JP2020151354A - Medical manipulator - Google Patents

Abstract

To provide a medical manipulator in which load applied to a cable due to rotation of an arm can be suppressed, and which can secure an installation space of peripheral equipment.SOLUTION: The medical manipulator comprises: a multi-degree-freedom manipulator arm which holds on a distal end thereof, a medical appliance; a positioner which moves the multi-degree-freedom manipulator and has a hollow portion; a motor revolving the positioner around a prescribed direction axis; a decelerator which is in conjunction with an operation of the motor; and a cable whose at least a part is drawn to the hollow portion of the positioner. A portion closer to a base end side relative to the part drawn to the hollow portion of the positioner on the cable is arranged in a manner of bypassing the decelerator along a direction different from a shaft center direction of the decelerator.SELECTED DRAWING: Figure 5

Description

The present invention relates to a medical manipulator.

Conventionally, a manipulator having a plurality of manipulator arms and performing a predetermined operation is known (see, for example, Patent Documents 1, 2 and 3). These manipulators may be used as industrial robots. It is also known that a manipulator provided with a plurality of manipulator arms is also used as a medical robot capable of performing a surgical operation by moving a plurality of manipulator arms based on an operation of a practitioner.

In these manipulators, cables for supplying compressed air and electric power to the plurality of manipulator arms, handling devices, and the like are routed. Specifically, in the manipulator of Patent Document 1, a body is attached to the tip of the upper arm, and this body is configured to rotate about an axis in the longitudinal direction of the upper arm. In this configuration, the cable is arranged so as to bypass the motor (reducer) having the shaft. Further, in the manipulator of Patent Document 2, the cable is arranged so as to bypass the side of the motor so as to bypass the motor.

However, as in Patent Documents 1 and 2, if the cable is routed outside the arm, the cable may cause dust generation as the arm rotates. Therefore, when operating the manipulator in a clean room, etc. , There is a risk of impairing cleanliness.

Therefore, as in Patent Document 3, it is disclosed that a cable is arranged in a hollow base so as to bypass the speed reducer without being inserted into the hollow shaft of the speed reducer. This will prevent the cables from causing dust in the clean room.

Japanese Patent No. 40883332 Japanese Unexamined Patent Publication No. 2016-140917 Japanese Unexamined Patent Publication No. 8-57792

However, in the manipulator of Patent Document 3, although the cable is routed to the side of the speed reducer so as to bypass the speed reducer, a space for route the cable is required in the base. Therefore, since the diameter of the base increases, it is difficult to arrange the equipment around the base. Further, in the manipulator of the same document, when the arm rotatably provided on the upper part of the base rotates, the cable is twisted and a burden is applied.

Therefore, an object of the present invention is to provide a medical manipulator capable of securing an installation space for peripheral devices while suppressing a load on a cable due to rotation of an arm.

In the medical manipulator of the present invention, the degree-of-freedom manipulator arm for holding a medical device at the tip and the multi-degree-of-freedom manipulator arm are moved to rotate a positioner having a hollow portion and the positioner about an axis in a predetermined direction. A motor, a speed reducer interlocking with the operation of the motor, and a cable at least partially routed to the hollow portion of the positioner are provided, and the cables are routed to the hollow portion of the positioner. The portion on the base end side of the portion is arranged so as to bypass the speed reducer along a direction different from the axial direction of the speed reducer.

According to the present invention, the portion of the cable on the proximal end side of the portion routed to the hollow portion of the positioner is arranged so as to bypass the reducer along a direction different from the axial direction of the reducer. That is, the present invention does not adopt a configuration in which the said portion of the cable is inserted into the hollow shaft of the speed reducer or is routed to the side of the speed reducer along the axis of the speed reducer. As a result, it is possible to prevent the speed reducer from becoming large. As a result, it is possible to secure a space for installing various devices around the speed reducer. Further, since the cable is not inserted into the hollow shaft of the reducer or routed to the side of the reducer along the axis of the reducer, the twist due to the rotation of the reducer (that is, the rotation of the arm) is caused. The burden on the cable is suppressed.

In the above invention, the portion of the cable on the base end side may be drawn out from the hollow portion of the positioner to the outside of the positioner.

