JP2020103889A - Manipulator arm to be used for surgical system, and patient side system - Google Patents

Abstract

To provide a manipulator arm that with a simple structure, can rapidly perform linear movement of a surgical instrument and is to be used for a surgical system, and a patient side system.SOLUTION: A translation mechanism provided at a tip part of an arm body part comprises: a base end side unit; a tip side unit comprising an instrument holding part; a coupling unit coupling the base end side unit with the tip side unit; and an electric wiring circuit for electrically connecting the base end side unit with the tip side unit. The coupling unit comprises: a first pulley and a second pulley; and a belt member that is stretched across the first pulley and the second pulley and is capable of reciprocating in a first direction from the first pulley toward the second pulley and in a second direction opposite to the first direction. The base end side unit is attached to a first attachment position of the belt member. The tip side unit is attached to a second attachment position of the belt member so as to move in a direction opposite to a movement direction of the base end side unit with respect to the coupling unit.SELECTED DRAWING: Figure 5

Description

The present invention relates to manipulator arms and patient side systems used in surgical systems.

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, a surgical instrument is attached to the distal end portion of each manipulator arm, and a translation mechanism for linearly moving the attached surgical instrument is provided.

As a translation mechanism for linearly moving a surgical instrument attached to the tip of a manipulator arm, a manipulator provided with a base link, an idler link, and a carriage link so as to expand and contract is known (see Patent Document 3 below). The translation mechanism described in Patent Document 3 has three movements by setting the movement direction of the second link to the first link and the movement direction of the third link to the second link in the three links. Allows expansion and contraction of links.

Japanese Patent Publication No. 2017-515524 Japanese Patent Publication No. 2017-513550 US Patent No. 8182470

However, the conventional translation mechanism has room for improvement in the linear movement speed of the surgical instrument.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a manipulator arm for a surgical operation system capable of rapidly performing linear movement of a surgical instrument with a simple configuration. To do.

A manipulator arm for a surgical operation system according to an aspect of the present invention includes an arm main body portion having a plurality of link portions and a plurality of joints, and a translation mechanism provided at a distal end portion of the arm main body portion, The translation mechanism includes a proximal unit connected to the distal end of the arm body, and a distal unit including an instrument holding unit including a surgical instrument and a motor for driving the attached surgical instrument. And a connection unit that connects the base unit and the tip unit, and an electrical wiring circuit for electrically connecting the base unit and the tip unit, the connection unit comprising: A first pulley and a second pulley, and a first pulley and a second pulley that are wound around the first pulley and the second pulley, and are capable of reciprocating in a first direction from the first pulley toward the second pulley and a second direction opposite thereto. A belt member, the base end side unit is attached to a first attaching position of the belt member, and the tip end side unit is in a direction opposite to a moving direction of the base end side unit with respect to the connecting unit. Is attached to the second attachment position of the belt member.

According to the above configuration, the moving direction of the distal end unit with respect to the connecting unit is opposite to the moving direction of the proximal unit with respect to the connecting unit by the connecting unit including the belt member wound around the first pulley and the second pulley. It is connected so that it becomes a direction. Thereby, the linear movement of the surgical instrument can be performed quickly with a simple structure.

When the tip end side unit is located at a position closest to one of the first pulley and the second pulley, the base end side unit is closest to the other of the first pulley and the second pulley. It may be attached to the belt member so as to be positioned.

The electric wiring circuit may include a flexible printed wiring portion. Also, the electric wiring circuit extends in the first direction from a first fixing position fixed to the base-end unit, extends in the second direction via a first bend-back portion, and connects the first pulley and the first pulley. A first flexible printed wiring part fixed to the connecting unit at a second fixed position between the second pulley and a third fixed position fixed to the tip end side unit, extending in the first direction, and bending in the second direction. A second flexible printed wiring portion extending in the second direction via a return portion and fixed to the connecting unit at a fourth fixing position between the first pulley and the second pulley; and the first flexible print. A connection wiring portion that electrically connects the wiring portion and the second flexible printed wiring portion may be provided. Accordingly, when the base end side unit and the tip end side unit are relatively moved via the connecting unit, the first bend-back portion of the first flexible printed wiring portion and the second bend-back portion of the second flexible printed wiring portion move to the first bend-back portion. Move in one or the second direction. Therefore, it is possible to minimize the volume in the connection unit required for electrical wiring without hindering the translational movement of the distal end unit with respect to the proximal end unit. Accordingly, it is possible to suppress the increase in size while disposing the electric wiring inside the translation mechanism.

The first bend-back portion and the second bend-back portion are configured such that their respective positions change in accordance with the change in the positional relationship between the distal end side unit and the proximal end side unit due to the belt member. Good.

The first flexible printed wiring portion, the second flexible printed wiring portion, and the connection wiring portion may be configured by bending one flexible printed wiring board. According to this, since the electric wiring inside the translation mechanism is formed by one flexible printed wiring board, the volume required for the electric wiring can be further reduced with a simple structure.

The first length of the first flexible printed wiring portion from the first fixed position to the first bent back portion is from the fourth fixed position of the second flexible printed wiring portion to the second bent back portion. It may be configured to be equal to the second length. Further, when the positional relationship between the first mounting position and the second mounting position is changed by the belt member, the first length of the first flexible printed wiring part and the first length of the second flexible printed wiring part are changed. The two lengths may change while maintaining the same relationship with each other.

