JP5148335B2 - Operating jig - Google Patents

Description

  The present invention relates to a medical device including an actuator unit including a motor, a connection unit including a rotating body that is detachably attached to the actuator unit and connected to a rotation shaft of the motor, and a working unit including an operation unit interlocked with the rotating body The present invention relates to an operation jig applied to a manipulator, and more particularly to an operation jig that operates an operation unit when a work unit is detached from an actuator unit.

  In laparoscopic surgery, a small hole is opened in the patient's abdomen, etc., and an endoscope, forceps (or manipulator), etc. are inserted, and the surgeon performs the operation while viewing the endoscope image on the monitor. Yes. Since such laparoscopic surgery does not require laparotomy, the burden on the patient is small, and the number of days until postoperative recovery and discharge is greatly reduced, and therefore, the application field is expected to expand.

  For example, as described in Patent Document 1, the manipulator system includes a manipulator body and a controller that controls the manipulator body. The manipulator body includes an operation unit that is operated manually and a work unit that is detachably attached to the operation unit.

  The working unit (tool) has a long connecting shaft and a tip operating unit (also referred to as an end effector) provided at the tip of the connecting shaft, and an actuator (motor) that drives the tip operating unit with a wire is operated. Provided in the department. The wire is wound around the pulley on the proximal end side. The controller drives a motor provided in the operation unit to drive the wire forward and backward through a pulley.

  The working unit side does not include electronic devices such as sensors because of the need for easy cleaning and sterilization, and the position or origin of the front operating unit and the rear end pulley cannot be detected directly. The axial position of the distal end working unit is calculated based on the above.

  By the way, in laparoscopic surgery, various working units are used depending on the procedure, and examples include a gripper, scissors, an electric knife, an ultrasonic knife, and a medical drill. These working units are configured to be detachable from the operation unit, and when installed, the pulley on the proximal side of the working unit is configured to engage with a rotation shaft of a motor provided in the operation unit.

  As described above, in the case of a system on the premise that a plurality of different working units are connected to one operation unit, it is necessary to set a motor phase that is an axis position at which all the working units can be attached and detached in common. (For example, refer to Patent Document 1). This is the origin (or initial position).

  The following patent documents 1 and patent documents 2 are mentioned as prior art about a manipulator system.

  Patent Document 1 proposes a configuration that does not require consideration of motor excitation switching and electrical configuration during attachment / detachment.

  Patent Document 2 describes electrical attachment / detachment of a plurality of tip tools.

  In addition, in the patent document 3, the present applicant has proposed an example of a three-degree-of-freedom configuration of a yaw axis, a roll axis, and a gripper axis as a mechanism of the tip working unit.

  Furthermore, a medical robot system (for example, see Patent Document 4) that drives a medical manipulator with a robot arm has been proposed. In such a medical robot system, remote operation by a master arm is possible, and various operations are possible by program control.

  In a medical robot system, a plurality of robot arms are provided, and these robot arms can be used properly according to the procedure. One of the robot arms is provided with an endoscope, and the inside of the body cavity can be confirmed with a predetermined monitor.

JP 2004-105451 A JP 2004-208922 A JP 2007-301692 A US Pat. No. 6,331,181

  The axial position of the distal end working unit in the medical manipulator is calculated, for example, based on the origin of the motor. Therefore, when exchanging a work part in the middle of surgery, another work part to be newly attached needs to have a posture that exactly matches the origin. In other words, when the working unit is removed from the operation unit during or after the operation, it is desirable that the distal end operating unit and the pulley be fixed and held at an axial position that coincides with the origin.

  For this purpose, when the working unit is removed from the operation unit, the tip operating unit and the pulley are kept in the axial position coincident with the origin, and are automatically locked by a predetermined locking member that stops the rotation of the pulley. Good. It is preferable that the lock member is operated by an elastic body and is configured to be engaged with the pulley when the working unit is removed from the operation unit.

  On the other hand, although it is desired to clean the working portion after the operation, the distal end working portion is composed of a plurality of small parts, and brushing with a brush may be difficult to perform in the original posture. For example, when the distal end working unit has a pair of grippers, if the gripper is in the closed state at the origin posture, it is difficult to brush the gripper surface that has come into contact.

  In addition, it is preferable that the tip operating portion can be operated by simple means even when performing predetermined maintenance.

  The present invention has been made in consideration of such problems, and provides an operation jig that can easily operate the tip operation unit with respect to the work unit removed from the actuator unit locked at the origin posture. The purpose is to do.

