JP2010088813A - Remote control type actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control type actuator in which the posture of a tool provided on a distal end can be changed by remote control and a part generating heat during work can be efficiently cooled without adversely affecting a mechanical part. <P>SOLUTION: The remote control type actuator includes a spindle guide part 3 in an elongate shape, a distal end member 2 attached to the distal end so as to freely change the posture, and a drive part housing 4a to which the proximal end of the spindle guide part 3 is connected. The distal end member 2 freely rotatably supports a spindle 13 holding the tool 1. The spindle guide part 3 has a rotary shaft 22 for transmitting rotation to the spindle 13 and a guide hole 30a made to pass through to both ends in the inside. A posture operating member 31 for the distal end member 2 is inserted into the guide hole 30a. A cooling means 50 for cooling the tool 1 or the like with coolant injected into the spindle guide part 3 is provided. A sealing means S for blocking the infiltration of the coolant from the inside of the spindle guide part 3 into the drive part housing 4a is provided. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a remotely operated actuator that can change the posture of a tool by remote operation and is used for medical use, machining, and the like.

  There are remote-operated actuators that are used for bone processing for medical purposes and drilling and cutting for mechanical processing. The remote operation type actuator remotely controls a tool provided at the end of a long and narrow pipe portion having a linear shape or a curved shape. However, since the conventional remote control actuator only controls the rotation of the tool by remote control, in the case of medical use, it was difficult to process a complicated shape or a part that is difficult to see from the outside. Further, in drilling, it is required that not only a straight line but also a curved shape can be processed. Furthermore, in the cutting process, it is required that a deep part inside the groove can be processed. Hereinafter, taking the medical use as an example, the prior art and problems of the remote control type actuator will be described.

  In the field of orthopedics, there is an artificial joint replacement operation in which a joint that has become worn out due to bone aging or the like is replaced with a new artificial one. In this operation, it is necessary to process the patient's living bone so that the artificial joint can be inserted. In order to increase the adhesive strength between the living bone and the artificial joint after the operation, the shape of the artificial joint is required. It is required to process with high accuracy.

  For example, in hip joint replacement surgery, an artificial joint insertion hole is formed in the medullary cavity at the center of the femur bone. In order to maintain the contact strength between the artificial joint and the bone, it is necessary to increase the contact area between them, and the hole for inserting the artificial joint is processed into an elongated shape extending to the back of the bone. As a medical actuator used for such a bone cutting process, a tool is rotatably provided at the distal end of an elongated pipe portion, and by driving a rotational drive source such as a motor provided on the proximal end side of the pipe portion, There exists a thing of the structure which rotates a tool via the rotating shaft arrange | positioned inside (for example, patent document 1). In this type of medical actuator, the rotating part exposed to the outside is only the tool at the tip, so that the tool can be inserted deep into the bone.

Artificial joint replacement surgery involves skin incision and muscle cutting. That is, the human body must be damaged. In order to minimize the scratches, the pipe part may not be straight but may be appropriately curved. In order to cope with such a situation, there are the following conventional techniques. For example, in Patent Document 2, an intermediate portion of a pipe portion is bent twice, and the axial center position on the distal end side and the axial center position on the proximal end side of the pipe portion are shifted. There are other known cases where the axial position of the pipe portion is shifted between the tip end side and the axial center side. In Patent Document 3, the pipe portion is rotated 180 degrees.
JP 2007-301149 A U.S. Pat. No. 4,466,429 US Pat. No. 4,265,231 JP 2001-17446 A

  If there is a wide gap between the living bone and the artificial joint with the artificial joint inserted in the artificial bone insertion hole of the living bone, the adhesion time after the operation becomes longer, so the gap is as narrow as possible. desirable. It is also important that the contact surface between the living bone and the artificial joint is smooth, and high accuracy is required for processing the hole for inserting the artificial joint. However, no matter what the shape of the pipe part, the operating range of the tool is limited by the shape of the pipe part. It is difficult to process the artificial joint insertion hole so that the gap is narrow and the contact surface of both is smooth.

  Generally, bones of patients undergoing artificial joint replacement surgery are often weakened due to aging or the like, and the bones themselves may be deformed. Therefore, it is more difficult to process the artificial joint insertion hole than is normally conceivable.

  Therefore, the present applicant tried to make it possible to change the posture of the tool by remote operation in order to make it possible to process the artificial joint insertion hole relatively easily and accurately. This is because, if the posture of the tool can be changed, the tool can be held in an appropriate posture regardless of the shape of the pipe portion. However, since the tool is provided at the tip of the elongated pipe portion, there are many restrictions in providing a mechanism for changing the posture of the tool, and a device for overcoming it is necessary. Further, during machining, in addition to the tool and workpiece, the rotating portion of the actuator also generates heat, so it is desirable that these heat generation locations can be efficiently cooled. When providing a cooling means for this purpose, it is necessary to prevent the cooling liquid from adversely affecting the machine part.

  Note that some medical actuators that do not have an elongated pipe part can change the position of the part where the tool is provided relative to the hand-held part (for example, Patent Document 4), but the position of the tool can be changed remotely. Nothing has been proposed to make it happen.

  The present invention provides a remote operation type actuator that can change the posture of a tool provided at the tip of an elongated pipe portion by remote operation, and can efficiently cool a portion that generates heat during processing without adversely affecting the machine part. The issue is to provide.

  A remote-control actuator according to the present invention includes an elongated spindle guide portion, a tip member attached to the tip of the spindle guide portion via a tip member connecting portion so that the posture can be freely changed, and a base end of the spindle guide portion And the tip member rotatably supports a spindle holding a tool, and the spindle guide portion rotates a tool rotation drive source provided in the drive unit housing. A rotation shaft that transmits the tip member to the spindle, and a guide hole that penetrates both ends of the shaft, and a posture operation member that changes the posture of the tip member by advancing and retracting with the tip contacting the tip member. A posture change drive source is provided in the drive unit housing to be inserted into the drive unit so as to advance and retreat, and to move the posture operation member back and forth. Cooling is injected into the inside from a coolant injection hole provided in the vicinity of the base end of the dollar guide portion, sent to the tip side through the inside of the spindle guide portion and the tip member, and discharged from the tip member toward the tool. And a sealing means for preventing intrusion of the coolant from the spindle guide portion into the drive portion housing.