According to the above configuration, the cable can be easily accessed from the outside, so that the work such as routing in the hollow portion of the positioner of the cable becomes easy.

In the above invention, it is preferable that the medical manipulator further includes a cover member that covers the portion of the cable that is exposed to the outside of the positioner.

According to the above configuration, dust generation by the cable can be prevented by the cover member.

In the above invention, the motor may be configured to rotate the positioner about a horizontal axis.

According to the above configuration, the cable can be arranged so as to bypass the speed reducer along a direction different from the axial direction of the speed reducer linked to the operation of the motor that rotates the positioner around the horizontal axis.

In the above invention, the cable may be a power supply cable that supplies electric power to the positioner.

According to the above configuration, since the twisting load of the power feeding cable is suppressed, it is possible to avoid power stoppage due to cable breakage due to twisting.

According to the present invention, it is possible to provide a medical manipulator capable of securing an installation space for peripheral devices while suppressing a load on a cable due to rotation of an arm.

It is a figure which shows the usage scenery of the medical manipulator which concerns on one Embodiment of this invention. It is a figure which shows the structure of the manipulator arm of the medical manipulator of FIG. It is a block diagram which shows the structure of the control system in the medical manipulator of FIG. It is a side view which shows a part of the positioner of FIG. It is sectional drawing which shows the positioner of FIG. FIG. 5 is a partial cross-sectional view showing a portion closer to the tip side than a portion of the positioner of FIG.

Hereinafter, a medical manipulator according to an embodiment of the present invention will be described with reference to the drawings. The medical manipulator described below is just one embodiment of the present invention. Therefore, the present invention is not limited to the following embodiments, and additions, deletions, and changes can be made without departing from the spirit of the present invention.

As shown in FIG. 1, in the medical manipulator 1 of the present embodiment, for example, as in robot-assisted surgery or robot remote surgery, a practitioner 203 such as a doctor endoscopy the patient 201 on the operating table 202. It is provided in the surgical operation system 100, which is a system used when performing an operation.

The surgical operation system 100 includes a medical manipulator 1 which is a patient-side system, and an instruction device 2 for operating the medical manipulator 1. The instruction device 2 is arranged away from the medical manipulator 1, and the medical manipulator 1 is remotely controlled by the instruction device 2. The practitioner 203 inputs an operation to be performed by the medical manipulator 1 to the instruction device 2, and the instruction device 2 transmits the operation command to the medical manipulator 1. The medical manipulator 1 receives an operation command transmitted from the instruction device 2, and operates a long-axis medical instrument 4 such as an endoscope assembly or an instrument included in the medical manipulator 1 based on the operation command. Let me.

The instruction device 2 constitutes an interface between the surgical operation system 100 and the practitioner 203, and is a device for operating the medical manipulator 1. The instruction device 2 is arranged in the operating room or outside the operating room. The instruction device 2 includes an operation manipulator arm 51 for the practitioner 203 to input an operation command, an operation pedal 52, a touch panel 53, a monitor 54 for displaying an image taken by the endoscope assembly, and an operator such as a doctor. It includes a support arm 55 that supports the monitor 54 at the height of the face, a bar 56 on which the touch panel 53 is arranged, and the like. The practitioner 203 operates the operation manipulator arm 51 and the operation pedal 52 while visually recognizing the affected part on the monitor 54 to input an operation command to the instruction device 2. The operation command input to the instruction device 2 is transmitted to the controller 600 of the medical manipulator 1 by wire or wirelessly. The operation of the medical manipulator 1 is controlled by the controller 600. The controller 600 is composed of a computer such as a microcontroller. A controller 600, a control program used for operation control, and a storage unit 602 for storing various data are stored in the casing 71 of the medical trolley 70, which will be described later. Further, the medical trolley 70 is mainly operated for setting and inputting the positions and postures of the positioner 7, the arm base 5, and the plurality of degrees of freedom manipulator arms (hereinafter, simply referred to as arms) 3 described later before the treatment. A unit 604 is provided.

An operation shaft 46 is provided in an upright state at the rear of the casing 71 of the medical trolley 70. The operating shaft 46 is provided with a lever 47 extending in a substantially horizontal direction. The lever 47 is provided with a lever device 48 that is operated to drive the front wheels (not shown). The medical worker can grasp the lever 47 and move the medical trolley 70 to a predetermined position. In addition, the medical worker can change the direction of the rear wheel 43 by the lever 47, thereby changing the traveling direction of the medical trolley 70.

