JP2018143426A - Power transmission adapter and medical manipulator system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power transmission adapter which enables increase in the size thereof in a linear motion direction to be easily suppressed, and a medical manipulator system.SOLUTION: The power transmission adapter is provided with: a frame unit 51 arranged between a surgical instrument 10 and a power unit 40; and a separation unit 61 arranged inside the frame unit 51, having one surface opposed to a clean region CR and the other surface opposed to an unclean region UR, and separating the clean region CR and the unclean region UR from each other. The separation unit 61 has: an insertion hole 62 into which an axially moving drive unit 44 is movably inserted; an abutment unit 63 abutting on the drive unit 44 and abutting on a driven unit 21; and a connection unit 42 which connects the circumference of the insertion hole 62 and the abutment unit 63 in the separation unit 61 in such a manner that the abutment unit 63 can axially move, and which separates and connects the clean region CR and the unclean region UR.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a power transmission adapter and a medical manipulator system suitable for use in surgery.

  In recent years, there have been proposals for medical treatments using robots in order to reduce the burden on the surgeon and save labor in medical facilities. In the field of surgery, proposals have been made regarding a medical manipulator system that treats a patient with a multi-degree-of-freedom manipulator having a multi-degree-of-freedom arm that can be remotely operated by an operator (see, for example, Patent Document 1).

Japanese Patent No. 5608486

  The medical manipulator system described in Patent Document 1 described above includes a power transmission adapter (hereinafter, also simply referred to as “adapter”), and also performs power transmission by linear motion. The power transmission part in the above-described adapter is provided with a clean part that comes into contact with the clean area of the adapter body and a dirty part that comes into contact with the clean area of the adapter body.

  The dimension of each part in this power transmission part is set so that the intersection of cleanliness and uncleanness can be suppressed. Specifically, when the power transmission section moves linearly, the clean area of the power transmission section and the clean area of the adapter body contact each other so that the clean section of the power transmission section does not contact the unclean area of the adapter body. It is set not to.

  The medical manipulator system described in Patent Document 1 is also a master-slave type surgical robot having an operation unit operated by an operator and a surgical instrument unit that performs a desired operation in response to a command from the operation unit. In a surgical robot, the following contents are required to perform a safe operation.

  A highly accurate operation is required in which the surgical instrument portion of the surgical robot moves accurately to the position intended by the operator. Further, high controllability is required for the surgical instrument section to quickly follow the input of the operation section so that the surgeon can intuitively operate the surgical instrument section.

  In addition, there is a case where an assistant performs an operation that cannot be performed by the surgical robot during the operation. In this case, a design that is as small as possible is required so that the surgical robot does not interfere with the operation and work of the assistant.

  By the way, in the medical manipulator system described in Patent Document 1, the dimension along the linear motion direction of the power transmission unit is set to at least three times the linear motion possible distance so that cleanliness and filth are not intermingled. Yes. Therefore, there has been a problem that the dimension in the linear motion direction of the power transmission unit and the power transmission adapter including the power transmission unit increases, and the volume also increases.

  As described above, when the volume of the power transmission unit increases, there is a problem that the controllability of the surgical instrument unit among these requirements deteriorates. That is, when the volume of the power transmission unit increases, the mass increases and the inertia also increases, so that the surgical instrument unit does not readily follow the input of the operation unit, and the controllability of the surgical instrument unit deteriorates. There was a problem. Further, an increase in mass and an increase in inertia hinder the introduction of a force sense detection function into a surgical robot and the high accuracy of the force sense detection function to be introduced.

  Further, when the power transmission adapter is a disposable adapter that is disposable for single use, the amount of the disposable material increases when the volume of the power transmission adapter is large. That is, since the manufacturing cost of the power transmission adapter increases due to the increase in material cost, there is a problem that the running cost, which is the cost for operating the surgical robot, increases.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a power transmission adapter and a medical manipulator system that can easily suppress an increase in dimension along the linear motion direction. To do.

In order to achieve the above object, the present invention provides the following means.
The power transmission adapter according to the first aspect of the present invention is disposed between a surgical instrument and a power unit that drives the surgical instrument, and is disposed on the inner side of the frame part. A separation part that opposes the clean area on the tool side and the other surface faces the dirty area on the power part side, and separates the clean area and the dirty area, and the separation part is provided with the power part. The drive unit that moves along the axial direction linearly extending from the surgical instrument to the surgical instrument is inserted into the insertion hole so as to be movable, and is in contact with the drive unit, and is provided in the surgical instrument and moved by the movement of the drive unit The contact portion can move in the axial direction as the drive portion moves, with the contact portion contacting the driven portion moving in the axial direction, the periphery of the insertion hole in the separation portion, and the contact portion. Connected to the clean area and It is having a connecting portion for connecting to isolate regions.

  According to the power transmission adapter according to the first aspect of the present invention, the movement of the drive unit along the axial direction is transmitted to the driven unit by bringing the drive unit into contact with the driven unit via the contact unit. Further, the contact portion is connected to the periphery of the insertion hole through which the drive portion is inserted so that the contact portion can be moved in the axial direction by the connection portion, and the clean region and the dirty region are separated from each other. . Therefore, compared with the technique described in the above-mentioned Japanese Patent No. 5608486, an increase in dimension along the axial direction that is the linear motion direction of the drive unit in the power transmission adapter can be suppressed. Furthermore, it is possible to prevent the clean area and the unclean area from intermingling.

  In the first aspect of the present invention, the axially movable range of the contact portion connected by the connecting portion is preferably wider than the axially movable range of the driving unit.

  Thus, by making the movable range of the contact portion wider than the movable range of the drive portion, the occurrence of a problem that the contact portion or the connection portion is damaged is suppressed. That is, it is possible to prevent the contact portion from moving beyond a movable range due to the movement of the drive portion, and it is possible to suppress the occurrence of a problem that the contact portion or the connection portion is damaged due to excessive force applied thereto.

  In the first aspect of the present invention, the connection portion is formed using a portion having a stretchable shape, a portion formed using a material having flexibility, and a material having flexibility. It is preferable to have at least one of the portions.

  By having at least one of a part formed into a shape having elasticity, a part formed using a flexible material, and a part formed using a flexible material As the drive unit moves, the contact part can move smoothly. In addition, as a shape which has a stretching property, the bellows shape or bellows shape which is a repeating structure of a mountain fold and a valley fold can be illustrated. Moreover, rubber | gum can be illustrated as a material which has a softness | flexibility. Examples of the flexible material include resin materials typified by cloth and vinyl.

  In the first aspect of the present invention, an engagement portion that is engaged with a shape of a region in contact with the contact portion in at least one of the drive portion and the driven portion on the axis of the contact portion. The provided structure is preferable.

  By providing the engaging portion in this way, the axis line between the abutting portion engaged by the engaging portion and the drive portion, or between the abutting portion engaged by the engaging portion and the driven portion. Movement in one direction and the other (in other words, the pushing direction and the pulling direction) can be transmitted. The engaging portion may be configured to be separable from the contact portion, or may be configured integrally with the contact portion. When the engaging portion is configured integrally with the abutting portion, it can be manufactured at a lower cost compared to the case where the engaging portion is configured to be separable.

  In the first aspect of the invention, the driven portion side end portion of the drive portion has an engagement shape that is engaged with the driven portion, and the contact portion has an engagement shape of the drive portion. It is preferable that the coating | coated part which has a shape which covers the circumference | surroundings of is provided.

  In this way, when the engagement shape to be engaged with the driven portion is provided, the driving portion and the driven portion are provided by providing the contact portion with a covering portion that covers the periphery of the engagement shape. Can be engaged, and the movement in the pushing direction and the pulling direction can be transmitted between the driving unit and the driven unit. In addition, since there is one place to be engaged between the drive unit and the driven unit, the gap (backlash) included in the engagement configuration is small compared to a configuration in which a plurality of locations are engaged. Become. It becomes easy to improve the responsiveness of the surgical instrument to the operation by reducing the backlash.

  In the above configuration, the engaging portion is configured to engage and disengage from the driving portion when rotating relative to the driving portion around a predetermined rotation axis, and to rotate relative to the driven portion. It is preferable to have at least one of a shape that engages and disengages from the driven portion when the contact is made.

  As described above, when the shape of the engaging portion is such that the engaging portion engages and disengages from the driving portion and the driven portion when the relative rotational movement occurs, at least one of the power portion and the surgical instrument, and the power It becomes easy to attach and detach with the transmission adapter. In particular, when a power unit and a surgical instrument provided with a plurality of driving units and follower units are attached to and detached from the power transmission adapter, it is easy to attach and detach, and the detachment workability is improved.

The medical manipulator system according to the second aspect of the present invention is provided with the power transmission adapter according to the first aspect of the present invention and the power section.
According to the medical manipulator system according to the second aspect of the present invention, as in the power transmission adapter according to the first aspect, in the power transmission adapter, compared to the technique described in the above-mentioned Japanese Patent No. 5608486. An increase in dimension along the axial direction, which is the linear movement direction of the drive unit, can be suppressed. Furthermore, it is possible to prevent the clean area and the unclean area from intermingling.

In the second aspect of the present invention, the power unit preferably includes a detection unit that detects a force acting on the drive unit from the outside and acting in a direction along the axial direction.
By providing the detection unit in this manner, an external force acting on the surgical instrument can be detected. For example, by reflecting the detected result on the operation unit operated by the operator, the external force acting on the surgical tool can be perceived by the surgeon, and an excessive force is applied to the surgical tool or an object in contact with the surgical tool. It is easy to suppress that.

  In the second aspect of the present invention, the surgical instrument is further provided that has the driven portion that is arranged in the clean area and moves in the axial direction by the movement of the drive unit provided in the power unit, It is preferable that at least one of the driving unit and the driven unit is provided with a magnetic unit that generates a magnetic force for connecting the driving unit and the driven unit with the abutting unit interposed therebetween.

  By providing the magnetic part in this way, the driving part and the driven part are coupled by magnetic force with the contact part sandwiched therebetween. For example, compared with the case where the drive unit and the driven unit are connected by the engagement structure, the connection using the magnetic force is easy to connect and separate the drive unit and the driven unit. Therefore, the power unit and the surgical instrument can be easily attached and detached. In addition, as a magnetic part provided in a drive part, a permanent magnet may be provided and an electromagnet may be provided. The magnetic part provided in the driven part may be a permanent magnet or a metallic material having magnetism.

  In the second aspect of the present invention, a drive-side engagement portion is provided in a region of the drive portion that faces the contact portion, and is on the axis of the region of the contact portion that faces the drive portion. Is preferably provided with a contact-side engagement portion that engages with the drive-side engagement portion.

  By providing the contact-side engagement portion and the drive-side engagement portion in this way, the pressing direction is between the contact portion and the drive portion engaged by the contact-side engagement portion and the drive-side engagement portion. And can transfer the movement in the pulling direction. In addition, the contact side engagement part may be comprised so that isolation | separation from the contact part may be sufficient, and may be comprised integrally with the contact part. When the contact-side engaging portion is configured integrally with the contact portion, it can be manufactured at a lower cost compared to the case where the contact-side engaging portion is configured to be separable.

  In the above configuration, the drive-side engagement portion and the contact-side engagement portion are configured so that the drive-side engagement portion is moved when the contact portion and the drive portion are relatively rotated about a predetermined rotation axis. It is preferable that the contact-side engaging portion has a shape that engages and disengages.

  Thus, by making the shape of the contact side engagement part and the drive side engagement part into a shape in which the contact side engagement part engages and disengages from the drive side engagement part when relatively rotating. The power unit and the power transmission adapter can be easily attached and detached. In particular, when a power unit having a plurality of drive units is attached to and detached from the power transmission adapter, the power transmission adapter is easily attached and detached, and the workability of the attachment and removal is improved.

  In the second aspect of the present invention, the surgical instrument is further provided that has the driven portion that is arranged in the clean area and moves in the axial direction by the movement of the drive unit provided in the power unit, A driven side engaging portion is provided in a region of the driven portion facing the abutting portion, and the driven side engaging portion is engaged with the axis of the region of the abutting portion facing the driven portion. A configuration in which mating contact side engaging portions are provided is preferable.

  By providing the contact-side engagement portion and the driven-side engagement portion in this way, the pressing direction is between the contact portion and the driven portion engaged by the contact-side engagement portion and the driven-side engagement portion. And can transfer the movement in the pulling direction.

  In the above configuration, the driven side engaging portion and the contact side engaging portion are configured to move the driven side engaging portion when the abutting portion and the driven portion relatively rotate about a predetermined rotation axis. It is preferable that the contact-side engaging portion has a shape that engages and disengages.

  Thus, by making the shape of the contact side engagement part and the driven side engagement part into a shape in which the contact side engagement part engages and disengages from the driven side engagement part when it is relatively rotated. The surgical instrument and the power transmission adapter can be easily attached and detached. In particular, when a surgical instrument provided with a plurality of driven parts is attached to or detached from the power transmission adapter, it is easy to attach and detach, and the workability of attachment and detachment is improved.

  In the second aspect of the present invention, the surgical instrument is further provided that has the driven portion that is arranged in the clean area and moves in the axial direction by the movement of the drive unit provided in the power unit, A driving side engaging portion is provided at an end portion of the driving portion on the driven portion side, and a driving side engaging portion with the driving side engaging portion is provided at an end portion of the driven portion on the driving portion side. It is preferable that an engagement portion is provided, and the contact portion is provided with a covering portion having a shape covering the periphery of the drive side engagement portion.

  In this way, when the driving side engaging portion and the driven side engaging portion are engaged, a cover portion having a shape covering the periphery of the driving side engaging portion is provided in the abutting portion, so that the driving portion and the driven portion are provided. It is possible to engage the part, and it is possible to transmit the movement in the pushing direction and the pulling direction between the driving part and the driven part. In addition, since there is one place to be engaged between the drive unit and the driven unit, the gap (backlash) included in the engagement configuration is small compared to a configuration in which a plurality of locations are engaged. Become. It becomes easy to improve the responsiveness of the surgical instrument to the operation by reducing the backlash.

  In the above configuration, the driving side engaging portion and the driven side engaging portion are configured such that the driving side engaging portion and the driven side engaging portion and the driven side engaging portion and the driven side engaging portion, It is preferable that the driven side engaging portion has a shape that engages and disengages.

  As described above, the driving side engaging portion and the driven side engaging portion are shaped so that the driving side engaging portion engages and disengages from the driven side engaging portion when the relative rotational movement occurs. It becomes easy to attach and detach the part and the surgical instrument. In particular, when a power unit provided with a plurality of drive units and a surgical instrument provided with a plurality of driven units are attached / detached, attachment / detachment is facilitated and workability of attachment / detachment is improved.

  In the second aspect of the invention, the power unit is an actuator capable of pushing the drive unit in a direction approaching the surgical instrument along the axial direction and pulling the drive part in a direction away from the surgical instrument. It is preferable to further have a part.

Furthermore, the actuator section is preferably a pneumatic actuator or a linear actuator.
Thus, by providing the actuator unit that can push the drive unit in the direction approaching the surgical instrument and pull it away, the controllability of the surgical instrument can be improved. That is, a gap (backlash) included in one or a plurality of engagement structures provided between the drive unit and the engagement unit is pushed or pulled (biased) by a desired force by the actuator unit. To be smaller. By reducing the backlash, the responsiveness of the surgical instrument to the operation is improved and the controllability is easily improved. Moreover, when the detection part which detects the external force produced by operation | movement of a surgical tool is provided in the motive power part, the detection accuracy of the force by a detection part is easy to improve because backlash becomes small.

  In the second aspect of the invention, the power unit is an actuator capable of pushing the drive unit in a direction approaching the surgical instrument along the axial direction and pulling the drive part in a direction away from the surgical instrument. And when the movable unit provided on the surgical instrument is moved by the plurality of driving units, the one driving unit is moved to one of the pushing direction and the pulling direction by the corresponding actuator unit, and It is preferable that the movable unit is moved and the other driving unit is urged in one of the pushing direction and the pulling direction by the corresponding actuator unit.

  Thus, when the movable part of the surgical instrument is moved by a plurality of driving units, the driving direction in one driving unit (also referred to as “pushing direction”) or the pulling direction (also referred to as “pulling direction”) is used. By moving to one side and moving the driven unit and the other driving unit is also urged to one side, the contact (connected state) of the driving unit, the contact unit and the driven unit can be maintained. That is, the urging directions of one drive unit and the other drive unit are both “push all” that is the push direction, or “pull all” that is the pull direction for both. In this way, by adjusting the state of `` antagonism '' of the urging force of one drive unit and the other drive unit, the strength of the connection between the drive unit and the driven unit and the way the driven unit moves can be arbitrarily set can do.

  Therefore, it is not necessary to provide an engagement configuration for maintaining the connected state in the drive unit, the contact unit, and the driven unit, and the configuration of the drive unit, the contact unit, and the driven unit (in other words, the power unit, the power transmission adapter, and the surgical instrument). (Configuration of connection) can be simplified. Moreover, since the engagement configuration is not used, the attachment / detachment between the power unit and the power transmission adapter and the attachment / detachment between the power transmission adapter and the surgical instrument are facilitated.

  In the second aspect of the invention, the power unit is an actuator capable of pushing the drive unit in a direction approaching the surgical instrument along the axial direction and pulling the drive part in a direction away from the surgical instrument. And when the movable unit provided on the surgical instrument is moved by the plurality of driving units, the one driving unit is moved to one of the pushing direction and the pulling direction by the corresponding actuator unit, and It is preferable that the movable unit is moved and the other driving units are urged to the other of the pushing direction and the pulling direction by the corresponding actuator units.

  When the movable part of the surgical instrument is moved by a plurality of drive parts in this way, one drive part moves in the pushing direction or the pulling direction to move the driven part, and the other drive part is biased to the other. Thus, the contact (connected state) of the drive unit, the contact unit, and the driven unit can be maintained. That is, the urging directions of one driving unit and the other driving unit are the “pushing direction” and the “pulling direction”, and by adjusting the balance state of the urging forces of the one driving unit and the other driving unit, It is possible to arbitrarily set the strength of connection between the drive unit and the driven unit and how the driven unit moves.

  Therefore, it is not necessary to provide an engagement configuration for maintaining the connected state in the drive unit, the contact unit, and the driven unit, and the configuration of the drive unit, the contact unit, and the driven unit (in other words, the power unit, the power transmission adapter, and the surgical instrument). Since the connection structure can be simplified and the engagement structure is not used, the power unit and the power transmission adapter can be easily attached and detached, and the power transmission adapter and the surgical tool can be easily attached and detached.

  According to the power transmission adapter and the medical manipulator system of the present invention, the separation portion that separates the clean region and the unclean region is provided with an insertion hole through which the drive portion is movably inserted, and between the drive portion and the driven portion. By connecting the contact portion sandwiched and the periphery of the insertion portion by separating the clean region and the unclean region by the connecting portion, it is possible to easily suppress an increase in the dimension along the linear motion direction.

1 is a schematic cross-sectional view illustrating an overall configuration of a medical manipulator system according to a first embodiment of the present invention. It is sectional drawing explaining the structure of the power transmission adapter of FIG. It is a partial expanded sectional view explaining the structure of the power transmission adapter which concerns on the 2nd Embodiment of this invention. FIG. 4A is a partially enlarged cross-sectional view illustrating the configuration of the power transmission adapter according to the third embodiment of the present invention, and FIG. 4B is the power according to the first modification of the third embodiment. It is a partial expanded sectional view explaining the structure of a transmission adapter. FIG. 5A is a partially enlarged cross-sectional view for explaining the configuration of a power transmission adapter according to a second modification of the third embodiment of the present invention, and FIG. 5B is a third view of the third embodiment. It is a partial expanded sectional view explaining the structure of the power transmission adapter which concerns on a modification. FIG. 6A is a schematic diagram illustrating the configuration of the power unit and the power transmission adapter according to the fourth embodiment of the present invention. FIG. 6B illustrates the configuration of the power unit, the power transmission adapter, and the surgical instrument. FIG. FIG. 7A is a schematic diagram illustrating a state before the power unit, the power transmission adapter, and the surgical instrument are coupled, and FIG. 7B illustrates the power unit, the power transmission adapter, and the surgical tool. It is a schematic diagram explaining the state couple | bonded. FIG. 8A is a schematic diagram illustrating a state before the first driving side engaging portion and the first driven side engaging portion are engaged, and FIG. 8B is a first driving side engaging portion. It is a schematic diagram explaining the state after a joint part and the 1st driven side engaging part engaged. FIG. 9A is a schematic diagram for explaining a state before the second driving side engaging portion and the second driven side engaging portion are engaged, and FIG. 9B is a second driving side engaging portion. It is a schematic diagram explaining the state after a joint part and the 2nd driven side engaging part engaged. FIG. 10A is a cross-sectional view illustrating the configuration of the fixed portion in the fixed state, and FIG. 10B is a schematic diagram illustrating the state in which the fixed portion is viewed from the rear side. FIG. 11A is a cross-sectional view illustrating the configuration of the release state in the fixing portion, and FIG. 11B is a schematic diagram illustrating the state in which the fixing portion is viewed from the rear side. (c) is a schematic diagram explaining the state which looked at the fixed groove from the front side. It is a partial expanded sectional view explaining the structure of the power transmission adapter which concerns on the 5th Embodiment of this invention. Fig.13 (a) is a schematic diagram explaining the structure of the motive power part of the medical manipulator system which concerns on the 5th Embodiment of this invention, FIG.13 (b) is a part explaining the structure of a power transmission adapter. It is an expanded sectional view. FIG. 14A is a partial schematic diagram illustrating the configuration of the medical manipulator system according to the sixth embodiment of the present invention, and FIG. 14B is a schematic diagram illustrating the configuration of the power unit. . FIG. 15A is a partial schematic diagram illustrating the configuration of the medical manipulator system according to the seventh embodiment of the present invention, and FIG. 15B is a schematic diagram illustrating the configuration of the power unit. .