  According to this structure, cutting of a bone etc. is performed by rotation of the tool provided in the tip member. In this case, when the posture operation member is moved forward and backward by the posture change drive source, the tip of the posture operation member acts on the tip member, so that the posture can be changed to the tip of the spindle guide portion via the tip member connecting portion. The position of the tip member attached to is changed. The posture changing drive source is provided in the drive portion housing on the proximal end side of the spindle guide portion, and the posture change of the tip member is performed by remote control. Since the posture operation member is inserted into the guide hole, the posture operation member does not shift in the direction intersecting the longitudinal direction, and can always act properly on the tip member, and the posture change operation of the tip member Is done accurately.

At the time of machining, the tool and the workpiece generate heat, and rotating members such as the rotating shaft and spindle generate heat due to rotational friction. By providing the cooling means, the rotating shaft, the spindle, and the like are cooled by the coolant sent to the tip side through the inside of the spindle guide portion and the tip member, and the tool and the work piece are cooled by the coolant discharged from the tip member. To be cooled. By passing the coolant through the spindle guide and tip member, it is not necessary to provide a coolant supply pipe outside the spindle guide and tip member. The spindle guide and tip member are simplified and reduced in diameter. it can.
Further, since the sealing means is provided, it is possible to prevent the coolant from entering from the spindle guide portion into the drive portion housing, and the failure of the mechanism including the tool rotation drive source and the posture change drive source in the drive portion housing. Is difficult to occur, and the life can be prevented from being shortened.

In this invention, the sealing means may be a sliding bearing that supports the rotating shaft at a position closer to the base end side than the coolant injection hole.
Since the sliding bearing contacts and supports the rotating shaft, the clearance between the rotating portion of the bearing and the rotating shaft is smaller than that of the rolling bearing. Therefore, if the bearing located on the base end side with respect to the coolant injection hole is a sliding bearing, this can also be used as a seal member.

In this invention, the sealing means has a shielding space provided in the drive portion housing and communicating with the inside of the spindle guide portion at the base end of the spindle guide portion, and the pressure of the shielding space is made higher than the atmospheric pressure. May be.
Since the coolant discharge part of the tip member is at atmospheric pressure, the coolant in the spindle guide part flows to the tip member side by increasing the pressure in the shielded space above atmospheric pressure, and the coolant in the spindle guide part Can be prevented from entering the drive unit housing.

In the present invention, the spindle guide portion may include an outer pipe serving as an outer shell of the spindle guide portion, and the guide hole may be an inner diameter hole of a guide pipe provided in the outer pipe.
With this configuration, it is possible to reduce the weight by making the spindle guide hollow while protecting the inside of the spindle guide by the outer pipe.

In the case of the above configuration, the outer pipe has a hollow hole penetrating at both ends, and the hollow hole is formed by a circular hole portion at the center and a groove-like portion recessed from the circular hole portion toward the outer diameter side. The rotating shaft may be disposed in the circular hole portion, and the guide pipe may be disposed in the groove portion.
Since the hollow hole of the outer pipe is composed of a circular hole at the center and a groove-like part recessed from the circular hole to the outer diameter side, the thickness of the portion other than the groove-like part of the outer pipe should be increased. Can do. As a result, the rigidity of the spindle guide portion (secondary moment of section) is increased, the positioning accuracy of the tip member is improved, and the machinability is improved. For example, the secondary moment of section of the outer pipe may be ½ or more of a solid shaft with the same outer diameter. Further, since the guide pipe is arranged in the groove-like portion, the guide pipe can be easily positioned in the circumferential direction, and the assemblability is good.

When the spindle guide has an outer pipe, the outer pipe can be provided with the coolant injection hole.
If the coolant injection hole is provided in the outer pipe, the structure can be simplified as compared with the case where the coolant injection hole is provided in the drive unit housing. In particular, when the outer pipe has a thick portion such as the outer pipe, the spindle guide portion can be formed without using any other reinforcing member by opening a coolant injection hole in the thick portion. A cooling liquid injection hole can be provided in this.

In the present invention, when a plurality of rolling bearings that rotatably support the rotating shaft in the spindle guide portion are provided, it is desirable to provide a spring element that applies a preload to the rolling bearings between adjacent rolling bearings.
In order to improve the finish of processing, it is preferable to rotate the spindle at high speed. When the spindle is rotated at a high speed, there is an effect of reducing cutting resistance acting on the tool. Since the rotational force is transmitted to the spindle through a thin rotating shaft made of a wire or the like, it is necessary to preload the rolling bearing that supports the rotating shaft in order to realize high-speed rotation of the spindle. If a spring element for this preload is provided between adjacent rolling bearings, the spring element can be provided without increasing the diameter of the spindle guide portion.

In the case of providing a plurality of rolling bearings that rotatably support the rotary shaft in the spindle guide portion, the cooling means may cool the rolling bearings with the cooling liquid.
Since the coolant is passed through the spindle guide portion, the rolling bearing provided in the spindle guide portion can be cooled with the coolant.

The coolant is preferably water or physiological saline.
When this remote control type actuator is used for medical purposes and the tip member is inserted into the living body to perform processing, if the cooling liquid is water or physiological saline, the cooling liquid does not adversely affect the living body.

In the present invention, the spindle guide portion may have a curved portion.
If the spindle guide portion is curved, it is possible to process the workpiece on the other side of the obstacle.

  The remote control type actuator according to the present invention comprises an elongated spindle guide portion, a tip member attached to the tip of the spindle guide portion via a tip member connecting portion so that the posture can be freely changed, and a base end of the spindle guide portion. A driving unit housing coupled thereto, wherein the tip member rotatably supports a spindle holding a tool, and the spindle guide unit rotates a driving source for rotating the tool provided in the driving unit housing. There is a rotation shaft that transmits to the spindle and guide holes that penetrate through both ends, and a posture operation member that changes the posture of the tip member by moving the tip member forward and backward while contacting the tip member. A posture change drive source that is inserted into the drive housing so as to advance and retreat, and that moves the posture operation member forward and backward. Cooling means for injecting into the inside from a coolant injection hole provided in the vicinity of the base end of the id portion, sending it to the tip side through the inside of the spindle guide portion and the tip member, and discharging from the tip member toward the tool And a sealing means for preventing the coolant from entering the drive unit housing from within the spindle guide part, so that the posture of the tool provided at the tip of the elongated spindle guide part can be controlled remotely. It can be changed, and the portion that generates heat during processing can be efficiently cooled without adversely affecting the machine part.

  An embodiment of the present invention will be described with reference to FIGS. In FIG. 1, the remote control type actuator includes a tip member 2 for holding a rotary tool 1, an elongated spindle guide portion 3 having the tip member 2 attached to the tip so that the posture can be freely changed, and the spindle guide. Drive unit housing 4a to which the base end of unit 3 is coupled, controller 5 for controlling tool rotation drive mechanism 4b and posture changing drive mechanism 4c in drive unit housing 4a, and cooling means for cooling tool 1 and the like 50. The drive unit housing 4a constitutes the drive unit 4 together with the built-in tool rotation drive mechanism 4b and posture changing drive mechanism 4c.

  As shown in FIG. 2, the tip member 2 has a spindle 13 rotatably supported by a pair of bearings 12 inside a substantially cylindrical housing 11. The spindle 13 has a cylindrical shape with an open end, and the shank 1a of the tool 1 is inserted into the hollow portion in a fitted state, and the shank 1a is non-rotatably coupled by the rotation prevention pin 14. The tip member 2 is attached to the tip of the spindle guide portion 3 via the tip member connecting portion 15. The tip member connecting portion 15 is a means for supporting the tip member 2 so that the posture thereof can be freely changed, and includes a spherical bearing. Specifically, the distal end member connecting portion 15 includes a guided portion 11 a that is a reduced inner diameter portion of the proximal end of the housing 11 and a hook-shaped portion of a retaining member 21 that is fixed to the distal end of the spindle guide portion 3. It is comprised with the guide part 21a. The guide surfaces F1 and F2 that are in contact with each other 11a and 21a are spherical surfaces having a center of curvature O located on the center line CL of the spindle 13 and having a smaller diameter toward the proximal end side. As a result, the tip member 2 is prevented from being detached from the spindle guide portion 3 and is supported so as to be freely changeable in posture. In this example, since the tip member 2 is configured to change the posture around the X axis passing through the center of curvature O, the guide surfaces F1 and F2 may be cylindrical surfaces having the X axis passing through the point O as an axis. .

  The spindle guide portion 3 has a rotating shaft 22 that transmits the rotational force of the tool rotation drive source 41 (FIG. 3) in the drive portion housing 4 a to the spindle 13. In this example, the rotating shaft 22 is a wire and can be elastically deformed to some extent. As the material of the wire, for example, metal, resin, glass fiber or the like is used. The wire may be a single wire or a stranded wire. As shown in FIG. 2C, the spindle 13 and the rotary shaft 22 are connected so as to be able to transmit rotation via a joint 23 such as a universal joint. The joint 23 includes a groove 13 a provided at the closed base end of the spindle 13 and a protrusion 22 a provided at the distal end of the rotating shaft 22 and engaged with the groove 13 a. The center of the connecting portion between the groove 13a and the protrusion 22a is at the same position as the center of curvature O of the guide surfaces F1 and F2. The rotating shaft 22 and the protrusion 22a may be configured as separate members.

  The spindle guide section 3 has an outer pipe 25 that is an outer shell of the spindle guide section 3, and the rotation shaft 22 is located at the center of the outer pipe 25. The rotating shaft 22 is rotatably supported by a plurality of rolling bearings 26 that are arranged apart from each other in the axial direction. Between each rolling bearing 26, spring elements 27A and 27B for generating a preload on the rolling bearing 26 are provided. The spring elements 27A and 27B are, for example, compression coil springs. There are an inner ring spring element 27A for generating a preload on the inner ring of the rolling bearing 26 and an outer ring spring element 27B for generating a preload on the outer ring, which are arranged alternately. The retaining member 21 is fixed to the pipe end portion 25a of the outer pipe 25 by a fixing pin 28, and rotatably supports the distal end portion of the rotary shaft 22 via a rolling bearing 29 at the distal end inner peripheral portion thereof. The pipe end portion 25a may be a separate member from the outer pipe 25 and may be joined by welding or the like.

  Between the inner diameter surface of the outer pipe 25 and the rotary shaft 22, one guide pipe 30 penetrating at both ends is provided, and a flexible posture operation member is placed in a guide hole 30 a which is an inner diameter hole of the guide pipe 30. 31 is inserted in such a manner that it can freely advance and retract. In this example, the posture operation member 31 is a wire. The distal end of the posture operation member 31 is spherical, and the spherical distal end is in contact with the bottom surface of the radial groove portion 11 b formed on the base end surface of the housing 11. The groove 11b and the posture operation member 31 constitute an anti-rotation mechanism 37, and the tip member 2 inserted into the groove 11b hits the side surface of the groove 11b, so that the tip member 2 is in front of the spindle guide 3. Rotation around the center line CL of the member 2 is prevented. A columnar pin 31a is provided on the base end side of the posture operation member 31, and the spherical base end of the columnar pin 31a is in contact with the side surface of the lever 43b described later.

  For example, compression is provided between the proximal end surface of the housing 11 of the distal end member 2 and the distal end surface of the outer pipe 25 of the spindle guide portion 3 at a position 180 degrees relative to the circumferential position where the posture operation member 31 is located. A restoring elastic member 32 made of a coil spring is provided. The restoring elastic member 32 acts to urge the tip member 2 toward a predetermined posture.

  In addition to the guide pipe 30, a plurality of reinforcing shafts 34 are arranged on the same pitch circle C as the guide pipe 30 between the inner diameter surface of the outer pipe 25 and the rotary shaft 22. These reinforcing shafts 34 are for ensuring the rigidity of the spindle guide portion 3. The intervals between the guide pipe 30 and the reinforcing shaft 34 are equal. The guide pipe 30 and the reinforcing shaft 34 are in contact with the inner diameter surface of the outer pipe 25 and the outer diameter surface of the rolling bearing 26. Thereby, the outer diameter surface of the rolling bearing 26 is supported.

  FIG. 3 shows a tool rotation drive mechanism 4b and a posture change drive mechanism 4c in the drive unit housing 4a. The tool rotation drive mechanism 4 b includes a tool rotation drive source 41 controlled by the controller 5. The tool rotation drive source 41 is, for example, an electric motor, and its output shaft 41 a is coupled to the proximal end of the rotation shaft 22. The posture changing drive mechanism 4 c includes a posture changing drive source 42 controlled by the controller 5. The posture changing drive source 42 is, for example, an electric linear actuator, and the movement of the output rod 42 a that moves in the left-right direction in FIG. 3A is transmitted to the posture operating member 31 through the force transmission mechanism 43. The boost transmission mechanism 43 has a lever 43b that is rotatable around a support shaft 43a. The force of the output rod 42a acts on an action point P1 of the lever 43b that is long from the support shaft 43a. The force is applied to the posture operation member 31 at the force point P <b> 2 having a short distance, and the output of the posture changing drive source 42 is increased and transmitted to the posture operation member 31. If the boost transmission mechanism 43 is provided, a large force can be applied to the posture operation member 31 even with a linear actuator having a small output, and thus the linear actuator can be downsized. The rotary shaft 22 passes through an opening 44 formed in the lever 43b. Instead of providing a linear actuator or the like, the posture of the tip member 2 may be remotely operated manually.

  The posture change drive mechanism 4c is provided with an operation amount detector 45 for detecting the operation amount of the posture change drive source 42. The detection value of the movement amount detector 45 is output to the posture detection means 46. The posture detection means 46 detects the tilt posture of the tip member 2 around the X axis (FIG. 2) based on the output of the movement amount detector 45. The posture detection means 46 has relationship setting means (not shown) in which the relationship between the tilt posture and the output signal of the motion amount detector 45 is set by an arithmetic expression or a table, and the relationship is determined from the input output signal. The tilting posture is detected using setting means. This posture detection means 46 may be provided in the controller 5 or may be provided in an external control device.

  The posture changing drive mechanism 4c is provided with a wattmeter 47 that detects the amount of power supplied to the posture changing drive source 42, which is an electric actuator. The detected value of the supplied wattmeter 47 is output to the load detecting means 48. The load detection means 48 detects the load acting on the tip member 2 based on the output of the wattmeter 47. The load detection means 48 has relation setting means (not shown) in which the relation between the load and the output signal of the supplied wattmeter 47 is set by an arithmetic expression or a table, and the relation setting means is determined from the input output signal. The load is detected using. The load detecting means 48 may be provided in the controller 5 or may be provided in an external control device.

  The controller 5 controls the tool rotation drive source 41 and the posture change drive source 42 based on the detection values of the posture detection means 46 and the load detection means 48.

  As shown in FIG. 1, the cooling means 50 includes a cooling liquid supply device 51 provided outside the remote operation type actuator, the cooling liquid supplied from the cooling liquid supply device 51, the spindle guide portion 3, and the tip member 2. A coolant supply pipe 52 that leads to the tip side through the inside of the tip member, and discharges coolant in the axial direction from the tip of the tip member 2 toward the tool 1. The coolant supply pipe 52 includes an outer portion 52a from the coolant supply apparatus 1 to the spindle guide portion 3, and an inner portion 52b that passes through the inside of the spindle guide portion 3 and the tip member 2, and in the inner portion 52b, a spindle guide. The outer pipe 25 (FIG. 2) of the part 3 and the housing 11 (FIG. 2) of the tip member 2 serve as a coolant supply pipe 52.

  As shown in FIG. 2A, the spindle guide portion 3 is coupled to the drive portion housing 4a by inserting the base end portion of the spindle guide portion 3 into the side plate 70 on the distal end side of the drive portion housing 4a. The side plate 70 of the drive unit housing 4a is provided with a bearing fitting hole 71 coaxial with the axis of the spindle guide 3 and an extended guide hole 72 following the guide hole 30a. A sliding bearing 73 is fitted into the bearing fitting hole 71, and the rotating shaft 22 is supported by the sliding bearing 73. The columnar pin 31 a is inserted into the extension guide hole 72.

  Further, the side plate 70 and the substrate 74 of the drive unit housing 4a are provided with a cooling liquid injection hole 75 that allows the inside of the spindle guide part 3 to communicate with the outside, and a pipe joint 76 is connected to the external side end of the cooling liquid injection hole 75. The outer portion 52a of the coolant supply pipe 52 is coupled through the via. The sliding bearing 73 is located on the proximal end side with respect to the coolant injection hole 75. The sliding bearing 73 is a sealing means S that prevents the coolant from entering the spindle guide portion 3 into the drive portion housing 4a.

The operation of this remote control type actuator will be described.
When the tool rotation drive source 41 is driven, the rotational force is transmitted to the spindle 13 via the rotation shaft 22, and the tool 1 rotates together with the spindle 13. The load acting on the tip member 2 when the tool 1 is rotated to cut bone or the like is detected by the load detection means 48 from the detection value of the supply wattmeter 47. By controlling the feed amount of the entire remote operation type actuator and the posture change of the distal end member 2 described later according to the load value thus detected, the load acting on the distal end member 2 can be appropriately maintained while maintaining the load. Cutting can be performed.

  At the time of use, the posture changing drive source 42 is driven to change the posture of the tip member 2 by remote control. For example, when the posture operating member 31 is advanced to the distal end side by the posture changing drive source 42, the housing 11 of the distal end member 2 is pushed by the posture operating member 31, and the distal end member 2 is directed downward in FIG. The posture is changed along the guide surfaces F1 and F2 toward the side. On the other hand, when the posture operation member 31 is retracted by the posture changing drive source 42, the housing 11 of the tip member 2 is pushed back by the elastic repulsive force of the restoring elastic member 32, and the tip member 2 is shown in FIG. The posture is changed along the guide surfaces F1 and F2 to the side facing upward. At that time, the pressure of the posture operation member 31, the elastic repulsive force of the restoring elastic member 32, and the reaction force from the retaining member 21 act on the tip member connecting portion 15, and the balance of these acting forces The posture of the tip member 2 is determined. The posture of the tip member 2 is detected by the posture detection means 46 from the detection value of the movement amount detector 45. Therefore, the posture of the tip member 2 can be appropriately controlled by remote operation.

  Further, since the rotation preventing mechanism 37 for preventing the tip member 2 from rotating around the center line CL of the tip member 2 with respect to the spindle guide portion 3 is provided, the posture operation for controlling the advancement and retreat of the posture operation member 31 is provided. Even when the tip member 2 that holds the tool 1 becomes uncontrollable due to a failure of the drive mechanism 4c or its control device, the tip member 2 rotates around the center line CL and damages the periphery of the machining site, It is possible to prevent the member 2 itself from being damaged.

  Since the posture operation member 31 is inserted through the guide hole 30a, the posture operation member 31 does not shift in the direction intersecting the longitudinal direction, and can always act properly on the tip member 2, and the tip member 2 posture change operation is performed accurately. Further, since the posture operation member 31 is made of a wire and is flexible, the posture changing operation of the tip member 2 is reliably performed even when the spindle guide portion 3 is curved. Furthermore, since the center of the connecting portion between the spindle 13 and the rotating shaft 22 is at the same position as the center of curvature O of the guide surfaces F1 and F2, a force for pushing and pulling against the rotating shaft 22 by changing the posture of the tip member 2 is increased. Accordingly, the posture of the tip member 2 can be changed smoothly.

  This remote control type actuator is used, for example, for cutting the medullary cavity of bone in artificial joint replacement surgery. During the operation, all or part of the distal end member 2 is inserted into the patient's body. The For this reason, if the posture of the tip member 2 can be changed by remote control as described above, the bone can be processed while the tool 1 is always held in an appropriate posture, and the artificial joint insertion hole is finished with high accuracy. Can do.

  The elongated spindle guide portion 3 needs to be provided with the rotating shaft 22 and the posture operation member 31 in a protected state. The rotating shaft 22 is provided at the center of the outer pipe 25, and the outer pipe 25, the rotating shaft 22, Since the guide pipe 30 accommodating the posture operation member 31 and the reinforcing shaft 34 are arranged side by side in the circumferential direction, the rotary shaft 22 and the posture operation member 31 are protected and the interior is hollow. Rigidity can be ensured while reducing weight. Also, the overall balance is good.

  Since the outer diameter surface of the rolling bearing 26 that supports the rotating shaft 22 is supported by the guide pipe 30 and the reinforcing shaft 34, the outer diameter surface of the rolling bearing 26 can be supported without using extra members. Moreover, since the preload is applied to the rolling bearing 26 by the spring elements 27A and 27B, the rotating shaft 22 made of a wire can be rotated at a high speed. Therefore, machining can be performed by rotating the spindle 13 at a high speed, the machining finish is good, and the cutting resistance acting on the tool 1 can be reduced. Since the spring elements 27A and 27B are provided between the adjacent rolling bearings 26, the spring elements 27A and 27B can be provided without increasing the diameter of the spindle guide portion 3.

  By the cooling means 50, the coolant supplied from the coolant supply device 51 enters the spindle guide portion 3 through the coolant injection hole 75 and passes through the inside of the spindle guide portion 3 and the tip member 2 to the tip side. Then, it is discharged toward the tool 1 in the axial direction from the tip of the tip member 2. Specifically, in the spindle guide portion 3, the coolant flows through the hollow portion between the rotating shaft 22 in the outer pipe 25, the guide pipe 25 and the reinforcing shaft 25, and the gap between the inner ring and the outer ring of the rolling bearing 26. . From the spindle guide portion 3 to the tip member 2, the coolant flows through the gap between the retaining member 21 and the rotating shaft 22 and the gap between the inner ring and the outer ring of the rolling bearing 29. Inside the tip member 2, the coolant flows through the gap between the inner ring and the outer ring of the bearing 12.

  When the coolant passes through the inside of the spindle guide portion 3 and the tip member 2, the rotating shaft 22, the rolling bearings 26 and 29, and the spindle 13 are cooled. These rotating members generate heat due to rotational friction. Further, the tool 1 and the workpiece are cooled by the coolant discharged from the tip member 2. As described above, since the coolant is passed through the spindle guide portion 3 and the tip member 2, it is not necessary to provide a coolant supply pipe outside. The spindle guide portion 3 and the tip member 2 are simplified and have a small diameter. Can be

  Note that the cooling liquid may also be used for lubricating the rolling bearings 26 and 29. By doing so, it is not necessary to use grease or the like generally used for bearings, and it is not necessary to provide a separate lubricating device.

  Generally, since the sliding bearing supports the rotating shaft in a contact state, the clearance between the rotating portion of the bearing and the rotating shaft is smaller than that of the rolling bearing. Therefore, the bearing that supports the rotating shaft 22 on the base end side with respect to the coolant injection hole 75 is the sliding bearing 73, so that the coolant can be prevented from entering from the spindle guide portion 3 into the drive portion housing 4a. That is, the sliding bearing 73 can be used as the sealing means S. By providing the sealing means S, it is difficult for the tool rotation drive mechanism 4b and the posture change drive mechanism 4c in the drive unit housing 4a to fail, and the lifetime can be prevented.

  The cooling liquid is preferably water or physiological saline. If the coolant is water or saline, this remote control type actuator is for medical use, and when the tip member 2 is inserted into the living body for processing, the coolant does not adversely affect the living body. is there. When the coolant is water or physiological saline, it is desirable that the material of the parts in contact with the coolant is stainless steel having excellent corrosion resistance. Other parts constituting this remote control type actuator may also be made of stainless steel.

  In the above embodiment, the coolant injection hole 75 is provided at the proximal end portion of the spindle guide portion 3 inserted into the side plate 70 of the drive portion housing 4a, but is exposed from the side plate 70 of the spindle guide portion 3. A coolant injection hole 75 may be provided at a location. In that case, in order to prevent the attachment of the outer portion 52a of the coolant supply pipe 52 to the coolant injection hole 75 from becoming unstable, the base portion of the spindle guide portion 3 is fixed using a flange member 77 as shown in FIG. It is preferable to fix to the side plate 70 and provide the coolant injection hole 75 in the flange portion 77.

  FIG. 5 shows a different configuration of the sealing means. This sealing means S is provided with a shielding space 78 communicating with the inside of the spindle guide portion 3 through the bearing fitting hole 71 in the drive section housing 4a, and this shielding space 78 and an external pressure generating means 79 are connected to a pipe joint. The pressure of the shielding space 78 is made higher than the atmospheric pressure by the action of the pressure generating means 79. As the pressure generating means 79, for example, an air pump can be used. A bearing that is fitted in the bearing fitting hole 72 and supports the rotary shaft 22 is a rolling bearing 26.

  According to the sealing means S having this configuration, since the pressure of the coolant discharge portion of the tip member 2 is atmospheric pressure, the coolant in the spindle guide portion 3 is increased by making the pressure of the shielding space 78 higher than atmospheric pressure. Can flow to the tip member 2 side, and the coolant in the spindle guide portion 3 can be prevented from entering the drive portion housing 4a. Note that the pressure generating means 79 may not be provided if the shielding space 78 can be completely sealed, that is, without any air leakage.

  As shown in FIG. 6, if the bearings that support the rotating shaft 22 on both sides of the shielding space 78 are sliding bearings 73, the pressure in the shielding space 78 can be easily increased, and the spindle guide portion 3 enters the drive portion housing 4a. Intrusion of the coolant can be more effectively prevented.

  In the above embodiment, the posture operation member 31 pushes the housing 11 to change the posture of the tip member 2, but as shown in FIG. 7, the tip of the posture operation member 31 made of a wire and the housing 11 are connected by a connecting member 31b. By connecting and retreating the posture operation member 31 to the proximal end side by a posture change drive source (not shown), the posture operation member 31 pulls the housing 11 to change the posture of the distal end member 2. Good. The restoring elastic member 32 is a tension coil spring.

  FIG. 8 shows a different embodiment. This remote control type actuator is provided with two guide pipes 30 at circumferential positions in the outer pipe 25 that are 180 degrees in phase with each other, and in the guide hole 30a that is the inner diameter hole of the guide pipe 30, the same attitude as described above. The operating member 31 is inserted so as to freely advance and retract. Between the two guide pipes 30, a plurality of reinforcing shafts 34 are arranged on the same pitch circle C as the guide pipe 30. The restoring elastic member 32 is not provided. The guide surfaces F1 and F2 are spherical surfaces whose center of curvature is the point O, or cylindrical surfaces whose axis is the X axis passing through the point O.

  The drive unit 4 (not shown) is provided with two posture change drive sources 42 (not shown) for individually moving the two posture operation members 31 forward and backward, and these two posture change drives. The posture of the tip member 2 is changed by driving the sources 42 in opposite directions. For example, when the upper posture operation member 31 in FIG. 8 is advanced to the distal end side and the lower posture operation member 31 is retracted, the housing 11 of the distal end member 2 is pushed by the upper posture operation member 31. The posture of the tip member 2 is changed along the guide surfaces F1 and F2 to the side where the tip side faces downward in FIG. Conversely, when both posture operation members 31 are moved back and forth, the housing 11 of the tip member 2 is pushed by the lower posture operation member 31, so that the tip member 2 is directed upward in FIG. 8A. The posture is changed along the guide surfaces F1 and F2 to the side. At that time, the pressure of the two upper and lower posture operating members 31 and the reaction force from the retaining member 21 are acting on the tip member connecting portion 15, and the posture of the tip member 2 is determined by the balance of these acting forces. Is done. In this configuration, the housing 11 of the tip member 2 is pressurized by the two posture operation members 31, so that the posture stability of the tip member 2 is improved as compared with the embodiment in which the pressure is applied by only one posture operation member 31. Can be increased.

  FIG. 9 shows a further different embodiment. In this remote operation type actuator, three guide pipes 30 are provided at circumferential positions in the outer pipe 25 at a phase of 120 degrees with respect to each other, and a posture operation member 31 is provided in a guide hole 30 a which is an inner diameter hole of the guide pipe 30. Has been inserted to move forward and backward. In this example, a columnar pin 31 c is also provided on the tip side of each posture operation member 31. The distal end of the columnar pin 31 c is spherical, and the spherical distal end is in contact with the bottom surface of the radial groove 11 b formed on the proximal end surface of the housing 11. Between the three guide pipes 30, a plurality of reinforcing shafts 34 are arranged on the same pitch circle C as the guide pipes 30. The restoring elastic member 32 is not provided. The guide surfaces F1 and F2 are spherical surfaces whose center of curvature is a point O, and the tip member 2 can tilt in any direction.

The drive unit 4 is provided with three posture changing drive sources 42 (42U, 42L, 42R) (FIG. 13) for individually moving the three posture operation members 31 (31U, 31L, 31R) forward and backward. The attitude of the tip member 2 is changed by driving these three attitude changing drive sources 42 in conjunction with each other.
For example, when the upper one posture operation member 31U in FIG. 9 is advanced to the distal end side and the other two posture operation members 31L and 31R are moved backward, the upper posture operation member 31U causes the housing 11 of the distal end member 2 to move. By being pushed, the tip member 2 changes its posture along the guide surfaces F1 and F2 to the side in which the tip side faces downward in FIG. At this time, each posture changing drive source 42 is controlled so that the amount of advance / retreat of each posture operation member 31 is appropriate. When each posture operation member 31 is moved back and forth, the housing 11 of the tip member 2 is pushed by the left and right posture operation members 31L and 31R, so that the tip member 2 moves to the side where the tip side is upward in FIG. 9A. The posture is changed along the guide surfaces F1 and F2.
Further, when the left posture operation member 31L is advanced to the distal end side and the right posture operation member 31R is moved backward while the upper posture operation member 31U is stationary, the distal end member 2 is moved by the left posture operation member 31L. When the housing 11 is pushed, the tip member 2 changes its posture along the guide surfaces F1 and F2 to the right, that is, the side facing the back side of the paper surface in FIG. 9A. When the left and right posture operation members 31L and 31R are moved back and forth, the housing 11 of the tip member 2 is pushed by the right posture operation member 31R, so that the tip member 2 moves along the guide surfaces F1 and F2 toward the left side. Change the posture.
Thus, by providing the posture operation member 31 at three positions in the circumferential direction, the tip member 2 can be changed in posture in the directions of the upper, lower, left and right axes (X axis, Y axis). At that time, the pressure of the three posture operating members 31 and the reaction force from the retaining member 21 are acting on the tip member connecting portion 15, and the posture of the tip member 2 is determined by the balance of these acting forces. The In this configuration, since the pressure is applied to the housing 11 of the tip member 2 by the three posture operation members 31, the posture stability of the tip member 2 can be further improved. If the number of posture operation members 31 is further increased, the posture stability of the tip member 2 can be further enhanced.

  As shown in FIGS. 10 and 11, the posture operation member 31 may be composed of a plurality of force transmission members 31 d and 31 e arranged without gaps in the length direction of the guide hole 30 a. In the example of FIG. 10, the plurality of force transmission members 31 d are balls, and columnar pins 31 c are provided on the front end side of the alignment of the balls. In the example of FIG. 11, the plurality of force transmission members 31 e are columnar bodies such as columns, and columnar pins 31 c are provided on the front end side of the columnar bodies. The columnar pin 31 c is the same as described above, and its spherical tip is in contact with the bottom surface of the radial groove 11 b formed on the base end surface of the housing 11.

  When the posture operation member 31 includes a plurality of force transmission members 31 d and 31 e, the posture of the tip member 2 is changed by operating the tip member 2 toward the side pressing the tip member 2. Even if the posture operation member 31 is composed of a plurality of force transmission members 31d and 31e, it is possible to reliably act on the tip member 2. Since the force transmission members 31d and 31e are arranged in the guide hole 30a, the posture operation member 31 does not shift in the direction intersecting the longitudinal direction, and can always act properly on the tip member 2. The posture changing operation of the tip member 2 is accurately performed. Even if each of the force transmission members 31d and 31e is a rigid body, the posture operation member 31 as a whole is flexible, so that the posture changing operation of the tip member 2 can be performed even when provided on the curved spindle guide portion 3. Surely done.

  10 and 11 show an example in which the posture operation member 31 is provided at three circumferential positions at a phase of 120 degrees, but the posture operation member 31 is at two positions at a phase of 180 degrees. Even when the circumferential position is provided, or when the posture operation member 31 provided at one place in the circumferential direction is combined with the restoring elastic member 32 corresponding thereto, the force transmission members 31d and 31e are configured. The posture operation member 31 can be applied.

  FIG. 12 shows an embodiment in which the cross-sectional shape of the outer pipe is different. In the outer pipe 25 of this embodiment, the hollow hole 24 is recessed from the circumferential position forming a phase of 120 degrees to the outer periphery of the circular hole 24a at the center and the outer periphery of the circular hole 24a. It consists of two groove-like parts 24b. The peripheral wall at the tip of the groove-like portion 24b has a semicircular cross section. And the rotating shaft 22 is arrange | positioned in the circular hole part 24a, and the guide pipe 30 is provided in each groove-shaped part 24b.

  By making the outer pipe 25 have the above-described cross-sectional shape, the thickness t of the outer pipe 25 other than the groove-like portion 24b can be increased. Thereby, the rigidity (secondary moment of cross section) of the spindle guide portion 3 is increased, the positioning accuracy of the tip member 2 is improved, and the machinability is improved. For example, the secondary moment of section of the outer pipe 25 is preferably ½ or more of a solid shaft with the same outer diameter. Further, by arranging the guide pipes 30 in the groove-like portions 24b, the guide pipes 30 can be easily positioned in the circumferential direction, and the assemblability is good. In addition, since the outer pipe 25 has a thick portion, by opening the coolant injection hole 75 in the thick portion without using other reinforcing members such as the flange member 77. A coolant injection hole 75 can be provided in the spindle guide portion 3.

  When the posture operation members 31 are provided at three places in the circumferential direction as in the embodiments of FIGS. 9 to 12, the posture change drive mechanism 4c can be configured as shown in FIG. 13, for example. That is, three posture change drive sources 42 (42U, 42L, 42R) for individually moving the posture operation members 31 (31U, 31L, 31R) forward and backward are arranged in parallel on the left and right sides, and each posture change drive source is provided. A lever 43b (43bU, 43bL, 43bR) corresponding to 42 is provided so as to be rotatable around a common support shaft 43a, and each lever 43b has a long distance from the support shaft 43a at an action point P1 (P1U, P1L, P1R). The force of the output rod 42a of each posture change drive source 42 is applied, and the force is applied to the posture operation member 31 at a force point P2 (P2U, P2L, P2R) having a short distance from the support shaft 43a. Thereby, the output of each posture change drive source 42 can be increased and transmitted to the corresponding posture operation member 31. The rotary shaft 22 passes through an opening 44 formed in the lever 43bU for the upper posture operation member 31U.

  FIG. 14 is a cutaway side view of a tool rotation drive mechanism and a posture change drive mechanism of an embodiment in which the configuration of the posture operation drive mechanism 4c is different, and FIG. FIG. In this embodiment, a male screw portion 36a is formed at the base end of the posture operation member 31 made of a wire, and this male screw portion 36a is screwed with a female screw portion 36b formed in the drive portion housing 4a. The male screw portion 36a and the female screw portion 36b constitute a screw mechanism 36. By rotating the base end of the posture operating member 31 by driving the posture changing drive source 42, the posture operating member 31 moves forward and backward by the action of the screw mechanism 36.

  In the posture changing drive mechanism 4 c, for example, the rotation of the output shaft 42 a of the posture changing drive source 42 formed of an electric rotary actuator is reduced and transmitted to the base end of the posture operating member 31 via the reduction rotation transmission mechanism 49. . The decelerating rotation transmission mechanism 49 is rotatably supported by a circular spur gear 49a attached to the output shaft 42a of the attitude changing drive source 42, and a support member 60 fixed to the drive unit housing 4a, and meshes with the circular spur gear 49a. The rotation is transmitted from the sector spur gear 49b to the base end side extension 63 of the posture operation member 31 by the rotation sliding portion 62 provided on the rotation center axis of the sector spur gear 49b. The sector spur gear 49 b has a larger pitch circle diameter than the circular spur gear 49 a, and the rotation of the output shaft 42 a is decelerated and transmitted to the base end of the posture operation member 31. Providing the decelerating rotation transmission mechanism 49 allows the base end of the posture operating member 31 to rotate at a low speed even with a small rotary actuator that rotates at high speed, so that a small rotary actuator can be used as the posture changing drive source 42. It becomes possible. The tool rotation drive mechanism 4b has the same configuration as described above.

  In each of the above embodiments, the rotation prevention mechanism 37 of the tip member 2 is provided, but the rotation prevention mechanism 37 may not be provided.

  In each of the above embodiments, the spindle guide portion 3 has a linear shape. However, in the remote control type actuator of the present invention, the tip operation member 31 is flexible even when the posture operation member 31 is flexible and the spindle guide portion 3 is curved. Therefore, the spindle guide portion 3 may have a curved shape in the initial state as shown in FIG. Alternatively, only a part of the spindle guide portion 3 may be curved. If the spindle guide portion 3 is curved, it may be possible to insert the distal end member 2 to the back of the bone, which is difficult to reach in the straight shape, so that the hole for artificial joint insertion can be accurately processed in artificial joint replacement surgery. It becomes possible to finish.

  When the spindle guide portion 3 has a curved shape, the outer pipe 25, the guide pipe 30, and the reinforcing shaft 34 need to have a curved shape. The rotating shaft 22 is preferably made of a material that is easily deformed, and for example, a shape memory alloy is suitable.

  The medical remote control actuator has been described above, but the present invention can be applied to remote control actuators for other purposes. For example, in the case of machining, drilling of a curved hole or cutting of a deep part inside the groove is possible.

It is a figure which shows schematic structure of the remote control type actuator concerning embodiment of this invention. (A) is a sectional view of a part of the distal end member, spindle guide portion, and drive portion housing of the remote control type actuator, (B) is a sectional view taken along the line IIB-IIB, and (C) is a sectional view of the distal end member and the rotating shaft. The figure which shows a connection structure, (D) is the figure which looked at the housing of the front-end | tip member from the base end side. (A) is the figure which combined and displayed the control system in the front view of the tool rotation drive mechanism and attitude | position change drive mechanism of the remote operation type | mold actuator, (B) is the IIIB-IIIB sectional drawing. It is sectional drawing of the coupling | bond part of the spindle guide part and drive part housing of the remote control type actuator concerning different embodiment of this invention. It is sectional drawing of a part of spindle guide part and drive part housing which show a different structure of a sealing means. It is sectional drawing of a part of spindle guide part and drive part housing which shows further another structure of a sealing means. (A) is a sectional view of a distal end member and a spindle guide portion of a remote control type actuator according to a different embodiment of the present invention, (B) is a sectional view of VIIB-VIIB, and (C) is a proximal end side housing of the distal end member. It is the figure seen from. (A) is a sectional view of a distal end member and a spindle guide portion of a remote control type actuator according to still another embodiment of the present invention, (B) is a sectional view of the VIIIB-VIIIB, and (C) is a proximal end of a housing of the distal end member. It is the figure seen from the side. (A) is a sectional view of a tip member and a spindle guide portion of a remote control type actuator according to still another embodiment of the present invention, (B) is a sectional view of IXB-IXB, and (C) is a base end of a housing of the tip member. It is the figure seen from the side. (A) is a sectional view of a distal end member and a spindle guide portion of a remote control type actuator according to still another embodiment of the present invention, (B) is an XB-XB sectional view thereof, and (C) is a proximal end of a housing of the distal end member. It is the figure seen from the side. (A) is a sectional view of a distal end member and a spindle guide portion of a remote control type actuator according to still another embodiment of the present invention, (B) is a sectional view of the XIB-XIB, and (C) is a proximal end of a housing of the distal end member. It is the figure seen from the side. (A) is sectional drawing of the tip member of a remote control type actuator concerning another embodiment of this invention, a spindle guide part, and a part of drive section housing, (B) is the XIIB-XIIB sectional view, (C) FIG. 6 is a view of the housing of the distal end member as viewed from the proximal end side. FIG. 9A is a front view of a tool rotation drive mechanism and a posture change drive mechanism of each remotely operated actuator shown in FIGS. 9 to 12, and FIG. 9B is a sectional view taken along line XIIIB-XIIIB. FIG. 6 is a cutaway side view of a tool rotation drive mechanism and a posture change drive mechanism of a remote operation type actuator having different configurations of posture operation drive mechanisms. It is an enlarged view of the connection part of the attitude | position operation member and drive part housing of the remote control type actuator. It is a figure which shows schematic structure of the remote control type actuator from which the shape of a spindle guide part differs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Tool 2 ... Tip member 3 ... Spindle guide part 4a ... Drive part housing 5 ... Controller 13 ... Spindle 15 ... Tip member connection part 22 ... Rotating shaft 24 ... Hollow hole 24a ... Circular hole part 24b ... Groove-like part 25 ... Outer Pipes 26, 29 ... rolling bearings 27A, 27B ... spring element 30 ... guide pipe 30a ... guide hole 31 ... attitude operating member 41 ... tool rotation drive source 42 ... attitude changing drive source 50 ... cooling means 73 ... slide bearing 75 ... Coolant injection hole 78 ... shielding space S ... sealing means

Claims (10)

An elongated spindle guide part, a tip member attached to the tip of the spindle guide part via a tip member connecting part so that the posture can be freely changed, and a drive part housing to which the base end of the spindle guide part is coupled. ,
The tip member rotatably supports a spindle that holds a tool, and the spindle guide portion includes a rotating shaft that transmits rotation of a driving source for tool rotation provided in the driving portion housing to the spindle, and both ends. A guide hole penetrating into the guide hole, and a posture operation member for changing the posture of the tip member by advancing and retreating with the tip contacting the tip member is inserted into the guide hole so as to be able to advance and retract. A posture changing drive source for moving the member forward and backward is provided in the drive unit housing,
Cooling liquid is injected into the inside from a cooling liquid injection hole provided in the vicinity of the base end of the spindle guide portion, and is sent to the tip side through the inside of the spindle guide portion and the tip member, and from the tip member to the tool. A remote operation type actuator characterized in that a cooling means for discharging the liquid is provided, and a sealing means for preventing the coolant from entering the drive part housing from the spindle guide part is provided.   2. The remote operation type actuator according to claim 1, wherein the sealing means is a sliding bearing that supports the rotating shaft at a position closer to the base end side than the coolant injection hole.   3. The sealing means according to claim 1, wherein the sealing means has a shielding space that is provided in the drive portion housing and communicates with the inside of the spindle guide portion at a base end of the spindle guide portion, and a pressure in the shielding space is increased. Remote control type actuator that is higher than atmospheric pressure.   The spindle guide part according to any one of claims 1 to 3, wherein the spindle guide part includes an outer pipe serving as an outer part of the spindle guide part, and the guide hole is provided in the outer pipe. Remote control type actuator with an inner diameter hole.   In claim 4, the outer pipe has a hollow hole penetrating at both ends, the hollow hole is a circular hole portion in the center portion, and a groove-shaped portion recessed from the circular hole portion to the outer diameter side, A remote operation type actuator in which the rotating shaft is arranged in the circular hole portion and the guide pipe is arranged in the groove-like portion.   6. The remote control type actuator according to claim 4, wherein the coolant injection hole is provided in the outer pipe.   The rolling bearing according to claim 1, wherein a plurality of rolling bearings that rotatably support the rotating shaft in the spindle guide portion are provided, and a preload is applied to the rolling bearings between adjacent rolling bearings. Remote control type actuator with spring element to give.   8. The rolling bearing according to claim 1, further comprising a plurality of rolling bearings rotatably supporting the rotating shaft in the spindle guide portion, wherein the cooling means cools the rolling bearing with the cooling liquid. A remote control type actuator.   9. The remote operation type actuator according to claim 1, wherein the cooling liquid is water or physiological saline.   10. The remote control type actuator according to claim 1, wherein the spindle guide portion has a curved portion.

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