JP2020103886A - Medical manipulator - Google Patents

Abstract

To provide a medical manipulator capable of easily achieving attachment/detachment of a manipulator arm to/from an arm base.SOLUTION: A medical manipulator comprises: a first engaging part disposed in an arm base; a second engaging part disposed in a base end part of a manipulator arm; a support shaft member disposed in one of the first engaging part and the second engaging part, and extending in a first axial direction; an engaging member disposed in the other of the first engaging part and the second engaging part, formed so as to be engageable with the support shaft member, and formed so as to be mutually rotatable around a first axis in a state of being engaged with the support shaft member; a regulation part disposed in the arm base, and regulating the rotation of the manipulator arm around the first axis in a state that the engaging member is engaged with the support shaft member by being abutted on the base end part of the manipulator arm; and a fixing member for fixing the base end part of the manipulator arm to the regulation part in a state that the base end part of the manipulator arm is abutted on the regulation part.SELECTED DRAWING: Figure 6A

Description

The present invention relates to a medical manipulator.

There is known a master-slave system having a plurality of manipulator arms and performing a surgical operation by moving the plurality of manipulator arms based on an operation of a practitioner (see, for example, Patent Documents 1 and 2).

In such a system, as shown in the following Patent Documents 1 and 2, etc., the base ends of a plurality of manipulator arms are attached to an arm base (also referred to as a platform) via a setup link and a setup joint, respectively. That is, each of the plurality of manipulator arms is attached via a setup link and a setup joint provided so as to be suspended from the arm base.

Patent Document 3 below discloses a mechanism for facilitating the detachability of the manipulator arm and the setup link.

In Patent Document 3, in a configuration in which connecting ends of a manipulator arm and a setup link are connected to each other, a hook is formed at one connecting end and a slot into which the hook is inserted is formed at a side surface of the other connecting end. Is disclosed.

Japanese Patent Publication No. 2017-515524 Japanese Patent Publication No. 2017-513550 U.S. Patent Application Publication No. 2017/0095300

However, Patent Documents 1 to 3 do not describe that the manipulator arm is detachably attached to the arm base for convenience during maintenance or replacement.

Further, Patent Documents 1 to 3 do not describe at all a configuration which simply and safely attaches the base end portion of the manipulator arm to the arm base with a simple configuration.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a medical manipulator capable of easily attaching and detaching a manipulator arm to and from an arm base.

The medical manipulator according to one aspect of the present invention has a manipulator arm having an instrument holding portion capable of holding a surgical instrument at a distal end portion, and an arm base configured to hold a proximal end portion of the manipulator arm, A medical manipulator comprising: a first engaging portion provided on the arm base; a second engaging portion provided on a base end portion of the manipulator arm; the first engaging portion and the second A support shaft member provided on one of the engaging portions and extending in the first axial direction, and provided on the other of the first engaging portion and the second engaging portion, and configured to be engageable with the support shaft member. An engaging member configured to be relatively rotatable around the first shaft in a state of being engaged with the support shaft member, and the arm base, wherein the engagement member engages with the support shaft member. In a state in which the rotation of the manipulator arm around the first axis is restricted by contacting the base end portion of the manipulator arm, and the base end portion of the manipulator arm is in contact with the restriction portion. Then, a fixing member for fixing the base end portion of the manipulator arm to the regulating portion is provided.

According to the above configuration, the rotation of the manipulator arm around the first axis is restricted by the restricting portion provided on the arm base while the engaging member is engaged with the support shaft member. Therefore, when the manipulator arm is attached to the arm base, the manipulator arm is held by the arm base only by engaging the engaging member with the support shaft member extending in the first axial direction. Moreover, since the engaging portion is configured to be relatively rotatable about the first axis while being engaged with the support shaft member, the engagement of the engaging portion with the support shaft member is prevented. It cannot be released easily. Therefore, the manipulator arm can be easily attached to and detached from the arm base, and the manipulator arm can be prevented from falling off during engagement.

The second engagement portion may be provided so as to project from a base end portion of the manipulator arm, and the spindle member or the engagement member may be provided at a tip end portion of the second engagement portion. Accordingly, it is possible to facilitate the manipulator arm to be urged to the regulating portion by utilizing the own weight of the manipulator arm.

The arm base may include a mounting surface of the first engaging portion that is parallel to the first axis, and the restricting portion may include a restricting surface that is parallel to the first axis and inclined with respect to the mounting surface. Good. With this, the manipulator arm can be arranged so as to face obliquely downward while being attached to the arm base.

The engagement portion may have a hook shape.

The restriction portion may be configured to restrict rotation of the manipulator arm around its first axis due to its own weight. Accordingly, the manipulator arm is naturally positioned at the fixed position without the operator having to rotate the manipulator arm around the first axis while the engagement member is engaged with the support shaft member. Therefore, it is possible to improve the workability and effectively prevent the manipulator arm from falling off.

The restriction portion may be configured to position the manipulator arm with respect to the arm base by abutting a base end portion of the manipulator arm. Thus, the manipulator arm can be positioned with respect to the arm base simply by attaching the manipulator arm to the arm base.

The manipulator arm and the arm base are configured to be electrically connected by connecting a first connector provided at a base end of the manipulator arm and a second connector provided at the arm base. The arm base may be configured to include the second connector at a position other than the restricting surface of the restricting portion with which the base end of the manipulator arm abuts. This eliminates the need for making electrical connection while rotating the manipulator arm, and makes stable electrical connection.

The manipulator arm includes a cover that integrally covers the first engagement portion, the second engagement portion, and the regulation portion in a state where the base end portion of the manipulator arm is in contact with the regulation portion. Good. As a result, the first engagement portion, the second engagement portion, and the regulation portion are integrally covered by the cover with the arm attached to the arm base. Therefore, it is possible to prevent the engaging portion from being exposed to the outside.

A positioner configured to move the arm base, and a carriage for moving the positioner may be provided. The positioner may be a multi-axis robot.

The above objects, other objects, features, and advantages of the present invention will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

The present invention has the effect that the manipulator arm can be easily attached to and detached from the arm base with a simple configuration.