According to this, the design of the first flexible printed wiring portion and the design of the second flexible printed wiring portion can be the same. Further, since the operation of the first flexible printed wiring portion and the operation of the second flexible printed wiring portion are the same, the service lives of both are almost the same and the maintenance of the electric wiring is facilitated.

The connection unit includes a first wall portion to which the base end side unit is slidably attached, a second wall portion to which the tip end side unit is slidably attached, the first wall portion and the belt member. A first space in which the first flexible printed wiring portion is housed, and a second space in which the second flexible printed wiring portion is housed between the second wall portion and the belt member. And the first gap is defined by an inner wall of the first wall portion and a first guide member arranged to face the inner wall of the first wall portion, and the second gap is It is partitioned by an inner wall of the second wall portion and a second guide member arranged so as to face the inner wall of the second wall portion, and the first guide member is attached to the belt member at the first attachment position. The second guide member may be attached to the belt member at the second attachment position.

According to this, the first flexible printed wiring portion is disposed in the first gap defined by the inner wall of the first wall portion and the first guide member, and the operation of the first flexible printed wiring portion by the first guide member. Will be guided. Further, the second flexible printed wiring portion is arranged in a second space defined by the inner wall of the second wall portion and the second guide member, and the operation of the second flexible printed wiring portion is guided by the second guide member. It As a result, it is possible to secure the smooth operation of each flexible printed wiring portion while reducing the volume of the wiring space in each flexible printed wiring portion. Furthermore, since the first guide member is attached at the first attachment position, it moves with the movement of the base end side unit. Since the second guide member is attached at the second attachment position, it moves with the movement of the tip side unit. Therefore, it is possible to prevent each flexible printed wiring portion from being worn by being rubbed by the guide member while appropriately guiding each flexible printed wiring portion by these guide members.

The proximal unit may be connected to the distal end of the arm body via a bending joint.

The second fixed position may be a position opposite to the fourth fixed position with respect to a plane including rotation axes of the first pulley and the second pulley.

The connection unit may include a motor for driving one of the first pulley and the second pulley.

A patient side system according to another aspect of the present invention is a patient side system used in a surgical operation system, comprising a manipulator arm having the above configuration, an arm base for holding a proximal end portion of the manipulator arm, and a multi-axis. A positioner that includes a robot arm and moves the arm base, and a carriage that holds the positioner.

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.

INDUSTRIAL APPLICABILITY The present invention has an effect that a linear movement of a surgical instrument can be quickly performed with a simple configuration.

FIG. 1 is a schematic diagram showing the overall configuration of a surgical operation system according to an embodiment of the present invention. 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. 5 is a schematic diagram showing the internal structure of the coupling unit of the translation mechanism in the present embodiment. FIG. 6 is a schematic diagram showing the internal structure of the coupling unit of the translation mechanism in the present embodiment. FIG. 7 is a perspective view showing the electric wiring circuit in the expanded state shown in FIG.

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 translation 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. It should be noted that FIG. 1 shows the ratio of the sizes of the positioner 7 and the plurality of manipulator arms 3 at 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 surgical instrument 40 or the like having the long shaft provided 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 tips of the plurality of arms 3 are configured as instrument holders 36 that can hold and drive the surgical instrument 40, respectively. 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 52 to which the base ends of the plurality of arms 3 are attached. 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 52 are provided corresponding 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 52, the base ends (first links 81 described below) of the plurality of arms 3 are the rotation axes of the first joint J31 described below. The arm base end portion is configured to be relatively rotatable around the rotation axis V31.

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 portion 30 and a translation mechanism 35 connected to a tip portion of the arm body portion 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. An instrument holding portion 36 capable of holding a surgical instrument 40 (the instrument 42 or the endoscope assembly) is provided at the tip of the arm 3. The instrument holder 36 is provided with four rotary drives that engage with four rotary bodies provided in the drive unit 45 of the surgical instrument 40, and each rotary drive has a motor M39 built therein. In the present embodiment, the instrument holder 36 is provided in the translation mechanism 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 drive unit 45 has four rotary bodies that engage with the four rotary drive portions of the instrument holder 36, and transmits the rotation of each rotary body to the end effector 44 via an elongated element such as a cable or a rod. Is configured. The end effector 44 of the instrument 42 includes a surgical instrument having a working joint (eg, forceps, scissors, graspers, needle holders, microsectors, staple appliers, tackers, suction cleaning tools, snare wires, and clippers. Pliers, etc.) as well as non-articulated surgical instruments (eg, cutting blades, cautery probes, irrigators, catheters, suction orifices, etc.). The term "surgical instrument" in the present specification and claims includes both the camera and the illumination and the instruments that make up the endoscope assembly.

When the arm 3 is an instrument arm, the instrument holding portion 36 holds the instrument 42 in a detachable manner. The shaft 43 of the instrument 42 held by the instrument holder 36 extends along the long-axis direction Dt. In addition, when the arm 3 is a camera arm, the endoscope assembly is detachably held by the instrument holder 36. Here, the instrument holder 36 provided on the camera arm has the same shape and structure as the instrument holder 36 provided on the instrument arm, but may have a different shape or structure.