The medical manipulator 1 constitutes an interface between the surgical system 100 and the patient. The medical manipulator 1 is arranged in an operating room, which is a sterilized field.

In FIG. 1, the medical manipulator 1 includes a positioner 7, a long arm base 5 attached to the tip of the positioner 7, and a plurality of arm bases 5 to which the base end is detachably attached (this). In the embodiment, four arms 3) are provided. The medical manipulator 1 is configured so that a plurality of arms 3 take a folded storage posture.

The positioner 7 is configured as a vertical articulated robot, and is provided on a base 90 partially exposed on a casing 71 of a medical trolley 70 arranged at a predetermined position in an operating room, and is provided on an arm base 5. The position can be moved three-dimensionally. The arm 3 and arm base 5 are covered with a sterile drape (not shown) and shielded from a sterile field in the operating room.

The positioner 7 includes the above-mentioned base 90 attached to a base (chassis) of the drawing provided in the casing 71, and a plurality of positioner link portions sequentially connected from the base 90 toward the tip portion. There is. The positioner 7 constitutes a plurality of joint portions 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 portions include the first link 91 to the sixth link 96. The plurality of joints include the first joint J71 to the seventh joint J77. The plurality of joints in the present embodiment are composed of rotary joints provided with a rotation axis, but at least some of the joints may be composed of linear motion joints.

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 which is a bending (pitch) joint. The base end portion of the third link 93 is connected to the tip end portion of the second link 92 via a third joint J73 which is a bending joint. The base end of the fourth link 94 is connected to the tip of the third link 93 via a fourth joint J74, which is a twisting joint. The base end portion of the fifth link 95 is connected to the tip end portion of the fourth link 94 via a fifth joint J75 which is a bending joint. The base end of the sixth link 96 is connected to the tip of the fifth link 95 via a sixth joint J76, which is a twisted joint. The positioner attachment portion 5a 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 twisting joint. As a result, the positioner 7 is configured as a multi-axis joint arm having a plurality of degrees of freedom (7 degrees of freedom).

Among the plurality of arms 3, a replacement instrument (for example, forceps) is held at the tip of the arm 3A as a medical instrument 4. An instrument such as forceps is held at the tip of the arm 3B as a medical instrument 4. Further, for example, an endoscope assembly is held at the tip of the arm 3C as a medical instrument 4. The tip of the arm 3D holds, for example, a replacement endoscope assembly as a medical instrument 4.

In the medical manipulator 1, the arm base 5 has a function as a hub serving as a base for a plurality of arms 3. In the present embodiment, the positioner 7 and the arm base 5 constitute a manipulator arm support S that movably supports a plurality of arms 3.

In the medical manipulator 1, elements are connected in a series from the positioner 7 to the medical instrument 4. Hereinafter, in the present specification, in the above series of elements, the end portion on the side toward the positioner 7 is referred to as a base end portion, and the end portion on the opposite side is referred to as a tip end portion.

As shown in FIG. 2, when the medical device 4 is an instrument, the medical device 4 has a drive unit 89 provided at its base end. The end effector at the tip of this instrument is an instrument with working joints (eg, forceps, scissors, graspers, needle holders, microdissectors, staple appliers, tackers, suction cleaning tools, snare wires, and , Clip appliers, etc.), and articulated instruments (eg, cutting blades, ablation probes, washer, catheters, suction orifices, etc.).

In the surgical operation system 100, the medical staff operates the touch panel included in the operation unit 604 to operate the positioner 7 so that the arm base 5 and the operating table 202 or the patient 201 have a predetermined positional relationship. The arm base 5 is positioned. Next, the controller 600 operates each arm 3 to position the medical device 4 so that the sleeve (cannula sleeve) placed on the body surface of the patient 201 and the medical device 4 have a predetermined initial positional relationship. Do. The positioning operation of the positioner 7 and the positioning operation of each arm 3 may be performed at the same time. Then, as a general rule, the controller 600 performs the treatment while the positioner 7 is stationary and the medical instrument 4 is operated by each arm 3 in response to an operation command from the instruction device 2 to appropriately displace and change the posture.