[First Embodiment]
Hereinafter, the medical manipulator system 1 and the power transmission adapter 50 according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 2. In the present embodiment, the present invention will be described by applying the present invention to a medical manipulator system 1 for treating a patient in the surgical field and a power transmission adapter 50 used in the medical manipulator system 1. As shown in FIG. 1, the medical manipulator system 1 is mainly provided with a surgical instrument 10, a power unit 40, and a power transmission adapter 50.

  The surgical instrument 10 is used for treating a patient in the medical manipulator system 1 and is disposed in the clean region CR. As shown in FIGS. 1 and 2, the surgical instrument 10 includes a surgical instrument housing 11, a follower 21, a wire 22, a guide pulley 23, a drive pulley 24, a forceps (movable part) 31, Is mainly provided.

  The surgical instrument housing 11 is formed in a shape extending in the front-rear direction (axial direction), houses the driven portion 21, the wire 22, the guide pulley 23, and the drive pulley 24, and supports the forceps 31. is there. A recess 12 in which the power transmission adapter 50 and the drive unit 44 of the power unit 40 are disposed is formed at the rear end, which is the end on the power unit 40 side of the surgical instrument housing 11. The front end, which is the end of the surgical instrument housing 11 on the side of the forceps 31, is formed in a columnar shape that is narrower than the rear end. A space 15 in which the wire 22, the guide pulley 23, the drive pulley 24, and the like are disposed is provided from the front end to the center of the surgical instrument housing 11.

  The follower portion 21 is a member formed in a column shape extending in the front-rear direction, and is disposed in the through-hole 14 extending in the front-rear direction formed in the bottom surface 13 of the concave portion 12 of the surgical instrument housing 11 so as to be directly movable in the front-rear direction. It is what is done. The rear end of the driven portion 21 protrudes into the concave portion 12 and can come into contact with a contact portion 63 of the power transmission adapter 50 described later, and the front end protrudes into the space 15 and the wire 22 is attached.

  The wire 22 is a member formed in a string shape, and is disposed in the space 15 of the surgical instrument housing 11 and transmits the movement of the driven portion 21 to the forceps 31. The end portions of the wires 22 are respectively attached to different driven portions 21.

  The induction pulley 23 is a member formed in a disk shape or a column shape that is rotatably supported around a rotation axis. The induction pulley 23 is disposed between the driven portion 21 and the drive pulley 24 in the space 15. A wire 22 is disposed along the circumference of the guide pulley 23, and the wire 22 is guided from the driven portion 21 to the drive pulley 24.

  The drive pulley 24 is a member formed in the shape of a disk or a column that is supported so as to be rotatable around the rotation axis, like the guide pulley 23. The drive pulley 24 is disposed at the front end of the surgical instrument housing 11, and a movable piece 32 of a forceps 31 described later is fixed thereto.

  The forceps 31 is disposed at the front end of the surgical instrument housing 11 and is used as a treatment instrument in surgery. The forceps 31 are mainly provided with a movable piece 32 that is fixed to the drive pulley 24 and whose movement is controlled by the rotation of the drive pulley 24, and a fixed piece 33 that is fixed to the surgical instrument housing 11. The forceps 31 sandwiches an object between the movable piece 32 and the fixed piece 33 by controlling the movement of the movable piece 32.

  In the present embodiment, the forceps 31 is applied to an example in which the forceps 31 are configured by the movable piece 32 and the fixed piece 33. However, the forceps 31 may be configured by two movable pieces 32. In this case, the group of the follower 21, the wire 22, the guide pulley 23, and the drive pulley 24 that moves one movable piece 32, and the follower 21, the wire 22, the guide pulley 23, and the drive pulley 24 that move the other movable piece 32 are used. And a group.

  In the present embodiment, the surgical instrument 10 is provided with a forceps 31 as a treatment tool and applied to an example in which a patient is treated using the forceps 31, but the treatment tool used for the surgical tool 10 is not a forceps 31. May be used.

  The power unit 40 generates power for moving the forceps 31 of the surgical instrument 10 and controls the movement of the forceps 31. The power unit 40 is disposed in the unclean area UR. As shown in FIGS. 1 and 2, the power unit 40 is mainly provided with a power unit housing 41, an actuator unit 42, a detection unit 43, a drive unit 44, and a control unit 45. . The power unit 40 is also provided with a position sensor (not shown) that detects the position of the drive unit 44.

  The power unit housing 41 accommodates the actuator unit 42 and the detection unit 43 therein and supports the drive unit 44 so as to be linearly movable in the front-rear direction. Further, the power unit housing 41 is configured such that a frame part 51 of a power transmission adapter 50 described later can be attached to and detached from the front end thereof.

  The actuator unit 42 generates a force that linearly moves the drive unit 44 in the front-rear direction based on a control signal output from the control unit 45. In the present embodiment, description is made by applying to an example in which the actuator unit 42 is driven by air pressure. However, the actuator unit 42 may be driven by electromagnetic force, or may be an actuator by other known driving methods. May be.

  The detection unit 43 is a sensor that detects a force acting on the drive unit 44 from the outside of the medical manipulator system 1 and acting in a direction along the front-rear direction. Between the detection part 43 and the control part 45, it is comprised so that the signal regarding the force detected in the detection part 43 may be transmitted to the control part 45. FIG. In addition, the method and structure which detect the force by the detection part 43 can use a well-known method and structure, It does not specifically limit. The detection unit 43 may be disposed inside the power unit housing 41 or may be disposed inside the control unit 45.

  The drive unit 44 is a member formed in a rod shape extending in the front-rear direction, and is linearly moved in the front-rear direction by the actuator unit 42. The front end of the drive unit 44 protrudes from the power unit housing 41 and can contact a contact unit 63 of a power transmission adapter 50 described later.

  The control unit 45 generates a control signal for controlling the movement of the actuator unit 42 based on the operator's operation input, and outputs the generated control signal to the actuator unit 42. Further, a signal related to the force output from the detection unit 43 is input to the control unit 45, and a control signal for controlling the movement of the actuator unit 42 is generated based on the signal related to the force, or an operation unit (see FIG. (Not shown)) to provide information on the force acting on the surgical instrument 10 to the surgeon.

  The power transmission adapter 50 is disposed between the power unit 40 and the surgical instrument 10 and partitions the clean area CR and the unclean area UR. Further, the power transmission adapter 50 is also for transmitting the force for moving the forceps 31 generated by the power unit 40 to the surgical instrument 10. As shown in FIG. 2, the power transmission adapter 50 is mainly provided with a frame portion 51 and a separation portion 61.

  The frame part 51 is disposed between the surgical instrument 10 and the power unit 40 that drives the surgical instrument 10. Specifically, the frame 51 is detachably disposed on the outer periphery of the front end of the power unit housing 41 of the power unit 40. Moreover, the recessed part 12 in the surgical instrument 10 is arrange | positioned on the outer periphery of the frame part 51 so that attachment or detachment is possible.

  The separation portion 61 is formed in a plate shape or a film shape that is disposed inside the frame portion 51 and between the power portion 40 and the surgical instrument 10. Further, the separating portion 61 has one surface facing the clean region CR on the surgical instrument 10 side and the other surface facing the unclean region UR on the power unit 40 side, and separates the clean region CR and the unclean region UR. To do. As a material for forming the separation portion 61, a resin material, a metal material, a flexible material including vinyl which is a polymer resin having a vinyl group, or the like can be used. As shown in FIG. 2, the separation portion 61 is mainly provided with an insertion hole 62, a contact portion 63, a connection portion 64, and a drape 65.

  The insertion hole 62 is a through hole formed at a position facing the drive unit 44 in the separation unit 61. The insertion hole 62 is inserted through the power unit 40 from the power unit 40 to the surgical instrument 10 so that the drive unit 44 that moves along the front-rear direction is linearly movable.

  The contact portion 63 is a member formed in a plate shape or a film shape provided at a position corresponding to the insertion hole 62. The contact portion 63 is in contact with the front end of the drive unit 44 and is in contact with the rear end of the driven portion 21.

  The connection portion 64 connects the periphery of the insertion hole 62 and the contact portion 63, and connects the contact portion 63 so as to be movable in the front-rear direction as the drive unit 44 moves. In addition, the connection part 64 separates and connects the clean area CR and the unclean area UR. The range in which the contact portion 63 connected by the connecting portion 64 can move in the front-rear direction is wider than the range in which the drive unit 44 can move in the front-rear direction.

  The present embodiment is applied to an example in which the contact portion 63 is movable in the front-rear direction along with the movement of the drive portion 44 by having the connection portion 64 formed in a bellows shape having elasticity. I will explain. In addition, as a method for enabling the abutting portion 63 to move in the front-rear direction along with the movement of the driving portion 44, the shape of the elastic member other than the bellows shape or the bellows shape, which is a repeated structure of the above-described mountain fold and valley fold, is used. It may have a formed portion, may have a portion formed using a flexible material, and may have a portion formed using a flexible material. You may have the part which combined. An example of the flexible material is rubber. Examples of the flexible material include resin materials typified by cloth and vinyl.

  The drape 65 is a film-like member extending from the frame portion 51 and covers the periphery of the power unit 40. Furthermore, the drape 65 partitions and separates the unclean area UR on the power unit 40 side and the clean area CR on the surgical instrument 10 side. A known material can be used as the material constituting the drape 65 and is not particularly limited.

Next, the movement in the medical manipulator system 1 having the above configuration will be described.
As shown in FIG. 1, when an instruction to operate the forceps 31 is input from the operator who operates the medical manipulator system 1 to the control unit 45, the control unit 45 outputs a control signal according to the input operation instruction. The process which produces | generates and controls the actuator part 42 is performed.

  The actuator unit 42 generates a force that causes the drive unit 44 to move straight forward, and moves the drive unit 44 by a distance corresponding to the input operation instruction. The movement of the drive unit 44 is transmitted to the driven unit 21 via the abutting portion 63 that abuts.

  At this time, the connection portion 64 that connects the periphery of the insertion hole 62 and the contact portion 63 has an accordion shape extending with the movement of the driving portion 44, and does not hinder the movement of the driving portion 44. In addition, the range in which the contact portion 63 connected by the connection portion 64 can move in the front-rear direction is wider than the range in the drive unit 44 that can move in the front-rear direction, and thus the movement of the drive unit 44 is hindered. There is nothing.

  The follower 21 to which the movement is transmitted moves in the forward direction in the same direction as the drive unit 44 by a distance corresponding to the operation instruction. The movement of the driven portion 21 is transmitted to the wire 22, and the drive pulley 24 is rotated by the movement of the wire 22. The drive pulley 24 is rotated according to the moving distance of the wire 22, and the movable piece 32 of the forceps 31 attached to the drive pulley 24 is also rotated.

Next, the movement when the force is detected by the detection unit 43 will be described.
For example, when some external force is applied to the movable piece 32 of the forceps 31 from the outside, the external force is transmitted from the movable piece 32 to the drive pulley 24. Here, the external force is an object other than the medical manipulator system 1 and is generated when an object other than the object grasped by the forceps 31 contacts the forceps 31 or is generated when the forceps 31 grasps the object. Reaction force that exceeds the expectation.

  The external force transmitted to the drive pulley 24 is transmitted to the driven portion 21 via the wire 22. Further, it is transmitted from the driven portion 21 to the drive portion 44 via the contact portion 63 and is detected by the detection portion 43. The detection unit 43 that has detected the external force outputs information related to the magnitude of the detected external force to the control unit 45.

  The control unit 45 prevents the force acting on the medical manipulator system 1 (for example, the forceps 31) from exceeding a desired magnitude, or prevents the force acting on the object grasped by the forceps 31 from exceeding a desired magnitude. The control signal output to the actuator unit 42 is corrected. In addition, the control unit 45 provides a surgeon with information on the force acting on the surgical instrument 10 by sending a signal related to the force to an operation unit (not shown) operated by the operator.

  According to the medical manipulator system 1 and the power transmission adapter 50 configured as described above, the drive unit 44 is brought into contact with the driven unit 21 via the contact unit 63, so that the movement of the drive unit 44 along the front-rear direction is reduced. It is transmitted to the follower 21. Further, the contact portion 63 is connected to the periphery of the insertion hole 62 through which the drive portion 44 is inserted, so that the contact portion 63 can be moved in the front-rear direction by the connection portion 64, and the clean region CR and the dirty region UR. Are connected separately. Therefore, compared with the technique described in the above-mentioned Japanese Patent No. 5608486, an increase in dimension along the front-rear direction, which is the linear movement direction of the drive unit 44 in the power transmission adapter 50, can be suppressed. Furthermore, it is possible to prevent the clean area CR and the unclean area UR from crossing.

  By making the movable range of the contact portion 63 wider than the movable range of the drive unit 44, the occurrence of a problem that the contact portion 63 and the connection portion 64 are damaged is suppressed. That is, it is avoided that the contact portion 63 moves beyond the movable range due to the movement of the drive unit 44, and the occurrence of a problem that an excessive force is applied to the contact portion 63 or the connection portion 64 to be broken is suppressed. be able to.

  The connecting portion 64 has at least one of a portion formed in a shape having elasticity, a portion formed using a flexible material, and a portion formed using a flexible material. As a result, the contact portion 63 can move smoothly with the movement of the drive portion 44.

  By providing the detection unit 43, an external force acting on the surgical instrument 10 can be detected. For example, by reflecting the detected result on the operation of the surgical instrument 10, it is easy to suppress an excessive force from being applied to the surgical instrument 10 or an object that contacts the surgical instrument 10. Moreover, the information of the force which acts on the surgical instrument 10 can be provided to an operator by sending the information of the detected force to the operation part (not shown) which an operator operates.

  By using an actuator driven by air pressure as the actuator unit 42, the ratio of weight to output becomes larger than that driven by an electric motor. Therefore, compared with an electric motor, it is easy to make it lightweight and it is easy to make it a compact structure. Moreover, since the pneumatic element is used (because there is no electrical or thermal hazard), the safety of the medical manipulator system 1 can be easily increased as compared with the case where an electric motor is used. Furthermore, compared with the case where an electric motor is used, it is easy to simplify the structure of the actuator part 42 and to reduce cost.

[Second Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a second embodiment of the present invention will be described with reference to FIG. The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the first embodiment, but the configurations of the drive unit, the contact unit, and the driven unit are different from the first embodiment. Yes. Therefore, in the present embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIG. 3, and description of other configurations and the like will be omitted.

  As shown in FIG. 3, a drive side engagement portion 145 is provided in the drive portion 144 in the power portion 140 of the medical manipulator system 101 of the present embodiment. The driving side engaging portion 145 is provided in a region facing the abutting portion 163 in the driving portion 144, in other words, at the front end of the driving portion 144, and the first abutting side engagement of the power transmission adapter 150 described later. It is engaged with the part 165. The drive side engaging portion 145 is mainly provided with an engaging convex portion 145A formed at the front end and an engaging concave portion 145B formed on the rear side of the engaging convex portion 145A. An inclined surface that is inclined with respect to the front-rear direction is provided at the front end of the engaging convex portion 145A, and a vertical surface that is orthogonal to the front-rear direction is provided at the rear end.

  As shown in FIG. 3, the driven part 121 in the surgical instrument 110 is provided with a driven side engaging part 122. The driven side engaging portion 122 is provided in a region facing the abutting portion 163 in the driven portion 121, in other words, at the rear end of the driven portion 121, and the second abutting side engagement of the power transmission adapter 150 described later. The joint 166 is engaged. The driven side engaging portion 122 is mainly provided with an engaging convex portion 122A formed at the rear end and an engaging concave portion 122B formed on the front side of the engaging convex portion 122A. An inclined surface that is inclined with respect to the front-rear direction is provided at the rear end of the engagement convex portion 122A, and a vertical surface that is orthogonal to the front-rear direction is provided at the front end.

As shown in FIG. 3, the contact portion 163 of the power transmission adapter 150 includes a first contact side engagement portion (engagement portion) 165, a second contact side engagement portion (engagement portion) 166, and , Is provided.
The first abutting side engaging portion 165 is provided on a region of the abutting portion 163 facing the drive unit 144, in other words, on the rear surface of the abutting portion 163. The first abutting side engaging portion 165 is mainly provided with an engaging convex portion 165A formed at the rear end and an engaging concave portion 165B formed on the front side of the engaging convex portion 165A. An inclined surface that is inclined with respect to the front-rear direction is provided at the rear end of the engagement convex portion 165A, and a vertical surface that is orthogonal to the front-rear direction is provided at the front end.

  The second abutting side engaging portion 166 is provided in a region facing the driven portion 121 in the abutting portion 163, in other words, on the front surface of the abutting portion 163. The second abutting side engaging portion 166 is mainly provided with an engaging convex portion 166A formed at the front end and an engaging concave portion 166B formed on the rear side of the engaging convex portion 166A. An inclined surface that is inclined with respect to the front-rear direction is provided at the front end of the engagement convex portion 166A, and a vertical surface that is orthogonal to the front-rear direction is provided at the rear end.

  Next, engagement in the medical manipulator system 101 and the power transmission adapter 150 configured as described above will be described. In addition, about the motion in the medical manipulator system 101 and the power transmission adapter 150 of this embodiment, since it is the same as that of 1st Embodiment, the description is abbreviate | omitted.

  When the drive part 144 approaches the contact part 163, the engagement convex part 145A of the drive side engagement part 145 gets over the engagement convex part 165A of the first contact side engagement part 165 as shown in FIG. Is engaged with the engaging recess 165B. The engaging convex portion 165A of the first contact side engaging portion 165 is engaged with the engaging concave portion 145B of the driving side engaging portion 145. Between the drive part 144 and the contact part 163, the vertical surface of the engaging convex part 145A and the vertical surface of the engaging convex part 165A are in contact with each other, so that it is possible to transmit the movement in the direction in which they are separated. .

  When the driven part 121 approaches the contact part 163, the engagement convex part 122A of the driven side engagement part 122 gets over the engagement convex part 166A of the second contact side engagement part 166 and engages with the engagement concave part 166B. Combined. The engaging convex portion 166A of the second contact side engaging portion 166 is engaged with the engaging concave portion 122B of the driven side engaging portion 122. Between the driven portion 121 and the contact portion 163, the vertical surface of the engaging convex portion 122A and the vertical surface of the engaging convex portion 166A are in contact with each other, so that it is possible to transmit the movement in the direction in which both are separated. .

  According to the above configuration, the drive unit 144 engaged by the drive side engagement unit 145 and the first contact side engagement unit 165 is between the contact unit 163 and the driven side engagement unit 122 and the first engagement unit 165. The driven part 121 engaged by the two abutting side engaging parts 166 transmits the movement in the front and rear direction in the front and rear direction (in other words, the pushing direction and the pulling direction) to and from the abutting part 163. be able to.

  Moreover, the shape of the drive side engaging part 145 and the 1st contact side engaging part 165 is not limited to the one side nail | claw structure of this embodiment. In particular, the first abutting side engaging portion 145 (portion in contact with the unclean area UR) may be a double-sided claw structure, for example, or a structure fixed by screws. In other words, the engagement in the first contact side engagement portion 165 is performed before the operation, in which the drive side engagement portion 145 of the drive portion 144 disposed in the unclean area UR and the first contact side engagement portion 165 are engaged. This is done only once. Therefore, even if the structure of the first abutting side engaging portion 145 is a double-side claw structure or a structure fixed by screws, there is no operational trouble and it is difficult to come off even when a strong external force is applied.

  The first contact side engagement portion 165 and the second contact side engagement portion 166 may be configured to be separable from the contact portion 163 or may be configured integrally with the contact portion 163. Good. In the case where the first abutting side engaging portion 165 and the second abutting side engaging portion 166 are configured integrally with the abutting portion 163, the cost is lower than the case where they are configured to be separable. Can be produced.

  In the above-described embodiment, the drive unit 144 and the contact unit 163 and the driven unit 121 and the contact unit 163 are engaged with each other. However, the drive unit 144 and the contact unit 163 are used. And only one of the driven part 121 and the contact part 163 may be engaged.

[Third Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a third embodiment of the present invention will be described with reference to FIG. The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the second embodiment, but differs from the second embodiment in the configurations of the drive unit, the contact unit, and the driven unit. Yes. Therefore, in this embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIG.

  As shown in FIG. 4A, a drive side engaging portion 245 is provided in the drive portion 244 in the power portion 240 of the medical manipulator system 201 of the present embodiment. The driving side engaging portion 245 is provided in a region facing the abutting portion 263 in the driving portion 244, in other words, at the front end of the driving portion 244, and is engaged with a driven side engaging portion 222 of the driven portion 221 described later. It is to be combined. The driving side engaging portion 245 is mainly provided with an engaging convex portion 245A formed at the front end and an engaging concave portion 245B formed on the rear side of the engaging convex portion 245A. An inclined surface that is inclined with respect to the front-rear direction is provided at the front end of the engagement convex portion 245A, and a vertical surface that is orthogonal to the front-rear direction is provided at the rear end.

  The driven portion 221 in the surgical instrument 210 is provided with a driven side engaging portion 222 as shown in FIG. The driven side engaging portion 222 is provided in a region facing the contact portion 263 in the driven portion 221, in other words, at the rear end of the driven portion 221, and the driving side engaging portion 245 of the driving portion 244 described above. To be engaged. The driven side engaging portion 222 is mainly provided with an engaging convex portion 222A formed at the rear end and an engaging concave portion 222B formed on the front side of the engaging convex portion 222A. An inclined surface that is inclined with respect to the front-rear direction is provided at the rear end of the engagement convex portion 222A, and a vertical surface that is orthogonal to the front-rear direction is provided at the front end.

  A contact portion 263 of the power transmission adapter 250 is provided with a covering portion 265 as shown in FIG. The covering portion 265 is a film-like member having flexibility, and is formed in a bag shape protruding from the contact portion 263 to the driven portion 221 side. Furthermore, the drive side engaging part 245 can be inserted in the inside, and it is formed in the shape which covers the circumference | surroundings of the drive side engaging part 245.

  Next, engagement in the medical manipulator system 201 and the power transmission adapter 250 configured as described above will be described. In addition, about the motion in the medical manipulator system 201 and the power transmission adapter 250 of this embodiment, since it is the same as that of 1st Embodiment, the description is abbreviate | omitted.

  When the power transmission adapter 250 is attached to the power unit 240, the driving side engaging unit 245 is inserted into the covering unit 265 as shown in FIG. When the surgical instrument 210 is attached to the power unit 240 and the power transmission adapter 250, the driven unit 221 approaches the driving unit 244 and the contact unit 263, and the engagement convex portion 222A of the driven side engaging unit 222 is driven. The engagement recess 245B is engaged with the cover 265 sandwiched between the engagement protrusions 245A of the side engagement portion 245. The engaging convex portion 245A of the driving side engaging portion 245 is engaged with the engaging concave portion 222B with the covering portion 265 sandwiched therebetween over the engaging convex portion 222A of the driven side engaging portion 222. Between the driving part 244 and the driven part 221, the vertical surface of the engaging convex part 245A and the vertical surface of the engaging convex part 222A come into contact with each other, so that the movement in the pulling direction can be transmitted.

  According to the above configuration, when the driving side engaging portion 245 and the driven side engaging portion 222 are engaged, the covering portion 265 having a shape that covers the periphery of the driving side engaging portion 245 is contacted with the contact portion 263. Accordingly, the driving unit 244 and the driven unit 221 can be engaged with each other, and the movement in the pushing direction and the pulling direction can be transmitted between the driving unit 244 and the driven unit 221. In addition, since there is one place to be engaged between the drive unit 244 and the driven unit 221, a gap (backlash) included in the configuration of engagement compared to a configuration in which a plurality of locations are engaged. Becomes smaller. It becomes easy to improve the responsiveness of the surgical instrument 210 with respect to operation by the small backlash.

[First Modification of Third Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a first modification of the third embodiment of the present invention will be described with reference to FIG. The basic configuration of the medical manipulator system and the power transmission adapter of the present modification is the same as that of the third embodiment, but the configuration of the drive unit, the contact unit, and the driven unit is different from that of the third embodiment. Yes. Therefore, in the present embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIG. 4B, and description of other configurations and the like will be omitted.

  As shown in FIG. 4B, a drive side engagement portion 345 is provided in the drive portion 344 of the power portion 340 of the medical manipulator system 301 of the present embodiment. The driving side engaging portion 345 is provided in a region facing the abutting portion 363 in the driving portion 344, in other words, at the front end of the driving portion 344, and is engaged with a driven side engaging portion 322 of the driven portion 321 described later. It is to be combined. The drive side engaging portion 345 has a shape protruding from the front end in a direction intersecting with the front-rear direction (for example, a direction orthogonal).

  The driven portion 321 in the surgical instrument 310 is provided with a driven side engaging portion 322 as shown in FIG. The driven side engaging portion 322 is provided in a region facing the abutting portion 363 in the driven portion 321, in other words, at the rear end of the driven portion 321, and the driving side engaging portion 345 of the driving portion 344 described above. To be engaged. The driven side engaging part 322 is a rear end of the driven part 321, and has a concave shape with which the driving side engaging part 345 formed by projecting the periphery on the side surface facing the driving side engaging part 345 is engaged. It has the shape of

  A contact portion 363 of the power transmission adapter 350 is provided with a covering portion 365 as shown in FIG. The covering portion 365 is a flexible film-like member, and is formed in a bag shape protruding from the contact portion 363 to the driven portion 321 side, in other words, in a direction intersecting the front-rear direction. Furthermore, the drive side engaging part 345 can be inserted in the inside, and it is formed in the shape which covers the circumference | surroundings of the drive side engaging part 345. FIG.

  Next, engagement in the medical manipulator system 301 and the power transmission adapter 350 configured as described above will be described. In addition, about the movement in the medical manipulator system 301 and the power transmission adapter 350 of this embodiment, since it is the same as that of 1st Embodiment, the description is abbreviate | omitted.

  When the power transmission adapter 350 is attached to the power unit 340, the driving side engaging unit 345 is inserted into the covering unit 365 as shown in FIG. When the surgical instrument 310 is attached to the power unit 340 and the power transmission adapter 350, the driven unit 321 approaches the drive unit 344 and the contact unit 363, and the drive side engagement unit 345 sandwiches the covering unit 365 therebetween. In this state, it is engaged with the driven side engaging portion 322. Between the drive unit 344 and the driven unit 321, the forward and backward movement can be transmitted by the engagement of the drive side engaging unit 345 and the driven side engaging unit 322.

According to the above configuration, when the driving side engaging portion 345 and the driven side engaging portion 322 are engaged, the cover portion 365 having a shape covering the periphery of the driving side engaging portion 345 is contacted with the contact portion 363. Accordingly, the driving unit 344 and the driven unit 321 can be engaged with each other, and the movement in the pushing direction and the pulling direction can be transmitted between the driving unit 344 and the driven unit 321. In addition, since there is one place to be engaged between the drive unit 344 and the driven unit 321, a gap (backlash) included in the configuration of engagement compared to a configuration in which a plurality of locations are engaged. Becomes smaller. It becomes easy to improve the responsiveness of the surgical instrument 310 with respect to operation by small play.
[Second Modification of Third Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a second modification of the third embodiment of the present invention will be described with reference to FIG. The basic configuration of the medical manipulator system and the power transmission adapter according to the present modification is the same as that of the third embodiment. However, the third embodiment is different from the third embodiment in that a cap is disposed between the contact portion and the driven portion. Is different. Therefore, in the present embodiment, only the configuration of the cap and its peripheral configuration will be described using FIG. 5A, and the description of the other configurations and the like will be omitted.

  As shown in FIG. 5A, the driven portion 221 in the surgical instrument 210 of the medical manipulator system 201X of the present modification includes a driven side engaging portion 222 having an engaging convex portion 222A and an engaging concave portion 222B, A cap 222X is provided. The cap 222X is a member formed of a flexible material such as a resin or an elastic body disposed in the engagement recess 222B. In this embodiment, the cap 222X is described as applied to an example formed from a flexible material. However, the cap 222X is deformed by an external force rather than a resin or an elastic body, such as a metal material. Small hard materials may be used.

Since the cap 222X is formed in a shape that fills a gap (backlash) formed when the driving side engaging portion 245 and the driven side engaging portion 222 are engaged, the engaged driving side engagement. A gap between the portion 245 and the driven side engaging portion 222 is filled. Furthermore, since the cap 222X is formed of a flexible material, it is unlikely to obstruct the engagement and disengagement between the driving side engaging portion 245 and the driven side engaging portion 222.
[Third Modification of Third Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a third modification of the third embodiment of the present invention will be described with reference to FIG. The basic configuration of the medical manipulator system and the power transmission adapter of the present modification is the same as that of the first modification of the third embodiment. However, the first modification is a cap between the contact portion and the driven portion. It is different that there is no arrangement. Therefore, in the present embodiment, only the configuration of the cap and its peripheral configuration will be described using FIG. 5B, and the description of the other configurations and the like will be omitted.

  As shown in FIG. 5B, a driven side engaging portion 322 and a cap 322X are provided on the driven portion 321 of the surgical instrument 310 of the medical manipulator system 301X according to this modification. The cap 322X is a member formed of a flexible material such as a resin or an elastic body disposed in the driven side engaging portion 322. In this embodiment, the cap 322X is described by being applied to an example formed from a flexible material. However, the cap 322X is deformed by an external force more than a resin or an elastic body as a metal material. Small hard materials may be used.

  The cap 322X is formed in a shape that fills a gap (backlash) that is formed when the driving side engaging portion 345 and the driven side engaging portion 322 are engaged. A gap between the portion 345 and the driven side engaging portion 322 is filled. Furthermore, since the cap 322X is formed of a flexible material, it is unlikely to interfere with the engagement and disengagement between the driving side engaging portion 345 and the driven side engaging portion 322.

[Fourth Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a fourth embodiment of the present invention will be described with reference to FIGS. The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the first embodiment, but the configurations of the drive unit, the contact unit, and the driven unit are different from the first embodiment. Yes. Therefore, in the present embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIGS. 6 to 11, and description of other configurations and the like will be omitted.

  As shown in FIGS. 6A and 6B, the power unit 440 of the medical manipulator system 401 of the present embodiment is formed in a cylindrical shape having a central axis extending in the front-rear direction. The power unit 440 includes four first driving units (driving units) 444A arranged at equal intervals on a circumference centered on the central axis, and one second driving unit (driving unit) arranged on the central axis. Part) 444B.

  The first drive unit 444A is a member formed in a columnar shape extending in the front-rear direction, and at the end on the surgical instrument 410 side, in other words, at the front end, a first drive side engagement unit (drive side engagement unit) 445A. Is provided. As shown in FIG. 8A, the first drive side engagement portion 445A has an engagement groove 446A extending in the radial direction of the cylinder on the front end surface and a notch obtained by removing a part of the circumferential surface of the cylinder. Part 447A. The engagement groove 446A has an opening connected to the notch 447A, and has a shape in which the width of the groove becomes stepwise on the front side when viewed from the opening. Further, the engagement groove 446A is disposed so as to extend along the circumferential direction centering on the central axis, and the notch 447A is disposed on the left side when the first drive unit 444A is viewed from the central axis. .

  The second drive part 444B is a member formed in a columnar shape extending in the front-rear direction, and the second drive side engagement part (drive side engagement part) 445B is provided at the end on the surgical instrument 410 side, in other words, at the front end. Is provided. As shown in FIG. 9A, the second drive side engaging portion 445B is formed as a groove extending in the radial direction on the front end surface of the second drive portion 444B and intersecting in a cross shape. The depth is formed so as to have a cylindrical space having at least a groove extending in a cross shape as a diameter.

  As shown in FIGS. 6A and 6B, the surgical instrument 410 is formed in a cylindrical shape having a central axis extending in the front-rear direction. The surgical instrument 410 includes four first driven parts (driven parts) 421A arranged at equal intervals on a circumference centered on the central axis, and one second driven part (driven) arranged on the central axis. Part) 421B. The first driven unit 421A is engaged with the first drive unit 444A, and the second driven unit 421B is engaged with the second drive unit 444B.

  The first driven portion 421A is a member formed in a columnar shape extending in the front-rear direction. The first driven-side engaging portion (driven-side engaging portion) 422A is located at the end on the power portion 440 side, in other words, at the rear end. Is provided. As shown in FIG. 8A, the first driven side engaging portion 422A has a shape in which a cylinder with a small diameter and a cylinder with a large diameter are stacked in order.

  The second driven portion 421B is a member formed in a columnar shape extending in the front-rear direction. The second driven-side engaging portion (driven-side engaging portion) 422B is located at the end on the power portion 440 side, in other words, at the rear end. Is provided. As shown in FIG. 9A, the second driven side engaging portion 422B has a shape in which a column and a cross-shaped column are sequentially stacked. The cross-shaped column is a column shape having a cross shape when viewed from the front-rear direction. Further, the cylinder adjacent to the cross-shaped column is a column having a diameter that is the width of one side of the cross.

  Further, at the end of the surgical instrument 410 on the power transmission adapter 450 side, in other words, at the rear end, as shown in FIG. 6B, a connection groove 416 used for connection with the power transmission adapter 450, a fixing portion 418, , Is provided.

  The connection groove 416 is an inner peripheral surface of the concave portion 12 of the surgical instrument 410 and has a groove shape provided in a region facing the frame portion 451 of the power transmission adapter 450. In the connection groove 416, three openings 417 that open toward the power transmission adapter 450, that is, in the rearward direction, are provided at equal intervals. Note that the number of openings 417 may be three as described above, more or less.

  The fixing portion 418 is a circumferential surface of the surgical instrument 410 and is provided at a position adjacent to the connection groove 416 in the forward direction, and fixes the connection state between the surgical instrument 410 and the power transmission adapter 450. It is used when. As shown in FIG. 10A, the fixing portion 418 is mainly provided with a pressing portion 418A, a shaft portion 418B, a protruding portion 418C, and an urging portion 418D.

  The pressing portion 418A is a columnar member that protrudes radially outward from the circumferential surface of the surgical instrument 410. The shaft portion 418B is a member that extends radially inward from the pressing portion 418A and protrudes into the concave portion 12, and is a columnar member that has a smaller diameter than the pressing portion 418A. The projecting portion 418C is a columnar member that extends from the radially inner end of the pressing portion 418A toward the power transmission adapter 450. The urging portion 418D is a member that urges the pressing portion 418A toward the outer side in the radial direction, and will be described by applying to an example of a coil spring in the present embodiment.

  As shown in FIGS. 6A and 6B, the frame 451 of the power transmission adapter 450 is provided with a connection convex portion 452 used for connection with the surgical instrument 410 and a fixing groove 453. Yes. The power transmission adapter 450 is provided with a covering portion 465 as in the third embodiment.

  The connecting convex portion 452 is formed on the outer peripheral surface of the frame portion 451 so as to protrude radially outward in a region facing the connecting groove 416, and has a shape extending in the circumferential direction. is there. The length in the circumferential direction of the connecting convex portion 452 is set to be equal to or less than the length in the circumferential direction in the opening 417 of the connecting groove 416. In the present embodiment, description will be made by applying to an example in which three connection convex portions 452 are provided at equal intervals, but the number may be more or less than three.

  The fixing groove 453 is a groove formed on the end surface on the surgical instrument 410 side in the frame portion 451, in other words, on the end surface of the front end, and is formed extending in the radial direction. The fixed groove 453 has a width wider than the diameter of the protruding portion 418C of the fixed portion 418 described above.

  Next, engagement in the medical manipulator system 401 and the power transmission adapter 450 configured as described above will be described. In addition, about the motion in the medical manipulator system 401 and the power transmission adapter 450 of this embodiment, since it is the same as that of 1st Embodiment, the description is abbreviate | omitted.

First, the connection between the power transmission adapter 450 and the surgical instrument 410 will be described. As shown in FIGS. 6A and 6B, when the power transmission adapter 450 is attached to the power unit 440, the first drive side engagement unit 445A and the second drive side engagement unit 445B are covered with the cover unit 465. Inserted into. Then, the surgical instrument 410 is attached to the power unit 440 and the power transmission adapter 450. Specifically, as shown in FIGS. 6 (b) and 7 (a), the position of the opening 417 of the surgical instrument 410 is changed to the power. The surgical instrument 410 is brought close to the power transmission adapter 450 in a state where it is aligned with the connection convex portion 452 of the transmission adapter 450. At this time, the pressing portion 418A of the fixing portion 418 is pushed inward in the radial direction as shown in FIGS. 11 (a) and 11 (b). As a result, the protruding portion 418C of the fixing portion 418 moves to the inner side in the radial direction than the frame portion 451 and does not interfere with the frame portion 451.

  When the connecting projection 452 passes through the opening 417 and reaches the connecting groove 416, the surgical instrument 410 is rotated around the central axis with respect to the power unit 440 and the power transmission adapter 450 while the pressing unit 418A is pressed. At this time, the connecting protrusion 452 enters the connecting groove 416.

  When the surgical instrument 410 rotates to a position where the protruding portion 418C of the fixing portion 418 faces the fixing groove 453, the pressing of the pressing portion 418A of the fixing portion 418 is stopped. As shown in FIGS. 10A and 10B, the fixing portion 418 moves outward in the radial direction by the urging force of the urging portion 418D. The protrusion 418C of the fixing portion 418 enters the inside of the fixing groove 453 and suppresses the rotation of the surgical instrument 410 relative to the power transmission adapter 450.

Next, the engagement between the first drive unit 444A and the first driven unit 421A and the engagement between the second drive unit 444B and the second driven unit 421B will be described.
In a state where the connection convex portion 452 of the power transmission adapter 450 is fitted in the opening 417 of the connection groove 416, the first drive portion 444A and the first driven portion 421A have the center axis line as shown in FIG. The central circumferential position is different. More specifically, the first driven portion 421A is located on the side where the notch portion 447A of the first drive portion 444A is provided.

  When the surgical instrument 410 is rotated with respect to the power transmission adapter 450 from this state, the first driven portion 421A approaches the first driving portion 444A, and the first driven portion 421A enters the engagement groove 446A of the first driving portion 444A. The first driven side engaging portion 422A enters. FIG. 8B shows an engagement state between the first driving unit 444A and the first driven unit 421A when the surgical instrument 410 rotates until the protruding portion 418C of the fixing unit 418 enters the fixing groove 453. .

  In addition, when the connection convex portion 452 of the power transmission adapter 450 is fitted into the opening 417 of the connection groove 416, the second drive portion 444B and the second driven portion 421B are, as shown in FIG. The relative phase is such that the cross-shaped column of the driven side engaging portion 422B enters the groove formed in the cross shape of the second driving side engaging portion 445B. In a state where the connection convex portion 452 of the power transmission adapter 450 is fitted in the opening 417 of the connection groove 416, as shown in FIG. 9B, the second driven side engagement portion 422B is the second drive side engagement portion. Enter 445B. When the surgical instrument 410 is rotated with respect to the power transmission adapter 450 from this state, the cruciform column of the second driven side engaging portion 422B rotates in the columnar space of the second driving side engaging portion 445B.

  When the surgical instrument 410 is detached from the power transmission adapter 450, the pressing part 418A of the fixing part 418 is pushed inward in the radial direction, and the surgical instrument 410 is rotated in the opposite direction to the connection. At this time, the engagement between the first drive unit 444A and the first driven unit 421A is released.

  Next, the surgical instrument 410 and the power transmission adapter 450 are rotated until the phases of the connection convex portion 452 and the opening 417 of the connection groove 416 coincide with each other, and the surgical tool 410 and the power transmission adapter 450 are moved away from each other. Let As a result, the engagement between the second drive unit 444B and the second driven unit 421B is released, and the connection between the surgical instrument 410 and the power transmission adapter 450 is also released.

  According to the above configuration, when the shapes of the first driving side engaging portion 445A and the first driven side engaging portion 422A are relatively rotated, the first driving side engaging portion 445A becomes the first driven side engaging portion. By adopting a shape that engages and disengages with the joint portion 422A, the power portion 440 and the surgical instrument 410 can be easily attached and detached. Further, when the second driving side engaging portion 445B and the second driven side engaging portion 422B are relatively rotated, the second driving side engaging portion 445B is engaged with the second driven side engaging portion 422B. By adopting a shape that combines and separates, the power unit 440 and the surgical instrument 410 can be easily attached and detached. In particular, when the power unit 440 provided with a plurality of first drive units 444A and the surgical instrument 410 provided with a plurality of first driven units 421A are attached / detached, attachment / detachment is facilitated, and attachment / detachment workability is improved.

  Note that the first drive unit 444A and the first driven unit 421A are engaged and disengaged by relatively rotating the power unit 440, the power transmission adapter 450, and the surgical instrument 410 as in the above-described embodiment. The second drive unit 444B and the second driven unit 421B may be engaged and disengaged, or the power transmission adapter is provided with a contact side engagement unit that is engaged with the drive unit. The drive-side engagement portion and the contact-side engagement portion may be engaged and disengaged by relatively rotating the power transmission adapter, or the driven side engaged with the driven portion of the power transmission adapter An engagement portion is provided, and the driven side engagement portion and the contact side engagement portion may be engaged and disengaged by relatively rotating and moving the power transmission adapter and the surgical instrument.

  In the medical manipulator system 401 of the above-described embodiment, an attachment / detachment method by rotational movement is employed for attaching / detaching the power unit 440 and the power transmission adapter 450 and attaching / detaching the power transmission adapter 450 and the surgical instrument 410. On the other hand, in the medical manipulator system 1 of the first embodiment, the medical manipulator system 101 of the second embodiment, and the medical manipulator system 201 of the third embodiment, it is not a detachable method by rotational movement, A detachable method by translation is adopted.

[Fifth Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a fifth embodiment of the present invention will be described with reference to FIG. The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the first embodiment, but the configurations of the drive unit, the contact unit, and the driven unit are different from the first embodiment. Yes. Therefore, in the present embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIG. 12, and description of other configurations and the like will be omitted.

  As shown in FIG. 12, the drive unit 544 in the power unit 540 of the medical manipulator system 501 of the present embodiment is provided with a drive-side magnetic unit (magnetic unit) 545 that generates a magnetic force. The drive-side magnetic part 545 is provided in a region facing the contact part 63 in the drive part 544, in other words, at the front end of the drive part 544. The drive-side magnetic part 545 may be provided with a permanent magnet or may be provided with an electromagnet.

  As shown in FIG. 12, a driven side magnetic part (magnetic part) 522 is provided in the driven part 521 of the surgical instrument 510. The driven-side magnetic part 522 is provided in a region facing the contact part 63 in the driven part 521, in other words, at the rear end of the driven part 521, and is coupled to the driving-side magnetic part 545 by the magnetic force. It is. The driven-side magnetic part 522 may be a permanent magnet or a metal material having magnetism.

  Next, engagement in the medical manipulator system 501 and the power transmission adapter 50 configured as described above will be described. In addition, about the motion in the medical manipulator system 501 and the power transmission adapter 50 of this embodiment, since it is the same as that of 1st Embodiment, the description is abbreviate | omitted.

  When the surgical instrument 510 is attached to the power unit 540 and the power transmission adapter 50, the driving-side magnetic unit 545 and the driven-side magnetic unit 522 are coupled by magnetic force with the contact portion 63 interposed therebetween. Between the drive unit 544 and the driven unit 521, it is possible to transmit the movement in the pulling direction by the attractive force generated by the magnetic force acting between the drive side magnetic unit 545 and the driven side magnetic unit 522.

  According to the above configuration, by providing the driving side magnetic part 545 and the driven side magnetic part 522, the driving part 544 and the driven part 521 are coupled by magnetic force with the abutting part 63 interposed therebetween. For example, compared with the case where the drive unit and the driven unit are connected by the engagement structure, the connection using the magnetic force is easy to connect and separate the drive unit 544 and the driven unit 521. Therefore, the power unit 540 and the surgical instrument 510 can be easily attached and detached.

  In the above-described embodiment, the driving unit 544 is provided with the driving side magnetic unit 545 and the driven unit 521 is provided with the driven side magnetic unit 522. However, the driving unit 544 itself has a magnetic body. In addition, the driven unit 521 itself may include a magnetic material so that the drive unit 544 and the driven unit 521 are coupled by their own magnetism.

  Furthermore, the drive part 544 and the contact part 63 have a structure which mechanically engages like the drive part 144 and the contact part 163 of 2nd Embodiment, for example, and the contact part 63 and the follower part 521 are included. May be coupled by magnetic force as in this embodiment. Thus, when the surgical instrument 510 is removed from the medical manipulator system 501 for replacement, the mechanically engaged drive unit 544 and the contact unit 63, in other words, the power unit 540 and the power Unintentional disengagement with the transmission adapter 50 is suppressed.

[Sixth Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a sixth embodiment of the present invention will be described with reference to FIGS. 13 (a) and 13 (b). The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the second embodiment, but the configuration of the power unit is different from that of the second embodiment. Therefore, in this embodiment, only the configuration of the power unit will be described with reference to FIGS. 13A and 13B, and description of other configurations and the like will be omitted.

  As shown in FIG. 13A, the power unit 640 of the medical manipulator system 601 of the present embodiment pushes the drive unit 144 forward (in the direction approaching the surgical instrument 110) along the front-rear direction, and An actuator portion 642 that can be pulled in the rearward direction (the direction away from the surgical instrument 110) is provided. The actuator unit 642 can also be moved by a force applied from the outside such as the surgical instrument 110.

  In the present embodiment, the actuator unit 642 is described as applied to an example in which the actuator unit 642 is driven by air pressure. However, the actuator unit 642 may be driven by electromagnetic force such as a motor, or by other known driving methods. It may be an actuator.

  Next, the movement in the medical manipulator system 601 having the above configuration will be described. In addition, about the engagement in the medical manipulator system 601 and the power transmission adapter 150 of this embodiment, since it is the same as that of 2nd Embodiment, the description is abbreviate | omitted.

  As shown in FIG. 13A, when an operation instruction is input to the control unit 645 from an operator who operates the medical manipulator system 601, the control unit 645 outputs a control signal according to the input operation instruction. The process which produces | generates and controls the actuator part 642 is performed.

  As shown in FIG. 13B, the actuator unit 642 generates a force that linearly moves the drive unit 144 forward or backward according to the input control signal, and according to the input operation instruction. The operation of moving the drive unit 144 by a predetermined distance is performed.

  At this time, the driving unit 144 is maintained in a state of being pulled by the actuator unit 642 with a desired force. Therefore, the engagement structure constituted by the drive side engagement portion 145 and the first contact side engagement portion 165 and the engagement structure constituted by the driven side engagement portion 122 and the second contact side engagement portion 166 are adopted. The gaps (backlash) included are reduced.

  The movement of the driving unit 144 is transmitted to the driven unit 121 via the abutting part 163 that abuts as shown in FIG. Since the subsequent movement in the medical manipulator system 601 is the same as that of the second embodiment, the description thereof is omitted.

  According to the above configuration, the controllability of the surgical instrument 110 is provided by providing the actuator unit 642 that can push the drive unit 144 forward (in the direction approaching the surgical instrument 110) and pull it backward (in the direction away). Can be improved. That is, the engagement structure constituted by the drive side engagement portion 145 and the first contact side engagement portion 165, and the engagement structure constituted by the driven side engagement portion 122 and the second contact side engagement portion 166. The included gap (backlash) is reduced by pulling the drive unit 144 with a desired force by the actuator unit 642. By reducing the backlash, the responsiveness of the surgical instrument 110 to the operation is improved and the controllability is easily improved.

  Further, in the case where the power unit 640 is provided with a detection unit 43 that detects an external force generated by the operation of the surgical instrument 110, the detection accuracy of the force by the detection unit 43 is likely to be improved by reducing the backlash. .

  In the above-described embodiment, the actuator unit 642 is applied to the example of pulling the drive unit 144 with a desired force. However, the actuator unit 642 may push the drive unit 144 with a desired force.

[Seventh Embodiment]
Next, a medical manipulator system and a power transmission adapter according to a seventh embodiment of the present invention will be described with reference to FIGS. 14 (a) and 14 (b). The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the sixth embodiment, but the configuration of the drive unit, the contact unit, and the driven unit is different from that of the sixth embodiment. Yes. Therefore, in the present embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIGS. 14A and 14B, and description of other configurations and the like will be omitted.

  As shown in FIGS. 14 (a) and 14 (b), the power unit 740 of the medical manipulator system 701 of the present embodiment includes a first drive unit (drive unit) 744A in the forward direction along the front-rear direction ( A first actuator unit (actuator unit) 742A and a second drive unit (drive unit) 744B that can be pushed out in a direction approaching the surgical instrument 710 and pulled backward (a direction away from the surgical instrument 710). And a second actuator part (actuator part) 742B that can be pushed forward along the front-rear direction and pulled backwards.

  In the surgical instrument 710, a first driven portion (driven portion) 721A disposed to face the first driving portion 744A and a second driven portion (driven portion) 721B disposed to face the second driving portion 744B. And are provided. The first follower 721A is connected to one end of the wire 22, and the second follower 721B is connected to the other end of the wire 22 connected to the first follower 721A.

  Next, the movement in the medical manipulator system 701 having the above configuration will be described. In addition, about the engagement in the medical manipulator system 701 and the power transmission adapter 50 of this embodiment, since it is the same as that of 1st Embodiment, the description is abbreviate | omitted.

  As shown in FIG. 14B, when an operation instruction is input to the control unit 745 from an operator who operates the medical manipulator system 701, the control unit 745 sends a control signal in accordance with the input operation instruction. The process which produces | generates and controls 1st actuator part 742A and 2nd actuator part 742B is performed.

  As shown in FIG. 14A, each of the first actuator unit 742A and the second actuator unit 742B moves the first drive unit 744A and the second drive unit 744B in the forward direction or the backward direction according to the input control signal. The first drive unit 744A and the second drive unit 744B are moved by a distance corresponding to the input operation instruction.

  For example, the first drive unit 744A is moved in the forward direction (the pushing direction) by the corresponding first actuator unit 742A, and the second drive unit 744B is urged in the forward direction by the corresponding second actuator unit 742B.

  The movements of the first drive unit 744A and the second drive unit 744B are transmitted to the first driven unit 721A and the second driven unit 721B through the contact unit 63 that contacts the first drive unit 744A and the second drive unit 744B. Since the subsequent movement in the medical manipulator system 701 is the same as that in the first embodiment, the description thereof is omitted.

  According to the above configuration, when the forceps 31 of the surgical instrument 710 is moved by the first drive unit 744A and the second drive unit 744B, the first drive unit 744A moves forward to move the first driven unit 721A. The second driven portion 721B is similarly urged forward by the second drive portion 744B, so that the first drive portion 744A, the contact portion 63 and the first driven portion 721A are in contact (connected state), and The contact between the second drive unit 744B, the contact unit 63, and the second driven unit 721B can be maintained.

  Therefore, the engagement configuration that maintains the connection state of the first drive unit 744A, the contact unit 63, and the first driven unit 721A, and the connection of the second drive unit 744B, the contact unit 63, and the second driven unit 721B. It is not necessary to provide an engagement configuration for maintaining the state, the configuration of the first drive unit 744A, the contact unit 63, and the first driven unit 721A, and the second drive unit 744B, the contact unit 63, and the second driven unit 721B. (In other words, a configuration for connecting the power unit 740, the power transmission adapter 50, and the surgical instrument 710) can be simplified. Moreover, since the engagement configuration is not used, the power unit 740 and the power transmission adapter 50 can be easily attached and detached, and the power transmission adapter 50 and the surgical instrument 710 can be easily attached and detached.

  Note that when the forceps 31 of the surgical instrument 710 is moved by the first drive unit 744A and the second drive unit 744B as in the above-described embodiment, the first drive unit 744A moves forward and moves to the first driven unit 721A. The second driven portion 721B may be similarly urged forward by the second driving portion 744B. In the first driving portion 744A, the second driven portion 721B moves forward to move the first driven portion 721A, The driven unit 721B may be moved backward in the reverse direction by the second driving unit 744B while maintaining a state in which the tension is applied to the wire 22.

[Eighth Embodiment]
Next, a medical manipulator system and a power transmission adapter according to an eighth embodiment of the present invention will be described with reference to FIGS. 15 (a) and 15 (b). The basic configuration of the medical manipulator system and the power transmission adapter of the present embodiment is the same as that of the first embodiment, but the configurations of the drive unit, the contact unit, and the driven unit are different from the first embodiment. Yes. Therefore, in the present embodiment, only the configuration of the drive unit, the contact unit, and the driven unit will be described with reference to FIGS. 15A and 15B, and description of other configurations and the like will be omitted.

  As shown in FIGS. 15A and 15B, the power unit 840 of the medical manipulator system 801 of the present embodiment includes a first drive unit (drive unit) 844A in the forward direction along the front-rear direction ( A first actuator unit (actuator unit) 842A and a second drive unit (drive unit) 844B that can be pushed out in a direction approaching the surgical instrument 810 and pulled backward (a direction away from the surgical instrument 810). And a second actuator part (actuator part) 842B that can be pushed forward along the front-rear direction and pulled backwards.

  As shown in FIG. 15A, the first drive unit 844A is provided with a first drive side engagement portion (drive side engagement portion) 845A. The first drive-side engaging portion 845A is provided in a region facing the contact portion 863 in the first drive portion 844A, in other words, at the front end of the first drive portion 844A, and the first drive portion 821A described later. The first driven side engaging portion 822A is engaged. The first drive side engagement portion 845A has a shape protruding from the front end in a direction intersecting with the front-rear direction (for example, a direction orthogonal).

  The second drive portion 844B is provided with a second drive side engagement portion (drive side engagement portion) 845B. The second driving side engaging portion 845B is provided in a region facing the abutting portion 863 in the second driving portion 844B, in other words, at the front end of the second driving portion 844B, and the second driven portion 821B described later. The second driven side engaging portion 822B is engaged. The second drive side engaging portion 845B has a shape protruding from the front end in a direction intersecting with the front-rear direction (for example, a direction orthogonal).

  As shown in FIG. 15A, the first driven portion (driven portion) 821A in the surgical instrument 810 is provided with a first driven side engaging portion (driven side engaging portion) 822A. The first driven side engaging portion 822A is provided in a region facing the contact portion 863 in the first driven portion 821A, in other words, at the rear end of the first driven portion 821A. The first driving portion 844A described above. The first drive side engagement portion 845A is engaged. The first driven side engaging portion 822A has a shape protruding from the front end in a direction intersecting the front-rear direction (for example, a direction orthogonal).