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 portion 30 includes a base 80 detachably attached to the arm base 5, and a plurality of arm link portions 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 mechanism 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. Further, openings such as inspection holes of the arm body 30 are 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 formed 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 mechanism 35 is provided at the tip of the arm body 30. The translation mechanism 35 translates the instrument holder 36 attached to the distal end of the translation mechanism 35 in the longitudinal direction Dt to move the instrument 42 attached to the instrument holder 36 in the extending direction of the shaft 43. It is a mechanism for translational movement.

The translation mechanism 35 includes a proximal end unit 61 and a distal end unit 62, which are connected to the distal end of the arm body 30 (the distal end of the sixth link 86) via a seventh joint J37, which is a bending joint. It has a connecting unit 63 for interlocking the base unit 61 and the distal unit 62, and an interlocking mechanism 60 (see FIG. 6 described later) provided in the connecting unit 63. The seventh joint J37 extends in a direction orthogonal to the long axis direction Dt. The connection unit 63 extends along the long axis direction Dt.

In the translation mechanism 35, the interlocking mechanism 60 changes the relative position of the proximal unit 61 and the connecting unit 63 in the long axis direction Dt, and the relative position of the connecting unit 63 and the distal unit 62 in the long axis direction Dt. Is changed, it is possible to change the position of the instrument 42 attached to the instrument holding portion 36 provided in the distal end side unit 62 with respect to the proximal end side unit 61 in the long axis direction Dt. A more detailed structure of the translation mechanism 35 will be described later.

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 portion 30 having the above-described configuration, the rotation angles of the drive 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 a speed reducer (not shown) that decelerates the outputs of the servo motors M31 to M37 to increase the torque. 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 mechanism 35 includes a servo motor M38 for rotating a first pulley 65, which will be described later, for translation operation, and four rotating bodies provided in the drive unit 45 of the surgical instrument 40. A plurality (for example, four) of servo motors M39, encoders E38 and E39 that detect the rotation angles of the servo motors M38 and M39, and a reducer that reduces the output of the servo motors M38 and M39 to increase the torque (not shown). ) And are provided.

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 capable of reading data from the arm control unit 601, and surgical information 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.

Hereinafter, translation mechanism 35 in the present embodiment will be described in more detail. 5 and 6 are schematic diagrams showing the internal structure of the connecting unit of the translation mechanism according to the present embodiment. FIG. 5 shows a contracted state, and FIG. 6 shows an extended state.

The connecting unit 63 includes a first wall portion 631 to which the base end side unit 61 is slidably attached in the long axis direction Dt, and a second wall portion 632 to which the tip end side unit 62 is slidably attached in the long axis direction Dt. And have. The proximal unit 61 and the first wall portion 631 are connected by the first sliding mechanism 141 so as to be relatively movable in the long-axis direction Dt. Similarly, the second wall portion 632 and the tip-side unit 62 are connected by the second sliding mechanism 142 so as to be relatively movable in the major axis direction Dt.

The interlocking mechanism 60 includes a first pulley 65 that is a driving pulley and a second pulley 66 that is a driven pulley that are axially supported by the coupling unit 63, and an endless belt that is wound around the first pulley 65 and the second pulley 66. And a certain belt member 67. In the present embodiment, the first pulley 65 is located on the base end side of the instrument 42 and the second pulley 66 is located on the tip end side thereof in the longitudinal direction Dt.

The base end side unit 61 is a predetermined position of the belt member 67 on the first surface SP1 side of the plane SP with reference to the plane SP including the rotation shaft 65s of the first pulley 65 and the rotation shaft 66s of the second pulley 66. The first attachment position 67a is attached. Further, the tip side unit 62 is attached to the second attachment position 67b of the belt member 67 so as to move in a direction opposite to the movement direction of the base end side unit 61 with respect to the connecting unit 63. The second attachment position 67b is located on the side of the second surface SP2 of the belt member 67 opposite to the first surface SP1 of the plane SP.

At this time, regarding the first mounting position 67a and the second mounting position 67b, as the first mounting position 67a is closer to one of the first pulley 65 and the second pulley 66, the second mounting position 67b is closer to the first mounting position 67a. The first pulley 65 and the second pulley 66 are configured to be located at a position close to the other. That is, when the tip end side unit 62 is located at the position closest to one of the first pulley 65 and the second pulley 66, the base end side unit 61 is placed in the other of the first pulley 65 and the second pulley 66. Located in the closest position. For example, in the contracted state shown in FIG. 5, the first mounting position 67a is located close to the second pulley 66, and the second mounting position 67b is located close to the first pulley 65. In the extended state shown in FIG. 6, the first mounting position 67a is located close to the first pulley 65, and the second mounting position 67b is located close to the second pulley 66.

Assuming that the direction from the first pulley 65 to the second pulley 66 is the first direction, the first pulley 65 rotates clockwise, so that the first mounting position 67a of the belt member 67 moves in the first direction. The second attachment position 67b moves closer to the second pulley 66, moves in the second direction opposite to the first direction, and approaches the first pulley 65 (when moving from the state of FIG. 6 to the state of FIG. 5). When the first pulley 65 rotates counterclockwise, the first attachment position 67a of the belt member 67 moves in the second direction and approaches the first pulley 65, and the second attachment position 67b moves in the first direction. And approaches the second pulley 66 (when going from the state of FIG. 5 to the state of FIG. 6). As a result, the proximal unit 61 moves from the position close to the second pulley 66 to the position close to the first pulley 65, so that the distal unit 62 moves from the position close to the first pulley 65 to the second pulley 66. Move to a position close to.