FIG. 1 is a schematic diagram showing an overall configuration of a surgical operation system to which a holding mechanism according to an embodiment of the present invention is applied. FIG. 2 is a schematic diagram showing the overall configuration of the manipulator arm in the surgical operation system shown in FIG. FIG. 3 is a side view schematically illustrating the fourth link shown in FIG. FIG. 4 is a block diagram showing a schematic configuration of a control system of the manipulator arm of the surgical operation system shown in FIG. FIG. 5A is a schematic diagram showing a configuration of an arm base in the surgical operation system shown in FIG. 1. FIG. 5B is a schematic diagram showing a configuration of an arm base in the surgical operation system shown in FIG. 1. FIG. 5C is a schematic diagram showing a configuration of an arm base in the surgical operation system shown in FIG. 1. FIG. 6A is a schematic configuration diagram showing an arm holding mechanism in the present embodiment. FIG. 6B is a schematic configuration diagram showing an arm holding mechanism in the present embodiment. FIG. 7A is a diagram showing an example of a procedure for attaching the arm to the arm base in the present embodiment. FIG. 7B is a diagram showing an example of a procedure for mounting the arm on the arm base in the present embodiment. FIG. 7C is a diagram showing an example of a procedure for attaching the arm to the arm base in the present embodiment.

Embodiments of the present invention will be described below with reference to the drawings. The present invention is not limited to the embodiments. Also, in the following, the same or corresponding elements will be denoted by the same reference symbols throughout all the drawings, and overlapping description will be omitted.

FIG. 1 is a schematic diagram showing an overall configuration of a surgical operation system to which a holding mechanism according to an embodiment of the present invention is applied. The surgical operation system 100 is a system in which a practitioner such as a doctor performs endoscopic surgery on a patient P using the patient-side system 1, such as robot-assisted surgery or robot remote surgery. Note that FIG. 1 shows a state in which the positioner 7, the arm base 5, and the plurality of manipulator arms 3 are located at a predetermined preparation position (details will be described later) established before the operation. Further, FIG. 1 shows the ratio of the sizes of the positioner 7 and the plurality of manipulator arms 3 in a ratio different from the actual ratio.

The surgical operation system 100 includes a patient-side system 1 and an operation device 2 (see FIG. 4 described later) that operates the patient-side system 1. The operating device 2 is arranged apart from the patient-side system 1, and the patient-side system 1 is remotely operated by the operating device 2 during a treatment. The practitioner inputs an operation to be performed by the patient side system 1 into the operation device 2, and the operation device 2 transmits the operation command to the patient side system 1. Then, the patient-side system 1 receives the operation command transmitted from the operating device 2, and operates the long-axis surgical instrument 40 and the like included in the patient-side system 1 based on the operation command.

The operation device 2 is a device that constitutes an interface between the surgical operation system 100 and a practitioner, and operates the patient-side system 1. The operating device 2 is installed beside the operating table 111 in the operating room, apart from the operating table 111, or outside the operating room. Although not shown, the operation device 2 includes an operation input unit such as an operation manipulator arm and an operation pedal for an operator to input an operation command, and an endoscope assembly attached to the patient-side system 1 as the surgical instrument 40 ( And a monitor for displaying an image taken in (not shown). The practitioner operates the operation input unit while inputting an operation command to the operation device 2 while visually observing the affected part (treatment part 110) on the monitor. The operation command input to the operation device 2 is transmitted to a control unit 600 of the patient-side system 1 described later by wire or wirelessly.

The patient-side system 1 constitutes an interface between the surgical operation system 100 and the patient P. The patient-side system 1 is arranged beside the operating table 111 on which the patient P lies in the operating room. The operating room is a sterile field.

The patient-side system 1 includes a positioner 7, an arm base (platform) 5 attached to a tip portion of the positioner 7, and a plurality of patient-side manipulator arms detachably attached to the arm base 5 (hereinafter, simply referred to as “arm 3”). That is)). The positioner 7 extends from a predetermined base and connects the predetermined base and the arm base 5. In the present embodiment, the positioner 7 is configured as a multi-axis robot and can move the position of the arm base 5 three-dimensionally with respect to a movable carriage 70 that is a predetermined base. The arm 3 and the arm base 5 are covered with a sterile drape (not shown), and the arm 3 and the arm base 5 are shielded from the sterile field in the operating room.

The distal ends of the plurality of arms 3 are each configured as an instrument holding portion (holder 36) capable of holding a long-axis surgical instrument 40. An endoscope assembly (not shown) is held at the tip of one of the plurality of arms 3. An instrument 42 is detachably held at the tip of the remaining arm of the plurality of arms 3. Hereinafter, the arm 3 to which the endoscope assembly is attached may be referred to as “camera arm”, and the arm 3 to which the instrument 42 is attached may be referred to as “instrument arm”. The patient-side system 1 according to the present embodiment includes a total of four arms 3, one camera arm and three instrument arms.

In the patient-side system 1 described above, the arm base 5 has a function as a “hub” serving as a base for the plurality of arms 3. In this embodiment, the positioner 7 and the arm base 5 constitute a manipulator arm support 10 that movably supports the plurality of arms 3. However, the positioner 7 does not have to be a multi-axis robot. For example, the positioner 7 may be a linear rail for supporting the arm base 5, a lifting device, or a bracket attached to a ceiling or a wall. The predetermined base to which the positioner 7 is connected is not limited to the movable structure like the carriage 70. For example, the predetermined base may be a wall of the operating room, a floor, or a fixed object fixed to these.

In the patient side system 1 described above, elements are connected in series from the positioner 7 to the endoscope assembly or each instrument 42. In the present specification, in the above series of elements, the end portion on the side toward the positioner 7 (more specifically, the base 90 that is the connection portion of the positioner 7 with the carriage 70) is referred to as the “base end portion”, and vice versa. The end on the side is referred to as the "tip".

Hereinafter, the carriage 70, the positioner 7, the arm base 5, and the plurality of manipulator arms 3 will be described in detail.

As shown in FIG. 1, the bogie 70 includes a bogie body 71, a front wheel 72 and a rear wheel 73, and a handle 74. The front wheels 72 and the rear wheels 73 are rotatably attached to the carriage main body 71, whereby the carriage main body 71 is configured to be movable. The rear wheel 73 is configured to be rotatable around the rotation axis of the handle 74, and the practitioner or the treatment assistant O grips the handle 74 and rotates the handle 74 around the rotation axis so that the trolley body 71 is rotated. It is possible to change the traveling direction.

The operation of the patient-side system 1 is controlled by the controller 600. The control unit 600 is composed of a computer such as a microcontroller. Inside the carriage main body 71, a control unit 600 and a storage unit 602 in which a control program used for operation control and various data are stored are stored. Further, the carriage main body 71 is provided with an operation unit 604 for mainly setting and inputting the positions and postures (preparation postures described later) of the positioner 7, the arm base 5, and the plurality of arms 3 before the operation. 604 is configured by, for example, a touch panel or the like.

The positioner 7 includes a base 90 that is attached to the carriage main body 71, and a plurality of positioner link portions that are sequentially connected from the base 90 toward the tip. The positioner 7 constitutes a plurality of joints by sequentially connecting one positioner link portion so as to rotate with respect to the other one positioner link portion. The plurality of positioner link parts include a first link 91 to a sixth link 96. The plurality of joints includes a first joint J71 to a seventh joint J77. In addition, although the plurality of joints in the present embodiment are configured by rotary joints having a rotary shaft, at least some of the joints may be configured by linear motion joints.

