JP2019088909A - Robot operating table and hybrid operating room - Google Patents

Abstract

To secure a sufficient space around a table for mounting a patient.SOLUTION: This robot operating table 100 comprises: a table 1 for mounting a patient; and an articulated robot arm 2 including one end supported by a base 21 fixed on a floor and the other end for supporting the table 1. The articulated robot arm 2 includes a pitch rotating mechanism 24 that supports the table 1 and makes the table 1 perform pitch rotation around an axial line in a shorter direction. The pitch rotating mechanism 24 includes: a first ball screw 243; a second ball screw 244; a first support member 241 that is moved in the vertical direction by the first ball screw 243 to support the table 1; and a second support member 242 that is moved in the vertical direction by the second ball screw 244 to support the table 1. The first support member 241 and the second support member 242 are disposed so as to be apart from each other at a predetermined distance in a direction in parallel with the table 1's longer direction (X direction).SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robotic operating table and a hybrid operating room.

  Conventionally, a patient positioning assembly is known which moves a table on which a patient is placed by a robot arm and positions the patient relative to a radiation source for treatment (see, for example, Patent Document 1).

  Moreover, conventionally, in the operating room, there is a demand for an operating table which can easily move a table on which a patient is placed while suppressing interference with peripheral devices. Therefore, it is conceivable to apply the patient positioning assembly of Patent Document 1 to an operating table in an operating room to move a table on which a patient is placed using a robot arm. This makes it possible to easily move the table on which the patient is placed, while suppressing interference with peripheral devices, unlike the case where the operating table is moved using the caster.

JP, 2009-131718, A

  However, in the patient positioning assembly as in Patent Document 1 described above, the purpose is to irradiate radiation for treatment, so that a plurality of workers work for a long time around the table on which the patient is placed. There is no need to take into consideration, and a large robot arm is generally used. For this reason, when the robot arm of Patent Document 1 is applied to an operating table, the space around the operating table is narrowed, which hinders medical personnel when performing an operation. Moreover, in the hybrid operating room, the imaging position of the X-ray imaging of the blood vessel of the brain and the operation position are often performed at a position close to each other. In this case, a space is secured so that the C-arm to which the X-ray irradiation unit and the X-ray detection unit are connected enter under the table at the imaging position, and sufficiently around the table at the operation position close to the imaging position. It is necessary to secure the space for medical workers.

  The present invention provides a robot operating table and a hybrid operating room capable of securing a sufficient space under a table for placing a patient and a sufficient space around the table. Further, the present invention secures the space under the table for X-ray imaging and secures the space around the table for surgery even when the imaging position of the X-ray imaging and the operation position are close to each other. It provides a robotic operating table and a hybrid operating room that can be performed.

  A robot operating table according to a first aspect of the present invention comprises a table for placing a patient, and an articulated robot arm supported at one end on a base fixed to a floor and the other end supporting the table. The articulated robot arm includes a pitch pivoting mechanism for supporting the table and pivoting the table about the short axis, and the pitch pivoting mechanism is arranged such that the axial center extends in the vertical direction. The first ball screw, the second ball screw arranged so that the axial center extends in the vertical direction, the first support member moved in the vertical direction by the first ball screw to support the table, and the second ball screw And a second support member for supporting the table, wherein the first support member and the second support member are disposed at a predetermined distance in a direction parallel to the longitudinal direction of the table. There.

  In the robot operating table according to the first aspect of the present invention, by configuring as described above, the table can be easily pitched to a desired rotation angle position by driving the first ball screw and the second ball screw in conjunction. It can be pivoted.

  In the robot operating table according to the first aspect, preferably, the pitch turning mechanism includes a first linear guide disposed to extend in a direction parallel to a direction in which the first ball screw extends, and a direction in which the second ball screw extends. And a second linear guide disposed to extend in a parallel direction, wherein the first support member is slidably attached to the first linear guide, and the second support member is coupled to the second linear guide. It is attached slidably. According to this structure, the first support member can be moved linearly with high accuracy by the first linear guide, and the second support member can be moved linearly with high accuracy by the second linear guide. The pitch can be rotated well.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints, and a vertical articulated assembly having a plurality of vertical joints, The one end is supported by the base and the other end supports one end of the vertical articulated assembly, and the pitch turning mechanism is supported by the other end of the vertical articulated assembly. According to this structure, a plurality of horizontal joints can be collectively arranged on the base side, and a plurality of vertical joints can be collectively arranged on the table side. The movement can be performed by driving the horizontal joint, and the vertical movement can be performed by driving a plurality of vertical joints on the table side. As a result, it is not necessary to drive the horizontal and vertical movements while interlocking the horizontal joint and the vertical joint, respectively, so there are many cases, as compared with the case where the vertical joint and the horizontal joint are alternately arranged. It is possible to suppress that the drive control of the articulated robot arm becomes complicated. In addition, since the pitch rotation mechanism can be provided on the table side of the vertical articulated assembly, the table can be easily pitched and moved by the pitch rotation mechanism independently of the vertical articulated assembly. .

  In the robot operating table according to the first aspect, preferably, the articulated robot arm is configured to assume a first posture housed under the table when the table is positioned at a predetermined position, In the articulated robot arm in the posture, the length in the direction parallel to the longitudinal direction of the table is not more than half the length in the longitudinal direction of the table, and in the direction parallel to the lateral direction of the table It is arranged to fit between both ends of the short side direction. According to this structure, a space of 1/2 or more in the longitudinal direction of the table can be secured below the table opposite to the one end side of the table supported by the articulated robot arm. Sufficient space can be secured around the table. As a result, when applied to a hybrid operating room, the C-arm to which the X-ray irradiator and the X-ray detector are connected can be placed under the table, and the surgeon, assistant, nurse and medical technologist etc. It can increase the degree of freedom for medical staff to access the table. In addition, since the articulated robot arm does not protrude in the lateral direction of the table, interference of the articulated robot arm with the medical worker or other equipment can be effectively suppressed.