That is, the base end side unit 61 or the front end side unit 62 moves the distance between the first pulley 65 and the second pulley 66 with respect to the connecting unit 63, so that the front end side unit 62 moves relative to the base end side unit 61. The position moves about twice the distance between the first pulley 65 and the second pulley 66. As described above, the interlocking mechanism 60 in the present embodiment is a double speed mechanism that sets the relative position change of the distal end side unit 62 to the proximal end unit 61 due to the relative position change of the coupling unit 63 to the proximal end unit 61 to double speed. Composed.

According to the above configuration, the connecting unit 63 including the belt member 67 wound around the first pulley 65 and the second pulley 66 causes the movement direction of the distal end side unit 62 with respect to the connecting unit 63 to connect the proximal end side unit 61. The units 63 are connected so as to be opposite to the moving direction with respect to the unit 63. As a result, the linear movement of the surgical instrument 40 can be performed quickly with a simple configuration.

The translation mechanism 35 in the present embodiment further includes an electric wiring circuit 121 that is provided in the coupling unit 63 and that enables electrical connection between the base end side unit 61 and the tip end side unit 62.

The electric wiring circuit 121 includes a first flexible printed wiring portion 122, a second flexible printed wiring portion 123, and a connection wiring portion 124. The seventh joint J37 between the sixth link 86 and the base end unit 61 of the translation mechanism 35 is provided with a through hole 61a at the center for passing a cable wiring (not shown). Electric wiring (cable wiring or the like) wired in the arm 3 is introduced into the proximal unit 61 through the through hole 61a. The base end portion of the first flexible printed wiring part 122 is connected to the cable wiring introduced into the base end side unit 61 through the through hole 61a. As a result, electric power and control signals from the electric wiring wired through the carriage 70, the positioner 7, the arm base 5, and the arm 3 are supplied to the electric wiring circuit 121 of the translation mechanism 35.

The distal unit 62 comprises a motor for driving the surgical instrument 40. More specifically, the distal-side unit 62 incorporates four servo motors M39 for rotating the four rotary bodies provided in the drive unit 45 of the surgical instrument 40 described above. This eliminates the need to drive the shaft of the distal end unit 62 for driving the surgical instrument 40 with a cable or the like, and the structure of the translation mechanism 35 can be simplified.

The second flexible printed wiring part 123 is electrically connected to the tip side unit 62 for driving each of the servo motors M39 described above. As a result, electric power and control signals from the electric wiring routed through the arm 3 and the like are supplied to the distal end side unit 62 via the electric wiring circuit 121 of the translation mechanism 35.

The first flexible printed wiring part 122 is fixed to the base end unit 61 at a first attachment position 67a of the base end unit 61 and a first fixing position 122a that is the same position in the moving direction of the belt member 67. Assuming that the direction from the first pulley 65 to the second pulley 66 is the first direction, the first flexible printed wiring part 122 extends in the first direction from the first fixed position 122a and has an arc shape while maintaining a restoring force on the way. Is bent back (first bent-back portion C1), is reversed in a second direction opposite to the first direction, and is connected to the coupling unit 63 at the second fixed position 122b between the first pulley 65 and the second pulley 66. Fixed.

The second flexible printed wiring portion 123 is fixed to the tip side unit 62 at a second fixing position 67b of the tip side unit 62 and a third fixing position 123a which is the same position in the moving direction of the belt member 67. The second flexible printed wiring portion 123 extends from the third fixed position 123a in the first direction, is bent back in an arc shape while maintaining a restoring force in the middle (second bent back portion C2), and is inverted in the second direction. , Is fixed to the connecting unit 63 at a fourth fixing position 123b between the first pulley 65 and the second pulley 66.

More specifically, the first flexible printed wiring portion 122 extends from the first fixed position 122a in a direction closer to the second pulley 66, and the first bent back portion C1 is located on the second pulley 66 side (of the instrument 42). It is convex on the tip side, that is, on the side where the translation mechanism 35 extends. Similarly, the second flexible printed wiring portion 123 extends from the third fixed position 123a in a direction closer to the second pulley 66, and the second bent back portion C2 is on the second pulley 66 side (the tip side of the instrument 42, That is, it is convex toward the side on which the translation mechanism 35 extends. The second fixed position 122b is a position where the first flexible printed wiring part 122 is attached to the connection unit 63 on the first surface SP1 side of the plane SP. Further, the fourth fixed position 123b is a position where the second flexible printed wiring portion 123 is attached to the connection unit 63 on the second surface SP2 side of the plane SP opposite to the first surface SP1. That is, the second fixed position 122b is a position opposite to the fourth fixed position 123b with respect to the plane SP.

The connection wiring part 124 electrically connects the second fixed position 122b of the first flexible printed wiring part 122 and the fourth fixed position 123b of the second flexible printed wiring part 123. The connection wiring portion 124 is provided between the first pulley 65 and the second pulley 66. In the example of FIG. 5 and FIG. 6, it is located in the central portion between the first pulley 65 and the second pulley 66. A motor (servo motor) M38 (see FIG. 4) that drives the first pulley 65 is built in the coupling unit 63. Although not shown, the connection wiring portion 124 is electrically connected to the servo motor M38 (see FIG. 4), and the servo motor M38 operates by using the electric power supplied by the electric wiring circuit 121 as a power source to generate an electric wiring circuit. It is controlled by a control signal transmitted through 121.

