JP2007260431A - Medical manipulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a medical manipulator which simplifies a mechanism and improves reliability. <P>SOLUTION: A medical manipulator 1 of this invention is equipped with an operation commanding section 20 which has a posture operating part 21 and a treatment operating part 22 and a connection section 30 one end side of which is connected to the operation commanding section 20. A treatment section 11 and a working section 10 which has supporting sections 12 and 13 which support the treatment section 11 by two degrees of freedom so as to be posture changeable are connected to the other end side of the connection section 30. A driving section 10m sends an operation command from the posture operating part 21 to the supporting sections 12 and 13 and changes the posture of the treatment section 11, and sends an operation command from the treatment operating part 22 to the treatment section 11 and actuates the treatment section 11. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a medical manipulator, and more particularly to a medical manipulator with a simplified mechanism and excellent operability.

  Conventionally, in laparoscopic surgery such as cholecystectomy, as shown in FIG. 11, several small holes 151, 152, and 153 are opened in the abdomen of a patient 150, and a trocar 154 is attached to them, An endoscope 161, forceps 171, 172, and the like are inserted into these holes, and an operator (usually a surgeon) 160 performs an operation while viewing an image of the endoscope 161 on the monitor 162.

  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. For this reason, such an operation method is expected to expand the application field.

  The above-described laparoscopic surgery is an excellent surgical method in that the burden on the patient 150 is small, but the fact that the operator 160 cannot actually see the surgical site may be problematic in some cases.

  Further, the forceps 171 and 172 are provided only with a gripper that opens and closes, and it is difficult to change the posture of the gripper and the operability is poor.

  Due to the above factors, only a skilled operator can perform an appropriate treatment by the above-described surgical method. Moreover, it takes a long time to become skilled in the surgical method.

  In order to deal with such problems, research has been conducted on the application of remote control robot technology such as a master-slave manipulator to the medical field.

  Remote control robot technology is a robot system in which the master arm operated by the operator and the slave arm that actually operates the surgical site are completely separated, and the command value of the master arm is sent to the slave arm as an electrical signal. It is transmitted. Therefore, both the master arm and the slave arm usually have a number of joints of 6 degrees of freedom or more, and a controller is provided corresponding to each degree of freedom. , It is a complex system with wiring.

  Due to the complexity, the reliability of the operation of the master-slave manipulator system is not yet high enough. In addition, since the system itself is large, purchase costs and maintenance costs are also expensive. Furthermore, in the master-slave manipulator system, since the operator operates the master arm at a distance from the patient, there is a problem that the patient cannot be immediately treated in an emergency.

  The present invention has been made in consideration of such points, and an object thereof is to provide a medical manipulator having a simplified mechanism and improved reliability.

  The present invention provides an operation command unit having a posture operation unit and a treatment operation unit, a connection unit having one end connected to the operation command unit, and a connection unit connected to the other end of the connection unit. And a support unit that supports the posture of the treatment unit so that the posture can be changed in two or more degrees of freedom, and an operation command from the posture operation unit is sent to the support unit to change the posture of the treatment unit, and the treatment operation unit A medical manipulator comprising: a control unit that sends an operation command from the control unit to the treatment unit to operate the treatment unit.

  According to the present invention, the support portion can change the support posture of the treatment portion to two or more degrees of freedom, while the operation command portion and the working portion are mechanically connected by the connecting portion, so that operability and operation are improved. Excellent reliability.

  As described above, according to the present invention, since the support posture of the treatment portion can be changed by the support portion with two degrees of freedom, the operation command portion and the working portion are mechanically connected by the connecting portion. A medical manipulator excellent in operability and operational reliability can be provided.

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

  FIG. 1 is a schematic configuration diagram showing a medical manipulator according to a first embodiment of the present invention. As shown in FIG. 1, the medical manipulator 1 according to the first embodiment of the present invention includes a working unit 10, an operation command unit 20, and a connection in which both ends are connected to the work unit 10 and the operation command unit 20. Part 30.

  The working unit 10 includes a gripper 11 as a treatment unit that performs a treatment on the surgical site, a yaw axis joint support unit 12 and a pitch axis joint support unit 13 as support units that support the gripper 11 so that the posture can be changed with two degrees of freedom. ,have.

  As shown in FIG. 1, the gripper 11 is configured to open and close in a hinge shape. Alternatively, a mechanism that opens and closes in parallel may be used. The yaw shaft joint support portion 12 supports the opening / closing shaft portion of the gripper 11 and rotates the entire gripper 11 around an axis parallel to the opening / closing shaft. The pitch axis joint support part 13 supports the entire yaw axis joint support part 12 and rotates the entire yaw axis joint support part 12 (with the gripper 11) around an axis perpendicular to the opening / closing axis of the gripper 11. It has become.

  The operation command unit 20 includes a finger operation unit 22 as a posture operation unit and a handle 21 as a treatment operation unit.

  The finger operation part 22 has two finger insertion parts 22a and 22b into which the thumb and index finger of the hand holding the handle 21 are inserted. At least one of the two finger insertion portions 22a and 22b is configured to be movable, and the distance between them can be arbitrarily changed. The finger insertion portions 22a and 22b may be hinged in addition to being moved in parallel with each other.

  In the present embodiment, an opening / closing command for the gripper 11 is issued by adjusting the interval between the finger insertion portions 22a and 22b. In this case, an interval sensor (not shown) for detecting the interval between the finger insertion portions 22a and 22b is provided, and the state where the interval between the finger insertion portions 22a and 22b is the narrowest corresponds to the closed state of the gripper 11, and the finger insertion portion The state in which the distance between 22a and 22b is the widest corresponds to the fully open state of the gripper 11.

  The handle 21 has an arc portion 21a disposed on the connecting portion 30 side, and a grip portion 21b grasped by the operator's hand. The arc portion 21a and the grip portion 21b are connected via a yaw axis rotating portion 23, and the grip portion 21b can rotate around the substantial center axis of the grip portion 21b itself with respect to the arc portion 21a. It has become. The yaw axis rotation unit 23 is provided with an angle detection sensor (not shown). Thereby, in the case of this Embodiment, the displacement angle detected by the said sensor is made to respond | correspond to the rotation angle of the yaw axis joint support part 12. FIG.

  The aforementioned finger insertion portions 22a and 22b are attached to the gripping portion 21b side so as not to interfere with the arc portion 21a, and the whole can be rotated as the gripping portion 21b rotates.

  The arc portion 21 a is formed as a substantially semicircular arm centered on a point 25 on the rotation axis of the yaw axis rotation portion 23. The arcuate part 21a is provided with a sliding support part 24 that moves along the arcuate part 21a (actually, the arcuate part 21a moves relative to the sliding support part 24). One end of the connecting portion 30 is connected to the sliding support portion 24. The relative angular position between the sliding support portion 24 and the arc portion 21a (the position of the arc portion 21a with the sliding support portion 24 fixed) is detected by an angle detection sensor (not shown). Thereby, in the case of this Embodiment, the angle position detected by the said sensor is made to respond | correspond to the rotation angle position of the pitch axis joint support part 13. FIG.

  In the present embodiment, the driving unit 10 m is attached between the sliding support unit 24 and the connecting unit 30. 10 m in the figure indicates a collective portion of the drive unit. In the figure, the control unit (control device) is not shown. Based on detection signals from the above-described distance sensor and angle detection sensor (both not shown), the drive unit 10m transmits power from the corresponding drive units 11m, 12m, and 13m via a wire or a pulley (not shown). Thus, transmission is made to the above-described gripper 11, yaw axis joint support part 12, and pitch axis joint support part 13 of the working unit 10.

  In the case of this Embodiment, the connection part 30 is comprised by the rod-shaped member. The connecting portion 30 is fixed to the sliding support portion 24 in such an arrangement relationship that the central axis of the connecting portion 30 passes through the arc center 25 of the arc portion 21 a on the rotation axis of the yaw axis rotation portion 23. ing. Further, the connecting portion 30 has a hollow tubular shape so as to accommodate wires and the like from the driving portions 11m, 12m, and 13m to the working portion 10.

  The connecting portion 30 is connected to the support connecting portion 60 of the support mechanism 40 so as to be linearly movable in the axial direction and rotatable about the axis. A base end portion (not shown) of the support mechanism 40 is fixed to a ceiling, a floor, or a bed.

  The support mechanism 40 of the present embodiment includes a height adjustment mechanism 41 that moves up and down relative to the base end side, and a horizontal rotation unit 42 that is provided at the lower end of the height adjustment mechanism 41 and rotates around a vertical axis. And an arc arm 43 having one end connected to the outer periphery of the horizontal rotating portion 42. The rotation axis of the horizontal rotation unit 42 is located substantially vertically above an appropriate point 50 on the connection unit 30.

  The arc arm 43 extends substantially in the vertical plane, and is formed in a substantially arc shape on the upper side of the point 50 on the connecting portion 30 and on the operation commanding portion 20 side.

  The support connecting portion 60 is supported by the arc arm 43 in such a manner that it can move along the arc arm 43. As a result, the connecting part 30 is moved by the horizontal turning part 42 turning in the vertical direction as the connecting support part 60 moves on the arc arm 43 around the point 50 different from the support connecting part 60. It is supported so as to be able to swing in the horizontal direction or in the combined direction of both.

  In addition, it is preferable that the above-mentioned point 50 is set to the small hole part formed in the patient's abdomen. Further, as shown in FIG. 1, a normal trocar 53 is installed in the small hole portion.

  Next, the operation of the present embodiment having such a configuration will be described.

  As shown in FIG. 2, the operator grasps the grip portion 21 b of the handle 21 and inserts the thumb and index finger into the finger insertion portions 22 a and 22 b of the finger operation portion 22.

  When the operator changes the interval between the finger insertion portions 22a and 22b by adjusting the interval between the thumb and the index finger, the information is detected by the interval sensor. A detection signal from the interval sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 11m to the gripper 11 of the working unit 10. Thereby, the opening / closing angle of the gripper 11 is controlled.

  On the other hand, when the operator rotates the grip portion 21b of the handle 21 with respect to the arc portion 21a, the information is detected by the angle sensor. A detection signal from the angle sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 12m to the yaw axis joint support unit 12 of the working unit 10. Thereby, the rotation angle of the yaw axis joint support part 12 is controlled.

  On the other hand, when the operator rotates the arc portion 21a of the handle 21 with respect to the sliding support portion 24 integral with the connecting portion 30, the information is detected by the angle sensor. A detection signal from the angle sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 13m to the pitch axis joint support unit 13 of the working unit 10. Thereby, the rotation angle of the pitch axis joint support part 13 is controlled.

  By arbitrarily controlling the rotation angle of the yaw axis joint support part 12 and the rotation angle of the pitch axis joint support part 13, the posture of the gripper 11 can be controlled with two degrees of freedom. The gripper 11 can be further changed in posture by one degree of freedom by rotating the connecting portion 30 around its central axis, and can be arbitrarily controlled as a result.

  As described above, the posture of the gripper 11 has three degrees of freedom: the rotation of the yaw shaft joint support portion 12, the rotation of the pitch shaft joint support portion 13, and the rotation around the axis of the entire connecting portion 30. It is. Corresponding to these three degrees of freedom, the operator can rotate the grip portion 21b with respect to the arc portion 21a, rotate the arc portion 21a with respect to the sliding support portion 24, and rotate the connecting portion 30 around the axis. , Is to operate. The rotation of the entire connecting portion 30 around the axis is performed by rotating the entire handle 21.

  In the present embodiment, the rotation axis of the gripping part 21b, the rotation axis of the arc part 21a, and the rotation axis of the connecting part 30 intersect at one point, forming a so-called gimbal mechanism. . For this reason, the operation of moving only the posture arbitrarily with three degrees of freedom while maintaining the position of the point 25 of the operation unit can be realized very easily. If each joint is driven by the control device so as to correspond to this, it is possible to operate the posture of the gripper 11 while maintaining the position of the intersection between the pitch axis joint support portion 13 and the connecting portion 30.

  For example, if the position of the gripper 11 is moved in accordance with an operation for changing the posture of the gripper 11 when the needle is passed through the operation site or the thread is grasped, the operability is poor. On the contrary, even if the posture of the gripper 11 is changed during an operation for changing the position of the gripper 11, the operability is poor. On the other hand, in the gimbal mechanism as in the present embodiment, the position operation and the posture operation are mechanically separated, so that the operability is very good.

  Regarding the operation of the position, the operation unit 20 and the connection unit 30 are mechanically integrated with each other for both the swinging movement around the point 50 and the back-and-forth movement in the axial direction of the connection unit 30. A person can easily operate the handle 21 by moving the entire handle 21 with respect to the connection support portion 60.

  As described above, according to the present embodiment, the support posture of the gripper 11 can be changed with two degrees of freedom by the rotation of the yaw shaft joint support portion 12 and the rotation of the pitch shaft joint support portion 13. The operation command unit 20 and the working unit 10 are mechanically connected by the connecting unit 30, and the posture change of the gripper 11 due to the rotation of the connecting unit 30 is performed by directly rotating the handle 21. Excellent in properties.

  In particular, in the case of the present embodiment, since the gimbal mechanism is employed, the operation of moving the posture only with three degrees of freedom while maintaining the position of the gripper 11 as it is can be realized very easily.

  In addition, the operator can perform an operation while looking closely at the state of the patient, so it is possible to take a quick response in an emergency or the like.

  In addition, the medical manipulator 1 of the present embodiment is supported by the support mechanism 40, and the operator does not need to basically support the weight of the manipulator 1, so that the operation command from the operation command unit 20 is highly accurate. Can be done.

  Further, since the medical manipulator 1 of the present embodiment is configured to have the fixed point 50, if the height adjusting mechanism 41 or the like is positioned so that the trocar 53 comes near the fixed point 50, the patient's The displacement in the small hole (penetrating portion) in the abdomen is reduced, and the burden on the patient can be further reduced.

  In particular, when the arc radius of the arc arm 43 centered on the fixed point 50 is increased, a wide space around the surgical site can be secured, so that assistance such as an assistant is easier.

  In addition, about the mechanism in which the connection support part 60 rock | fluctuates centering | focusing on the fixed point 50, the structure using a link mechanism etc. besides the aspect using the horizontal rotation part 42 and the circular arc arm 43 like this Embodiment is also possible. Is possible.

  In the present embodiment, the working unit 10 includes the yaw axis joint support part 12 and the pitch axis joint support part 13, but an aspect in which any one of them is omitted is also possible. In this case, any one of the corresponding command mechanism on the command operation unit 20 side, that is, the rotation mechanism with respect to the arc portion 21a of the grip portion 21b and the slide mechanism with respect to the arc portion 21a of the slide support portion 24 can be omitted. .

  Next, a medical manipulator according to a second embodiment of the present invention will be described with reference to FIG. FIG. 3 is a schematic perspective view of the medical manipulator of the second embodiment.

  As shown in FIG. 3, in the medical manipulator of the present embodiment, the handle 21 has a reference pedestal portion 21s and a swing arm 24a instead of the arc portion 21a and the sliding support portion 24. These are the structures substantially the same as the medical manipulator 1 of 1st Embodiment shown in FIG. In the second embodiment, the same parts as those in the first embodiment shown in FIG.

  A gripping part 21 b is connected to the reference pedestal part 21 s via a yaw axis rotation part 23. The reference pedestal portion 21s of the present embodiment is disposed on the lower side of the grip portion 21b, but may be on the upper side.

  The swing arm portion 24a is formed of an L-shaped member, and one end side is rotatably connected to the reference pedestal portion 21s, and the drive portion 10m and the connecting portion 30 are connected to the other end side. The rotation axis of the swing arm portion 24a and the reference pedestal portion 21s passes through the intersection of the rotation axis of the yaw shaft rotation portion 23 and the central axis of the connecting portion 30, and is perpendicular to both axes. Yes.

  The angular position of the swing arm 24a with respect to the reference pedestal portion 21s is detected by an angle detection sensor (not shown). Thereby, in the case of this Embodiment, the angle detected by the said sensor is made to respond | correspond to the rotation angle of the pitch axis joint support part 13. FIG.

In the present embodiment, when the operator rotates the grip portion 21b of the handle 21 with respect to the reference pedestal portion 21s, the information is detected by the angle detection sensor.
A detection signal from the angle detection sensor is sent to a control device (not shown) and processed, and a corresponding driving force is transmitted from the driving unit 12m to the yaw axis joint support unit 12 of the working unit 10. Thereby, the rotation angle of the yaw axis joint support part 12 is controlled.

  On the other hand, when the operator rotates the reference pedestal portion 21s of the handle 21 with respect to the swing arm 24a integral with the connecting portion 30, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 13m to the pitch axis joint support unit 13 of the working unit 10. Thereby, the rotation angle of the pitch axis joint support part 13 is controlled.

  According to the present embodiment, the configuration of the handle 21 can be simplified, and the manufacture of the medical manipulator 1 becomes easy.

  Next, the medical manipulator of the 3rd Embodiment of this invention is demonstrated using FIG. 4 thru | or FIG. FIG. 4 is a schematic perspective view of the medical manipulator of the third embodiment. 5 is a perspective view showing the main part of the handle of FIG. 4, FIG. 6 is a front view showing the main part of the handle of FIG. 4, and FIG. 7 is a schematic view of the handle 21 during operation. .

  As shown in FIGS. 4 to 7, the medical manipulator of the present embodiment is the same as the second manipulator shown in FIG. 3 except that the handle 21 has a hand clamp portion 21h instead of the grip portion 21b. The configuration is substantially the same as that of the medical manipulator 1 of the embodiment. In the third embodiment, the same parts as those of the second embodiment shown in FIG. 3 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The hand clamp portion 21h is configured by a spring member having a U-shaped cross section, and is configured to be integrated with the operator's palm by sandwiching the operator's palm portion.

  In the present embodiment, when the operator rotates the hand clamp portion 21h of the handle 21 with respect to the reference pedestal portion 21s, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) and processed, and a corresponding driving force is transmitted from the driving unit 12m to the yaw axis joint support unit 12 of the working unit 10. Thereby, the rotation angle of the yaw axis joint support part 12 is controlled.

  On the other hand, when the operator rotates the reference pedestal portion 21s of the handle 21 with respect to the swing arm 24a integral with the connecting portion 30, the information is detected by the angle detection sensor. A detection signal from the angle detection sensor is sent to a control device (not shown) for processing, and a corresponding driving force is transmitted from the driving unit 13m to the pitch axis joint support unit 13 of the working unit 10. Thereby, the rotation angle of the pitch axis joint support part 13 is controlled.

  According to the present embodiment, since the operator's hand is fixed to the handle 21 by the hand clamp portion 21h, the operator can concentrate more on the posture operation and opening / closing operation of the gripper 11 without being aware of the positioning operation. The property is further improved.

  Next, the medical manipulator of the 4th Embodiment of this invention is demonstrated using FIG. FIG. 8 is a schematic perspective view of the medical manipulator of the fourth embodiment.

  As shown in FIG. 8, in the medical manipulator of the present embodiment, the support connecting portion 60 includes a linear braking mechanism 61 for linear movement of the connecting portion 30 in the axial direction, and rotational braking for rotation around the axis of the connecting portion 30. The medical manipulator according to the first embodiment shown in FIG. 1 except that the braking force of the linear braking mechanism 61 and the braking force of the rotary braking mechanism 62 can be changed. 1 is substantially the same configuration. In the fourth embodiment, the same parts as those in the first embodiment shown in FIG.

  The linear braking mechanism 61 of the present embodiment is connected to a linear braking adjusting unit 61 s for changing the braking force of the linear braking mechanism 61, and the rotating braking mechanism 62 is changed to the braking force of the rotating braking mechanism 62. For this purpose, a rotation braking adjustment unit 62s is connected.

  In the present embodiment, the operator can adjust the braking force for the linear movement of the connecting portion 30 by changing the braking force of the linear braking mechanism 61 by operating the linear braking adjusting portion 61s. . In addition, the operator can adjust the braking force against the rotation of the connecting portion 30 by changing the braking force of the rotational braking mechanism 62 by operating the rotational braking adjusting portion 62.

  According to the present embodiment, since the braking force of the linear braking mechanism 61 and the braking force of the rotary braking mechanism 62 can be adjusted according to the work content, for example, a large braking force can be obtained during fine work. The operability at the time of approach work of the gripper 11 from the vicinity of the surgical site or at the time of fine work such as actual treatment operation can be further improved.

  The linear braking mechanism 61 and the rotary braking mechanism 62 can be configured to be turned on and off from the outside, such as an electromagnetic brake. The linear braking adjustment unit 61s and the rotational braking adjustment unit 62s are preferably configured by foot switches or the like.

  Next, the medical manipulator of the 5th Embodiment of this invention is demonstrated using FIG. FIG. 9 is a schematic view of a gripper portion of the medical manipulator of the fifth embodiment, and FIG. 10 is a schematic view of a finger operation unit of the medical manipulator of the fifth embodiment.

  As shown in FIGS. 9 and 10, in the medical manipulator of the present embodiment, the gripper 11 has a strain gauge 11g as a sensor for detecting information on the treatment status, and the finger operation unit 22 is The configuration is substantially the same as that of the medical manipulator 1 of the first embodiment shown in FIG. 1 except that the operation characteristics are changed based on information detected by the gauge 11g. In the fifth embodiment, the same parts as those in the first embodiment shown in FIG.

  As shown in FIG. 9, the strain gauge 11 g of the present embodiment is affixed to the front surface side and the back surface side of each thin portion of the two portions 11 a and 11 b that open and close in a hinge shape of the gripper 11.

  As shown in FIG. 10, the finger operation unit 22 according to the present embodiment has finger insertion portions 22c and 22d that open and close in a hinge-like manner, similar to the gripper 11, and the finger insertion portions 22c and 22d are opened and closed. An actuator 22m that provides resistance torque is provided.

  In the present embodiment, the actuator 22m is driven based on the information on the force acting on the gripper 11 detected by the strain gauge 11g, and resistance torque is applied to the opening / closing operation of the finger insertion portions 22c and 22d by the operator's finger. To give.

  According to the present embodiment, since the force acting on the gripper 11 during the operation is reduced to the finger operation unit 22 as a resistance torque, the operability is remarkably improved. In particular, it has been difficult to obtain a sense of distance in the monitor image from the camera, but in the present embodiment, an actual organ sensation can be obtained in a pseudo manner, so that the treatment can be performed very accurately.

  Note that the strain gauge 11g can be provided only in one of the two portions 11a and 11b that the gripper 11 opens and closes. However, it is preferable to provide them in both parts because a resistance torque can be generated even when an acting force exists only in one part.

  Further, instead of the actuator 22m, the finger operation unit 22 may be provided with a vibration element or the like in the finger insertion unit to reduce the force acting on the gripper 11 by vibration and change the operation characteristics.

1 is a schematic perspective view showing a medical manipulator according to a first embodiment of the present invention. Schematic which shows the state in operation of the handle | steering-wheel part of FIG. The schematic perspective view which shows the medical manipulator by the 2nd Embodiment of this invention. The schematic perspective view which shows the medical manipulator by the 3rd Embodiment of this invention. The perspective view which shows the principal part of the handle | steering-wheel part of FIG. The front view which shows the principal part of the handle | steering-wheel part of FIG. Schematic which shows the state in operation of the handle | steering-wheel part of FIG. The schematic perspective view which shows the medical manipulator by the 4th Embodiment of this invention. Schematic which shows the gripper part of the medical manipulator by the 5th Embodiment of this invention. Schematic which shows the finger operation part of the medical manipulator by the 5th Embodiment of this invention. Schematic which shows the conventional medical manipulator.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Medical manipulator 10 Working part 10m Drive part 11 Gripper 11g Strain gauge 12 Yaw axis joint support part 13 Pitch axis joint support part 20 Operation command part 21 Handle 21a Arc part 21b Gripping part 21s Reference base part 21h Hand clamp part 22 Finger operation Parts 22a, 22b, 22c, 22d Finger insertion part 22m Actuator 23 Yaw axis rotation part 24 Sliding support part 24a Swing arm 30 Connection part 40 Support mechanism 41 Height adjustment mechanism 42 Horizontal rotation part 43 Arc arm 50 Fixed point 60 Connection support portion 61 Linear braking mechanism 61s Linear braking adjustment portion 62 Rotation braking mechanism 62s Rotation braking adjustment portion

Claims (9)

An operation command unit having a posture operation unit and a treatment operation unit;
One end side is connected to the operation command part, and a connecting part;
A working unit connected to the other end side of the coupling unit, and having a treatment unit and a support unit that supports the treatment unit in a posture changeable in two or more degrees of freedom;
A control unit that sends an operation command from the posture operation unit to the support unit to change the posture of the treatment unit, and sends an operation command from the treatment operation unit to the treatment unit to activate the treatment unit;
A medical manipulator comprising: 2. The medical manipulator according to claim 1, wherein the connecting portion is configured by a rod-like member, and is connected to the support connecting portion of the support mechanism so as to be linearly movable in the axial direction and rotatable about the axis. The medical manipulator according to claim 2, wherein the support mechanism supports the connecting portion so as to be capable of swinging about a point different from the support connecting portion as a swing center. The posture operation unit includes two rotation units that rotate around two orthogonal axes, and a detection unit that detects a rotational displacement angle of each rotation unit.
The medical manipulator according to claim 2 or 3, wherein an intersection of the two orthogonal axes of the posture operation unit is on an axis of the connection unit.   The medical manipulator according to any one of claims 2 to 4, wherein the support connecting portion includes a linear braking mechanism for linear movement in the axial direction of the connecting portion.   The medical manipulator according to claim 5, wherein the braking force of the linear braking mechanism is changeable.   The medical manipulator according to any one of claims 2 to 6, wherein the support connecting portion has a rotation braking mechanism against a rotational movement around an axis of the connecting portion.   The medical manipulator according to claim 7, wherein the braking force of the rotation braking mechanism is changeable. The treatment unit has a sensor that detects information about the treatment status;
The medical manipulator according to any one of claims 1 to 8, wherein the treatment operation unit changes operation characteristics based on information on the treatment status detected by the sensor.

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