JP3197310B2 - Treatment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a treatment apparatus in which a treatment tool is introduced into a living body, a pipe, or the like, and a treatment such as an operation, an inspection, or a repair is performed therein.

[0002]

2. Description of the Related Art Conventionally, for example, a treatment instrument for an endoscope has been known as a device which approaches an affected part in a patient's body and directly treats the affected part. In this method, a treatment tool is introduced into a body vessel through a channel of an endoscope, and is moved by a mechanical remote operation from outside the body or a manual remote operation by operating the endoscope to perform treatment.

[0003]

However, such a conventional treatment tool for an endoscope has a complicated operation and a rather rough operation, so that an accurate and delicate treatment is performed. That was pretty difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problem, and an object of the present invention is to provide a treatment apparatus which can be operated easily by an operator and can perform an accurate treatment operation. .

[0005]

In order to solve the above problems, the present invention provides a master arm operated by an operator, a treatment tool provided on the distal end side of the arm,
A treatment arm having at least one bay bent portion provided on the base end side of the treatment tool and driving means provided at the bay bent portion for changing the angle between the arms before and after the bay bent portion. And a control means for detecting an operation state of the master arm and controlling the drive means to drive the bay bending portion of the treatment arm. Further, another invention has at least one bay bent portion, a master arm operated by an operator, and a detecting means for detecting a bay bent state of the bay bent portion provided on the master arm, A treatment tool that is formed in a shape similar to the master arm, is provided on the distal end side, a bay bend provided in a position similar to the bay bend provided in the master arm; A treatment arm having a driving means for bending and driving, the driving means to drive a bay bending portion on the treatment arm side corresponding to the bay bending portion on the master arm side based on an output of the detection means. And a control means for controlling the treatment device.

[0006]

1 to 7 show a treatment system according to a first embodiment of the present invention. FIG. 1 shows a schematic configuration of the entire treatment system. A support arm 4 for holding an endoscope 3 is attached to an operating table 2 on which a patient 1 can sleep. The endoscope 3 has a configuration as conventionally known, and is, for example, a rigid endoscope. A TV camera 5 is attached to an outer end of the endoscope 3.

The insertion section 6 of the endoscope 3 is introduced into the body through a trocar or the like punctured in the abdomen of the patient. FIG. 2 shows a state in which the insertion section 6 of the endoscope 3 is inserted. The distal end of the insertion section 6 of the endoscope 3 is open at the distal end of two channels 9 and 10 in addition to the objective lens 7 and the illumination window 8. One channel 9 has a treatment device 1 described later.
1 is inserted.

An operation control panel 12 for operating the treatment apparatus 11 is installed near the operating table 2. The operation control panel 12 is provided with a TV monitor 15 in addition to the keyboard 14. The TV monitor 15 introduces the distal end of the insertion section 6 of the endoscope 3 to capture the state inside the body. An electronic control circuit 1 described later is provided inside the operation control panel 12.
6 are incorporated. Further, the operation control panel 12 is provided with a master arm 18 which performs a similar movement in a one-to-one or proportional manner with the treatment arm 17 of the treatment device 11 described above.

A treatment arm 17 is connected to a distal end of the introduction portion 19 of the treatment device 11. The treatment arm 17 is formed by sequentially connecting the distal end of the introduction portion 19, the first link 21, the second link 22, and the treatment tool 23 via three joints 20a, 20b, and 20c. . At the tip of the treatment tool 23, a contact sensor 2 for detecting the state of the treatment tool 23 hitting a living tissue and the strength of the contact pressure
4 are provided.

The treatment arm 17 of the treatment device 11
As shown in FIG. 3, the master arm 18 corresponding to one to one also sequentially connects the base link 26, the first link 27, the second link 28, and the gripper 29 via the joints 25a, 25b, 25c. Thus, the surgeon can move the holding portion 29 while holding it in his hand.

The joints 20a, 20b, and 20c of the treatment arm 17 of the treatment device 11 and the joints 25a, 25b, and 25c of the master arm 18 are respectively provided with bending drive actuators A, B, and C and brake actuators α, β and γ are incorporated, and each joint 20a, 20
The b, 20c, 25a, 25b, and 25c are provided with potentiometers a, b, and c for detecting the displacement drive amounts.