In the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123, the bending-back portions C1 and C2 that are bent back with a restoring force in the extending direction of the belt member 67 (longitudinal direction Dt) are first attached. It is configured to change according to the positional relationship between the position 67a and the second mounting position 67b. That is, the first bend-back portion C1 and the second bend-back portion C2 are configured so that their respective positions change in accordance with the change in the positional relationship between the distal end side unit 62 and the proximal end side unit 61 due to the belt member 67. It

In the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123, the bending-back portions C1 and C2 that are bent back with a restoring force are both located near the second pulley 66 and the connecting wiring portion. It changes between the position close to 124 (the second wiring 66 side of the connecting wiring portion 124).

For example, in the contracted state shown in FIG. 5, when the first attachment position 67a is located near the second pulley 66 and the second attachment position 67b is located near the first pulley 65, the first bending The return portion C1 comes to a position close to the second pulley 66, and the second bent return portion C2 comes to a position close to the connecting wiring portion 124. Further, in the extended state shown in FIG. 6, when the first attachment position 67 a is located in the position close to the first pulley 65 and the second attachment position 67 b is located in the position close to the second pulley 66, the first bending The return portion C1 is in a position close to the connecting wiring portion 124, and the second bent return portion C2 is in a position close to the second pulley 66.

According to the above configuration, when the base end side unit 61 and the tip end side unit 62 relatively move via the connecting unit 63, the first bend-back portion C1 and the second flexible print wiring portion in the first flexible print wiring portion 112. The 2nd bending part C2 in 123 moves to a 1st direction or a 2nd direction. Therefore, it is possible to minimize the volume of the connecting unit 63 required for electrical wiring without hindering the translational movement of the distal end unit 62 with respect to the proximal end unit 61. Thereby, it is possible to suppress the size increase while disposing the electric wiring inside the translation mechanism 35.

The connection unit 63 has a first gap A1 between the first wall portion 631 and the belt member 67, in which the first flexible printed wiring portion 122 is accommodated. Further, the connection unit 63 has a second gap A2 between the second wall portion 632 and the belt member 67, in which the second flexible printed wiring portion 123 is accommodated.

The first space A1 is defined by the inner wall of the first wall portion 631 and the first guide member 131 arranged so as to face the inner wall of the first wall portion 631. Further, the second gap A2 is partitioned by the inner wall of the second wall portion 632 and the second guide member 132 arranged so as to face the inner wall of the second wall portion 632. The first guide member 131 and the second guide member 132 each extend in the extending direction of the belt member 67. The first gap A1 and the second gap A2 are partitioned by a pair of side walls (not shown) orthogonal to the first wall portion 631 and the second wall portion 632 with respect to the rotation shafts 65s and 66s of the pulleys 65 and 66. There is.

In the present embodiment, further, the third guide member 133 extending in the extending direction of the belt member 67 along the inner wall of the first wall portion 631 and the extension of the belt member 67 along the inner wall of the second wall portion 632. And a fourth guide member 134 extending in the present direction. The third guide member 133 is fixed to the inner wall of the first wall portion 631. The fourth guide member 134 is fixed to the inner wall of the second wall portion 632. Therefore, the first gap A1 is partitioned by the first guide member 131 and the third guide member 133. The second gap A2 is partitioned by the second guide member 132 and the fourth guide member 134.

With such a configuration, the first flexible printed wiring portion 122 is arranged in the first space A1 defined by the first guide member 131 and the third guide member 133, and the first guide member 131 and the third guide member are provided. At 133, the operation of the first flexible printed wiring part 122 is guided. In addition, the second flexible printed wiring portion 123 is disposed in the second gap A2 defined by the second guide member 132 and the fourth guide member 134, and the second guide member 132 and the fourth guide member 134 form the second flexible printed wiring portion 123. The operation of the flexible printed wiring part 123 is guided. Accordingly, it is possible to secure the smooth operation of the flexible printed wiring portions 122 and 123 while reducing the volume of the wiring space in the flexible printed wiring portions 122 and 123.

The first guide member 131 is attached to the belt member 67 at the first attachment position 67a. Therefore, the first guide member 131 moves in the extending direction of the belt member 67 as the base unit 61 moves. The second guide member 132 is attached to the belt member 67 at the second attachment position 67b. Therefore, the second guide member 132 moves in the extending direction of the belt member 67 with the movement of the front end side unit 62.

A portion of the first flexible printed wiring portion 122 between the first fixed position 122a and the first bent back portion C1 is located at a position in contact with or close to the first guide member 131. Therefore, this portion is a portion guided by the first guide member 131. As the base unit 61 moves from the position close to the second pulley 66 to the position close to the first pulley 65 (changes from FIG. 5 to FIG. 6), the first flexible printed wiring part 122 causes the first guide member to move. The area which can contact 131 increases. However, during such movement, the first guide member 131 moves together with the base end unit 61, so that the first flexible printed wiring portion 122 does not rub against the first guide member 131. In other words, the displacement of the first flexible printed wiring portion 122 and the first guide member 131 does not occur in the extending direction of the belt member 67 due to the movement of the base unit 61.