  In the robot operating table configured such that the articulated robot arm takes a first posture, preferably, the articulated robot arm is different from the first posture in plan view and one in a direction parallel to the short side direction of the table. It is configured to be capable of taking a second posture in which the unit protrudes from the table, and in the articulated robot arm in the second posture, the length in the direction parallel to the longitudinal direction of the table is the longitudinal length of the table The length of the portion extending from the short side direction of the table in the direction parallel to the short side direction of the table is set to be equal to or less than the length of the short side direction of the table. According to this structure, by setting the articulated robot arm in the second posture, the articulated robot arm can be prevented from largely protruding in the direction of the short side of the table, and can be protruded to both sides of the table. Since it does not exist, when applied to a hybrid operating room, it is possible to effectively suppress the articulated robot arm from interfering with medical personnel and other facilities. When performing this operation, a medical worker including a surgeon is often located on one side of the table, and depending on the procedure, the surgeon is on the patient's head side (the opposite side of the robot arm support portion in the longitudinal direction of the table Because the other medical workers including the assistant are located on one side of the table, the table positioned by the robot arm in the second posture can sufficiently cope with the table.

  In the robot operating table configured such that the articulated robot arm takes a first posture, preferably, the articulated robot arm in the first posture is arranged so as to be entirely hidden below the table in plan view. According to this structure, since the articulated robot arm does not protrude from the table in plan view, it is more effective that the articulated robot arm interferes with the medical worker when performing medical operations such as surgery. Can be suppressed.

  Preferably, in the robot operating table configured such that the articulated robot arm takes a first position, the articulated robot arm preferably includes: a horizontal articulated assembly having a plurality of horizontal joints; and a vertical articulated assembly having a plurality of vertical joints. including. According to this structure, the table can be easily moved to the desired horizontal position by the horizontal articulated assembly having the plurality of horizontal joints. In addition, a vertical articulated assembly having a plurality of vertical joints allows the table to be easily moved to a desired vertical position.

  In this case, preferably, the horizontal articulated assembly has three horizontal joints, and the vertical articulated assembly has three vertical joints. With this configuration, in view of securing the length when the horizontal articulated assembly is maximally extended, the distance between the joints can be reduced compared to the case where two or less horizontal joints are provided. As it can, it can be made more compact when the horizontal articulated assembly is folded and contracted. In addition, the apparatus configuration can be simplified as compared to the case where four or more horizontal joints are provided. In consideration of securing the length when the vertical articulated assembly is maximally extended, the distance between the joints can be reduced as compared with the case where two or less vertical joints are provided. Can be made more compact if it is folded and shrunk. In addition, the apparatus configuration can be simplified as compared to the case where four or more vertical joints are provided.

  In the arrangement in which the articulated robot arm includes a horizontal articulated assembly and a vertical articulated assembly, preferably, the articulated robot arm is configured to yaw rotate the table about a vertical axis by at least one horizontal joint. It is configured. According to this structure, the table can be easily yawed and moved to a desired position by one or more horizontal joints of the articulated robot arm.

  In a configuration in which the articulated robot arm includes a horizontal articulated assembly and a vertical articulated assembly, preferably, the articulated robot arm is in a direction parallel to the lateral direction of the table from the first posture by the horizontal articulated assembly. The table is configured to translate while maintaining the length. According to this structure, since the articulated robot arm can be prevented from jumping out in the short side direction of the table while the table is moved in the horizontal direction, the horizontal direction of the table can be reduced during the movement of the table. It is possible to prevent the articulated robot arm from interfering with the medical personnel located on the side.

  In the configuration in which the articulated robot arm includes the horizontal articulated assembly and the vertical articulated assembly, preferably, the articulated robot arm vertically moves the table in the first posture while maintaining the first posture by the vertical articulated assembly. It is configured to let you According to this structure, since the articulated robot arm can be prevented from jumping out in the horizontal direction while moving the table in the vertical direction, medical personnel who are positioned on the side of the table during the movement of the table can be prevented. It is possible to prevent the articulated robot arm from interfering with the person.

  In the arrangement in which the articulated robot arm includes a horizontal articulated assembly and a vertical articulated assembly, preferably, the articulated robot arm rolls the table about its longitudinal axis by at least one vertical joint. Is configured. According to this structure, the table can be easily rolled and moved to the desired rotation angle position by the one or more vertical joints of the articulated robot arm.

  In the robot operating table according to the first aspect, preferably, the table includes an X-ray transmitting portion and a support portion supporting the X-ray transmitting portion, and the other end of the articulated robot arm is in the vicinity of one end of the table. Supports the support part. According to this structure, a sufficient space can be secured below the X-ray transmission part of the table by arranging the articulated robot arm on the support part side and setting it as the first posture. A device for X-ray imaging can be easily inserted below the unit to perform X-ray imaging.

  A hybrid operating room according to a second aspect of the present invention includes a robot operating table according to the first aspect, an X-ray imaging apparatus for imaging an X-ray projection image of a patient, and a magnetic resonance imaging for imaging a magnetic resonance image of a patient And at least one of the devices.

  According to the present invention, it is possible to provide a robot operating table and a hybrid operating room capable of securing a sufficient space around a patient placement table. In addition, even when the imaging position of the X-ray imaging and the operation position are close, it is possible to secure a space under the table for X-ray imaging and secure a space around the table for the surgery. Robot operating table and hybrid operating room can be provided.

FIG. 1 shows a schematic of a hybrid operating room with a robotic operating table according to one embodiment. FIG. 5 is a plan view of a robotic operating table in a second position according to one embodiment. FIG. 5 is a plan view showing a first example of a robot operating table in a first posture according to an embodiment. It is the top view which showed the 2nd example of the robot operating table of the 1st posture by one embodiment. It is the top view which showed the 3rd example of the robot operating table of the 1st posture by one embodiment. It is the top view which showed the 4th example of the robot operating table of the 1st attitude | position by one Embodiment. It is a side view for explaining the maximum imaging possible range of the 2nd example of the robot operating table by one embodiment. It is a side view for explaining the maximum imaging possible range of the 3rd example of the robot operating table by one embodiment. It is a side view for demonstrating the minimum imaging possible range of the 4th example of the robot operating table by one Embodiment. It is a front view for explaining roll rotation of a robot operating table by one embodiment. FIG. 5 is a side view showing a pitch pivoting mechanism of a robot operating table according to one embodiment. It is a perspective view for explaining pitch rotation of a robot operating table by one embodiment. It is a side view for explaining pitch rotation of a robot operating table by one embodiment.