The electronic control circuit 16 obtains a signal of the contact state and its strength from the output of the contact sensor 24 by the comparator 31 and inputs the signal to the brake actuator drive circuit 32. The brake actuator drive circuit 32 drives the brake actuators α, β, and γ according to the situation, and inputs this information to the position detection circuit 33. The position detection circuit 33 receives the detection signals from the potentiometers a, b, c, and receives the joints 20a, 20b, 20c, 25a, 25b, 25c.
Is detected. The actuator drive circuit 34 operates the bending drive actuators A, B, and C while receiving a signal from the position detection circuit 33 and a command from the arithmetic unit 35. Each joint 20a, 20b, 20c, 25a, 25
The bending position information b and 25c is temporarily stored in the storage circuit 36, and the arithmetic unit 35 drives the actuator driving circuit 34 using this information. Note that a feed amount setting circuit 3 for setting the feed amount of the treatment tool 23 when performing the copying operation.
7 are provided.

FIGS. 5 and 6 show the joints 20a and 20a respectively.
Examples of bending drive actuators A, B, C and brake actuators α, β, γ provided in b, 20c, 25a, 25b, 25c are shown. That is, each joint 20
a, 20b, 20c, 25a, 25b, and 25c are provided with a sphere 41 at one end of the link, and a receiving seat 42 for receiving the sphere 41 at the end of the other link corresponding thereto. It constitutes a rotating joint structure.

On the inner surface of the receiving seat 42, three laminated piezoelectric elements 43a, 43b, 43c are arranged at equal vertices at equal vertices at their vertices. The actuator mechanism is arranged so as to be close to the surface of the sphere 41 and to be attached to a position slightly outside the center of the sphere 41 to selectively perform the bending drive and the braking action.

Each of these laminated piezoelectric elements 43a, 43b,
43 c is controlled and driven by the brake actuator drive circuit 32 and the actuator drive circuit 34. FIG. 6A shows two laminated piezoelectric elements 43b and 43c.
With respect to the above, the tip is retracted from the surface of the sphere 41 in an energized or non-energized state so as to contract, and an alternating current is applied to the other one of the laminated piezoelectric elements 43a to vibrate. The vibrated laminated piezoelectric element 43a
Hits the surface of the sphere 41 with its tip. Multilayer piezoelectric element 4
Since 3a, 43b and 43c are attached to the outer peripheral part rather than the direction perpendicular to the surface of the sphere 41, the sphere 41 is rotated in the direction indicated by the arrow in the direction in which the laminated piezoelectric element 43a is installed. Other laminated piezoelectric elements 43b, 4
Since 3c contracts and retracts from the surface of the sphere 41,
It does not hinder its rotation.

FIG. 6B shows a state in which all the laminated piezoelectric elements 43a, 43b, 43c are energized and extended, and their respective tips are pressed against the surface of the sphere 41. In this state, since the laminated piezoelectric elements 43a, 43b, 43c perform a braking action, the sphere 41 does not rotate. It is to be noted that a braking action can be obtained even if only a part of the laminated piezoelectric elements 43a, 43b, 43c is energized and extended.

FIG. 6C shows two laminated piezoelectric elements 43.
For a and 43c, the tip is retracted from the surface of the sphere 41 in an energized or non-energized state so as to contract, while an alternating current is applied to the other one of the laminated piezoelectric elements 43b to vibrate. In this example, the surface of the spherical body 41 is hit with the tip of the vibrated laminated piezoelectric element 43b to rotate in the direction of the arrow on the installation side of the laminated piezoelectric element 43b. As described above, one or more laminated piezoelectric elements 43a, 43b,
By selecting 43c, the rotation direction, that is, the bending direction can be determined.

As shown in FIG. 5A, a permanent magnet 46 is attached to the surface of the sphere 41 at each joint 20a, 20b, 20c, 25a, 25b, 25c.
Correspondingly, three or more Hall elements 47 are provided on the inner surface of the receiving seat 42. And the joints 20a, 20
When b, 20c, 25a, 25b, and 25c bend, the position of the permanent magnet 46 on the surface of the sphere 41 and the position of each of the Hall elements 47 corresponding thereto are shifted according to the amount thereof, and each hole is changed depending on the bending direction. The output value of the element 47 is different, and the joints 20a, 20b, 20c, 25a, 2
The potentiometers a, b, c for detecting the bending directions of the 5b, 25c and the amount of the bending are configured.