Similarly, a portion of the second flexible printed wiring portion 123 between the third fixed position 123a and the second bent back portion C2 is located at a position in contact with or close to the second guide member 132. Therefore, this portion becomes a portion guided by the second guide member 132. As the tip-side unit 62 moves from the position close to the second pulley 66 to the position close to the first pulley 65 (when changing from FIG. 6 to FIG. 5), the second flexible printed wiring portion 123 causes the second guide member 132 to move. The area that can come into contact with is increased. However, during such movement, the second guide member 132 moves together with the tip-side unit 62, so that the second flexible printed wiring portion 123 does not rub against the second guide member 132. In other words, the second flexible printed wiring portion 123 and the second guide member 132 are not displaced in the extending direction of the belt member 67 due to the movement of the tip side unit 62.

In addition, a portion of the first flexible printed wiring portion 122 between the first bent portion C1 and the second fixed position 122b is located at a position in contact with or close to the third guide member 133. Therefore, this portion is a portion guided by the third guide member 133. As the base end side unit 61 moves from the position close to the first pulley 65 to the position close to the second pulley 66 (when changing from FIG. 6 to FIG. 5), the first flexible printed wiring part 122 causes the third guide member to move. The area which can contact 133 increases. However, since the second fixed position 122b fixed to the connecting unit 63 does not move in such a movement (it moves relative to the connecting unit 63 relative to the base end side unit 61), the first flexible printed wiring portion 122 does not move. Does not rub against the third guide member 133. In other words, the displacement of the first flexible printed wiring portion 122 and the third guide member 133 in the extending direction of the belt member 67 does not occur due to the movement of the base unit 61.

Similarly, a portion of the second flexible printed wiring portion 123 between the second bent portion C2 and the fourth fixed position 123b is located at a position in contact with or close to the fourth guide member 134. Therefore, this portion is a portion guided by the fourth guide member 134. As the tip side unit 62 moves from the position close to the first pulley 65 to the position close to the second pulley 66 (changes from FIG. 5 to FIG. 6), the second flexible printed wiring portion 123 causes the fourth guide member 134 to move. The area that can come into contact with is increased. However, since the fourth fixing position 123b fixed to the connecting unit 63 does not move in such a movement (it moves relatively together with the connecting unit 63 when viewed from the tip side unit 62), the second flexible printed wiring portion 123 does not move. It does not rub against the fourth guide member 134. In other words, the displacement of the second flexible printed wiring portion 123 and the fourth guide member 134 does not occur in the extending direction of the belt member 67 due to the movement of the tip side unit 62.

As described above, these guide members 131 to 134 do not rub against the corresponding flexible printed wiring portions 122 and 123 when the proximal end unit 61 and the distal end unit 62 move relative to the connecting unit 63. Therefore, the guide members 131 to 134 can appropriately guide the flexible printed wiring portions 122 and 123 and prevent the flexible printed wiring portions 122 and 123 from being worn by being rubbed by the guide members 131 to 134. it can.

The length of the first guide member 131 is such that the base end portion 61 (first mounting position 67a) of the first flexible printed wiring portion 122 at the position closest to the first pulley 65 (FIG. 6) ( It is determined based on the distance from the first fixed position 122a) to the apex of the first bent back portion C1. Similarly, the length of the second guide member 132 is the second of the second flexible printed wiring portion 123 at the position (FIG. 5) where the front end side unit 62 (the second mounting position 67b) is closest to the first pulley 65. It is determined based on the distance from the apex of the bent back portion C2 to the tip (third fixed position 123a).

In addition, the length of the third guide member 133 is the first of the first flexible printed wiring portion 122 at the position (FIG. 5) where the base end side unit 61 (first mounting position 67a) is closest to the second pulley 66. It is determined based on the distance from the apex of the bent back portion C1 to the tip (second fixed position 122b). Similarly, the length of the fourth guide member 134 is determined by the base end of the second flexible printed wiring part 123 at the position (FIG. 6) at which the tip side unit 62 (second mounting position 67b) is closest to the second pulley 66. It is determined based on the distance from the portion (fourth fixed position 123b) to the apex of the second bent back portion C2.

FIG. 7 is a perspective view showing the electric wiring circuit in the expanded state shown in FIG. The configuration of the translation mechanism 35 other than the electric wiring circuit 121 (the first flexible printed wiring portion 122, the second flexible printed wiring portion 123, and the connecting wiring portion 124) is omitted in the drawing. The first flexible printed wiring portion 122, the second flexible printed wiring portion 123, and the connection wiring portion 124 are configured by bending one flexible printed wiring board at a second fixed position 122b and a fourth fixed position 123b. ..

Therefore, the connection wiring portion 124 extends along the side wall of the connection unit 63. The electric wiring circuit 121 composed of one flexible printed wiring board is fixed to the connecting unit 63 by locking the connecting wiring portion 124 to the connecting unit 63.

In addition, the connection point 122c of the first flexible printed wiring portion 122 to the base end side unit 61 is, in the longitudinal base end portion of the first flexible printed wiring portion 122, in the width direction of the first flexible printed wiring portion 122, A part extending laterally from the first fixing position 122a is bent and configured. Similarly, the connection point 123c of the second flexible printed wiring portion 123 to the tip side unit 62 is a third portion in the longitudinal end portion of the second flexible printed wiring portion 123 in the width direction of the second flexible printed wiring portion 123. A portion extending laterally from the fixed position 123a is bent and configured.