  The second driven portion (driven portion) 821B is provided with a second driven side engaging portion (driven side engaging portion) 822B. The second driven side engaging portion 822B is provided in a region facing the contact portion 863 in the second driven portion 821B, in other words, at the rear end of the second driven portion 821B, and the second driving portion 844B described above. The second drive side engagement portion 845B is engaged. The second driven side engaging portion 822B has a shape protruding from the front end in a direction intersecting with the front-rear direction (for example, a direction orthogonal).

  A contact portion 863 of the power transmission adapter 850 is provided with a covering portion 865 as shown in FIG. The covering portion 865 is a flexible film-like member, and is from the first driving portion 844A to the first driven portion 821A side, from the second driving portion 844B to the second driven portion 821B side, in other words, in the front-rear direction. Are formed in a bag shape protruding in the intersecting direction. Further, the first driving side engaging portion 845A or the second driving side engaging portion 845B can be inserted therein, and covers the periphery of the first driving side engaging portion 845A or the second driving side engaging portion 845B. It is formed into a shape.

Next, the movement in the medical manipulator system 801 having the above configuration will be described.
As shown in FIG. 15B, when an operation instruction is input to the control unit 845 from the operator who operates the medical manipulator system 801, the control unit 845 outputs a control signal according to the input operation instruction. Generate and control the first actuator unit 842A and the second actuator unit 842B.

  As shown in FIG. 15A, each of the first actuator unit 842A and the second actuator unit 842B moves the first drive unit 844A and the second drive unit 844B in the forward direction or the backward direction according to the input control signal. The first drive unit 844A and the second drive unit 844B are moved by a distance corresponding to the input operation instruction.

  For example, the first drive unit 844A is moved rearward (pulling direction) by the corresponding first actuator unit 842A, and the second drive unit 844B is urged rearward by the corresponding second actuator unit 842B.

  The movements of the first driving unit 844A and the second driving unit 844B are transmitted to the first driven unit 821A and the second driven unit 821B. Since the subsequent movement in the medical manipulator system 801 is the same as that of the first embodiment, the description thereof is omitted.

  According to the above configuration, when the forceps 31 of the surgical instrument 810 is moved by the first drive unit 844A and the second drive unit 844B, the first drive unit 844A moves backward to move the first driven unit 821A. The second driven portion 821B is also urged rearward by the second driving portion 844B, so that the first driving portion 844A, the contact portion 863, and the first driven portion 821A are in contact (connected state), and The contact between the second drive unit 844B, the contact portion 863, and the second driven portion 821B can be maintained.

  Therefore, the engagement configuration that maintains the connection state of the first drive unit 844A, the contact unit 863, and the first driven unit 821A, and the connection of the second drive unit 844B, the contact unit 863, and the second driven unit 821B. There is no need to provide an engagement configuration for maintaining the state, the configuration of the first drive unit 844A, the contact unit 863, and the first driven unit 821A, and the second drive unit 844B, the contact unit 863, and the second driven unit 821B. (In other words, a configuration for connecting the power unit 840, the power transmission adapter 850, and the surgical instrument 810) can be simplified.

  When the forceps 31 of the surgical instrument 810 is moved by the first drive unit 844A and the second drive unit 844B as in the above-described embodiment, the first drive unit 844A moves backward to move the first driven unit 821A. The second driven portion 821B may be similarly urged backward by the second drive portion 844B, or the first driven portion 844A moves backward to move the first driven portion 821A, The driven portion 821B may be moved in the reverse forward direction by the second driving portion 844B while maintaining a state in which the tension is applied to the wire 22.

  The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, the present invention is not limited to those applied to the above-described embodiments, and may be applied to embodiments obtained by appropriately combining these embodiments, and is not particularly limited.

  DESCRIPTION OF SYMBOLS 1,101,201,301,401,501,601,701,801 ... Medical manipulator system 10,110,210,310,410,510,710,810 ... Surgery tool 21,121,221,321 521... Follower, 31. Forceps (movable part), 40, 140, 240, 340, 440, 540, 640, 740, 840 ... Power unit, 42, 642 ... Actuator part, 43. 244, 344, 544 ... drive unit, 50, 150, 250, 350, 450, 850 ... power transmission adapter, 51, 451 ... frame unit, 61 ... separation unit, 62 ... insertion hole, 63, 163, 263, 363 863 ... contact part, 64 ... connection part, 122, 222, 322 ... driven side engagement part, 145, 245, 345 ... drive side engagement part, 165 ... first contact Side engagement portion (engagement portion), 166 ... second contact side engagement portion (engagement portion), 265, 365, 865 ... covering portion, 421A, 721A, 821A ... first follower portion (follower portion), 421B, 721B, 821B ... 2nd driven part (driven part), 422A, 822A ... 1st driven side engaging part (driven side engaging part), 422B, 822B ... 2nd driven side engaging part (driven side engagement) Part), 444A, 744A, 844A ... first drive part (drive part), 444B, 744B, 844B ... second drive part (drive part), 445A, 845A ... first drive side engagement part (drive side engagement part) ) 445B, 845B: second driving side engaging part (driving side engaging part), 522: driven side magnetic part (magnetic part), 545: driving side magnetic part (magnetic part), 742A, 842A: first actuator Part (actuator part), 742B, 842B... Chueta unit (actuator unit), CR ... clean area, UR ... unclean area

Claims (19)

A frame disposed between the surgical instrument and a power unit that drives the surgical instrument;
Separation that is arranged inside the frame part, one surface faces the clean area on the surgical instrument side and the other surface faces the dirty area on the power unit side, and separates the clean area and the dirty area And
Is provided,
The separation unit is
An insertion hole through which a drive unit that moves along an axial direction linearly extending from the power unit to the surgical instrument is movably inserted;
An abutting portion that abuts on the driven portion and abuts on a driven portion that is provided on the surgical instrument and moves in the axial direction by the movement of the driving portion;
The periphery of the insertion hole in the separation part and the contact part are connected so that the contact part can move in the axial direction as the drive part moves, and the clean area and the dirty area are separated and connected. A connection,
A power transmission adapter comprising:   2. The power transmission adapter according to claim 1, wherein the axially movable range of the contact portion connected by the connecting portion is wider than the axially movable range of the drive unit.   The connecting portion includes at least one of a portion formed in a shape having elasticity, a portion formed using a material having flexibility, and a portion formed using a material having flexibility. The power transmission adapter according to claim 1 or 2.   An engagement portion that is engaged with a shape of a region in contact with the contact portion in at least one of the drive portion and the driven portion is provided on the axis of the contact portion. The power transmission adapter according to any one of claims 1 to 3. An end of the drive unit on the driven unit side has an engagement shape to be engaged with the driven unit,
The power transmission adapter according to any one of claims 1 to 3, wherein the contact portion is provided with a covering portion having a shape that covers a periphery of an engagement shape of the driving portion.   The engaging portion has a shape that engages and disengages from the driving portion when rotating relative to the driving portion around a predetermined rotation axis, and when the engaging portion rotates relative to the driven portion. The power transmission adapter according to claim 4, wherein the power transmission adapter has at least one of a shape that engages and disengages from the driven portion. The power transmission adapter according to any one of claims 1 to 3, wherein the power transmission adapter is disposed between the drive unit and the surgical instrument.
The power section;
A medical manipulator system characterized by comprising:   The medical manipulator system according to claim 7, wherein the power unit includes a detection unit that detects a force acting on the driving unit from the outside and acting in a direction along the axial direction. The surgical instrument having the follower that is disposed in the clean area and moves in the axial direction by the movement of the driving unit provided in the power unit, is further provided.
8. A magnetic part for generating a magnetic force for connecting the driving part and the driven part with the contact part interposed therebetween is provided in at least one of the driving part and the driven part. Or the medical manipulator system of 8. A drive side engagement portion is provided in a region of the drive portion facing the contact portion,
The contact side engagement part which engages with the said drive side engagement part is provided on the said axis line of the area | region facing the said drive part in the said contact part, The Claim 7 or 8 characterized by the above-mentioned. The medical manipulator system described in 1.   The drive-side engagement portion and the contact-side engagement portion are arranged so that the drive-side engagement portion and the contact-side engagement portion are moved when the contact portion and the drive portion are relatively rotated about a predetermined rotation axis. The medical manipulator system according to claim 10, wherein the contact-side engaging portion has a shape that engages and disengages. The surgical instrument having the follower that is disposed in the clean area and moves in the axial direction by the movement of the driving unit provided in the power unit, is further provided.
A driven side engaging portion is provided in a region of the driven portion facing the contact portion,
The contact side engagement part which engages with the said driven side engagement part is provided on the said axis line of the area | region facing the said driven part in the said contact part. The medical manipulator system described in 1.   The driven-side engaging portion and the contact-side engaging portion are arranged so that the driven-side engaging portion and the contact-side engaging portion are moved when the contact portion and the driven portion relatively rotate around a predetermined rotation axis. The medical manipulator system according to claim 12, wherein the contact-side engaging portion has a shape to be engaged and disengaged. The surgical instrument having the follower that is disposed in the clean area and moves in the axial direction by the movement of the driving unit provided in the power unit, is further provided.
A driving side engaging portion is provided at an end of the driving portion on the driven portion side,
A driven side engaging portion that is engaged with the driving side engaging portion is provided at an end of the driven portion on the driving portion side,
The medical manipulator system according to claim 7 or 8, wherein the contact portion is provided with a covering portion having a shape covering the periphery of the driving side engaging portion.   The drive-side engagement portion and the driven-side engagement portion are configured such that the drive-side engagement portion and the driven-side engagement are engaged when the drive portion and the driven portion are relatively rotated around a predetermined rotation axis. 15. The medical manipulator system according to claim 14, wherein the joint portion has a shape that engages and disengages.   The power unit further includes an actuator unit capable of pushing the drive unit in a direction approaching the surgical instrument along the axial direction and pulling the drive unit in a direction away from the surgical instrument. The medical manipulator system according to any one of claims 9 to 15.   The medical manipulator system according to claim 16, wherein the actuator unit is a pneumatic actuator or a linear actuator. The power unit further includes an actuator unit capable of pushing the drive unit in a direction approaching the surgical instrument along the axial direction, and pulling in a direction away from the surgical instrument,
When moving the movable part provided on the surgical instrument by a plurality of the drive parts, one of the drive parts is moved in one of the pushing direction and the pulling direction by the corresponding actuator part to move the movable part, and the other 9. The medical manipulator system according to claim 7, wherein the driving unit is urged in one of the pushing direction and the pulling direction by the corresponding actuator unit. 10. The power unit further includes an actuator unit capable of pushing the drive unit in a direction approaching the surgical instrument along the axial direction, and pulling in a direction away from the surgical instrument,
When moving the movable part provided on the surgical instrument by a plurality of the drive parts, one of the drive parts is moved in one of the pushing direction and the pulling direction by the corresponding actuator part to move the movable part, and the other 9. The medical manipulator system according to claim 7, wherein the driving unit is biased to the other of the pushing direction and the pulling direction by the corresponding actuator unit. 10.