FIG. 7 shows various examples of the treatment tool 23 in the treatment apparatus 11, and those suitable for the affected part in the case of treatment are appropriately selected and used. (A)
The treatment tool 23 shown in FIG. 1 incorporates a laser probe 51 and irradiates a laser beam to incise the tissue. The distal end side surface of the treatment tool 23 is provided with a strain sensor 52 from which a wire 53 made of a superelastic alloy is projected to form a tactile sensation 54. The distance (feed amount) of the laser probe 51 can be determined by detecting the surface of the affected part by the tactile sense 54.

The treatment instrument 23 shown in (B) incorporates a water jet scalpel nozzle 55, and incises the tissue with a water jet. The treatment instrument 23 has a pressure-sensitive sensor 56 at its tip.

The treatment instrument 23 shown in (C) is provided with an electrode 57 at its tip to form an electric scalpel 58.

The treatment tool 23 shown in FIG. 3D constitutes an electroporation probe, and has a conical probe body 61.
A plurality of small ring electrodes 62 are attached at intervals on the side peripheral surface of the probe body, and a medicine injection hole 63 is formed between each of the ring electrodes 62 and at the tip of the probe body 61. A drug such as an anticancer drug supplied through a tube 65 is released from a reservoir (not shown) by a micropump 64 disposed in the probe body 61. A pressure-sensitive sensor 66 is provided at the tip of the probe body 61.
Is provided. Then, the treatment tool 23 as the electroporation probe is inserted into, for example, the affected part of the cancer, and a high voltage is instantaneously applied between the ring electrodes 62. Thereafter, or before and after that, the anticancer agent is intermittently injected by the micropump 64, for example. I do. According to this, it is possible to open a hole in a cell of a cancer cell and take in an anticancer agent, thereby enhancing the therapeutic effect.

Next, a method of using the treatment apparatus will be described. First, as shown in FIGS. 1 and 3, the surgeon holds the gripper 29 of the master arm 18 in his hand and drives the treatment arm 17 in a master-slave manner while watching the TV monitor 15. The movement of the master arm 18 is reduced by the electronic control circuit 16 to be proportional to the movement of the treatment arm 17. Then, the tip of the treatment tool 23 is applied to the surface of the affected part,
Perform a follow-up operation. In this copying operation, the treatment tool 23 is operated until the output of the contact sensor 24 becomes a constant output.
Press the tip of. That is, when the output of the contact sensor 24 becomes equal to or more than a predetermined output, the joint 25
a, brake actuators α in 25b, 25c
β and γ work to make the movement heavy. The surgeon follows the surface of the affected part while feeling the weight of the movement of the master arm 18.

By performing this copying operation, the detection signals from the potentiometers a, b, and c are used to detect the position detection circuit 33.
And this is stored in the storage circuit 36 as the following information. After storing the surface shape of the affected part in this manner, the feed amount setting circuit 37 calculates the feed amount (for example, 2 mm) of the treatment tool 23 with respect to the position of the above-mentioned follow-up operation.
Enter 5 Then, when the treatment arm 17 is driven using the stored information, the affected part can be incised at the depth of the feed amount.

FIGS. 8, 9 and 10 show examples of other arms which can be used in place of the arms 17 and 18, respectively. FIG. 8 shows that a plurality of wires 72 made of a shape memory alloy are installed between the joint members 71, respectively.
Each of the wires 72 is selectively heated and contracted by an electric resistance heat generating means or the like to bend in the contracted direction. (A) is a state before heating,
(B) shows a state of being selectively heated and curved.

FIG. 9 shows a configuration in which a plurality of perforated tubes 76 having a plurality of sealed holes 75 formed in parallel in the longitudinal axis direction are connected in series, and an air supply tube 77 is individually connected to each of the holes 75. are doing. Then, when air is supplied to the selected hole 75 through the air supply tube 77, the portion of the hole 75 that has been supplied is stretched and bent to the opposite side as shown in FIG. In addition,
On the wall of the perforated tube 76, there are fibers 78 for preventing swelling.
Has been put.

FIG. 10A is a diagram in which a high-molecular piezoelectric material 82 is attached to the outer periphery of a flexible tube 81 separately on the outer periphery, and FIG. The liquid crystal 83 is divided into three and embedded in the wall. Such tubes 81 are connected in a plurality of axial directions. further,
Each polymer piezoelectric material 82 and liquid crystal 83 are provided with electrodes (not shown) so that a voltage can be individually applied. The polymer piezoelectric material 82 and the liquid crystal 83 expand and contract reversibly in response to application of a voltage. Therefore, when a voltage is applied to any of the selected polymer piezoelectric material 82 or liquid crystal 83, the flexible tube 81
Can be curved. Such a flexible tube 8
1 to form an arm. The treatment apparatus described above includes the following units. That is, an in-vivo treatment section having a treatment tool and a contact sensor provided at the tip of an articulated arm, an operating arm for causing the articulated arm to make a one-to-one or proportional movement, and an operating arm Means for driving the actuator of each joint of the treatment arm based on a signal of a sensor for detecting the amount of drive of the joint; means for storing the amount of drive of each joint; Means for calculating the actuator drive amount of each joint of the treatment arm by adding the treatment work amount; and means for driving the treatment arm based on the calculated amount. In addition, the following actuators are arranged at each joint. It is a ball joint, three piezoelectric actuators provided facing the ball surface of the ball joint, and means for independently applying a voltage to each piezoelectric actuator. The arm is not limited to the case where the arm is bent plurally around the joint, but also includes the case where the arm is partially or wholly bent. In other words, it is only necessary to bend the bay.

By the way, in the articulated arm, a portion located closer to the root side has a larger load supported by an increase in its own weight and load moment.
It is desired to increase its durability and the power to move it. An embodiment improved in this respect will be described below with reference to the drawings.

The arm shown in FIG. 11 is made up of respective flexible tubes 84a, 84b,.
The larger the diameter is at the base, the higher the strength is. The bay bending means is configured as follows. That is, inside each of the flexible tubes 84a, 84b,.
SMA wire 8 composed of a plurality of memory shape alloys
, 85e are arranged. Each of the SMA wires 85a, 85b,..., 85e extends along the axial direction of the corresponding flexible tube 84a, 84b,. Having a book one.

Further, each of the SMA wires 85a, 85b,
, 85e are connected to the corresponding flexible tubes 84a, 84a,
84e are respectively attached to the distal ends. The base ends of the SMA wires 85a, 85b,..., 85e are connected to the corresponding flexible tubes 84a, 84b,.
e, flexible tubes 84b, 84c,
.., 84e, or a base end side thereof and attached.

Each of the SMA wires 85a, 85b,
, 85e are flexible tubes 84 corresponding to these, respectively.
a, 84b,..., 84e are successively thicker toward the base end. In the case of a twisted one, the number of the wires is sequentially increased. Further, the amount of energization may be increased at the same time. That is, the SMA wires 85a, 85b,..., 85e are configured such that, when energized, the driving force increases as the roots of the flexible tubes 84a, 84b,.

Thus, each of the flexible tubes 84a, 84b,.
SMA wires 85a, 85b, ..., 8 corresponding to 84e
When any one of upper, lower, left and right in 5e is selected and energized, it contracts, for example, according to its memory shape, so that flexible tubes 84a, 84b,.
, The SMA wires 85a, 85b,.
It bends to the direction where 5e is located.

According to this configuration, the durability and the power to move it can be increased at the portion located closer to the root side. Other points are the same as those of the above-described embodiment.

The arm shown in FIG.
Are sequentially stacked, and the inner one has the tip extended before the adjacent outer one. For this reason, the number of the flexible tubes 86 to be superimposed increases toward the base, and the strength of the arm increases. And each front-end | tip part extended ahead of the adjacent outer thing can be curved respectively.
Further, each of the curved tip portions is a flexible tube 86.
a, 86b,..., 86e are formed inside each of the SMA wires 87 made of a plurality of memory shape alloys.
, 87e are arranged. Each of the SMA wires 87a, 87b,..., 87e is, for example, four wires extending along the axial direction of the corresponding flexible tube 86a, 86b,. Become. Further, each SMA wire 87
, 87e are attached to the distal ends of the corresponding flexible tubes 86a, 86b, ..., 86e, respectively. Also, each of the SMA wires 87a, 87b,
, 87e are flexible tubes 86 respectively corresponding to these.
The base end side of a, 86b,..., 86e is sequentially thicker. In the case of a twisted one, the number of the wires is sequentially increased. That is, each of the SMA wires 87a, 87b,.
e are flexible tubes 86a, 86b,.
The driving force is higher at the base side of 86e.

Thus, the flexible tubes 86a, 86b,.
SMA wires 87a, 87b, ..., 87 corresponding to 6e
When any one of upper, lower, left and right in e is selected and energized, for example, it shrinks in accordance with the stored shape, so that the corresponding flexible tubes 86a, 86b,.
Rotate, and the SMA wires 87a, 87b,.
Bends in the direction where is located.

According to this configuration, the durability and the power to move it can be increased at the portion located closer to the root side. Other points are the same as those of the above-described embodiment.

FIG. 13 shows the arrangement of four SMA wires (for example, SMA wire 85b) in one flexible tube in the above-mentioned arm. FIG. 14 shows a plurality of flexible tubes 84a, 84b, 84c (or FIG. 14). 86a, 86b,
86c) SMA wires 85a, 85b, 85c
(Or SMA wires 87a, 87b, 87c).

In FIG. 14, for example, each flexible tube 84a,
SMA wires 85a, 85b at 84b, 84c,
Reference numeral 85c is connected to a power supply line 90 of a driving power supply 89 via different control ICs 88. The control IC 88 receives the address signal (serial transfer) from the signal superimposing circuit 91 superimposed on the power supply line 90, opens the gate of the corresponding one, and opens the SMA wire 8
5a, 85b, 85c are energized. Control IC (88)
Receives the address signal and selectively drives the driving power supply 89.
Serves as a gate connecting any one of upper, lower, left and right of each of the SMA wires 85a, 85b, 85c.

The address signal is obtained by the CPU 92 receiving signals from the bending controller 93, the insertion amount detecting means 94, and the surgeon's swing signal generator 95 and calculating from the data. The bending controller 93 is composed of, for example, a joystick. The insertion amount detecting means 94 normally operates as an active endoscope. The swing angle detector of the surgeon angle signal generator 95 is attached to a loading device 96 mounted on the surgeon's head to detect the swing angle of the surgeon. Then, the flexible tubes 84a and 86a at the forefront are bent by the signal of the swing angle signal generator 95 which is output according to the swing angle. For this reason, the CPU 92
The corresponding address signal is applied to the power supply line 90 via the signal superimposing circuit 91, and the control IC 88 causes the SMA wire 8 in the most advanced flexible tube 84a (86a).
5a (87a) is selected and energized and driven.

A liquid crystal stereoscopic display (HDTV) 98 for receiving a video signal from a camera control unit 97 is mounted on the loading device 96 mounted on the surgeon's head. It can be observed three-dimensionally. The curved shape of the arm and the position of the endoscope are displayed on the monitor 99.

In the operation room 100, the operator can remotely control the bending state of the arm by operating the insertion amount controller 101 and the joystick of the bending controller 93. The surgeon's cutting-edge link 84
a (86a) is detected by the swing angle signal generator 95, and the corresponding address signal is transferred to open the corresponding control IC 88, and the corresponding bending drive wire 85a ( By selecting one of the components 87a) and energizing and driving it, it bends to the required direction and angle. By operating the joystick of the bending controller 93, the other link portion of the arm can be bent.

FIG. 15 shows another arm, which is the same as that described above in that each curved portion has a larger diameter toward the base end (root) of the arm. Here, each curved body portion is constituted by a plurality of joint pieces 105. Each joint piece 105 is constituted by alternately pivoting and connecting adjacent ends of the joint piece at an up-down position and a left-right position, so that an arm portion thereof can be bent up, down, left and right. Also, each SMA wire 106 which is positioned vertically, horizontally, and incorporated therein
Was formed in a coil shape. The other points are the same as those described above, and can be applied.

FIG. 16 shows a case where the joint piece 105 is also used.
06 shows an example of incorporating the same. As shown in FIG. 3B, the joint piece 105 is provided with four SMA wires 106 disposed at the top, bottom, left and right of the link 107 to which it belongs, and four holes 108 through which other built-in components are respectively passed. Formed in the part. Further, the same joint piece 105 has an insertion hole 109 formed at the center thereof, and a bending drive wire 106 disposed on a link forward of the link 107 to which the joint piece 105 belongs is formed in the insertion hole 109. It is designed to be passed all at once.

Each SMA wire 106 is led to the base of the articulated arm. Therefore, the amount of contraction of the SMA wire 106 can be increased as compared with the case where the length of each joint arm is set. Although the SMA wire 106 contracts along its entire length, no bending force acts on the center of the joint arm, so that only the specific joint arm to be bent is driven to bend. in this case,
The SMA wire 106 may be linear or coil-shaped.

FIG. 17 shows an example in which the SMA wire 106 for driving the joint arm is arranged near the center of the joint arm. In this way, a larger bending angle can be obtained for the same amount of deformation of the SMA wire 106. Other configurations are the same as those described above.

FIG. 18 shows that the SMA wire 106 for driving the articulated arm is longer than the length of the articulated arm and is folded in multiple layers. The amount of deformation is greater than in the case of single or single layer, and a large bending angle and bending force can be obtained. Other configurations are the same as those described above.

FIG. 19 shows an example of an articulated arm that bends by using air pressure. Each joint arm 110 is formed of a porous tube 111 having a larger diameter toward the proximal end for the same reason as described above. Each of these porous tubes 111 has a plurality of air holes 112 formed in the periphery as shown in FIG. 3B and a hole 113 formed in the center for passing the built-in material. The porous tube 111 of each joint arm 110 is thicker and less flexible as it is closer to the hand. A swelling prevention fiber 114 is wound around the outer periphery of each porous tube 111, and the swelling prevention fiber 114 is knitted and formed into a tubular shape. However, a single wire may be wound without knitting.

Then, if air is supplied to the selected air hole 112 for each joint arm 110, it can be selectively bent in that direction. The air holes 112 on the same side
Can be bent simultaneously in the same direction. Further, if the length of the porous tube 111 constituting the joint arm 110 is increased toward the base side,
Accordingly, the stroke at the time of deformation can be increased.

FIG. 20 shows the porous tube 111 described above.
Bulging prevention fiber 114 adhered to the outer periphery of the blade
The closer the winding pitch is to the root side, the denser the winding pitch. As a result, the flexibility of the hand side becomes smaller. In addition, the swelling preventing fiber 11 is used for the same purpose.
4 may be made thicker as it is closer to the hand.

The articulated arm is not limited to the one described above. For example, a multi-joint arm may be formed of a piezoelectric polymer or a liquid crystal polymer, and may be driven to bend by energization or the like. in this case,
It is preferable to sequentially change the flexibility, such as increasing the thickness of each joint arm toward the base (proximal end) side, and at the same time, to increase the amount of electricity as the joint arm near the base (proximal end). Further, a piezoelectric polymer having a larger piezoelectric constant may be used at the base (base end) side.

[0051]

As described above, in the present invention, a master arm is provided in addition to the treatment instrument arm, and the treatment instrument arm is driven by operating the master arm. The operator can perform an accurate treatment operation with simple operation.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a schematic overall configuration of a treatment apparatus according to a first embodiment of the present invention.

FIG. 2 is a perspective view of a body insertion portion of the treatment apparatus according to the first embodiment of the present invention.

FIG. 3 is a perspective view of a master arm of the treatment apparatus according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of an electronic control circuit of the treatment apparatus according to the first embodiment of the present invention.

FIG. 5 is an explanatory view showing the configuration of a joint of the treatment apparatus according to the first embodiment of the present invention.

FIG. 6 is an explanatory view of the movement of the joint of the treatment apparatus according to the first embodiment of the present invention.

FIG. 7 is an explanatory view of each treatment tool of the treatment apparatus according to the first embodiment of the present invention.

FIG. 8 is an explanatory view showing a modification of the arm of the treatment device.

FIG. 9 is an explanatory view showing another modification of the arm of the treatment apparatus.

FIG. 10 is an explanatory view showing still another modified example of the arm of the treatment apparatus.

FIG. 11 is an explanatory view showing still another modified example of the arm of the treatment apparatus.

FIG. 12 is an explanatory view showing still another modified example of the arm of the treatment apparatus.

FIG. 13 is a perspective view of an arm of the treatment device.

FIG. 14 is an explanatory view showing a schematic configuration of an arm drive system of the treatment apparatus.

FIG. 15 is a side view showing another modification of the arm of the treatment apparatus.

FIG. 16 is a perspective view showing another modification of the arm of the treatment apparatus.

FIG. 17 is a perspective view of a main part showing another modification of the arm of the treatment apparatus.

FIG. 18 is a perspective view of a main part showing another modification of the arm of the treatment apparatus.

FIG. 19 is a side view showing another modification of the arm of the treatment apparatus.

FIG. 20 is a side view showing another modification of the arm of the treatment apparatus.

[Description of Signs] 1 ... Patient, 2 ... Operating table, 3 ... Endoscope, 11 ... Intraluminal treatment device, 12 ... Operation control panel, 16 ... Electronic control circuit, 17 ... Treatment arm, 18 ... Master arm, 20a , 20b, 2
0c: joint, 23: treatment tool, 24: contact sensor, 25
a, 25b, 25c: joint, 32: actuator drive circuit for brake, 33: position detection circuit, 34: actuator drive circuit, 37: feed amount setting circuit, 41: sphere,
42 ... receiving seat, 43a, 43b, 43c ... laminated piezoelectric element, a, b, c ... potentiometer, A, B, C ... bending drive actuator, α, β, γ ... brake actuator, 84a, 84b, 84c ... Flexible tube, 85a,
85b, 85c ... SMA wire, 87a, 87b, 87
c: SMA wire, 88: control IC, 90: power supply line, 92: CPU, 105: bending piece, 106: SMA wire, 107: bending body.

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Hisao Yabe 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Industries Co., Ltd. (72) Inventor Hideo Ito 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Industry Co., Ltd. (72) Inventor: Yu Konomura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Industry Co., Ltd. (72) Akio Nakata 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Within Olympus Optical Co., Ltd. (72) Inventor Tsuyoshi Tsukagoshi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Yoshinao Daiaki 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (72) Inventor Koichi Tatsumi 2-43-2 Hatagaya Shibuya-ku Tokyo Inside the Industrial Co., Ltd. (72) Inventor Yasuo Mori 2-43-2, Hatagaya, Shibuya-ku, Tokyo O-Limpus Optical Industrial Co., Ltd. (72) Inventor Ryusuke Nozawa 2-43-2, Hatagaya, Shibuya-ku, Tokyo O-Limpus Optical Inside the Industrial Co., Ltd. (72) Inventor Takenao Fujimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus Optical Industry Co., Ltd. (72) Inventor Akifumi Ishikawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus In Optical Industry Co., Ltd. (72) Inventor Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus Optical Industry Co., Ltd. (72) Inventor Koji Fujio 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus In Optical Industry Co., Ltd. (72) Katsunori Sakiyama 2-43-2 Hatagaya, Shibuya-ku, Tokyo O Olympus Optical Industrial Co., Ltd. (72) Takeaki Nakamura 2-43-2 Hatagaya, Shibuya-ku, Tokyo O (72) Inventor Okada, inside of Limpus Optical Co., Ltd. Takao 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (56) References JP-A-62-256106 (JP, A) JP-A-3-99647 (JP, A) JP-A-2 −71730 (JP, A) Hira 2-1455984 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 1/00-1/32 A61B 17/00-17/60 Practical file (PATOLIS) Patent file (PATOLIS)

Claims (2)

(57) [Claims] A master arm operated by an operator; a treatment tool provided on a distal end side of the arm; and at least one bay bent portion provided on a base end side of the arm with respect to the treatment tool. A treatment arm provided at the bay bend and having a drive unit for changing the angle between the arms before and after the bay bend, detecting an operation state of the master arm, controlling the drive unit, Control means for driving the bay bent portion of the treatment arm. 2. A master arm having at least one bay bend, operated by an operator, detection means for detecting a bay bend state of the bay bend provided on the master arm, and the master A treatment instrument provided on the distal end side, a bay bend provided at a position similar to the bay bend provided on the master arm, and a bay bend driving the bay bend. A treatment arm having a driving means for controlling the driving means, based on an output of the detection means, so as to drive a bay bending part on the treatment arm side corresponding to the bay bending part on the master arm side. A treatment device, comprising: control means.