The flexible printed wiring board is also called FPC (Flexible Printed Circuits), and is formed by attaching wirings or circuits made of a conductive metal such as copper on a thin base material (base film) having an insulating property such as polyimide. .. For this reason, the flexible printed wiring board is thin and has a restoring force to return to a flat surface due to the flexibility of the base material when the planar flexible printed wiring board is bent back into an arc shape. Therefore, the shape of each of the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123 is uniquely determined based on the positional relationship between the fixed positions 122b and 123b and the mounting positions 67a and 67b.

According to the above configuration, the proximal unit 61 and the distal unit 62 are electrically connected to the inside of the connecting unit 63 that houses the belt member 67 that is wound around the first pulley 65 and the second pulley 66. A first flexible printed wiring portion 122, a connection wiring portion 124, and a second flexible printed wiring portion 123 are arranged as electrical wiring.

The 1st flexible printed wiring part 122 arrange|positioned between the base end side unit 61 and the connection unit 63 is bent back in circular arc shape, maintaining a restoring force in the 1st bending back part C1. In addition, the second flexible printed wiring portion 123 arranged between the tip-side unit 62 and the connecting unit 63 is bent back in an arc shape while maintaining the restoring force at the second bent-back portion C2.

As a result, when the connecting unit 63 relatively moves with respect to the proximal unit 61 and the distal unit 62 relatively moves with respect to the connecting unit 63, the first flexible printed wiring portion 122 and the second flexible printed wiring portion. The arcuate position (bending return portions C1, C2) in 123 moves along the extending direction (longitudinal direction Dt) of the belt member 67. Therefore, it is possible to minimize the volume in the connection unit 63 required for electrical wiring without hindering the translational movement by the base end side unit 61 and the tip end side unit 62. Thereby, it is possible to suppress the size increase while disposing the electric wiring inside the translation mechanism 35.

Furthermore, according to the above configuration, since the electric wiring inside the translation mechanism 35 is configured by one flexible printed wiring board, it is possible to reduce the volume required for the simple configuration and the electric wiring.

In the present embodiment, the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123 are configured such that the lengths from the base end portion to the tip portion via the bent-back portions C1 and C2 are equal to each other. There is. Further, in the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123, the lengths extending in the extending direction of the belt member 67 (longitudinal direction Dt) are the first mounting position 67a and the second mounting position 67b. Are equal to each other regardless of the positional relationship.

More specifically, between the apex of the first bent back portion C1 of the first flexible printed wiring portion 122 and the end portion (first fixed position 122a or second fixed position 122b) on the side far from the first bent back portion C1. LP1 and the apex of the second bend-back portion C2 of the second flexible printed wiring portion 123, and the end farthest from the second bend-back portion C1 (the third fixing position 123a or the fourth fixing position 123b). The distance LP2 between them is constant regardless of the contracted state shown in FIG. 5, the extended state shown in FIG. 6 and the state therebetween, and is equal to each other.

At this time, the first length from the first fixed position 122a of the first flexible printed wiring portion 122 to the first bent back portion C1 is equal to the second length of the second flexible printed wiring portion 123 from the fourth fixed position 123b. It is equal to the second length up to C2. Furthermore, when the positional relationship between the first mounting position 67a and the second mounting position 67b is changed by the belt member 67, the first length and the second length are changed while maintaining the same relationship.

According to this, the design of the 1st flexible printed wiring part 122 and the design of the 2nd flexible printed wiring part 123 can be made into the same design. Further, since the operation of the first flexible printed wiring portion 122 and the operation of the second flexible printed wiring portion 123 are the same, the service lives of both are almost the same, and the maintenance of the electric wiring in the translation mechanism 35 is facilitated. Become.

As described above, the translation mechanism 35 in the present embodiment can be configured as a suitable translation mechanism provided in the arm 3 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.

Further, in the above-described embodiment, in the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123 of the electric wiring circuit 121, the bent-back portions C1 and C2 are at the tip end side of the instrument 42 (second pulley). Although it is formed to be convex toward the 66 side), it may be formed to be convex toward the base end side (the first pulley 65 side) of the instrument 42.

Further, in the above-described embodiment, an example is shown in which the first flexible printed wiring portion 122, the connection wiring portion 124, and the second flexible printed wiring portion 123 that form the electric wiring circuit 121 are configured by one flexible printed wiring board. However, it is not limited to this. For example, the first flexible printed wiring portion 122 and the second flexible printed wiring portion 123 may be separately configured. At this time, the connection wiring portion 124 may be formed of a flexible printed wiring board, or may be formed of other wiring structure (cable wiring, etc.).

Further, although the configuration in which the guide members 131 to 134 that guide the flexible printed wiring portions 122 and 123 are provided in the connection unit 63 has been described in the above-described embodiment, the configuration is not limited to this. For example, the first guide member 131 and the second guide member 132 may be provided, and the third guide member 133 and the fourth guide member 134 may not be provided. Alternatively, the guide members 131 to 134 may not be provided.

Further, in the above-described embodiment, the configuration in which the translation mechanism 35 includes one connecting unit 63 has been described, but a plurality of connecting units 63 may be included. For example, two connecting units may be provided between the base end side unit 61 and the tip end side unit 62. In this case, each of the two connecting units includes the interlocking mechanism 60. The base unit 61 and the second connecting unit are attached to the belt member 67 of the first connecting unit, and the belt member 67 of the second connecting unit includes the first connecting unit and the distal end side. The unit 62 is attached. The electric wiring circuit 121 can be configured in the same manner as the electric wiring circuit 121 of the connecting unit 63 in the above-described embodiment for both the first connecting unit and the second connecting unit.