Subsequently, the detailed configuration of the arm 3 will be described. As shown in FIG. 2, the arm 3 includes an arm main body 30 and a translation unit 35 connected to the tip end portion of the arm main body 30, and the tip end portion can be moved in a three-dimensional space with respect to the base end portion. It is configured so that it can be done. In the present embodiment, the plurality of arms 3 included in the medical manipulator 1 all have the same or similar configuration, but at least one of the plurality of arms 3 has a configuration different from that of the other arms. You may. A holder 36 capable of holding the medical instrument 4 is provided at the tip of the arm 3. The medical device 4 has a drive unit 65 provided at the base end portion, an end effector (treatment tool) 66 provided at the tip end portion, and an elongated shaft 67 connecting the drive unit 65 and the end effector 66. are doing. The drive unit 65, the shaft 67, and the end effector 66 are arranged along the semimajor axis Dt.

The arm 3 is detachable from the arm base 5. The arm 3 has water resistance, heat resistance, and chemical resistance for cleaning and sterilizing treatments. 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, and the like are selectively used.

The arm body 30 includes a base 80 that is detachably attached to the arm base 5 and first links 81 to 6th links 86 that are sequentially connected from the base 80 toward the tip portion. More specifically, the base end portion of the first link 81 is connected to the tip end portion of the base 80 via a twist joint J31. The base end of the second link 82 is connected to the tip of the first link 81 via a bending joint J32. The base end of the third link 83 is connected to the tip of the second link 82 via a twist joint J33. The base end portion of the fourth link 84 is connected to the tip end portion of the third link 83 via a bending joint J34. The base end of the fifth link 85 is connected to the tip of the fourth link 84 via a twist joint J35. The base end of the sixth link 86 is connected to the tip of the fifth link 85 via a bending joint J36. The base end of the translation unit 35 is connected to the tip of the sixth link 86 via a bending joint J37. As a result, 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 its posture without changing the position of the tip end portion of the arm 3.

The outer shell of the arm body 30 is mainly made of a member having heat resistance and chemical resistance such as stainless steel. Further, the connecting portion between the links is provided with a sticker (not shown) for providing water resistance. This seal has heat resistance corresponding to the high-pressure steam sterilization method and chemical resistance to disinfectants. In the connecting portion between the links, the end portion of the other link is inserted inside the end portion of one of the linked links, and the seal is arranged so as to fill the space between the end portions of these links. By doing so, the seal is hidden from the appearance. As a result, the ingress of water, chemicals, and vapors between the seal and the link is suppressed.

The translation unit 35 translates the medical instrument 4 attached to the holder 36 in the extending direction of the shaft 67 by translating the holder 36 attached to the tip thereof in the semimajor axis direction Dt.

The translation unit 35 has a proximal end side link 61, an distal end side link 62, a proximal end side link 61, and a distal end side link 62 connected to the tip end portion of the sixth link 86 of the arm body 30 via a bending joint J37. It has a connecting link 63 that moves in conjunction with the above, and an interlocking mechanism (not shown). The bending joint J37 extends in a direction orthogonal to the long axis direction Dt. Further, a rotation shaft 64 is provided at the tip of the translation unit 35, that is, at the tip of the tip side link 62. The drive source of the translation unit 35 is provided on the base end side link 61. The connecting link 63 extends along the semimajor direction Dt. In such a configuration, the translation unit 35 changes the relative position of the base end side link 61 and the connecting link 63 in the semimajor direction Dt by the interlocking mechanism, and the long axis of the connecting link 63 and the tip side link 62. By changing the relative position in the direction Dt, the position of the medical instrument 4 held by the holder 36 provided on the distal end side link 62 with respect to the proximal end side link 61 can be changed with respect to the semimajor axis Dt. It has become.

Subsequently, as shown in FIG. 3, the arm 3 has the encoders E31 to E37 for detecting the rotation angles of the driving servomotors M31 to M37 and the servomotors M31 to M37 corresponding to the joints J31 to J37. Further, a speed reducer (not shown) for decelerating the output of the servomotors M31 to M37 to increase the torque is provided. In FIG. 3, among the joints J31 to J37, the control system of the torsion joint J31 and the bending joint J37 is typically shown, and the control systems of the other joints J33 to J36 are omitted. Further, the translation unit 35 includes a servomotor M38 for translational operation, a servomotor M39 for rotation operation around the rotation axis 64, and encoders E38 and E39 for detecting rotation angles of the servomotors M38 and M39. , A speed reducer (not shown) that reduces the output of the servomotors M38 and M39 to increase the torque is provided.

Further, as shown in FIG. 3, the positioner 7 includes an encoder E71 to detect the rotation angles of the driving servomotors M71 to M77 and the servomotors M71 to M77 corresponding to the joints J71 to J77 of the positioner 7. E77 and a speed reducer (not shown) that decelerates the output of the servomotors M71 to M77 to increase the torque are provided. In FIG. 3, among the joints J71 to J77 of the positioner 7, the control systems of the joints J71 and J77 are typically shown, and the control systems of the other joints J72 to J76 are omitted.

The controller 600 includes an arm control unit 601 that controls the movement of a plurality of arms 3 based on an operation command, and a positioner control unit 603 that controls the movement of the positioner 7. Servo control units C31 to C37, C38, and C39 are electrically connected to the arm control unit 601. Encoders E31 to E37, E38, and E39 are electrically connected to the servo control units C31 to C37, C38, and C39. Further, servo control units C71 to C77 are electrically connected to the positioner control unit 603. Encoders E71 to E77 are electrically connected to the servo control units C71 to C77.

Based on the operation command input to the instruction device 2, the position / orientation command of the tip of the arm 3 is input to the arm control unit 601. The arm control unit 601 generates and outputs a position command value based on the position / orientation command and the rotation angles detected by the encoders E31 to E37, E38, and E39. The servo control units C31 to C37, C38, and C39 that have acquired this position command value generate a drive command value (torque command value) based on the rotation angle and the position command value detected by the encoders E31 to E37, E38, and E39. And output. The amplifier circuit that has acquired this drive command value supplies the drive current corresponding to the drive command value to the servomotors M31 to M37, M38, and M39. In this way, the servomotors M31 to M37, M38, and M39 are servo-controlled so that the tip of the arm 3 reaches the position and posture corresponding to the position / posture command.

The controller 600 is provided with a storage unit 602 capable of reading data from the arm control unit 601. The storage unit 602 stores in advance the surgical information input via the instruction device 2.

The positioner control unit 603 generates and outputs a position command value based on the operation command regarding the setting of the preparation position and the like input from the operation device 2 and the rotation angle detected by the encoders E71 to E77. The servo control units C71 to C77 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 E71 to E77. The amplifier circuit that has acquired the drive command value supplies the drive current corresponding to the drive command value to the servomotors M71 to M77. In this way, the servomotors M71 to M77 are servo-controlled so that the positioner 7 reaches the position / orientation corresponding to the position command value.

Next, the configuration of the positioner 7 will be described. As described above, the positioner 7 includes the first link 91 to the sixth link 96. The first link 91 is configured to be rotatable around a swivel shaft A1 extending in the vertical direction via the first joint J71. The first link 91 is configured to be driven via a speed reducer (not shown) using a motor (not shown) housed in the first link 91 as a drive source.

The second link 92 is configured to be rotatable (swing) around a rotation axis (horizontal axis) A2 extending in the horizontal direction via the second joint J72. The second link 92 is configured to be driven via, for example, a motor-integrated speed reducer 23. Further, the cover member 24 is provided so as to be bridged between the base end side portion of the second link 92 and the first link 90. The cover member 24 can be formed by bending, for example, a long plate member, and covers a part of a cable (power supply cable) 50 described later. Details will be described later.

The third link 93 is configured to be rotatable (swing) around the rotation axis A3 extending in the horizontal direction via the third joint J73. The third link 93 is configured to be driven via a speed reducer (not shown) using a motor (not shown) housed in the third link 93 as a drive source. Further, for example, a disk-shaped cover member 28 is provided on the tip end side portion of the second link 92.

As shown in FIG. 5, the positioner 7 is formed in a hollow shape. Specifically, the first link 91 of the positioner 7 has a hollow portion 91a. Further, the second link 92 of the positioner 7 has a hollow portion 92a extending in the longitudinal direction of the second link 92.

In such a configuration, a part of the cable 50, which is a power supply cable for supplying electric power to the positioner 7, is routed to the hollow portion 91a and the hollow portion 92a. The cable 50 includes portions 50a, 50b, 50c, 50d, 50e, as described below. Explaining the routing of the cable 50 in detail from the proximal end side, the cable 50 is routed to the hollow portion 91a and once exits the positioner 7 from the opening of the first link 91. In FIG. 5, the portion of the cable 50 that protrudes to the outside of the positioner 7 is 50b. Then, the cable 50 is routed from the outside of the positioner 7 to the hollow portion 92a of the second link 92 through the opening 92c provided in the second link 92. In FIG. 5, the portion of the cable 50 that is routed to the hollow portion 92a of the second link 92 is 50a. The cover member 24 described above is provided so as to be bridged between the base end side portion of the second link 92 and the first link 91 so as to cover the portion of the cable 50 existing outside the positioner 7 and the opening 92c. .. Regarding the power supply cable that supplies electric power to the arm base 5 and the arm 3, a part or all of the power supply cable may be routed outside the medical manipulator 1 or may be routed inside the hollow portion of the positioner 7. The arm 3 may be replaced depending on the operation content, and if the power supply cable is routed on the outside at that time, the replacement work of the power supply cable becomes easy. On the other hand, if the power supply cable is routed in the hollow portion of the positioner 7, the behavior of the power supply cable is restricted, so that careless interference with the medical staff can be prevented.

The cable 50 routed to the hollow portion 92a of the second link 92 is routed to the hollow portion 92h1 of the tubular portion 92h inserted into the opening 92g formed in the upper part of the side wall 92f of the second link 92. In FIG. 5, the portion of the cable 50 that is routed to the hollow portion 92h1 of the tubular portion 92h is 50c.

In the above configuration, the portion 50b of the cable 50 on the proximal end side of the portion 50a routed to the hollow portion 92a of the second link 92 of the positioner 7 is along a direction different from the axial direction of the speed reducer 23. (That is, without passing through the speed reducer 23), the speed reducer 23 is bypassed.

In FIG. 5, an opening 92d is formed in the lower part of the side wall 92b arranged to face the above-mentioned side wall 92f of the second link 92. A plate-shaped cover member 27 is provided so as to cover the opening 92d. Normally, the cover member 27 is in the attached state, but when the cable 50 is routed, the work of fastening the portion 50a of the cable 50 to the fastener shown in the drawing provided in the hollow portion 92a of the second link 92. The cover member 27 is removed to open the opening 92d when performing the above. Further, an opening 92e having a larger opening area than the opening 92d is formed on the upper portion of the side wall 92b of the second link 92. A plate-shaped cover member 28 is provided so as to cover the opening 92e. Normally, the cover member 28 is in the attached state, but when the cable 50 is routed, the work of fastening the portion 50a of the cable 50 to the fastener shown in the drawing provided in the hollow portion 92a of the second link 92. The cover member 28 is removed to open the opening 92e when performing the above.

Subsequently, as shown in FIG. 6, the cable 50 routed to the hollow portion 92h1 of the tubular portion 92h as described above is connected to the hollow portion 93a1 of the tubular portion 93a provided in the hollow third link 93. Be routed. In FIG. 6, the portion of the cable 50 that is routed to the hollow portion 93a1 of the tubular portion 93a is 50d. A motor 92i for the fourth joint J74 is provided near the base end of the third link 93.

Two motors 93b and 93c are provided in the distal end side region of the hollow portion 93d of the third link 93. The motor 93b is a motor for the fifth joint J75, and the motor 93c is a motor for the sixth joint J76. The cable 50 routed to the hollow portion 93a1 of the tubular portion 93a is routed to the hollow portion 93d of the third link 93. In FIG. 6, the portion of the cable 50 that is routed to the hollow portion 93d is 50e. The tip of the cable 50 (the tip of the portion 50e) is connected to the motors 93b and 93c. As described above, a part of the cable 50 is routed around the speed reducer 23, and the remaining portion thereof is routed to each hollow portion of the positioner 7.

As described above, according to the medical manipulator 1 of the present embodiment, the portion 50b of the cable 50 on the proximal end side of the portion 50a routed to the hollow portion 92a of the second link 92 of the positioner 7 is , The speed reducer 23 is arranged so as to bypass the speed reducer 23 along a direction different from the axial direction of the speed reducer 23. That is, in the medical manipulator 1 of the present embodiment, the cable 50 is inserted into the hollow shaft of the speed reducer, or is sideways to the speed reducer along the axis of the speed reducer as in Patent Document 3 described above. It does not adopt a configuration that is routed around. As a result, it is possible to prevent the speed reducer 23 from becoming large. As a result, it is possible to secure a space for installing various devices around the speed reducer 23. Further, since the cable 50 is not inserted into the hollow shaft of the reducer or routed to the side of the reducer along the axis of the reducer, the cable 50 is twisted due to the rotation of the reducer (that is, the rotation of the arm). The burden on the cable 50 is suppressed.

Further, in the present embodiment, the portion 50b on the base end side of the cable 50 is drawn out from the hollow portion 92a of the second link 92 to the outside of the positioner 7. As a result, access to the cable 50 from the outside becomes easy, so that work such as routing in the hollow portion 92a of the cable 50 becomes easy.

Further, in the present embodiment, since the portion 50b exposed to the outside of the cable 50 is covered with the cover member 24, dust generation by the cable 50 can be prevented by the cover member 24.

Further, in the present embodiment, the cable 50 is a power supply cable that supplies electric power to the positioner 7. Since the twisting load on the cable 50, which is such a power feeding cable, is suppressed as described above, it is possible to avoid power stoppage due to damage to the cable 50 due to twisting.

(Other embodiments)
In addition to the above embodiments, the present invention can be modified as follows without departing from the gist thereof.

In the above embodiment, the mode in which the cable 50 is routed so as to bypass the speed reducer 23 that rotates the positioner 7 around the rotation axis A2 which is the horizontal axis has been described, but the present invention is not limited to this, and the first link of the positioner 7 is not limited to this. The same can be applied to the speed reducer 91. That is, it is also possible to route the cable 50 by bypassing the speed reducer along a direction different from the axial direction of the speed reducer of the first link 91.

Further, in the above embodiment, in order to arrange the portion 50b of the cable 50 by bypassing the speed reducer 23, a configuration is adopted in which the portion 50b is covered with the cover member 24 but is routed to the outside of the positioner 7. , Not limited to this. The portion 50b of the cable 50 may be configured to be routed to the hollow portion of the positioner 7 without being routed to the outside of the positioner 7.

Further, in the above embodiment, the power supply cable is adopted as the cable 50, but the present invention is not limited to this, and other cables such as an air cable for supplying air may be adopted.

Further, in the above embodiment, the speed reducer 23 with an integrated motor is adopted, but the present invention is not limited to this, and the speed reducer 23 and the motor may be provided independently.

1 Medical manipulator 2 Indicator 3 Multi-degree-of-freedom manipulator arm 4 Medical equipment 7 Positioner 23 Motor-integrated reducer (motor)
24 Cover member 50 cable 50a, 50b, 50c, 50d, 50e Cable part 91a, 92a, 92h1,93a1,93d Hollow part of positioner

Claims (5)

A multi-degree-of-freedom manipulator arm that holds medical instruments at the tip,
By moving the multi-degree-of-freedom manipulator arm, a positioner having a hollow portion and
A motor that rotates the positioner around a predetermined direction axis,
A speed reducer linked to the operation of the motor and
A cable that is at least partially routed to the hollow portion of the positioner.
A portion of the cable on the proximal end side of the positioner that is routed to the hollow portion is arranged so as to bypass the reducer along a direction different from the axial direction of the reducer. Medical manipulator. The medical manipulator according to claim 1, wherein a portion of the cable on the base end side is drawn out from the hollow portion of the positioner to the outside of the positioner. The medical manipulator according to claim 2, further comprising a cover member for covering the portion of the cable that extends outward from the positioner. The medical manipulator according to any one of claims 1 to 3, wherein the motor is configured to rotate the positioner about a horizontal axis. The medical manipulator according to any one of claims 1 to 4, wherein the cable is a power supply cable that supplies electric power to the positioner.