More specifically, the base end portion of the first link 91 is connected to the tip end portion of the base 90 via the first joint J71 which is a torsion (roll) joint. The base end portion of the second link 92 is connected to the tip end portion of the first link 91 via a second joint J72 that is a bending (pitch) joint. The base end of the third link 93 is connected to the tip of the second link 92 via a third joint J73 that is a bending joint. The base end portion of the fourth link 94 is connected to the tip end portion of the third link 93 via a fourth joint J74 which is a torsion joint. The proximal end portion of the fifth link 95 is connected to the distal end portion of the fourth link 94 via a fifth joint J75 which is a bending joint. The proximal end portion of the sixth link 96 is connected to the distal end portion of the fifth link 95 via a sixth joint J76 which is a torsion joint. The positioner attaching portion 51 of the arm base 5 is connected to the tip end portion of the sixth link 96 via a seventh joint J77 which is a torsion joint. Thus, the positioner 7 is configured as a multi-axis joint (7-axis joint) arm having a plurality of degrees of freedom (7 degrees of freedom).

As described above, the sixth link 96, which is the positioner link portion attached to the positioner attaching portion 51 of the arm base 5, is the sixth joint J76, which is the joint portion on the proximal end side, and the seventh joint J77, which is the joint portion on the distal end side. Both are configured as torsion joints. Furthermore, in the present embodiment, the rotation axis of the sixth joint J76 is inclined relative to the rotation axis of the seventh joint J77. More specifically, the rotation axis of the sixth joint J76 is inclined with respect to the longitudinal direction of the sixth link 96, and the rotation axis of the seventh joint J77 is orthogonal to the longitudinal direction of the sixth link 96. There is. The axis of rotation of the sixth joint J76 and the axis of rotation of the seventh joint J77 intersect at their respective extension lines. That is, the rotation surface of the sixth joint J76 is inclined with respect to the rotation surface of the seventh joint J77.

The arm base 5 is attached to the arm base main body 50, an upper portion (base end side) of the arm base main body 50, and a positioner attaching portion 51 to which the tip end portion of the positioner 7 is attached, and a lower portion (tip end side) of the arm base main body 50. And at least one arm attachment part to which the base ends of the plurality of arms 3 are attached. The arm mounting portion is hidden by the cover 52. Each arm attachment portion has a first engagement portion 201 and a regulation portion 204, which will be described later. The arm base 5 is configured to be rotatable relative to the tip end portion (sixth link 96) of the positioner 7 about an arm base rotation axis V77 that is a rotation axis of the seventh joint J77. In the present embodiment, a plurality (four) of arm attachment portions are provided according to the plurality (four) of arms 3. Since the bases 80 of the plurality of arms 3 are fixed to the plurality of arm attachment portions, the base ends (first links 81 described below) of the plurality of arms 3 are arms that are the rotation axes of the first joint J31 described below. It is configured to be relatively rotatable around the base end rotation axis V31. A more detailed structure of the arm base 5 will be described later.

FIG. 2 is a schematic diagram showing the overall configuration of the manipulator arm in the surgical operation system shown in FIG. FIG. 2 shows a schematic configuration of one arm 3 to which the instrument 42 is attached among the plurality of arms 3 included in the patient-side system 1. In the present embodiment, the plurality of arms 3 included in the patient-side system 1 all have the same or similar configuration, but at least one of the plurality of arms 3 has a different configuration (for example, different). May have a degree of freedom). As shown in FIG. 2, the arm 3 includes an arm body 30 and a translation unit 35 connected to the tip of the arm body 30. Each of the plurality of arms 3 is configured such that its tip end can move three-dimensionally with respect to the base end. A holder (instrument holding portion) 36 capable of holding a long-axis surgical instrument 40 (instrument 42 or endoscope assembly) is provided at the tip of the arm 3. In the present embodiment, the holder 36 is provided in the translation unit 35.

The instrument 42 includes a drive unit 45 provided at the base end portion, an end effector (treatment instrument) 44 provided at the tip end portion, and an elongated shaft 43 connecting the drive unit 45 and the end effector 44. Have A long axis direction Dt is defined in the instrument 42, and the drive unit 45, the shaft 43, and the end effector 44 are arranged along the long axis direction Dt. The end effector 44 of the instrument 42 is an instrument having an operating joint (for example, forceps, scissors, grasper, needle holder, microsector, staple applier, tacker, suction cleaning tool, snare wire, clip applier, etc.). ), and non-articulated instruments (eg, cutting blades, ablation probes, irrigators, catheters, suction orifices, etc.). As used herein, "long-axis surgical instrument" includes both the endoscopic assembly and each instrument.

When the arm 3 is an instrument arm, the holder 36 detachably holds the instrument 42. The shaft 43 of the instrument 42 held by the holder 36 extends along the long-axis direction Dt. When the arm 3 is a camera arm, the holder 36 detachably holds the endoscope assembly. Here, the holder 36 provided on the camera arm may have a different shape or structure from the holder 36 provided on the instrument arm. Alternatively, the endoscope assembly may be fixed to the camera arm since it is rare to replace the endoscope assembly during surgery.

The arm 3 is configured to be attachable to and detachable from the arm base 5. The arm 3 has water resistance, heat resistance, and chemical resistance for cleaning processing and sterilization processing. There are various methods for sterilizing the arm 3, and for example, a high-pressure steam sterilization method, an EOG sterilization method, a chemical sterilization method using a disinfectant, etc. can be selectively used.

The arm body 30 includes a base 80 that is detachably attached to the arm base 5, and a plurality of arm link portions that are sequentially connected from the base 80 toward the tip portion. The arm 3 constitutes a plurality of joint parts by sequentially connecting one arm link part so as to rotate with respect to the other one arm link part. The plurality of arm link portions include a first link 81 to a seventh link 87. The plurality of joints includes a first joint J31 to a seventh joint J37. In addition, although the plurality of joints in the present embodiment are configured by rotary joints having a rotary shaft, at least some of the joints may be configured by linear motion joints.

More specifically, the base end portion of the first link 81 is connected to the tip end portion of the base 80 via the first joint J31 which is a torsion (roll) joint. The base end portion of the second link 82 is connected to the tip end portion of the first link 81 via a second joint J32 which is a bending (pitch) joint. The base end portion of the third link 83 is connected to the tip end portion of the second link 82 via a third joint J33 which is a torsion joint. The base end portion of the fourth link 84 is connected to the tip end portion of the third link 83 via a fourth joint J34 that is a bending joint. The proximal end portion of the fifth link 85 is connected to the distal end portion of the fourth link 84 via a fifth joint J35 that is a torsion joint. The proximal end portion of the sixth link 86 is connected to the distal end portion of the fifth link 85 via a sixth joint J36 which is a bending joint. The proximal end portion of the translation unit 35 is connected to the distal end portion of the sixth link 86 via a seventh joint J37 which is a bending joint. Thereby, the arm 3 is configured as a multi-axis joint (7-axis joint) arm having a plurality of degrees of freedom (7 degrees of freedom). Therefore, the arm 3 can change the overall attitude of the arm 3 without changing the position and attitude of the tip portion of the arm 3.

In the present embodiment, the first link 81 has a shape bent between the adjacent joints J31 and J32. In other words, the first link 81 is configured so that the rotation axis of the first joint J31 and the rotation axis of the second joint J32 do not intersect. That is, the first link 81 includes a first portion 81a extending from the first joint J31 on the proximal end side in a predetermined first direction (the rotation axis direction of the first joint J31), and a first portion 81a from a tip end portion of the first portion 81a. The second portion 81b extends in a second direction (and a direction orthogonal to the second joint J32) intersecting the extension direction of the portion 81a and is connected to the distal end side second joint J32. The angle formed by the first direction and the second direction in the first link 81 is, for example, 120 degrees or more and 160 degrees or less (for example, 140 degrees). The first portion 81a and the second portion 81b are smoothly connected. Accordingly, even if some of the arm link portions have a bent shape, it is possible to easily pass wires (not shown) such as electric wiring through the plurality of arm link portions.

Further, the fourth link 84 has a shape bent between the adjacent joints J34 and J35. In other words, the fourth link 84 is configured so that the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35 do not intersect. That is, the fourth link 84 extends from the fourth joint J34 on the base end side in a predetermined first direction (direction orthogonal to both the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35). 84a and a fifth joint J35 on the tip side that extends in the second direction (rotational axis direction of the fifth joint J35) intersecting the extension direction of the first portion 84a from the tip of the first portion 84a. 2 parts 84b. The angle formed by the first direction and the second direction in the fourth link 84 is, for example, 70 degrees or more and 110 degrees or less (for example, 90 degrees). The first portion 84a and the second portion 84b are smoothly connected.

In particular, the fourth link 84 is configured so that the link length is shorter than the other joints. FIG. 3 is a side view schematically illustrating the fourth link 84 shown in FIG. As shown in FIG. 3, for example, in the fourth link 84, the length L1 in the first direction between the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35 is equal to the radius R4 of the fourth joint J34. Alternatively, the radius R5 of the fifth joint J35 is 4 times or less, more preferably 3 times or less. The radius R4 of the fourth joint J34 is defined as the distance between the rotation axis of the fourth joint J34 and the base end position of the fourth link 84 in the first direction. The radius R5 of the fifth joint J35 is defined as the distance between the rotation axis of the fifth joint J35 and the tip end position of the fourth link 84 in the first direction. Further, the fourth link 84 is configured such that the length L1 is not more than twice the sum of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35. More preferably, the length L1 is the sum of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35, and the shorter one of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35. The length is shorter than the length obtained by adding the radius R5.

The other links 82, 83, 85, 86 are formed linearly between the adjacent joint parts. In other words, the other links 82, 83, 85, 86 are configured such that the rotation axes of adjacent joints intersect with each other.

Each arm link part is configured such that the area of the cross section orthogonal to the longitudinal direction is smaller than the arm link part (or the base 80) connected to the base end side of the arm link part. As a result, the arm 3 is configured so as to become gradually thinner from the base end portion toward the tip end portion. Further, in each of the joints J32, J34, J36 which are bending joints, the distal end portions of the arm link portions 81, 83, 85 on the base end side are located on one side in the rotational axis direction with reference to the central portion in the rotational axis direction of the joint portion. The base end portions of the arm link portions 82, 84, 86 on the tip end side of the arm link portions 81, 83, 85 on the base end portion side on the other side in the rotation axis direction are based on the center portion in the rotation axis direction of the joint portion. It is configured to face the tip. That is, these joints J32, J34, and J36 are configured by the phaseless joining.

Then, the width of the joint portion in the rotation axis direction, that is, the rotation axis direction outer end portion of the tip end portion of the arm link portions 81, 83, 85 on the base end side and the arm link portion 82 on the tip end side. The distance between the base end portions of 84 and 86 and the outer end portion in the rotation axis direction is set in the longitudinal direction of the portion of the arm link portions 81, 83 and 85 on the base end portion side located closer to the base end portion than the tip end portions thereof. Shorter than the diameter (maximum dimension) of the orthogonal cross section.

In this manner, the joints and the arm link portions on the distal end side of the joint portions are configured to be narrower than the arm link portions on the proximal end side, so that the joint portions become narrower as they approach the treatment site 110 of the patient P. In the work space, the movement range of each arm 3 (the range where it does not interfere with other arms 3) can be increased.

The outer shell of the arm body 30 is mainly formed of a member having heat resistance and chemical resistance such as stainless steel. In addition, the opening such as the inspection hole of the arm body 30 is covered with a resin cover. By forming the cover with a member such as a resin, it is possible to reduce the weight of the portion of the arm 3 that does not contribute to the strength. As a result, even if the cover accidentally drops or the arm 3 hits another arm 3 or the treatment assistant O, the impact can be reduced. The outer shell of the arm body 30 may include a portion made of a resin member. In addition, a seal (not shown) for providing water resistance is provided at the connecting portion between the links. This seal has heat resistance compatible with high-pressure steam sterilization and chemical resistance to disinfectants. In addition, in the connecting portion between the links, the end portion of the other link is inserted inside the end portion of the one link to be connected, and the seal is arranged so as to fill between the end portions of these links. By doing so, the seal is hidden from the appearance. As a result, entry of water, chemicals, and steam from between the seal and the link is suppressed.

The translation unit 35 translates the holder 36 attached to the distal end of the translation unit 35 in the longitudinal direction Dt to translate the instrument 42 attached to the holder 36 in the extending direction of the shaft 43. It is a mechanism.

The translation unit 35 includes a proximal end side link 61, a distal end side link 62, and a proximal end side link 61 that are connected to the distal end portion of the sixth link 86 of the arm body 30 via a seventh joint J37 that is a bending joint. And a tip end side link 62, a connecting link 63 that moves in an interlocking manner, and an interlocking mechanism (not shown). The seventh joint J37 extends in a direction orthogonal to the long axis direction Dt. The drive source of the translation unit 35 is provided on the base end side link 61. The connecting link 63 extends along the major axis direction Dt.

In the translation unit 35, the interlocking mechanism changes the relative position of the base end side link 61 and the connecting link 63 in the long axis direction Dt, and the relative position of the connecting link 63 and the front end side link 62 in the long axis direction Dt. By changing, it is possible to change the position of the instrument 42 attached to the holder 36 provided in the distal end side link 62 with respect to the proximal end side link 61 in the long axis direction Dt. A known link mechanism can be adopted as the interlocking mechanism, and for example, a configuration using a pulley and a timing belt may be used, or a mechanism including a gear train may be used.

FIG. 4 is a block diagram showing a schematic configuration of a control system of the manipulator arm of the surgical operation system shown in FIG. In the arm body 30 having the above-described structure, the rotation angles of the driving servomotors (denoted as SM in FIG. 4) M31 to M37 and the servomotors M31 to M37 are detected in correspondence with the joints J31 to J37 of the arm 3. Encoders (denoted as EN in FIG. 4) E31 to E37 and speed reducers (not shown) that reduce the outputs of the servomotors M31 to M37 to increase the torque are provided. Similarly, the positioner 7 includes servomotors M71 to M77 for driving, encoders E71 to E77 for detecting rotation angles of the servomotors M71 to M77, and servomotors corresponding to the joints J71 to J77 of the positioner 7. A speed reducer (not shown) that reduces the output of M71 to M77 and increases the torque is provided.

In FIG. 4, among the joints J31 to J37 and J71 to J77, the control system of the first joint J31 and the seventh joint J37 of the arm 3 and the first joint J71 and the seventh joint J77 of the positioner 7 is representative. The control systems for the other joints J33 to J36 and J72 to J76 are omitted. Further, the translation unit 35 includes a servo motor M38 for translation operation, a servo motor M39 for rotation operation around the rotation shaft 64, and encoders E38, E39 for detecting rotation angles of the servo motors M38, M39. , And a reducer (not shown) that reduces the output of the servomotors M38 and M39 to increase the torque.

The encoders E31 to E39 and E71 to E77 are provided as an example of a rotational position detecting unit that detects the rotational positions (rotational angles) of the servo motors M31 to M39 and M71 to M77, and the encoders E31 to E39 and E71 to E71. Instead of E77, a rotational position detecting means such as a resolver may be used. Further, the above-mentioned elements of the drive system of the arm 3, the wirings and the control section for these elements are made of a high temperature resistant material, and have heat resistance for sterilization.

The control unit 600 includes an arm control unit 601 that controls the movement of the plurality of arms 3 based on the operation command, and a positioner control unit 603 that controls the movement of the positioner 7 based on the operation command. Servo control units C31 to C39 are electrically connected to the arm control unit 601, and servo motors M31 to M39 are electrically connected via an amplifier circuit or the like (not shown). Similarly, the positioner control unit 603 is electrically connected to the servo control units C71 to C77, and the servo motors M31 to M39 are electrically connected via an amplifier circuit (not shown) or the like.

In the above configuration, the position/orientation command of the tip of the arm 3 is input to the arm control unit 601 based on the operation command input to the operation device 2 during the operation. The arm control unit 601 generates a position command value for each of the servo motors M31 to M39 based on the position and orientation command, and outputs the position command value to the corresponding servo control unit C31 to C39. The servo control units C31 to C39 that have acquired the position command value generate and output a drive command value (torque command value) based on the rotation angle and the position command value detected by the encoders E31 to E39. The amplifier circuit that has acquired this drive command value supplies a drive current corresponding to the drive command value to the servomotors M31 to M39. In this way, the servomotors M31 to M39 are servo-controlled so that the tip of the arm 3 reaches the position and posture corresponding to the position and posture command. Further, based on the operation command input to the operation unit 604 before the operation, the position/orientation command of the tip end portion of the positioner 7 is input to the positioner control unit 603. The positioner control unit 603, like the arm control unit 601, controls the position and posture of the positioner 7 based on the position and posture command.

Further, the control unit 600 is provided with a storage unit 602 from which data can be read by the arm control unit 601, and surgery information input via the operation device 2 is stored in advance. This surgery information includes a combination of the plurality of arms 3 used in the surgery.

The storage unit 602 also stores information such as the length of the surgical instrument (endoscope assembly or each instrument) held at the tip of the arm 3 along the long-axis direction Dt. Thereby, the arm control unit 601 can grasp the position of the distal end portion of the surgical instrument held at the distal end portion of the arm 3 based on the position and orientation command of the distal end portion of the arm 3.

Further, in the storage unit 602, a predetermined preparation position (for example, the position and posture of each element 7, 5, 3 shown in FIG. 1) established before the operation of the positioner 7, the arm base 5, and the plurality of arms 3 is stored in advance. Remembered. The storage unit 602 can store a plurality of preparation positions according to the content (type) of the treatment, the treatment site, and the like. Furthermore, the storage unit 602 stores a predetermined storage position in advance. The predetermined storage position is a position in which the positioner 7 and the plurality of arms 3 are folded as much as possible so that the plurality of arms 3 and the like are less likely to come into contact with the wall of the operating room or other surgical tools when the carriage 70 moves. The posture is set.

The positioner control unit 603 sets the positioner 7, the arm base 5, and the plurality of positions at the preparation position stored in the storage unit 602 based on an operation command (predetermined control input) regarding the setting of the preparation position input to the operation unit 604. The arm 3 is controlled to move.

In the operation using the patient-side system 1 having the above configuration, first, the operation assistant O (which may be performed by the operator himself/herself) moves the patient-side system 1 to the vicinity of the operating table 111 by using the carriage 70. At this time, the positioner 7, the arm base 5, and the plurality of arms 3 are located at a predetermined storage position (not shown) set for the carriage 70.

After moving the patient-side system 1, the operation assistant O uses the operation unit 604 to select and input the preparation position according to the operation content of the patient P. As a result, the positioner control unit 603 reads out information on the corresponding preparation position from the storage unit 602, and controls the operation of these elements so that the positioner 7, the arm base 5, and the plurality of arms 3 are located at the preparation position.

It is also possible to individually adjust the positions of the positioner 7, the arm base 5, and the plurality of arms 3 from the preparation position by using the operation unit 604. It is also possible for the medical treatment assistant O to grasp the arms 3 and the like and individually move each arm 3 from the preparation position. By performing such a preliminary operation, the sleeve (cannula sleeve) indwelling on the body surface of the patient P to be the operation site 110 and the surgical instrument 40 attached to each arm 3 have a predetermined initial positional relationship. The positioner 7, the arm base 5, and the plurality of arms 3 are positioned so that

In the present embodiment, the control unit 600 does not accept the operation by the operation device 2 until the patient side system 1 (the positioner 7, the arm base 5, and the plurality of arms 3) moves from the storage position to the preparation position. After the patient-side system 1 is located at the preparation position, the control unit 600 can accept the operation by the operation device 2. During the operation after the patient-side system 1 is located at the preparation position, the control unit 600, in principle, keeps the positioner 7 and the arm base 5 stationary, and responds to an operation command from the operating device 2 to move each arm 3 Is controlled to change the position and posture of the surgical instrument 40 as appropriate.

As described above, the preparation position shown in FIG. 1 is set as a position where the arm base 5 and the operating table 111 or the patient P have a predetermined positional relationship before the operation. In this preparation position, the arm base rotation axis V77 (described later) in the positioner mounting portion 51 of the arm base 5 is arranged so that the longitudinal direction (first direction D1) of the arm base 5 is parallel to the horizontal plane (first plane S1). With the arm base 5 positioned, the arm base 5 is inclined with respect to both the vertical plane (second plane S2) and the horizontal plane (first plane S1) that include the longitudinal direction of the arm base 5 and that is perpendicular to the horizontal plane. In order to easily take such a preparation position, the arm base 5 in the present embodiment has the following configuration.

5A to 5C are schematic views showing the configuration of the arm base in the surgical operation system shown in FIG. 1. 5A is a front view seen from the front (VA direction in FIG. 1) in the preparation position shown in FIG. 1, FIG. 5B is a top view seen in the VB direction shown in FIG. 5A, and FIG. It is a VC-VC sectional view shown to 5A.

As shown in FIG. 5B, in the cover 52 that covers the plurality of arm attachment parts, the base end portions (bases 80) of the plurality of arms 3 are included in the first first plane S1 when viewed in the first first plane S1. They are arranged in a line in the direction D1. In the present embodiment, the first plane S1 is an imaginary plane parallel to the floor surface (horizontal plane) G in a state where the arm base 5 is located at the preparation position (FIG. 1). That is, the plurality of arm attachment portions are arranged in a line in the first direction D1 (the depth direction of the paper surface in FIG. 1) when viewed from above with the arm base 5 in the preparation position.

Further, in the present embodiment, the position of the base end portion of at least one arm 3 of the plurality of arms 3 in the second direction (vertical direction) D2 perpendicular to the first plane S1 is the base of the other arm 3. It is configured to be different from the position of the end portion in the second direction D. 5A and 5B, of the covers 52 that cover the four arm attachment portions arranged in a line, the two inner arm attachment portions are referred to as inner arm attachment portion covers 52a, and the two outer arm attachment portions are referred to as outer portions. The arm attachment portion cover 52b is used. In the present embodiment, the position of the base 80 of the arm 3 attached to the inner arm attachment portion (in FIG. 5A, is shown with reference to the arm proximal end rotation axis V31 which is the rotation axis of the first joint J31) is the outside. It is located at a position higher by a predetermined distance d2 than the position of the base 80 of the arm 3 attached to the arm attachment portion.

As shown in FIG. 5C, the positioner mounting portion 51 extends from the upper portion of the arm base body 50 in the arm base rotation axis V77 direction. The arm base rotation axis V77 is configured to incline with respect to an imaginary second plane S2 including the first direction D1 and the second direction D2.

Further, the plurality of arm attachment portions (first engagement portion 201 and restriction portion 204, which will be described later) are fixed to the arm base body 50 such that the attachment directions of the arms 3 are the same.

Further, as shown in FIG. 5C, the plurality of arm attachment portions are configured to hold the plurality of arms 3 so that the arm proximal end rotation axis V31 of each arm 3 is inclined with respect to the second plane S2. ing. At this time, the inclination angle θ1 of the arm base rotation axis V77 with respect to the second plane S2 is smaller than the inclination angle θ2 of the arm base end rotation axis V31 with respect to the second plane S2. In other words, the arm attachment directions of the plurality of arm attachment parts have angles that are closer to horizontal than the direction of the arm base rotation axis V77. Therefore, the arm base rotation axis V77 and the arm base end rotation axis V31 intersect each other on their extension lines. For example, the inclination angle θ1 of the arm base rotation axis V77 with respect to the second plane S2 is about 45° (about 45° with respect to the first plane S1), and the arm base end rotation axis V31 with respect to the second plane S2. The inclination angle θ2 is about 60° (about 30° with respect to the first plane S1).

6A and 6B are schematic configuration diagrams showing an arm holding mechanism in the present embodiment. FIG. 6A shows a state in which the cover 52 is removed from FIG. 5C. 6B is a front view seen from the front (the VA direction in FIG. 1) in the preparation position shown in FIG. 6A and 6B, only the base 80 of the arm 3 is shown. The holding mechanism 200 is configured to detachably hold the arm 3 on the arm base 5. The holding mechanism 200 includes a first engaging portion 201 and a regulating portion 204 that are fixed to the arm base body 50 of the arm base 5, and a second engaging portion that is detachably attached to the base end portion (base 80) of the arm 3. 202 is provided.

The first engaging portion 201 is provided with a support shaft member 201a extending in the first axis V1 direction along the longitudinal direction D1 of the arm base 5. The first engagement portion 201 is attached to the attachment surface 5a of the arm base 5 parallel to the first axis V1. Further, the first engaging portion 201 includes a pair of support shaft holding portions 201b extending downward from the mounting surface 5a (a direction away from the arm base 5). The support shaft member 201a is held by a pair of support shaft holding portions 201b. The support shaft member 201a is made of, for example, a metal columnar member or the like. The support shaft member 201a is held by the pair of support shaft holding portions 201b so as to be located at one end (front) of the mounting surface 5a in the front-rear direction (direction orthogonal to the longitudinal direction D1 and parallel to the mounting surface 5a). .. The mounting surface 5a is arranged horizontally in the preparation position shown in FIG.

The arm base 5 is provided with a restriction portion 204 extending downward from the other end (rear) of the attachment surface 5a in the front-rear direction. The restricting portion 204 includes a restricting surface 204a that is parallel to the first axis V1 and is inclined with respect to the mounting surface 5a. More specifically, the regulation surface 204a is configured to be located rearward from the upper end portion toward the lower end portion. The arm attachment portion of the arm base 5 is composed of the first engagement portion 201 and the restriction portion 204.

The second engagement portion 202 is provided with an engagement member 202a configured to be engageable with the support shaft member 201a. The engagement member 202a is configured to be relatively rotatable around the first axis V1 while being engaged with the support shaft member 201a. The second engaging portion 202 extends in the longitudinal direction of the base 80 of the arm 3 (arm base end portion rotation axis V31 direction) and in the direction Y orthogonal to the longitudinal direction D1, and the distal end portion thereof is provided with the engaging member 202a. ing. The engaging member 202a has a hook shape. The hook configured as the engaging member 202a has an opening portion having a diameter larger than the diameter of the support shaft member 201a in a direction intersecting with the extending direction of the second engaging portion 202 (on the tip end side of the arm 3). ing.

In the second engagement portion 202, the engagement member 202a is located from the base end portion (contact surface 80a with the regulation surface 204a) of the base 80 with respect to the position of the base 80 in the longitudinal direction (arm base end portion rotation axis V31 direction). The base 80 is formed so as to be mounted on the tip end side of the base 80 at a predetermined distance. The engaging members 202a are provided at both ends in the width direction of the second engaging portion 202. That is, the second engaging portion 202 is provided with two engaging members 202a.

The restricting portion 204 has the restricting surface 204a as a base for the rotation of the arm 3 (on which the second engaging portion 202 is mounted) about the first axis V1 in a state where the engaging member 202a is engaged with the support shaft member 201a. It regulates by abutting on the base end portion (contact surface 80a) of 80. The base 80 forming the base end of the arm 3 has a contact surface 80 a perpendicular to the longitudinal axis of the base 80.

Although not shown, electrical connection between the arm base 5 and the arm 3 in order to enable power supply from the arm base 5 to the arm 3 and transmission/reception of signals between the arm base 5 and the arm 3. Separately includes a first connector provided at the end of the first electric wire extending from the base end of the arm 3 and a second connector provided at the end of the second electric wire extending from the arm base 5. It is done by connecting. Therefore, the restricting surface 204a of the restricting portion 204 and the abutting surface 80a of the base end portion of the arm 3 are provided with a connecting portion of electric wiring for electrically connecting the arm base 5 and the arm 3. Absent.

If connectors are provided on the regulation surface 204a and the contact surface 80a, it is necessary to connect the connectors to each other while rotating the arm 3 around the first axis V1. For this reason, a force is applied to the connector from a direction other than the connecting direction of the connector, so that the connector may be deformed or the connection may be defective. In the present embodiment, by electrically connecting the arm base 5 and the arm 3 separately from the holding mechanism 200 of the arm 3, it is possible to eliminate the necessity of making the electrical connection while rotating the arm 3, and to stabilize the stability. Electrical connection can be made.

A procedure for mounting the arm 3 on the arm base 5 having the above-described configuration will be described. 7A to 7C are diagrams showing an example of a procedure for mounting the arm 3 on the arm base 5 in the present embodiment. The first engaging portion 201 is fixed to the arm base 5 in advance. First, as shown in FIG. 7A, the second engaging portion 202 provided with the engaging member 202a is attached to the base 80 of the arm 3 using a predetermined fastening member 211 such as a screw.

Thereafter, as shown in FIG. 7B, the support member 201a provided on the first engaging portion 201 is engaged with the engaging member 202a attached to the arm 3 via the second engaging portion 202. In the present embodiment, the hook-shaped engaging member 202a is engaged with the columnar portion of the support shaft member 201a by hooking. The engagement member 202a is configured to be relatively rotatable around the first axis V1 while being engaged with the support shaft member 201a. More specifically, the engagement surface of the engagement member 202a with the support shaft member 201a is formed in an arc shape along the circumference of the support shaft member 201a. Therefore, the engagement is not easily released in the state where the engagement member 202a is engaged with the support shaft member 201a. In other words, the engagement member 202a smoothly rotates around the support shaft member 201a. As a result, the state in which the arm 3 is suspended from the arm base 5 (suspended state) is maintained.

As described above, although not shown in FIGS. 6A and 6B, a plurality of arm link portions are connected to the tip portion of the base 80 of the arm 3 as described above. Therefore, as shown in FIG. 7C, the engagement member 202a is located closer to the longitudinal end of the arm 3 than the center of gravity of the arm 3 in the longitudinal direction. Therefore, the arm 3 in which the engagement member 202a is engaged with the support shaft member 201a moves from the state in which the arm 3 rotates around the first axis V1 and the longitudinal direction of the arm 3 is inclined with respect to the vertical direction due to its own weight. A biasing force F that rotates in a direction in which the inclination angle of the longitudinal direction with respect to the vertical direction decreases is generated.

In other words, the arm 3 produces an urging force F that lifts the base end of the arm 3 due to its own weight. The restriction portion 204 is configured to restrict the rotation of the arm 3 around its first axis V1 by its own weight. As described above, the restriction portion 204 includes the restriction surface 204a located rearward from the upper end toward the lower end. Therefore, as shown in FIG. 6A, the state where the base end portion (contact surface 80a) of the arm 3 is in contact with the regulation surface 204a due to its own weight is maintained. At this time, the longitudinal direction of the base 80 is inclined with respect to the vertical direction.

In this way, the restricting portion 204 is configured to position the arm 3 with respect to the arm base 5 by contacting the base end portion of the arm 3. As a result, the arm 3 can be positioned with respect to the arm base 5 only by attaching the arm 3 to the arm base 5.

The proximal end portion of the arm 3 is fixed to the regulation portion 204 by a fastening member 212 such as a screw while the proximal end portion of the arm 3 is in contact with the regulation surface 204a of the regulation portion 204. For example, the restriction portion 204 is provided with through holes 212a penetrating the restriction surface 204a at two locations along the width direction, and screw holes 212b are provided at corresponding positions of the base end portion (contact surface) of the arm 3. To be The through hole 212a is provided in the vicinity of the lower end portion of the restriction portion 204. As described above, the contact between the base end portion of the arm 3 and the restriction portion 204 is held by the urging force F due to the own weight of the arm 3, so that the worker releases the arm 3 and then the arm 3 moves. It is possible to perform a fastening operation between the base end portion and the restriction portion 204.

As shown in FIG. 6A, in the holding mechanism 200, the cover 52 that integrally covers the support shaft member 201a, the engaging member 202a, and the regulation portion 204 in a state where the base end portion of the arm 3 is in contact with the regulation portion 204. Equipped with. The cover 52 is formed of, for example, resin or stainless steel. The cover 52 is configured to integrally cover the entire first engaging portion 201 and a part of the base end portion of the arm 3 (more than half of the base 80). The cover 52 is attached after the work of fastening the base end portion of the arm 3 and the restriction portion 204.

According to the above configuration, the rotation of the arm 3 around the first axis V1 is restricted by the restricting portion 204 provided on the arm base 5 while the engaging member 202a is engaged with the support shaft member 201a. Therefore, when the arm 3 is mounted on the arm base 5, the arm 3 is held by the arm base 5 only by engaging the engaging member 202a with the support shaft member 201a extending in the first axis V1 direction. Moreover, since the engagement member 202a is configured to be rotatable relative to the first shaft V1 while being engaged with the support shaft member 201a, when the engagement member 202a is engaged with the support shaft member 201a. , The engagement is not easily released. Therefore, the arm 3 can be easily attached to and detached from the arm base 5, and the arm 3 can be prevented from falling off when engaged.

Further, the engagement member 202a attached to the arm 3 is attached to the arm 3 via the second engagement portion 202 which is detachably configured. That is, the second engagement portion 202 functions as a bracket. Therefore, the versatility of the arm 3 to be mounted can be kept high, for example, the existing arm 3 can be used. Further, the support shaft member 201 a, the engagement member 202 a, and the restriction portion 204 are integrally covered by the cover 52 with the arm 3 mounted on the arm base 5. Therefore, it is possible to prevent the engaging portion from being exposed to the outside.

Further, the second engaging portion 202 is configured to extend in the direction Y orthogonal to the longitudinal direction of the base 80 and the longitudinal direction D1 of the arm base 5, and the engaging member 202a is provided at the tip portion thereof. The arm 3 can be easily biased to the regulation portion 204 by utilizing the weight of the arm 3. Further, since the restricting portion 204 includes the restricting surface 204a that is parallel to the first axis V1 and is inclined with respect to the mounting surface 5a, the arm 3 is arranged so as to face obliquely downward while being mounted on the arm base 5. Can be set up. As a result, the horizontal position of the arm base 5 and the positioner 7 can be arranged at a position offset from the treatment site 110 with respect to the horizontal position of the treatment site 110. As a result, it is possible to suppress giving the patient P a feeling of pressure.

Further, since the restricting portion 204 is configured to restrict the rotation of the arm 3 around its first axis V1 due to its own weight, the operator can operate the engaging member 202a with the supporting shaft member 201a. The arm 3 is naturally positioned at the fixed position without rotating the arm 3 around the first axis V1. Therefore, it is possible to improve the workability and effectively prevent the arm 3 from falling off.

As described above, the arm 3 in the present embodiment can be configured as a suitable manipulator arm applied to the surgical operation system 100.

From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present invention. The details of its structure and/or function may be changed substantially without departing from the spirit of the invention.

For example, in the above-described embodiment, the support shaft member 201a is provided on the first engagement portion 201 fixed to the arm base 5, and the second engagement portion 202 detachably attached to the base end portion of the arm 3. An engagement member 202a is provided. Alternatively, the first engaging portion 201 may be provided with the engaging member 202a, and the second engaging portion 202 may be provided with the support shaft member 201a.

Further, in the above-described embodiment, the mode in which there are two engaging members 202a is illustrated, but the number of engaging members 202a may be one, or may be three or more. For example, when one engagement member 202a is used, the length (width) in the first axis V1 direction may be shorter than the length between the pair of support shaft holding portions 101b by a predetermined amount of play. .. However, in the case of finally fixing with the fastening member 212 as described above, the length of the engagement member 202a in the first axis V1 direction is determined by the pair of support shaft holding portions 101b as long as the arm 3 has sufficient strength. The length is not limited as long as it is equal to or less than the length.

Further, the shape of the engaging member 202a is not limited to the hook shape described above, and various shapes can be adopted. For example, the engaging member 202a may have an annular shape (hole shape), and the support shaft member 201a may have a protruding shape in the first axis V1 direction. In this case, by engaging the engagement member 202a with the protrusion-shaped support shaft member 201a from the direction of the first axis V1, the engagement member 202a is rotatable around the first shaft with respect to the support shaft member 201a. Can be configured to.

Further, the number (the number of degrees of freedom) and the shape of the plurality of joint portions (the plurality of link portions) in the plurality of arms 3 and/or the positioner 7 are not limited to the above-described embodiment, and various modes can be adopted.

Further, in the above embodiment, the holding mechanism 200 for attaching the arm 3 to the arm base 5 of the surgical operation system 100 is illustrated, but the holding mechanism 200 of the present invention can be applied to a system other than the surgical operation system 100. is there.

The present invention is useful because the manipulator arm can be easily attached to and detached from the arm base.

3 arms (manipulator arm)
5 Arm base 5a Attachment surface 36 Holder (apparatus holding part)
40 surgical instrument 52 cover 100 surgical operation system 200 holding mechanism 201 first engaging portion 201a support shaft member 202 second engaging portion 202a engaging member 204 restricting portion 204a restricting surface

Claims (10)

A manipulator arm having an instrument holding portion capable of holding a surgical instrument at the tip,
A manipulator for medical use comprising an arm base configured to hold a base end portion of the manipulator arm,
A first engaging portion provided on the arm base;
A second engaging portion provided at the base end of the manipulator arm;
A support shaft member that is provided on one of the first engaging portion and the second engaging portion and extends in the first axial direction;
It is provided on the other of the first engaging portion and the second engaging portion, is configured to be engageable with the support shaft member, and is relatively rotated around the first shaft in a state of being engaged with the support shaft member. An engaging member that is freely configured,
Rotation of the manipulator arm around the first axis provided in the arm base and in a state in which the engagement member is engaged with the support shaft member is restricted by abutting on a base end portion of the manipulator arm. Regulatory department,
A medical manipulator, comprising: a fixing member that fixes the base end portion of the manipulator arm to the regulation portion in a state where the base end portion of the manipulator arm is in contact with the regulation portion. The second engagement portion is provided so as to project from the base end portion of the manipulator arm, and the spindle member or the engagement member is provided at a tip end portion of the second engagement portion. The medical manipulator described in. The arm base includes a mounting surface of the first engaging portion parallel to the first axis,
The medical manipulator according to claim 1 or 2, wherein the restricting portion includes a restricting surface parallel to the first axis and inclined with respect to the mounting surface. The medical manipulator according to claim 1, wherein the engaging portion has a hook shape. The medical manipulator according to claim 1, wherein the restriction portion is configured to restrict rotation of the manipulator arm due to its own weight around the first axis. The medical manipulator according to claim 1, wherein the restricting portion is configured to position the manipulator arm with respect to the arm base by abutting a base end portion of the manipulator arm. The manipulator arm and the arm base are configured to be electrically connected by connecting a first connector provided on a base end portion of the manipulator arm and a second connector provided on the arm base. And
7. The medical device according to claim 1, wherein the arm base is configured to include the second connector at a position other than the regulation surface of the regulation portion with which the base end portion of the manipulator arm abuts. manipulator. The manipulator arm includes a cover that integrally covers the first engagement portion, the second engagement portion, and the regulation portion in a state where the base end portion of the manipulator arm is in contact with the regulation portion. The medical manipulator according to claim 1. The medical manipulator according to any one of claims 1 to 8, comprising a positioner configured to move the arm base, and a carriage for moving the positioner. The medical manipulator according to claim 9, wherein the positioner is configured by a multi-axis robot.