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.

INDUSTRIAL APPLICABILITY The present invention is useful for rapid linear movement of a surgical instrument with a simple structure.

1 Patient side system 3 Arm (manipulator arm)
5 Arm Base 7 Positioner 30 Arm Main Body 35 Translation Mechanism 40 Surgical Instrument 42 Instrument (Surgical Instrument)
60 interlocking mechanism 61 base end side unit 62 tip end side unit 63 connecting unit 65 first pulley 66 second pulley 67 belt member 67a first mounting position 67b second mounting position 70 trolley 100 surgical operation system 121 electric wiring circuit 122 first flexible Printed wiring part 122a First fixed position 122b Second fixed position 123 Second flexible printed wiring part 123a Third fixed position 123b Fourth fixed position 124 Connection wiring part 131 First guide member 132 Second guide member 631 First wall part 632 2nd wall part A1 1st space|gap A2 2nd space|gap C1 1st bending back part C2 2nd bending back part M38, M39 Motor

Claims (13)

A manipulator arm used in a surgical system, comprising:
An arm main body part having a plurality of link parts and a plurality of joints,
A translation mechanism provided at the tip of the arm body,
The translation mechanism is
A proximal unit connected to the distal end of the arm body,
A surgical instrument is attached, and a distal end unit including an instrument holding portion including a motor for driving the attached surgical instrument,
A connection unit that connects the base end side unit and the tip end side unit;
An electric wiring circuit for electrically connecting between the base end side unit and the tip end side unit,
The connection unit is
A belt that is looped around a first pulley and a second pulley, and the first pulley and the second pulley, and is capable of reciprocating in a first direction from the first pulley toward the second pulley and a second direction opposite thereto. And a member,
The base end side unit is attached to a first attachment position of the belt member,
The manipulator arm is attached to the second attachment position of the belt member such that the distal end unit moves in a direction opposite to the moving direction of the proximal end unit with respect to the connecting unit. When the tip end side unit is located at a position closest to one of the first pulley and the second pulley, the base end side unit is closest to the other of the first pulley and the second pulley. The manipulator arm according to claim 1, which is attached to the belt member so as to be positioned. The manipulator arm according to claim 1, wherein the electric wiring circuit includes a flexible printed wiring portion. The electric wiring circuit,
A first fixing position fixed to the base end side unit extends in the first direction, extends in the second direction via a first bending return portion, and extends between the first pulley and the second pulley. A first flexible printed wiring part fixed to the connecting unit at two fixing positions;
A third fixing position, which is fixed to the distal end side unit, extends in the first direction, extends in the second direction via a second bending return portion, and extends between the first pulley and the second pulley. A second flexible printed wiring part fixed to the connecting unit at a fixed position;
The manipulator arm according to any one of claims 1 to 3, further comprising: a connection wiring portion that electrically connects the first flexible printed wiring portion and the second flexible printed wiring portion. The first bend-back portion and the second bend-back portion are configured so that their respective positions change according to a change in the positional relationship between the distal end side unit and the proximal end side unit due to the belt member. The manipulator arm according to claim 4. The manipulator arm according to claim 4 or 5, wherein the first flexible printed wiring portion, the second flexible printed wiring portion, and the connection wiring portion are configured by bending one flexible printed wiring board. The first length of the first flexible printed wiring portion from the first fixed position to the first bent back portion is from the fourth fixed position of the second flexible printed wiring portion to the second bent back portion. The manipulator arm according to any one of claims 4 to 6, which is equal to the second length. When the positional relationship between the first mounting position and the second mounting position is changed by the belt member, the first length and the second length are changed while maintaining the same relationship with each other. Item 7. The manipulator arm according to item 7. The connection unit is
A first wall portion to which the base unit is slidably attached;
A second wall portion to which the tip side unit is slidably attached;
A first gap in which the first flexible printed wiring portion is housed, between the first wall portion and the belt member;
A second gap between the second wall portion and the belt member, in which the second flexible printed wiring portion is housed,
The first gap is defined by an inner wall of the first wall portion and a first guide member arranged to face the inner wall of the first wall portion,
The second gap is defined by an inner wall of the second wall portion and a second guide member arranged to face the inner wall of the second wall portion,
The first guide member is attached to the belt member at the first attachment position,
The manipulator arm according to any one of claims 4 to 8, wherein the second guide member is attached to the belt member at the second attachment position. The manipulator arm according to any one of claims 1 to 9, wherein the proximal unit is connected to a distal end portion of the arm body via a bending joint. The manipulator according to any one of claims 4 to 10, wherein the second fixed position is a position opposite to the fourth fixed position with respect to a plane including rotation axes of the first pulley and the second pulley. arm. The manipulator arm according to any one of claims 1 to 12, wherein the connection unit includes a motor for driving one of the first pulley and the second pulley. A patient side system used in a surgical operation system,
A manipulator arm according to any one of claims 1 to 12,
An arm base that holds the base end of the manipulator arm,
A positioner that includes a multi-axis robot arm and moves the arm base;
A dolly holding the positioner,
A patient-side system comprising: