the display result can easily enter the operator's visual field without any sense of incongruity.

  In the medical manipulator system 100 configured as described above, the operation is performed as follows. That is, when the surgeon operates the operation unit 210, the operation angle is read by the angle sensor, and the operation amount is calculated by the control device 300. The drive motors 215 to 217 are operated based on the drive amount, and the driving force is operated by the operation transmission unit 260 by the operation transmission unit 260.

  At this time, the tip of the shaft portion, which is a connecting portion, is a treatment portion, which is a portion that is inserted into a body cavity and directly contaminated by blood or the like. Blood or the like enters the shaft case through the wire that transmits power to the treatment portion or the shaft passing therethrough. As a result, the power shaft and the bearing are contaminated. The working unit 220 is kept airtight. This is because laparoscopic surgery is often performed by the pneumoperitoneum method. Therefore, even if dirt such as blood adhering to the treatment unit 230 is transmitted to the shaft case 240 via the power transmission unit 260, it does not flow out from the working unit 220 side. The cleaning port 243 has a stopper for maintaining airtightness.

  Next, a method for cleaning the medical manipulator 200 after treatment will be described in detail. By making the operation unit 210 and the working unit 220 of the medical manipulator 200 connectable and separable, the cleaning performance can be improved. That is, all electronic devices such as a motor, a switch, and a sensor are arranged on the operation unit 210 side, and a treatment unit 230 and a power transmission unit 260 made up of only mechanical components are arranged on the working unit 220 side.

  The working unit 220 side is the part that directly contacts the surgical site and is the most contaminated part. However, since no electronic device is arranged, the working unit 220 is cleaned with a cleaning device such as an ultrasonic cleaning device or a washer-disinfector. At this time, the structure is satisfactory even if it is immersed in the washing water as it is. For this reason, the degree of contamination and the degree of conformity to the cleaning method determined thereby are made to coincide with each other, and the parts can be separated and combined at a portion where the degree of difference occurs.

  Since the working unit 220 needs to have a power transmission unit 260 that physically transmits power to the treatment unit 230, the connecting unit 250 is hollow and the treatment unit 230 side is open. In order to clean the inside of the connecting portion 250, a cleaning port 243 is provided on the shaft case 240 side so that cleaning water can flow.

  On the other hand, in the shaft case 240, since the bearings 261c to 263c have a gap in the portion where the bearing balls are between the outer ring and the inner ring, the contaminants that have traveled through the connecting portion 250 reach the bearings 261c to 263c. . Although the bearings 261c to 263c have a bag path structure, since the cleaning flow path 247 is provided, running water can be easily passed.

  In addition, as shown in FIG. 7 as a comparative example, in the case of the shaft case 240 in which the cleaning channel 247 is not provided, even if running water cleaning is performed, an effective flow does not occur and the dirt cannot be removed. This has been demonstrated in a cleaning test conducted on a prototype model. The prototype model contaminated with blood was washed with a washer disinfector and then reacted with an amide black solution that reacts with the protein. As a result, staining reaction due to residual protein appeared at three bearing portions. Therefore, it was demonstrated that this structure does not have sufficient detergency.

  On the other hand, in the shaft case 240 shown in FIG. 5 according to the present embodiment, since the cleaning channel 247 is provided, cleaning can be performed effectively, and no staining reaction occurs.

  FIG. 8 is a perspective view showing a shaft case 240 according to the first modification of the above-described embodiment. In the first modification, the cleaning channel 247 is extended in the bearing portions 244 to 246, and one inflow / outlet is further provided. Thereby, the flow volume which flows through the washing | cleaning flow path 247 can be increased, and running water washing | cleaning can be performed effectively.

  FIG. 9 is a perspective view showing a shaft case 240 according to the second modification of the present embodiment described above. In the second modification, the direction of the cleaning channel 247 is changed. In view of the flowing direction of the flowing water in the hollow portion 242, it is arranged in a direction in which dirt can flow most effectively.

  FIG. 10 is a perspective view showing a shaft case 240 according to the third modification of the embodiment described above. Normally, the cleaning water flows from the cleaning port 243 side to the connecting portion 250 side, but the wall portion of the shaft case 240 is formed of a detachable lid portion 248, and the cleaning water is removed from the opening from which the lid portion 248 is removed. In such a case, the direction in which the cleaning channel 247 as shown in FIG. 9 is provided can effectively remove dirt. Note that one end of the lid portion 248 is fitted and fitted to a lid receiver 241a provided in the housing 241, and can be fastened and fixed by a lid fixing screw 248a. In FIG. 10, reference numeral 248b denotes a rubber groove and 248c denotes a rubber packing, which can maintain airtightness.

  With this configuration, it becomes easy to remove the lid portion 248 during cleaning to allow the cleaning water to reach the inside, facilitate the flow of running water through the cleaning channel 247, and the hollow portion during drying. Since the vapor inside the 242 is easily diffused, there is no drying failure, and at the time of sterilization, the sterilization gas easily spreads, so that the sterilization failure does not occur and the gas does not remain in aeration. In addition, there is an effect that it can be visually confirmed whether or not the dirt is actually removed.

  FIG. 11 is a perspective view showing a shaft case 240 according to the fourth modification of the above-described embodiment. In the fourth modified example, the cleaning flow paths 247 provided in the bearing portions 244 to 246 are connected to each other and are also connected to the cleaning port 243.

  According to this modification, since the cleaning flow path 247 and the cleaning port 243 are directly connected, the flowing water pressure of the flowing cleaning water can be effectively transmitted, and the cleaning effect can be further increased.

  FIG. 12 is a perspective view showing a shaft case 240 according to the fifth modification of the above-described embodiment. In the fifth modification, a sub-cleaning channel 249 is provided in a direction orthogonal to the cleaning channel 247.

  With such a configuration, the cleaning effect can be further enhanced. That is, the cleaning port 243 normally has a shape protruding from the housing 242, and the state in which the cleaning port 243 is directed upward in the cleaning tank is not necessarily stable, and the orientation as shown in FIG. It is natural to be placed in. In this state, in order to discharge the air accumulated in the bearing portions 244 to 246, the cleaning liquid flows in from the one side of the cleaning channel 247 by further providing the sub-cleaning channel 249 vertically upward. In addition, since air is pushed out not only from the other side but also from the sub-cleaning flow path 249, air does not remain in the bearing portions 244 to 246, and cleaning inhibition does not occur. Further, by preparing a plurality of channels like the sub-cleaning channel 249, the dirt accumulated in the bearing portions 244 to 246 can be more efficiently washed away.

  The following points are also effective in the drying and sterilization steps performed after the cleaning treatment. The inner space structure and the cover path structure are difficult to dry. Water droplets remaining after washing are blown off with an air gun and processed in a dryer. Although the air gun cannot sufficiently eject water droplets, the auxiliary cleaning channel 249 is provided to facilitate the water droplets in the bag path structure portion. Furthermore, it is less likely that water droplets remain in the bag path structure portion and are not easily dried. Even if water droplets are not blown with an air gun, it can be sufficiently dried only by treatment with a dryer. Even in the sterilization process, the sterilization gas to be used is easily distributed in detail, and the gas is easily released even in the aeration after sterilization. As described above, the sub-cleaning flow path 249 exhibits an effect as a passage for gas that can flow during drying and sterilization, in addition to a liquid such as a cleaning liquid used during cleaning.

  FIG. 13 is a view showing a modified example of the cleaning flow path 247. At least one surface forming the cleaning channel 247 may be processed to have a surface roughness of 0.8 or less. Further, at least one corner forming the cleaning channel 247 may be rounded. Further, at least one surface forming the cleaning channel 247 may be coated with a fluororesin.

  With such a configuration, running water is easy to flow and dirt is less likely to adhere, and the cleaning flow path 247 does not become a poorly cleaned portion.

  In addition, since the cleaning channel 247 is a narrow channel as compared with the entire housing 241, it is necessary to design the cleaning channel provided for cleaning with running water so that it does not become an element that causes poor cleaning. For this reason, it is desirable that the cross-sectional area of the cleaning channel 247 is as large as possible. For example, in the case of the bearing portions 244 to 246, the possible range requires a sufficient contact area so that the position and orientation of the bearing receiving the shaft do not vary with respect to the shaft case.

  It is important not to reduce this contact area too much by the cleaning channel 247. In the cleaning flow path 247 located away from the cleaning port 243, the cleaning effect may be reduced as the flowing water pressure decreases due to the decrease in the flow rate of the cleaning water. Therefore, by reducing the cross-sectional area of the cleaning channel 247 according to the distance from the cleaning port, the flowing water pressure can be maintained and the cleaning effect can be maintained. This also has an effect of suppressing the inflow of dirt from the treatment part due to the cross-sectional area becoming smaller as the distance from the cleaning port 243 becomes closer, that is, closer to the treatment part 230.

  Note that the cross-sectional area of the cleaning channel 247 may be changed according to the distance from the cleaning port 243. It is possible to efficiently reduce the decrease in flowing water pressure from the cleaning port and flow the cleaning water, and the cleaning effect is not deteriorated.

  Here, a case will be described in which the cleaning channel 247 is composed of a plurality of components having different thermal expansion coefficients (linear expansion coefficients). The material of the shaft case 240 is PEEK (polyether ether ketone), and the material of the power shaft is aluminum. Since PEEK has excellent heat resistance, it does not deform even when treated by high-pressure steam sterilization and may be used as a material for medical instruments.

The inner diameter of the power shaft and the bearing portions 244 to 246 is 10 mm. Since the washing water used at the time of washing is generally warm water at 55 ° C., there is a temperature rise of 30 ° C. from 25 ° C. to 55 ° C. at the time of washing. The linear expansion coefficients of PEEK and aluminum are 5.0 × 10 ⁻⁵ and 2.3 × 10 ⁻⁵ , respectively.

In general, when the linear expansion coefficient is α, the temperature change is ΔT, the original length is L0, and the elongation is ΔL, the following relational expression is obtained. ΔL = α × L0 × ΔT
PEEK and aluminum each 10mm member by the temperature rise of 30 ℃,
(PEEK) 5.0 × 10 ⁻⁵ × 10 × 30 = 15.0 × 10 ⁻³ mm
(Aluminum) 2.3 × 10 ⁻⁵ × 10 × 30 = 6.9 × 10 ⁻³ mm
The elongation of. Therefore, a gap of about 8 × 10 ⁻³ mm, that is, 8 μm is formed between the two. In the first place, there is a gap of several μm between the bearing portions 244 to 246 and the power shaft for the convenience of clearance management and processing accuracy for rotating the power shaft. Most of the blood components are several μm in size, and the blood components enter the gaps between the bearing portions 244 to 246 and accumulate as dirt.

  Therefore, by changing the linear expansion coefficient of the materials of the shafts 261a to 263a and the bearings 244 to 246, a temperature more than twice the original gap as described above, that is, a cleaning flow path can be secured due to temperature change during cleaning. This makes it easier for the dirt that has entered these gaps to flow down. When it is used again for surgery after washing, it is kept at room temperature, so that the management of the gap between the shafts 261a to 263a and the bearings 244 to 246 is restored, and the function does not deteriorate without causing shaft runout or the like. Since the size of the cleaning channel is managed based on the linear expansion coefficient of the material and the ambient temperature during cleaning, a material with a large linear expansion coefficient should be used to increase the cleaning channel and increase the cleaning effect. Use it.

For example, since acrylic has a linear expansion coefficient of 7.0 × 10 ⁻⁵ , the cleaning channel is expanded by using acrylic rather than using PEEK as the material of the shaft case 240. Since acrylic is a transparent substance, it is excellent in that the degree of contamination can be visually confirmed. Also, a method of mixing a lubricant in the cleaning process is used, and the lubricant generates a lubricant film on the instrument surface and the joint shaft. This film thickness is several μm, and can be formed even in the cleaning flow path which is a gap generated between the shafts 261a to 263a and the bearing portions 244 to 246 described above. The lubricating film formed in the cleaning channel fills the cleaning channel and prevents dirt from entering when the instrument is used. As described above, by configuring the medical instrument with a material having a different linear expansion coefficient, it is possible to generate a cleaning flow path at the time of cleaning and effectively perform the cleaning.

  FIG. 14 is a diagram schematically showing the shaft case 240. As shown in FIG. 14, by disposing the washing port 243 so as to be connected to the highest part in the vertical direction in the hollow portion inside the instrument, the washing water flowing in from the washing port 243 can be effectively passed through the hollow interior of the instrument. Can be shed. The cleaning port 243 is disposed on one end side of the shaft case 240 so that the cleaning water flows through the hollow portion 242 of the shaft case 240.

  FIG. 15 is a diagram schematically illustrating a modification of the shaft case 240. The cleaning flow path 247 may be disposed up to the mouth of the cleaning port 243, and the depth of the cleaning flow path 247 may be changed toward the cleaning port 243.

  FIG. 16 is a diagram schematically illustrating another modification of the shaft case 240. As shown in FIG. 16, an example in which the cleaning port 243 is arranged so as to be connected to the highest portion in the vertical direction in the hollow portion inside the instrument by utilizing the inclination of the shaft case 240 when it is placed. It is. An effective running water cleaning effect can be obtained by connecting the cleaning port 243 and a cleaning channel 247 (not shown).

  Furthermore, the air accumulated in the hollow portion 242 during ultrasonic cleaning obstructs the propagation of ultrasonic energy and causes poor cleaning. In such a case, the cleaning port 243 has an outlet that discharges the accumulated air inside. It can also be used for. As described above, since the cleaning port 243 is positioned at the vertical top of the hollow part 242 or the vertical top of the cleaning channel 247, air accumulated in each part can be naturally discharged from the cleaning port 243, Further cleaning effect can be maintained.

  In addition, the cleaning port 243 may be attached to each cleaning channel 247. Further, the position of the cleaning port 243 may be determined based on the structural balance of the entire housing 241.

  FIG. 17 is a perspective view showing a medical manipulator 200 of a type in which the operation unit 210 and the working unit 220 cannot be separated. In FIG. 17, the same functional parts as those in FIG. In FIG. 17, reference numeral 290 denotes a trocar. The present invention can also be applied to such a medical manipulator 200.

  FIG. 18 is a perspective view showing the gripper 231 provided in the treatment section 230. In the gripper 231, the material of the first link 231 a and the second link 231 b is formed of PEEK, and the joint shaft 231 c which is a joint of both is formed of SUS. In order to perform an accurate operation, dimensional management between the links 231a and 231b and the joint shaft 231c is important, and a large gap cannot be formed. However, since an accurate operation is not required at the time of cleaning, a gap may be generated around the axis.

The linear expansion coefficient of SUS is 1.6 × 10 ⁻⁵ , and by using different materials for the links 231a and 231b and the joint shaft 231c, a gap of several μm is generated as described above. It becomes a path, and dirt attached around the shaft can be washed away. That is, the treatment portion 230 is the most dirty portion, and the joint shaft portion is a portion that is difficult to clean. Here, the cleaning effect can be enhanced by generating the cleaning channel by the difference in the linear expansion coefficient of the material.

  In addition to the cleaning channel, the cleaning effect is exhibited due to the difference in linear expansion coefficient. For example, the medical instrument is provided with a plurality of screws for stopping the component parts. When an instrument is cleaned with an ultrasonic cleaning device, these screws may loosen due to vibration. Screws that have come off in the cleaning tank can be lost, which is a problem.

  Therefore, the screw receiving side is made of aluminum and the screw is made of PEEK. These sizes change due to temperature changes during cleaning. At this time, since the screw tends to spread more than the receiving side, the tightening force increases between the screw and the receiving side, and the screw is less likely to come off due to vibration during cleaning.

  Although the above-described integrated medical manipulator 200 has been described, it is installed in a place where there is no connection part and the operation part and the work part are separated, and a control device is provided in each of the operation part and the work part. Of course, the present invention can be applied to a remote-operated medical manipulator that realizes a master-slave operation by performing data communication.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the components without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

The perspective view which shows the medical integrated manipulator system which concerns on one embodiment of this invention. The perspective view which shows the medical manipulator integrated in the medical manipulator system. Explanatory drawing which shows the structure of the medical manipulator main body. The block diagram which shows the structure of the control apparatus integrated in the medical manipulator system. The perspective view which shows the axial case of the medical manipulator. Sectional drawing which shows the principal part of the axial case of the medical manipulator. The perspective view which shows the shaft case used as a comparison. The perspective view which shows the 1st modification of the axial case of the medical manipulator. The perspective view which shows the 2nd modification of the axial case of the medical manipulator. The perspective view which shows the 3rd modification of the axial case of the medical manipulator. The perspective view which shows the 4th modification of the axial case of the medical manipulator. The perspective view which shows the 5th modification of the axial case of the medical manipulator. The principal part sectional drawing which shows the modification of the washing | cleaning flow path of the axial case of the medical manipulator. Explanatory drawing which shows the position of the washing | cleaning port of the axial case of the medical manipulator. Explanatory drawing which shows the position of the washing | cleaning port of the axial case of the medical manipulator. Explanatory drawing which shows the position of the washing | cleaning port of the axial case of the medical manipulator. The perspective view which shows the modification of the medical manipulator. The perspective view which shows the gripper integrated in the medical manipulator.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Medical manipulator system, 200 ... Medical manipulator, 210 ... Operation part, 220 ... Working part, 230 ... Treatment part, 231 ... Gripper, 240 ... Shaft case, 241 ... Case, 242 ... Hollow part, 243 ... Cleaning Ports, 244 to 246 ... bearing portions (concave portions), 247 ... cleaning flow paths, 250 ... coupling portions, 260 ... power transmission portions, 261-263 ... rotating shafts, 261a-263a ... shafts, 261c-263c ... bearings, 264- 266... Wire, 300... Control device, 400 .. Command input device, 500.

Claims (14)

A structure having a hollow portion formed therein;
A washing port for introducing a fluid into the hollow part from the outside of the structure provided in the structure;
A bearing portion having a first recess formed in the hollow portion;
At least part of the second recess formed to protrude outward from the outer peripheral portion of the first recess is provided in the hollow portion, and fluid flowing from the cleaning port is introduced into the bearing portion. A cleaning channel;
A rotating part rotatably supported by the bearing part;
A treatment section for insertion into the affected area;
A power transmission member for transmitting the power of the rotating part to the treatment part;
A power source for rotating the rotating part;
A control unit for controlling the power source;
An input unit for inputting a control command to the control unit;
A medical manipulator characterized by comprising:   The medical manipulator according to claim 1, wherein the bearing portion and the rotating portion are detachably disposed.   The medical manipulator according to claim 1, wherein at least a part of the cleaning channel is connected to the cleaning port.   The medical manipulator according to claim 1, wherein the cleaning channel is formed along a direction of fluid flowing through the structure.   The medical manipulator according to claim 1, wherein a plurality of the first and second recesses are provided, and at least one set of the first and second recesses is connected to the cleaning flow path. .   The medical manipulator according to claim 1, wherein the washing channel is formed so that a cross-sectional area thereof changes according to a distance from the washing port.   2. The medical manipulator according to claim 1, wherein the cleaning flow path has a sub-cleaning flow path that branches in at least one set of the first and second recesses.   The medical manipulator according to claim 7, wherein a direction in which the sub-cleaning channel extends is orthogonal to a direction in which the cleaning channel extends.   The medical manipulator according to claim 1, wherein at least one corner forming the cleaning channel is rounded.   The medical manipulator according to claim 1, wherein the cleaning port is provided at a position that is highest in a vertical direction when the structure is placed on a floor surface.   The medical manipulator according to claim 1, wherein a fluororesin coating is applied to at least one surface forming the cleaning channel.   The medical manipulator according to claim 1, wherein the structure is configured by assembling a plurality of members made of different materials.   The medical manipulator according to claim 1, wherein the structural body includes a detachable cover body that forms a wall surface of the hollow portion.   The medical manipulator according to claim 1, wherein the second recess is formed deeper than the first recess.

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