  Hereinafter, embodiments will be described based on the drawings.

(Configuration of robot operating table)
The outline of the robot operating table 100 according to the present embodiment will be described with reference to FIGS. 1 to 13.

  As shown in FIG. 1, the robot operating table 100 is provided in the hybrid operating room 200. The hybrid operating room 200 is provided with an X-ray imaging apparatus 300 that captures an X-ray projection image of the patient 10. The robot operating table 100 is used, for example, as an operating table performed in surgery, internal medicine, and the like. The robot operating table 100 moves to the mounting position where the patient 10 is mounted on the table 1 and, with the patient 10 mounted on the table 1, the anesthesia position, the operation position, the examination position, the treatment position, the X-ray imaging It is possible to move the patient 10 to a position or the like. The robot operating table 100 can also tilt the patient 10 in a state where the patient 10 is placed on the table 1.

  The robot operating table 100 includes a patient placement table 1, an articulated robot arm 2, and a control unit 3. The table 1 includes an X-ray transmission unit 11 and a support unit 12 for supporting the X-ray transmission unit 11. The articulated robot arm 2 includes a base 21, a horizontal articulated assembly 22, a vertical articulated assembly 23, and a pitch rotation mechanism 24. Horizontal articulated assembly 22 includes horizontal joints 221, 222 and 223. The vertical articulated assembly 23 includes vertical joints 231, 232 and 233. The X-ray imaging apparatus 300 includes an X-ray irradiator 301, an X-ray detector 302, and a C-arm 303.

  As shown in FIG. 1, the table 1 is formed in a substantially rectangular flat plate shape. Moreover, the upper surface of the table 1 is formed substantially flat. The table 1 has a longitudinal direction in the X direction and a lateral direction in the Y direction. The table 1 is rotatable around an axis in the vertical direction (Z direction). Here, the horizontal direction along the longitudinal direction of the table 1 is taken as the X direction, and the horizontal direction along the lateral direction of the table 1 The direction is the Y direction. That is, the X direction and the Y direction indicate directions based on the table 1. The table 1 has a length of L1 in the longitudinal direction (X direction) as shown in FIG. Further, the support portion 12 on the X2 direction side of the table 1 has a length L2 in the short side direction (Y direction). In addition, the X-ray transmission portion 11 on the X1 direction side of the table 1 has a length L3 smaller than L2 in the short direction (Y direction). For example, L1 is 2800 mm, L2 is 740 mm, and L3 is 500 mm. In addition, it is preferable to set L1 to 2000 mm or more and 3000 mm or less, L2 to 500 mm or more and 800 mm or less, and L3 to 500 mm or more and 800 mm or less, and 500 mm or more and 700 mm or less of L3 are more preferable.

  As shown in FIG. 1, a patient 10 is placed on the X-ray transmitting unit 11 of the table 1. The X-ray transmission unit 11 is disposed in the X1 direction. The X-ray transmission part 11 is formed in a substantially rectangular shape. The X-ray transmission part 11 is formed of a material that easily transmits X-rays. The X-ray transmission part 11 is formed of, for example, a carbon material (graphite). The X-ray transmission part 11 is formed of, for example, a carbon fiber reinforced plastic (CFRP). Thus, it is possible to capture an X-ray image of the patient 10 in a state where the patient 10 is placed on the X-ray transmission unit 11.

  The support 12 of the table 1 is connected to the articulated robot arm 2. The support 12 is disposed in the X2 direction. The support 12 is formed in a substantially rectangular shape. The support portion 12 supports the X-ray transmission portion 11. The supporting portion 12 is formed of a material having a smaller X-ray transmittance than the X-ray transmitting portion 11. The support 12 is made of, for example, metal. The support portion 12 is formed of, for example, an iron material or an aluminum material.

  The table 1 is configured to be moved by the articulated robot arm 2. Specifically, the table 1 is configured to be movable in the X direction in the horizontal direction, the Y direction in the horizontal direction orthogonal to the X direction, and in the Z direction which is orthogonal to the X direction and the Y direction and which is the vertical direction There is. The table 1 is configured to be rotatable (rolled) around an axis in the X direction. Further, the table 1 is configured to be rotatable (pitch) around an axis in the Y direction. The table 1 is configured to be rotatable (yaw) around an axis in the Z direction.

  The articulated robot arm 2 is configured to move the table 1. As shown in FIG. 1, the articulated robot arm 2 is supported at one end by a base 21 fixed to the floor, and the other end supports the table 1 movably. Specifically, the articulated robot arm 2 is supported by the base 21 so as to be rotatable around an axis in the vertical direction (Z direction). The articulated robot arm 2 is configured to support the vicinity of one end on the X2 direction side in the longitudinal direction (X direction) of the table 1. In other words, the other end of the articulated robot arm 2 supports the support 12 near one end of the table 1.

  The articulated robot arm 2 is configured to move the table 1 with seven degrees of freedom. Specifically, the articulated robot arm 2 is pivoted about the pivot axis A1 in the vertical direction, pivoted about the pivot axis A2 in the vertical direction, and pivoted in the vertical direction by the horizontal articulated assembly 22. It has three degrees of freedom of rotation about the axis A3. In addition, the articulated robot arm 2 is pivoted about the pivot axis B1 in the horizontal direction, pivoted about the pivot axis B2 in the horizontal direction, and pivoted about the pivot axis B3 in the horizontal direction by the vertical articulated assembly 23. Have 3 degrees of freedom of rotation. Also, the articulated robot arm 2 has one degree of freedom to rotate the table 1 about the rotation axis in the lateral direction (Y direction) by the pitch rotation mechanism 24 (see FIGS. 12 and 13). doing.

  The base 21 is buried and fixed to the floor. The base 21 is provided near the approximate center of the movement range of the table 1 in plan view (viewed in the Z direction).

  One end of the horizontal articulated assembly 22 is supported by the base 21. Also, the horizontal articulated assembly 22 supports one end of the vertical articulated assembly 23 at the other end. The horizontal joint 221 of the horizontal articulated assembly 22 is configured to rotate around a pivot axis A1 in the Z direction. The horizontal joint 222 of the horizontal articulated assembly 22 is configured to rotate about a pivot axis A2 in the Z direction. The horizontal joint 223 of the horizontal articulated assembly 22 is configured to rotate about a pivot axis A3 in the Z direction.

  The vertical articulated assembly 23 is supported at one end by the horizontal articulated assembly 22. Also, the vertical articulated assembly 23 supports the pitch turning mechanism 24 at the other end. The vertical joint 231 of the vertical articulated assembly 23 is configured to pivot about a pivot axis B1 in the X direction. The vertical joint 232 of the vertical articulated assembly 23 is configured to pivot about a pivot axis B2 in the X direction. The vertical joint 233 of the vertical articulated assembly 23 is configured to pivot around a pivot axis B3 in the X direction.

  The distance between the adjacent joints has a length smaller than the length of the short side direction (Y direction) of the table 1 respectively. That is, the spacing between the pivot axis A1 and the pivot axis A2, the spacing between the pivot axis A2 and the pivot axis A3, the spacing between the pivot axis A3 and the pivot axis B1, the pivot axis B1 and the pivot axis B2 The distance between the rotation axis B2 and the distance between the rotation axis B2 and the rotation axis B3 has a length smaller than the length L3 of the table 1 in the short direction.

  Each of the horizontal joints 221 to 223 and the vertical joints 231 to 233 has a servomotor, a reduction gear that decelerates and transmits the rotation of the servomotor, and an electromagnetic brake. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are rotated about the rotation axis by the drive of the respective servomotors.

  Here, in the present embodiment, as shown in FIGS. 3 to 6, in the articulated robot arm 2, the length in the direction (X direction) parallel to the longitudinal direction of the table 1 is the length in the longitudinal direction of the table 1 It is configured to be capable of taking a first posture that is less than or equal to one-half. Specifically, the articulated robot arm 2 in the first posture has a length in a direction (X direction) parallel to the longitudinal direction of the table 1 that is 1/2 or less of the longitudinal length of the table 1 As a result, in the direction (Y direction) parallel to the short side direction of the table 1, the table 1 is disposed so as to be fitted between both ends in the short side direction of the table 1.

  FIG. 3 shows the articulated robot arm 2 in the first posture when the table 1 is positioned at the reference position. FIG. 4 shows the articulated robot arm 2 in the first posture when the table 1 is moved maximally in the X1 direction in the horizontal direction from the reference position. In FIG. 5, the horizontal articulated assembly 22 and the vertical articulated assembly 23 completely overlap in plan view (viewed in the Z direction), and the longitudinal direction of the table 1 of the articulated robot arm 2 in the first posture state The state in which the length in the parallel direction (X direction) is minimized is shown. FIG. 6 shows the articulated robot arm 2 in the first posture when the table 1 is moved maximally in the X2 direction in the horizontal direction from the reference position.

  As shown in FIG. 3, FIG. 5 and FIG. 6, preferably, the articulated robot arm 2 in the first posture state is disposed so as to be entirely hidden below the table 1 in plan view (viewed in the Z direction) It is done. For example, the articulated robot arm 2 is configured to assume a first posture accommodated in the accommodation space which is a space under the table 1 when the table 1 is located at the operation position. That is, the articulated robot arm 2 is folded when the table 1 is moved to a position where the patient 10 placed on the table 1 is to be operated or treated, and is viewed in plan (see the Z direction ), Is configured to be completely hidden below the table 1). The articulated robot arm 2 in the first posture preferably has a length in a direction (X direction) parallel to the longitudinal direction of the table 1 in view of securing a space under the table 1. It is 2/5 or less of the length of the direction. Further, the articulated robot arm 2 in the first posture preferably has a length in a direction (X direction) parallel to the longitudinal direction of the table 1 in view of its strength, and a length in the longitudinal direction of the table 1 It is more than 1/4 of.

  Further, in the present embodiment, as shown in FIG. 2, the articulated robot arm 2 is configured to be capable of taking a second posture different from the first posture in plan view (viewed in the Z direction) There is. In the articulated robot arm 2 in the second posture, the length in the direction (X direction) parallel to the longitudinal direction of the table 1 is 1/2 or less of the length in the longitudinal direction of the table 1, and the plan view In (in the Z direction), the length of the part protruding from the table 1 in the direction (Y direction) parallel to the short direction of the table 1 is configured to be equal to or less than the length in the short direction of the table 1 ing.

  In the example shown in FIG. 2, the articulated robot arm 2 has a length L4 in the X direction and a length L5 in the Y direction. The length L4 is equal to or less than half of the length L1 of the table 1 in the X direction. Further, the length L5 is equal to or less than twice the length L2 of the table 1 in the Y direction. In the example shown in FIG. 2, the articulated robot arm 2 protrudes from the table 1 in the X direction by a length L6. The length L6 is equal to or less than the length L2 of the table 1 in the Y direction. Further, the length L6 is equal to or less than the length L3 of the table 1 in the Y direction.

  The articulated robot arm 2 translates the table 1 with the horizontal articulated assembly 22 while maintaining the length in the direction (Y direction) parallel to the short direction of the table 1 from the first attitude or the second attitude. Is configured as. In the example shown in FIGS. 3 to 6, the table 1 is moved in the X direction. In this case, the horizontal articulated assembly 22 is driven so as to be contained in both ends of the table 1 in the Y direction, and the table 1 is translated.

  The articulated robot arm 2 is configured to move the table 1 in the vertical direction (Z direction) by the vertical articulated assembly 23 while maintaining the first posture or the second posture. Specifically, since the vertical articulated assembly 23 is disposed so as to be completely hidden below the table 1 in any posture in plan view, when only the vertical articulated assembly 23 is driven The articulated robot arm 2 can move the table 1 in the vertical direction while maintaining the first posture or the second posture. The articulated robot arm 2 of the present embodiment can lower the height of the table 1 to 500 mm while maintaining the first posture or the second posture. Thereby, it can respond to the operation performed sitting in a chair. The articulated robot arm 2 can raise the height of the table 1 to 1100 mm while maintaining the first posture or the second posture.

  7 is a side view of the articulated robot arm 2 of FIG. 4, and FIG. 8 is a side view of the articulated robot arm 2 of FIG. As shown in FIGS. 7 and 8, in the present embodiment, when the articulated robot arm 2 is disposed close to the X2 side of the table 1, X-ray imaging is performed for the distance D1 in the X direction as the maximum imaging available range. Imaging is possible by the device 300. That is, when the articulated robot arm 2 is disposed close to the X2 side of the table 1, a space for a distance D1 is secured below the table 1 in the X direction. The distance D1 is, for example, substantially equal to the length of the X-ray transmission unit 11 in the X direction. That is, in the robot operating table 100 of the present embodiment, it is possible to image the substantially whole body of the patient 10 by the X-ray imaging apparatus 300.

  FIG. 9 is a side view of the articulated robot arm 2 of FIG. As shown in FIG. 9, in the present embodiment, when the articulated robot arm 2 is extended in the horizontal X2 direction as much as possible, the X-ray imaging apparatus 300 is moved by the distance D2 in the X direction as the minimum imaging possible range. Imaging is possible. That is, when the articulated robot arm 2 is maximally extended in the X2 direction in the horizontal direction, a space for a distance D2 is secured below the table 1 in the X direction. The distance D2 is, for example, a half or more of the length of the X-ray transmitting portion 11 in the X direction. That is, in the robot operating table 100 of the present embodiment, it is possible to image at least half or more of the whole body of the patient 10 by the X-ray imaging apparatus 300 at the minimum. In the present embodiment, for example, D1 is 1800 mm and D2 is 1540 mm.

  Moreover, in the present embodiment, the articulated robot arm 2 performs yaw rotation of the table 1 about the axis in the vertical direction (Z direction) by at least one horizontal joint (at least one of 221, 222 and 223). Is configured. For example, the articulated robot arm 2 is configured to yaw rotate the table 1 by the lowermost horizontal joint 221 or the uppermost horizontal joint 223. Alternatively, the articulated robot arm 2 is configured to drive the plurality of horizontal joints in conjunction to rotate the table 1 in yaw.

  Further, as shown in FIG. 10, the articulated robot arm 2 rolls the table 1 around the axis in the longitudinal direction (X direction) by at least one vertical joint (at least one of 231, 232 and 233). It is configured to move. For example, the articulated robot arm 2 is configured to rotate the table 1 by means of the lowermost vertical joint 231 or the uppermost vertical joint 233. Alternatively, the articulated robot arm 2 is configured to rotate the table 1 by driving the plurality of vertical joints in conjunction with each other. The articulated robot arm 2 can rotate the roll in the range of the angle θ1 clockwise with respect to the horizontal direction when the table 1 is viewed in the X direction, and the range of the angle θ1 counterclockwise with respect to the horizontal direction The roll can be rotated. For example, θ1 is 30 degrees.

  Further, as shown in FIGS. 12 and 13, the articulated robot arm 2 is configured to rotate the table 1 about the axis in the short direction (Y direction) by the pitch rotating mechanism 24. . As shown in FIG. 11, the pitch rotation mechanism 24 includes a first support member 241, a second support member 242, a first ball screw 243, a second ball screw 244, a first linear guide 245, and a second linear guide. And a guide 246. The first support member 241 includes a connecting portion 241a, a pivot shaft 241b, and a slider 241c. The second support member 242 includes coupling portions 242a and 242b, pivot shafts 242c and 242d, and a slider 242e. The first ball screw 243 is connected to the motor 243a via the reduction gear 243b. The second ball screw 244 is connected to the motor 244a via the reduction gear 244b.

  The pitch turning mechanism 24 is supported at the other end of the vertical articulated assembly 23. The pitch turning mechanism 24 is connected to the table 1 and supports the table 1 so as to be capable of pitch turning. Specifically, the pitch rotation mechanism 24 supports the table 1 so as to be capable of pitch rotation by the first support member 241 and the second support member 242. The first support member 241 and the second support member 242 are arranged at a predetermined distance along the direction (X direction) parallel to the longitudinal direction of the table 1. The first support member 241 is disposed on the X1 direction side. The second support member 242 is disposed on the X2 direction side. In addition, the pitch turning mechanism 24 is disposed in the vicinity of one side of the table 1 in the short direction (Y direction). Specifically, the pitch turning mechanism 24 is disposed near the end of the table 1 in the Y1 direction.

  The connecting portion 241 a of the first support member 241 is fixed to the table 1 and is rotatably supported by the rotating shaft 241 b. The first support member 241 is configured to be moved in the vertical direction (Z direction) by the drive of the first ball screw 243. In addition, the first support member 241 is slidably attached to the first linear guide 245. Specifically, movement of the first support member 241 in the vertical direction is guided by the slider 241 c fixed to the first support member 241 engaging with the first linear guide 245.

  The connecting portion 242 a of the second support member 242 is fixed to the table 1 and is rotatably supported by the rotating shaft 242 c. The connecting portion 242 b is rotatably attached to the pivots 242 c and 242 d. The second support member 242 is configured to be moved in the vertical direction (Z direction) by the drive of the second ball screw 244. The second support member 242 is slidably attached to the second linear guide 246. Specifically, movement of the second support member 242 in the vertical direction is guided by the slider 242 e fixed to the second support member 242 engaging with the second linear guide 246.

  The first ball screw 243 is disposed such that the axial center extends in the vertical direction (Z direction). The first ball screw 243 is engaged with the first support member 241. The first ball screw 243 is rotated by the drive of the motor 243 a and moves the first support member 241 in the vertical direction.

  The second ball screw 244 is disposed such that the axial center extends in the vertical direction (Z direction). The second ball screw 244 is engaged with the second support member 242. The second ball screw 244 is rotated by the drive of the motor 244a to move the second support member 242 in the vertical direction.

  The first linear guide 245 is arranged to extend in a direction substantially parallel to the direction in which the first ball screw 243 extends. That is, the first linear guide 245 is arranged to extend in the vertical direction (Z direction). The first linear guide 245 is configured to guide the movement of the first support member 241 in the vertical direction via the slider 241 c.

  The second linear guide 246 is arranged to extend in a direction substantially parallel to the direction in which the second ball screw 244 extends. That is, the second linear guide 246 is arranged to extend in the vertical direction (Z direction). The second linear guide 246 is configured to guide the movement of the second support member 242 in the vertical direction via the slider 242e.

  When the first support member 241 is moved to a lower position than the second support member 242, the table 1 is pivoted so that the X1 side is lower. On the other hand, when the first support member 241 is moved to a position higher than the second support member 242, the table 1 is pitch rotated so that the X1 side is higher. Further, when the first support member 241 and the second support member 242 are moved to the same height position, the table 1 becomes horizontal in pitch rotation.

  The articulated robot arm 2 looks at the table 1 in the Y direction, as shown in FIG. The pitch can be rotated clockwise in the range of the angle θ2. For example, θ2 is 15 degrees.

  The control unit 3 is installed in the base 21 and configured to control the movement of the table 1 by the articulated robot arm 2. Specifically, the control unit 3 is configured to move the table 1 by controlling the driving of the articulated robot arm 2 based on an operation by a medical worker (operator).

  The X-ray imaging apparatus 300 is configured to be able to capture an X-ray projection image of the patient 10 placed on the table 1. The X-ray irradiator 301 and the X-ray detector 302 are supported by a C-arm 303. The X-ray irradiator 301 and the X-ray detector 302 are moved along with the movement of the C-arm 303, and are arranged so as to sandwich the imaging position of the patient 10 at the time of X-ray imaging. For example, one of the X-ray irradiator 301 and the X-ray detector 302 is disposed in the space above the table 1, and the other is disposed in the space below the table 1. Further, at the time of X-ray imaging, a C-arm 303 supporting the X-ray irradiation unit 301 and the X-ray detection unit 302 is also disposed in the space above and below the table 1.

  As shown in FIG. 1, the X-ray irradiator 301 is disposed to face the X-ray detector 302. Further, the X-ray irradiation unit 301 is configured to be capable of irradiating X-rays toward the X-ray detection unit 302. The X-ray detection unit 302 is configured to detect the X-ray irradiated by the X-ray irradiation unit 301. The X-ray detection unit 302 includes a flat panel detector (FPD). The X-ray detection unit 302 is configured to capture an X-ray image based on the detected X-ray. Specifically, the X-ray detection unit 302 converts the detected X-ray into an electric signal, and transmits the electric signal to an image processing unit (not shown).

  The C-arm 303 has one end connected to the X-ray irradiator 301 and the other end connected to the X-ray detector 302. The C arm 303 has a substantially C shape. Thus, it is possible to support the X-ray irradiator 301 and the X-ray detector 302 by moving around so as not to interfere with the table 1 or the patient 10 at the time of X-ray imaging. The C arm 303 is configured to be movable relative to the table 1. Specifically, the C arm 303 horizontally and vertically arranges the X-ray irradiator 301 and the X-ray detector 302 at a desired position with respect to the patient 10 placed on the table 1. While being movable, it is configured to be rotatable about a horizontal rotation axis and a vertical rotation axis. The C-arm 303 is moved by a drive unit (not shown) based on an operation by a medical worker (operator). Further, the C-arm 303 is configured to be movable manually by a medical worker (operator).

(Effect of this embodiment)
In the present embodiment, the following effects can be obtained.

  In the present embodiment, as described above, the length of the articulated robot arm 2 in the direction (X direction) parallel to the longitudinal direction of the table 1 is half or less of the longitudinal length of the table 1 It is possible to take the first posture. Thus, a space of 1/2 or more in the longitudinal direction of the table 1 can be secured below the table 1 on the opposite side (X1 direction side) of the one end side of the table 1 supported by the articulated robot arm 2 Therefore, sufficient space can be secured under and around the table 1 for patient placement. Thus, the C-arm 303 to which the X-ray irradiator 301 and the X-ray detector 302 are connected can be placed under the table 1, and the table of medical workers such as a surgeon, an assistant, a nurse and a medical technician The degree of freedom of access to 1 can be increased.

  Moreover, in the present embodiment, as described above, the multi-joint robot arm 2 in the first posture is viewed in plan (viewed in the Z direction), a direction (Y direction) parallel to the short side direction of the table 1 , And is disposed so as to be fitted between both ends of the table 1 in the short direction. The length of the portion protruding from the table 1 in the direction (Y direction) parallel to the short side direction of the table 1 is configured to be equal to or less than the length in the short side direction of the table 1. Thus, by setting the articulated robot arm 2 in the first position, the articulated robot arm 2 does not protrude in the lateral direction of the table 1, so that the articulated robot arm 2 can be used as a medical worker or other equipment. Interference can be effectively suppressed.

  Further, in the present embodiment, as described above, the articulated robot arm 2 can be configured to be capable of taking a second posture different from the first posture in plan view (viewed in the Z direction), The length of the articulated robot arm 2 in the posture state in the direction (X direction) parallel to the longitudinal direction of the table 1 is half or less of the longitudinal length of the table 1, and the length of the table 1 is short. The length of the portion protruding from the table 1 in the direction (Y direction) parallel to the hand direction is configured to be equal to or less than the length in the short direction of the table 1. Thereby, the articulated robot arm 2 can be prevented from largely protruding in the short direction of the table 1, and therefore, the articulated robot arm 2 can be inhibited from interfering with the medical worker or other equipment. . In addition, it becomes possible to set the first posture to the imaging position, set the second posture to the surgical position, set the first posture to the surgical position, and set the second posture to the imaging position, It is possible to increase the freedom of operation of the operating room.

  Further, in the present embodiment, as described above, the multi-joint robot arm 2 in the first posture is disposed so as to be entirely hidden below the table 1 in plan view (viewed in the Z direction). Thereby, since the articulated robot arm 2 does not protrude from the table 1 in plan view, it is more effective that the articulated robot arm 2 interferes with the medical worker when performing a medical action such as surgery. Can be suppressed.

  Further, in the present embodiment, as described above, the articulated robot arm 2 includes the horizontal articulated assembly 22 having the plurality of horizontal joints 221, 222 and 223, and the vertical multiple having the plurality of vertical joints 231, 232 and 233. Providing a joint assembly 23; Thereby, the table 1 can be easily moved to a desired horizontal position by the horizontal articulated assembly 22 having the plurality of horizontal joints 221, 222 and 223. Further, the table 1 can be easily moved to a desired position in the vertical direction (Z direction) by the vertical articulated assembly 23 having the plurality of vertical joints 231, 232 and 233.

  Also, in the present embodiment, as described above, the horizontal articulated assembly 22 is provided with three horizontal joints 221, 222 and 223. As a result, in view of securing the length when the horizontal articulated assembly 22 is maximally extended, the distance between the joints can be reduced compared to the case where two or less horizontal joints are provided. When the horizontal articulated assembly 22 is folded and contracted, it can be made more compact. In addition, the apparatus configuration can be simplified as compared to the case where four or more horizontal joints are provided. The vertical articulated assembly 23 is provided with three vertical joints 231, 232 and 233. As a result, in view of securing the length when the vertical articulated assembly 23 is maximally extended, the distance between the joints can be reduced as compared with the case where two or less vertical joints are provided. When the vertical articulated assembly 23 is folded and contracted, it can be made more compact. In addition, the apparatus configuration can be simplified as compared to the case where four or more vertical joints are provided.

  Moreover, in the present embodiment, as described above, the articulated robot arm 2 is rotated about the axis of the table 1 in the vertical direction (Z direction) by at least one horizontal joint (at least one of 221, 222 and 223). Configure to rotate to yaw. Thereby, the table 1 can be easily yawed and moved to a desired position by the one or more horizontal joints of the articulated robot arm 2.

  Further, in the present embodiment, as described above, the horizontal articulated joint 22 maintains the length of the articulated robot arm 2 in the direction (Y direction) parallel to the short direction of the table 1 from the first posture. The table 1 is configured to be translated in the state. Thus, the articulated robot arm 2 can be prevented from jumping out in the lateral direction of the table 1 while the table 1 is moved in the horizontal direction. It can suppress that the multi joint robot arm 2 interferes with the medical worker located in the side of the.

  Further, in the present embodiment, as described above, the articulated robot arm 2 is configured to move the table 1 in the vertical direction (Z direction) while maintaining the first posture by the vertical articulated assembly 23. . As a result, since it is possible to prevent the articulated robot arm 2 from jumping out in the horizontal direction while moving the table 1 in the vertical direction, the medical engagement located on the side of the table 1 while the table 1 is moving is performed. It is possible to prevent the articulated robot arm 2 from interfering with the person.

  Further, in the present embodiment, as described above, the articulated robot arm 2 is rotated about the axis of the table 1 in the longitudinal direction (X direction) by at least one vertical joint (at least one of 231, 232 and 233). It is configured to rotate the roll. As a result, the table 1 can be easily rolled and moved to a desired rotation angle position by one or more vertical joints of the articulated robot arm 2.

  Further, in the present embodiment, as described above, the articulated robot arm 2 is provided with the pitch turning mechanism 24 for supporting the table 1 and turning the table 1 about the axis in the short direction (Y direction). . Then, in the pitch turning mechanism 24, a first ball screw 243 arranged such that the axis extends in the vertical direction (Z direction), a second ball screw 244 arranged such that the axis extends in the vertical direction, A first support member 241 is vertically moved by a single ball screw 243 to support the table 1, and a second support member 242 is vertically moved by a second ball screw 244 to support the table 1. Further, the first support member 241 and the second support member 242 are arranged at a predetermined distance in the direction (X direction) parallel to the longitudinal direction of the table 1. As a result, by driving the first ball screw 243 and the second ball screw 244 in conjunction with each other, the table 1 can be easily pitched and moved to a desired rotation angle position.

  Further, in the present embodiment, as described above, the first linear guide 245 disposed to extend in the direction parallel to the extending direction of the first ball screw 243 and the second ball screw 244 extend in the pitch turning mechanism 24. And a second linear guide 246 disposed to extend in a direction parallel to the direction. Then, the first support member 241 is slidably attached to the first linear guide 245, and the second support member 242 is slidably attached to the second linear guide 246. As a result, the first support member 241 can be moved linearly with accuracy by the first linear guide 245, and the second support member 242 can be moved linearly with accuracy by the second linear guide 246. The pitch rotational movement can be performed with high accuracy.

  Also, in the present embodiment, as described above, the horizontal articulated assembly 22 is supported at one end by the base 21 and at the other end by the one end of the vertical articulated assembly 23, and the pitch turning mechanism 24 It is configured to be supported by the other end of the vertical articulated assembly 23. Thus, the plurality of horizontal joints 221, 222 and 223 can be collectively arranged on the side of the base 21, and the plurality of vertical joints 231, 232 and 233 can be collectively arranged on the table 1 side, so horizontal movement is possible. Is driven by driving the plurality of horizontal joints 221, 222 and 223 on the base 21 side, and is driven by driving the plurality of vertical joints 231, 232 and 233 on the table 1 side for movement in the vertical direction (Z direction). Can. As a result, since it is not necessary to drive the horizontal and vertical movements while interlocking the horizontal joints 221, 222 and 223 and the vertical joints 231, 232 and 233, respectively, the vertical joints and the horizontal joints alternate. It is possible to suppress the complexity of the drive control of the articulated robot arm 2 compared to the case where it is arranged. Further, since the pitch rotation mechanism 24 can be provided on the table 1 side of the vertical articulated assembly 23, the table 1 can be easily pitched by the pitch rotation mechanism 24 independently of the vertical articulated assembly 23. It can be moved.

  Further, in the present embodiment, as described above, the X-ray transmission unit 11 and the support unit 12 having a smaller X-ray transmittance than the X-ray transmission unit 11 are provided on the table 1. The other end is configured to support the support 12 near one end of the table 1. As a result, a sufficient space can be secured below the X-ray transmitting portion 11 of the table 1 by arranging the articulated robot arm 2 on the support portion 12 side and setting it to the first posture, so X-ray transmission can be achieved. The X-ray imaging apparatus 300 can be easily inserted below the unit 11 to perform X-ray imaging.

(Modification)
It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is indicated not by the description of the embodiments described above but by the claims, and further includes all modifications within the meaning and scope equivalent to the claims.

  For example, in the above embodiment, an example of the configuration in which the hybrid operating room is provided with the X-ray imaging device has been described, but the present invention is not limited thereto. In the present invention, the hybrid operating room may be provided with a magnetic resonance imaging apparatus for imaging a magnetic resonance image of a patient. The hybrid operating room may be provided with both an X-ray imaging device and a magnetic resonance imaging device.

  Moreover, although the example of the structure by which one X-ray imaging device is provided in the hybrid operating room was shown in the said embodiment, this invention is not limited to this. In the present invention, the hybrid operating room may be provided with a plurality of X-ray imaging devices.

  Moreover, although the example of the structure which a horizontal articulated joint assembly has three horizontal joints was shown in the said embodiment, this invention is not limited to this. In the present invention, the horizontal articulated assembly may have two horizontal joints or may have four or more horizontal joints.

  Moreover, although the example of the structure which the vertical articulated assembly has three vertical joints was shown in the said embodiment, this invention is not limited to this. In the present invention, the vertical articulated assembly may have two vertical joints or four or more vertical joints.

  Moreover, although the example of the structure which the articulated robot arm has seven degrees of freedom was shown in the said embodiment, this invention is not limited to this. In the present invention, the robot arm may have six or less degrees of freedom, or eight or more degrees of freedom.

  Further, although the example of the C-arm type X-ray imaging apparatus in which the X-ray irradiation unit and the X-ray detection unit are supported by the C arm has been described in the above embodiment, the present invention is not limited thereto. In the present invention, in the X-ray imaging apparatus, for example, the X-ray irradiator and the X-ray detector may be disposed to be opposed to each other in the vertical direction and supported.

  Moreover, in the said embodiment, although the example of the structure which the base was embed | buried and fixed to the floor was shown, this invention is not limited to this. In the present invention, the base may be fixed on the floor.

  Further, in the above embodiment, the horizontal joints 221 to 223 and the vertical joints 231 to 233 respectively show an example of a configuration having a servomotor, a reduction gear, and an electromagnetic brake. It is not limited to. In the present invention, each joint has a servomotor incorporating a first electromagnetic brake, a second electromagnetic brake attached to the rotary shaft of the servomotor, a first reduction gear, and a second reduction gear. May be The horizontal joints 221 to 223 and the vertical joints 231 to 233 are rotated about the rotation axis by the drive of the respective servomotors.

  1: Table 2: 2: Multi-joint robot arm 11: X-ray transmission part 12: support part 21: base 22: horizontal articulated joint assembly 23: vertical articulated joint assembly 24: pitch rotation mechanism 100: 100 Robot operating table, 200: hybrid operating room, 221, 222, 223: horizontal joint, 231, 232, 233: vertical joint, 241: first support member, 242: second support member, 243: first ball screw, 244: Second ball screw, 245: first linear guide, 246: second linear guide, 300: X-ray imaging device

Claims (14)

A table for patient placement,
An articulated robot arm supported at one end by a base fixed to the floor and at the other end supporting the table;
The articulated robot arm includes a pitch rotation mechanism that supports the table and rotates the table by pitch around a short axis.
The pitch turning mechanism is moved in the vertical direction by a first ball screw arranged such that the axis extends in the vertical direction, a second ball screw arranged such that the axis extends in the vertical direction, and the first ball screw A first support member for supporting the table, and a second support member vertically moved by the second ball screw to support the table,
The robot operating table, wherein the first support member and the second support member are disposed at a predetermined distance in a direction parallel to the longitudinal direction of the table. The pitch rotation mechanism includes a first linear guide disposed to extend in a direction parallel to a direction in which the first ball screw extends, and a first linear guide disposed to extend in a direction parallel to a direction in which the second ball screw extends. And 2 linear guides,
The first support member is slidably attached to the first linear guide,
The robot operating table according to claim 1, wherein the second support member is slidably attached to the second linear guide. The articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints, and a vertical articulated assembly having a plurality of vertical joints,
The horizontal articulated assembly has one end supported by the base and the other end supports one end of the vertical articulated assembly.
The robot operating table according to claim 1, wherein the pitch turning mechanism is supported at the other end of the vertical articulated assembly. The articulated robot arm is configured to assume a first posture housed under the table when the table is positioned at a predetermined position,
The articulated robot arm in the first posture has a length in a direction parallel to the longitudinal direction of the table that is equal to or less than a half of the longitudinal length of the table, and the lateral direction of the table The robot operating table according to any one of claims 1 to 3, which is disposed so as to be fitted between both ends of the table in the lateral direction in a direction parallel to. The multi-joint robot arm is configured to be different from the first posture in a plan view, and to be capable of taking a second posture in which a part thereof protrudes from the table in a direction parallel to the short side direction of the table Yes,
The articulated robot arm in the second posture has a length in a direction parallel to the longitudinal direction of the table of not more than half the longitudinal length of the table, and the lateral direction of the table The robot operating table according to claim 4, wherein the length of the portion protruding from the table in the parallel direction is equal to or less than the length in the short direction of the table.   The robot operating table according to claim 4 or 5, wherein the articulated robot arm in the first posture is disposed so as to be entirely hidden below the table in plan view.   The robot operating table according to any one of claims 4 to 6, wherein the articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints, and a vertical articulated assembly having a plurality of vertical joints.   The robotic operating table of claim 7, wherein the horizontal articulated assembly has three horizontal joints and the vertical articulated assembly has three vertical joints.   The robot operating table according to claim 7 or 8, wherein the articulated robot arm is configured to yaw rotate the table about a vertical axis by at least one horizontal joint.   The articulated robot arm is configured to translate the table while maintaining a length in a direction parallel to the short direction of the table from the first posture by the horizontal articulated assembly. The robot operating table according to any one of claims 7 to 9.   The articulated robot arm according to any one of claims 7 to 10, wherein the articulated robot arm is configured to move the table in the vertical direction while maintaining the first posture by the vertical articulated assembly. Robotic operating table.   The robot surgery according to any one of claims 7 to 11, wherein the articulated robot arm is configured to rotate the table about its longitudinal axis by at least one of the vertical joints. Stand. The table includes an X-ray transmission unit and a support unit for supporting the X-ray transmission unit.
The robot operating table according to any one of claims 1 to 12, wherein the other end of the articulated robot arm supports the support near one end of the table.   The robot operating table according to any one of claims 1 to 13, an X-ray imaging apparatus for imaging an X-ray projection image of a patient, and a magnetic resonance imaging apparatus for imaging a magnetic resonance image of a patient And a hybrid operating room.

Images