  The present invention includes an actuator unit including a motor, a connection unit including a rotating body that is detachably attached to the actuator unit and connected to a rotation shaft of the motor, and a working unit including an operation unit interlocked with the rotating body. An operating jig for operating the operating unit when the working unit in the medical manipulator is detached from the actuator unit, wherein the connecting unit is attached to and detached from the actuator unit. A locking member that is moved by a part of the portion, and the locking member engages with the engaging portion of the rotating body when the actuator portion and the working portion are separated to prevent the rotating body from rotating. When the actuator unit and the working unit are connected, the rotating unit can be rotated by being separated from the engaging unit, and the operation control is performed. Corresponds to a rotatable cylindrical body connected to the rotating body when the connecting portion is connected, and a part of the actuator portion, and the lock member when the connecting portion is separated And a lock member moving means for moving the lock member so as to be engaged with the engagement portion and to move the lock member away from the engagement portion when the connection portion is connected. To do.

  Such an operation jig is provided with a lock member moving means for moving the lock member, so that the locked state of the distal end operating portion can be temporarily released, and the distal end operating portion is moved by operating the cylindrical body. be able to. In addition, in this invention, being moved by a part of actuator part includes both the case of being driven directly by the part and the case of being indirectly driven via another member. .

  The locking member moving means is a pin extending in the direction of the connecting portion, and the working portion includes an elastic body that presses the locking member in the direction of the rotating body, and the operation jig and the working portion When the lock member is separated, the lock member is pressed by the elastic body so that the non-circular portion engages with the engagement hole, and when the operation jig and the working portion are connected, the pin The non-circular portion may be separated from the engagement hole by pushing out the lock member with the tip of the lock member.

  When the locking member is moved by such a pin, the locked state can be released immediately by attaching the operation jig, and the locked state can be immediately released under the action of the elastic body by removing the operation jig. Can be restored.

  The connection part has two or more through holes, the two or more pins are provided, and the pins may be inserted into the through holes when the operation jig and the working part are connected. . According to such a pin, the connecting portion is reliably positioned and stably held.

  Each connecting surface of the rotating shaft of the motor and the cylindrical body has a shape in which one convex portion engages with the other concave portion, and the convex portion and the concave portion engage with only one place per one rotation. It may be. According to such a form of engagement with the convex portion and the concave portion, the relative rotational position is correctly defined.

  It has one or more engaging parts that hold the working part, and the engaging part has a release operation part that is elastically biased, and engages with the actuator part by pressing the release operation part. May be released. According to such an elastically biased engaging portion, it can be easily attached to and detached from the working portion.

  When the engaging portions are provided on the left and right surfaces, a simple operation can be performed with two fingers while being held with one hand.

  If the cylindrical body is provided with an indicator that indicates the amount of rotation, the amount of rotation can be easily confirmed.

  In the operation jig according to the present invention, by providing the lock member moving means for moving the lock member, the locked state of the tip operation unit can be temporarily released, and the tip operation unit is operated by operating the cylindrical body. Can move.

  Embodiments of an operation jig according to the present invention will be described below with reference to FIGS. The operation jig 400 (see FIG. 10) according to the present embodiment is applied to the medical manipulator 10. First, the manipulator 10 will be described.

  The manipulator 10 is for holding a part of a living body or a curved needle or the like on the distal end working unit 12 (see FIG. 15) to perform a predetermined treatment. Usually, a grasping forceps, a needle driver (needle holder) or the like is used. Also called. For example, the distal end working unit 12 may have a three-axis configuration described in Patent Document 3.

  As shown in FIGS. 1 and 2, the manipulator 10 includes an operation command unit (operation unit) 14 at a base end portion that is gripped and operated by a hand, and a work unit 16 that is detachable from the operation command unit 14. Have

  In the following description, the width direction in FIG. 1 is defined as the X direction, the height direction is defined as the Y direction, and the extending direction of the connecting shaft 48 is defined as the Z direction. Further, the right side is defined as the X1 direction, the left side as the X2 direction, the upward direction as the Y1 direction, the downward direction as the Y2 direction, the forward direction as the Z1 direction, and the backward direction as the Z2 direction. Further, unless otherwise specified, the description of these directions is based on the case where the manipulator 10 is in a neutral posture. These directions are for convenience of explanation, and it is needless to say that the manipulator 10 can be used in any direction (for example, upside down).

  The working unit 16 connects the tip operating unit 12 that performs work, the connection unit 15 connected to the actuator block (actuator unit) 30 of the operation command unit 14, and connects the tip operating unit 12 and the connection unit 15. And a long and hollow connecting shaft 48. The working unit 16 can be detached from the operation command unit 14 by a predetermined operation in the actuator block 30 and can perform cleaning, sterilization, maintenance, and the like.

  The distal end working unit 12 and the connecting shaft 48 are configured to have a small diameter, and can be inserted into a body cavity 22 from a cylindrical trocar 20 provided in a patient's abdomen or the like. Various procedures such as excision of the affected area, grasping, suturing and ligation can be performed.

  The operation command unit 14 includes a grip handle 26 that is gripped by a hand, a bridge 28 that extends from an upper portion of the grip handle 26, and an actuator block 30 that is connected to the tip of the bridge 28.

  As shown in FIG. 2, the grip handle 26 of the operation command unit 14 extends from the end of the bridge 28 in the Y2 direction, and has a length suitable for being gripped by a hand. As a trigger lever 32, a composite input unit 34, and a switch 36. An LED 29 is provided at an easily visible position on the upper surface of the bridge 28. The upper surface of the bridge 28 is easily visible even during the procedure, and is suitable for disposing the LED 29.

  A cable 62 connected to the controller 45 is provided at the lower end of the grip handle 26. The grip handle 26 and the cable 62 may be connected by a connector.

  Regarding the operation command unit 14, the configuration and operation of the composite input unit 34 will be described first.

  The composite input unit 34 is a composite input unit that gives rotation commands in the roll direction (axial rotation direction) and yaw direction (left-right direction) to the distal end working unit 12. The trigger lever 32 is an input means for giving an opening / closing command for the gripper 60 (see FIG. 2) of the distal end working unit 12. The switch 36 is an input means for setting whether the operation state of the manipulator 10 is valid or invalid. The LED 29 is an indicator that indicates the control state of the manipulator 10, is a size that can be easily recognized by the operator, and is sufficiently small and light enough that there is no hindrance to the operation. The LED 29 is provided at a position with good visibility at a substantially central portion on the upper surface of the bridge 28.

  As shown in FIG. 3, the trigger lever 32 is a lever that slightly protrudes in the Z1 direction slightly below the bridge 28, and is provided at a position where the operation with the index finger is easy.

  The trigger lever 32 is connected to the grip handle 26 by an arm 98 and is configured to advance and retreat with respect to the grip handle 26. The arm 98 is connected to a sensor (not shown) in the grip handle 26, and the advance / retreat amount of the trigger lever 32 is measured by the sensor and supplied to the controller 45.

  As shown in FIG. 3, the trigger lever 32 is provided at a position where the finger is applied and the drawing portion 101 is drawn in the direction of the grip handle 26 (that is, the Z2 direction), and the drawing portion 101 is opposed to the drawing lever 101. And an extruding part 102 that pushes out from the grip handle 26 in the Z1 direction.

  In the operation command unit 14, the depression 104 is provided in the push-out portion 102 of the trigger lever 32, so that a fine operation can be performed by inserting a fingertip into the depression 104, and the opening / closing work such as the gripper 60 and the scissors of the tip operation unit 12 can be accurately performed. Can be done.

  2 and 3, the switch 36 is an operation mechanism that moves forward and backward with respect to the grip handle 26. The trigger lever 32 and the switch 36 are surfaces of the grip handle 26 in the Z1 direction, and the length of the grip handle 26 is as follows. They are arranged side by side in the scale direction (Y direction). The switch 36 is provided directly below the trigger lever 32 (Y2 direction). A thin plate member 130 is provided between the switch 36 and the trigger lever 32.

  The switch 36 is an alternate type, and is locked in an on state by once pulling the operation element 36a forward (in the Z2 direction), and is held at a slightly distal position when the hand is released. By pulling the switch 36 back again, the on state is released and the switch 36 is turned off, and the elastic body (not shown) returns to the front end side (Z1 direction) position. By repeating such an operation, the switch 36 is held in either the on state or the off state, and it is not necessary to keep pressing the switch 36. Therefore, it is only necessary to operate the switch 36 at the time of switching between the on state and the off state. In other cases, the trigger lever 32 can be operated, which is suitable for coexisting the switch 36 and the trigger lever 32. It is.

  The switch 36 activates the system or returns the motors 40a to 40c to the origin and stops them. The switch 36 is effective when the switch is on and is stopped when the switch is off. The valid and stopped states are also indicated by the lighting state of the LED 29.

  Next, the structure and operation of attaching / detaching the working unit 16 and the connection unit 15 of the operation command unit 14 will be described.

  As shown in FIG. 1, the connecting portion 15 is covered with a resin cover 37 and rotatably holds pulleys 50a, 50b, and 50c that are driven to rotate. Wires (not shown) are wound around the pulley 50 a, the pulley 50 b, and the pulley 50 c, and extend through the hollow portion of the connecting shaft 48 to the distal end working unit 12.

  As shown in FIGS. 2 and 4, the connecting portion 15 includes left and right side engaging pieces 200 and three fitting holes 202 a, 202 b, 202 c opened on the lower surface. The three fitting holes 202a to 202c are provided in the vicinity of the ends in the Z1 direction and the Z2 direction, and extend in the Y1 direction.

  In the actuator block 30, motors 40 a, 40 b, and 40 c are provided in parallel along the extending direction of the connecting portion 15 corresponding to the mechanism of three degrees of freedom that the distal end working unit 12 has. The pulleys 50a, 50b and 50c are respectively provided with coupling convex portions at the lower ends in the Y2 direction, and the rotational shafts 42a, 42b and 42c of the motors 40a to 40c are provided with coupling convex portions. The coupling convex portion and the coupling concave portion are formed to be able to engage with each other, and the rotation of the motors 40a to 40c is reliably transmitted to the pulleys 50a, 50b, and 50c.

  These coupling concave portions and coupling convex portions are cross-shaped, and only one of the four cross-radiating streaks is shorter than the other three, and the coupling convex portions and the coupling concave portions Is a shape that engages only at one place per rotation. According to such an engagement form, the relative rotational position is correctly defined. These engaging portions are not limited to a cross shape.

  The motors 40a to 40c are small and have a small diameter, and the actuator block 30 is configured in a compact flat shape. The actuator block 30 is provided below the end of the operation command unit 14 in the Z1 direction. Further, the motors 40 a to 40 c rotate under the action of the controller 45 based on the operation of the operation command unit 14 or the trigger lever 32.

  The actuator block 30 further includes three alignment pins (part of the actuator portion) having two independent engaging portions 210 that hold the connecting portion 15 of the working portion 16 and a positioning function and a holding mechanism of the connecting portion 15. 212a, 212b, 212c. 4, 8, and 9, the cover 37 (see FIG. 1) is shown in a removed state so that the structure of the connecting portion 15 can be easily understood.

  The two engaging portions 210 are provided at symmetrical positions on the left and right side surfaces of the actuator block 30, and include an operation surface 204 and a lever 206 extending from the operation surface 204 in the Y1 direction. The lever 206 slightly protrudes in the Y1 direction from the upper surface of the actuator block 30, and the inside of the tip is tapered. The engaging portion 210 is elastically biased in a direction in which the lever 206 is directed inward by an elastic body (not shown).

  Two alignment pins 212a to 212c are provided near the end in the Z1 direction on the upper surface of the actuator block 30 and one near the end in the Z2 direction at positions facing the fitting holes 202a to 202c, and extend in the Y1 direction. Exist. Two alignment pins 212a and 212b are provided side by side in the X direction in the vicinity of the end in the Z1 direction.

  Thus, since the three alignment pins 212a to 212c are provided, the connecting portion 15 is supported at three points, and positioning can be performed easily and reliably. In addition, since the three alignment pins 212a to 212c are not linearly arranged, the connection portion 15 can be stably held against twisting in any direction. If two or more of the alignment pins 212a to 212c are provided, the connecting portion 15 is reliably positioned and stably held. In this case, it is more stable if two separated in the Z direction are selected.

  Furthermore, as shown in FIG. 2, the height H1 of the alignment pins 212a to 212c is larger than the height H2 of the pulley housing 300 in the connecting portion 15 including the fitting holes 202a to 202c, and the alignment pins 212a to 212c are The pulley housing 300 is appropriately penetrated.

  Next, the configuration of the connecting portion 15 will be described in detail with reference to FIGS.

  As shown in FIGS. 5 and 6, the connecting portion 15 includes a pulley storage body 300 provided with pulleys 50 a to 50 c, an upper body 302 provided on the top of the pulley storage body 300, a locking plate 304, And two coil springs (elastic body) 306.

  The pulleys 50a to 50c are arranged in parallel in the Z direction of the pulley housing 300 as described above, and the upper ends thereof are plate-shaped portions (engaging portions) 308a, 308b, and 308c that slightly protrude from the upper surface of the pulley housing 300. ing. The plate-shaped portions 308a to 308c have the same shape, are provided at locations corresponding to the diameters of the upper ends of the pulleys 50a to 50c, and extend slightly in the Y1 direction. When the pulleys 50a to 50c are at the origin, the plate-shaped portions 308a to 308c are oriented in the X direction in plan view.

  The locking plate 304 is elongated in the Z direction, the center portion is wide, the Z1 direction has a T-shaped first end 312 via the narrow portion 310, and the narrow portion 313 is formed in the Z2 direction. And a second end portion 314 that is bent in the X1 direction. When the working unit 16 is mounted on the operation command unit 14, the alignment pins 212 a and 212 b are in contact with the left and right surfaces of the first end 312, and the alignment pin 212 c is in contact with the lower surface of the second end 314. Then, the locking plate 304 is relatively pushed out in the Y1 direction.

  Three slits (engagement holes) 316a, 316b, and 316c oriented in the X direction are juxtaposed in the Z direction at the center of the locking plate 304, and are sequentially provided at positions corresponding to the pulleys 50a, 50b, and 50c. ing. The width in the Z direction of each of the slits 316a to 316c is slightly wider than the plate thickness of the plate-shaped portions 308a to 308c, and the length in the X direction is slightly longer than the plate-shaped portions 308a to 308c.

  On the upper surface of the locking plate 304, shallow circular grooves 320 are provided between the slits 316a and 316b and between the slits 316b and 316c. Each circular groove 320 is slightly larger in diameter than the coil spring 306 and serves as a mounting seat at the lower end of the coil spring 306. Two round grooves 321 (see FIG. 6) having the same shape as the round groove 320 are also provided on the lower surface of the upper body 302 and serve as a mounting seat at the upper end of the coil spring 306.

  The upper body 302 includes a pair of front guide plates 330 provided on both sides of the narrow portion 310 of the locking plate 304, a pair of rear guide plates 332 provided on both sides of the narrow portion 313, and these front guide plates. 330 and a top plate (holding plate) 334 connected to each upper end portion of the rear guide plate 332. The lower end portions of the front guide plate 330 and the rear guide plate 332 are bent to form the mounting base 336, respectively. A hole is provided in the center of the mounting base 336. A screw 338 is inserted through the hole, and the screw 338 is screwed into a screw hole 340 on the upper surface of the pulley storage body 300, whereby the upper body 302 is connected to the pulley storage body. It is fixed to 300.

  The two coil springs 306 are provided between the top plate 334 and the locking plate 304. The locking plate 304 receives a force in the Y2 direction due to the elastic action of the coil spring 306. When the alignment pins 212a to 212c are pressed from below and pushed out, the coil spring 306 can be compressed and moved in the Y1 direction. . At this time, the narrow portions 310 and 313 are guided by the front guide plate 330 and the rear guide plate 332 and can move smoothly in the Y direction. In addition, since the two coil springs 306 are provided at locations that are separated in the long Z direction, the locking plate 304 receives a force in a balanced manner, and the movement in the Y direction is smooth.

  Next, the operation of the manipulator 10 configured as described above will be described.

  First, as shown in FIG. 7, the working unit 16 is attached to the operation command unit 14. When connecting the connection portion 15 to the actuator block 30, as shown in FIG. 4, the alignment pins 212a to 212c are inserted in the three fitting holes 202a to 202c and moved in the Y2 direction. As a result, the lever 206 of the engaging portion 210 is displaced slightly by being pushed outward by the tapered shape of the tip, and slides relative to the engaging piece 200. Eventually, when the lower surface of the connecting portion 15 comes into contact with the upper surface of the actuator block 30, the lever 206 is returned to the original position by the elastic action, and the wedge portion 206a at the lower end of the tapered shape is engaged with the engaging piece 200. . When the mounting of the connecting portion 15 is completed, the lever 206 returns to the original position, so that an appropriate click feeling and mounting sound are generated, and the operator can confirm that the mounting has been completed normally.

  At this time, the motors 40a to 40c of the operation command unit 14 are each at the origin, while in the working unit 16, the pulleys 50a to 50c are positioned at the origin by the action of the locking plate 304, and the motors 40a to 40c are The upper end is appropriately connected to the lower ends of the pulleys 50a to 50c.

  Further, as shown in FIG. 7, the upper ends of the three alignment pins 212 a to 212 c penetrate the fitting holes 202 a to 202 c and protrude from the upper surface of the pulley housing 300, and the first end 312 and the second end Abutting on the lower surface of the portion 314, the coil spring 306 is compressed and the locking plate 304 is pushed up. Accordingly, the plate-shaped portions 308a to 308c at the upper ends of the pulleys 50a to 50c can be rotated by the motors 40a to 40c.

  After the working unit 16 is mounted, the controller 45 can calculate the angle with reference to the origin and correctly control the distal end working unit 12. That is, the position where the operation command unit 14 is mounted is estimated as the origin (0 °), and the tip operating unit 12 is moved in the roll direction in response to the trigger lever 32 and the composite input unit 34 input in the plus and minus directions. In addition, a rotation command in the yaw direction can be given, and an opening / closing command for the gripper 60 can be given.

  When a series of procedures is completed or the operation command unit 14 is replaced with another type (for example, an electric knife), the attached operation command unit 14 is removed. Prior to this operation, the operator operates the switch 36 (see FIG. 1) to automatically return the motors 40a to 40c to the origin under the action of the controller 45. During and after the automatic return, the LED 29 (see FIG. 1) is turned on under the action of the controller 45. In other words, the green lighting state during the normal operation turns into a green blinking state during the automatic recovery, and goes out after the recovery. Since the LED 29 is provided at a location with good visibility, the operator can easily confirm that the motors 40a to 40c have returned to the origin.

  After confirming that each motor has returned to the origin by the lighting state of the LED 29, the operator removes the working unit 16 from the operation command unit 14.

  As shown in FIG. 8, when the connecting portion 15 is removed from the actuator block 30, the lever 206 is tilted outwardly against the elastic bias by simultaneously pressing the two operation surfaces 204 to engage with each other. The engagement with the piece 200 can be released. Thereafter, the working unit 16 is detached from the operation command unit 14 by pulling the connecting unit 15 upward.

  At this time, as shown in FIG. 6, the three alignment pins 212 a to 212 c come out downward from the fitting holes 202 a to 202 c, so that they are separated from the first end 312 and the second end 314, and the locking plate 304 is pushed down by the elastic force of the coil spring 306. Since each motor 40a-40c has returned to the origin, the plate-shaped portions 308a-308c of the interlocking pulleys 50a-50c are oriented in the X direction in plan view (see FIG. 5). Are engaged with the three slits 316a to 316c (see FIG. 9). As a result, the subsequent rotation of the pulleys 50a to 50c can be prevented, and when the tip operating unit 12 is held at the origin and is next mounted on the operation command unit 14, the pulleys 50a to 50c are correctly mounted on the motors 40a to 40c. can do.

  Next, the operation jig 400 according to the present embodiment will be described with reference to FIGS. In the operation jig 400, the same portions as those of the operation command unit 14 are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 10, the operation jig 400 includes a base plate 402 as a base, and includes three alignment pins (locking member moving means) 404 a, 404 b, 404 c, and the rotation axis on the Y1 side of the base plate 402. It has knobs (cylindrical bodies) 406a, 406b, 406c having the same shape as 42a, 42b, 42c (see FIG. 3) and a pair of left and right engaging portions 210. As can be understood from FIG. 10, the operation jig 400 has a simple configuration and is inexpensive.

  The base plate 402 corresponds to the upper surface portion of the actuator block 30 in the operation command unit 14 and has an appropriate thickness. The length in the X direction and the length in the Z direction are set to be the same as the upper surface portion of the actuator block 30. Yes. The base plate 402 is a steel material, for example.

  The alignment pins 404a to 404c are members corresponding to the alignment pins 212a to 212c (see FIG. 3), and have the same height (H1), shape, and relative position. The alignment pins 404a to 404c are, for example, press-fitted and fixed to the base plate 402, and extend in the Y1 direction. According to such two or more pins, the connecting portion 15 is reliably positioned and stably held.

  The two engaging portions 210 have the same configuration as described above (see FIGS. 3, 4, and 8), and include a lever 206 that extends from the base plate 402 in the Y1 direction, and an operation surface 204. A wedge portion 206 a that engages with the engagement piece 200 is provided on the upper inner surface of the lever 206.

  Ear pieces 408 protruding in the Y direction are provided on the side surfaces of the base plate 402, and a lever 206 is pivotally supported on the ear pieces 408 via a hinge 410.

  Small coil springs 412 are provided on the lower inner surfaces of the two levers 206. Each coil spring 412 is arranged to be compressed, the inner side abuts against the side surface of the knob 406 b, and the outer side is fixed to the inner surface of the lever 206. Therefore, the lever 206 is urged with the lower portion (Y2 side) outward and the upper portion (Y1 side) inward with the hinge 410 as the center. The coil spring 412 is appropriately compressed with an appropriate spring constant, and the lever 206 can be operated manually. The means for urging the lever 206 is not limited to the coil spring 412, but may be a torsion spring built in the hinge 410, for example.

  As shown in FIG. 11, the rotating shaft 42a on the upper end surface of the knob 406a has a cross-shaped coupling recess, and only one of the four cross-radiating streaks is shorter than the other three. ing. As described above, the connecting convex portion on the lower surface of the pulley 50a has a shape corresponding to this, and both have a shape that engages only at one place per one rotation. According to such an engagement form, the relative rotational position is correctly defined. The same applies to the rotating shafts 42b and 42c.

  As shown in FIG. 12, the knobs 406a to 406c extend from the base plate 402 in the Y2 direction, have a diameter suitable for pinching with a finger (for example, 5 mm to 20 mm), and are on the outer peripheral surface of the Y1 direction portion. Is provided with knurling. The knobs 406a to 406c are provided so as to be rotatable with respect to the base plate 402, respectively. The rotation range of the knobs 406a to 406c is not unlimited, but is limited to ± 180 ° (total 360 °) with respect to 0 °, so that the pulleys 50a to 50c do not move excessively, I try not to apply excessive force.

  On the Y2 side of the base plate 402, D-cut surfaces 414 are provided on the side surfaces of the knobs 406a to 406c for tool gripping and angle recognition, respectively. Triangular indicators 416 indicating the amount of rotation are provided on the end surfaces of the knobs 406a to 406c, respectively. When the triangular tip of the indicator 416 is oriented in the Z2 direction, the knobs 406a to 406c are at 0 ° positions serving as a reference. At this time, the rotation shafts 42a to 42c on the upper end surfaces of the knobs 406a to 406c are in the same direction as the 0 ° position with respect to the pulleys 50a to 50c and can be engaged with each other.

  In order to clearly indicate the 0 ° position of the indicator 416, a mark 418 is provided at the end in the Z2 direction on the lower surface of the base plate 402. The mark 418 is a triangle having the same shape as the indicator 416, and the tip of the triangle is oriented in the Z1 direction, so that the 0 ° position of the indicator 416 can be easily recognized.

  Each of the knobs 406a to 406c generates an appropriate click feeling when it is at the 0 ° position as a reference, in addition to visual confirmation of the indicator 416, and can be confirmed by touch. Moreover, you may generate | occur | produce an appropriate click sound and confirm by hearing.

  Next, the operation of the operation jig 400 configured as described above will be described.

  As described above, the pulleys 50a to 50c are automatically locked by the locking plate 304 in the working unit 16 removed from the operation commanding unit 14 after the operation is finished (see FIGS. 6 and 9). At this time, the distal end working unit 12 is in the origin posture. For example, the gripper 60 is in a closed state, and it is difficult to brush the gripper surface 60a (see FIG. 14) that is in contact therewith.

  Therefore, as shown in FIG. 12, the operation jig 400 is set in the direction and arrangement in which the alignment pins 404a to 404c are fitted in the fitting holes 202a to 202c, and the operation jig 400 is moved in the Y1 direction for connection. Attach to part 15. Basically, the mounting operation of the operation jig 400 is the same as the connection operation between the connection unit 15 and the operation command unit 14 (see FIG. 4). That is, by moving the operating jig 400 in the Y1 direction, the lever 206 of the engaging portion 210 is displaced slightly outwardly by the tapered shape of the tip, and slides relative to the engaging piece 200. When the lower surface of the connecting portion 15 comes into contact with the upper surface of the base plate 402, the lever 206 is returned to the original position by the elastic action of the coil spring 412 and the wedge portion 206a at the lower end of the tapered shape is engaged with the engaging piece 200. Become. When the mounting of the connecting portion 15 is completed, the lever 206 returns to the original position, so that an appropriate click feeling and mounting sound are generated, and the operator can confirm that the mounting has been completed normally.

  At this time, the knobs 406a to 406c of the operation jig 400 are each at the origin, while the pulley 50a to 50c is located at the origin by the action of the locking plate 304 in the working unit 16, and the knobs 406a to 406c are The upper end is appropriately connected to the lower ends of the pulleys 50a to 50c.

  Further, as shown in FIG. 13, the upper ends of the three alignment pins 404 a to 404 c penetrate the fitting holes 202 a to 202 c and protrude from the upper surface of the pulley housing 300, and the first end 312 and the second end Abutting on the lower surface of the portion 314, the coil spring 306 is compressed and the locking plate 304 is pushed up. As a result, the plate-shaped portions 308a to 308c at the upper ends of the pulleys 50a to 50c come out of the slits 316a to 316c of the locking plate 304 and can be rotated.

  In the state where the operation jig 400 is connected to the connection portion 15 in this way, the knobs 406a to 406c replace the motors 40a to 40c, and the knobs 406a to 406c are pinched by the fingers 450 to rotate, thereby moving the tip operation portion. 12 can be operated. For example, as shown in FIG. 14, when the gripper 60 is in an open state, the gripper surface 60a is exposed and it is easy to perform cleaning such as brushing with a brush (not shown). The use of the operation jig 400 is not limited to cleaning with a brush. For example, you may perform washing | cleaning by a water flow, moving the front-end | tip operation | movement part 12 using the operation | movement jig | tool 400. FIG. The operation jig 400 is also preferably used for cleaning the pulleys 50a to 50c. In other words, the pulleys 50a to 50c are provided in a pulley chamber (not shown) in the connecting portion 15, and it is preferable that the pulley 50a to 50c can be changed in its direction to inject the cleaning liquid into the pulley chamber to clean the pulleys 50a to 50c. . The operation jig 400 is also preferably used for maintenance and operation confirmation.

  Each axis of the distal end working unit 12 has a configuration with motion interference, and when any of the knobs 406a to 406c is moved, two or more axes may move. Accordingly, since the knobs 406a to 406c can be individually rotated, it is preferable to operate while confirming the state of each axis of the distal end working unit 12.

  When the predetermined processing such as cleaning is completed, the operation jig 400 is removed from the working unit 16. At this time, visual confirmation is performed so that the predetermined origin position of the distal end working unit 12 is reached, and the three indicators 416 (see FIG. 12) are adjusted to be in the Z2 direction. That is, the respective knobs 406a to 406c are set to 0 ° positions as a reference.

  Next, when the operating jig 400 is removed from the connection portion 15, the lever 206 is tilted outward against the elastic bias of the coil spring 412 by simultaneously pressing the two operation surfaces 204, and The engagement with the piece 200 can be released. Thereafter, the operation jig 400 is removed from the working unit 16 by pulling it downward. By removing the operation jig 400, the locking plate 304 returns to the original state under the action of the coil spring 306 (see FIG. 6), and can be automatically and immediately locked. This operation is basically the same as the disconnection operation between the operation command unit 14 and the connection unit 15 (see FIG. 8). The engaging portion 210 is provided on the left and right surfaces of the operation jig 400, and can be easily operated with two fingers while being held with one hand.

  As described above, in the medical manipulator 10, the locking plate 304 as a locking member is driven by the alignment pins 212 a to 212 c that are part of the operation command unit 14, and is moved to the plate-shaped portions 308 a to 308 c of the pulleys 50 a to 50 c. Engage and disengage. Accordingly, when the actuator block 30 and the working unit 16 are separated from each other, the plate-shaped portions 308a to 308c are engaged with the slits 316a to 316c of the locking plate 304 to prevent the pulleys 50a to 50c from rotating, and the tip operation unit 12 and the pulleys 50a to 50c are automatically locked at an axial position corresponding to the origin.

  In addition, the operation jig 400 according to the present embodiment includes the alignment pins 404a to 404c that move the locking plate 304, so that the locked state of the pulleys 50a to 50c and the distal end working unit 12 can be temporarily released. It is possible to move the distal end working unit 12 arbitrarily by operating the knobs 406a to 406c, which is suitable for cleaning and maintenance.

  Further, when the manipulator 10 is in an emergency stop, when the connecting portion 15 is removed from the operation command portion 14 with the pulleys 50a to 50c being not locked, the distal end working portion 12 is moved by using the operation jig 400. Effects such as being able to be moved manually are obtained.

  Although the working unit 16 has been described as being connected to the operation command unit 14 that is operated manually, the working unit 16 may be applied to, for example, a surgical robot system 700 illustrated in FIG.

  The surgical robot system 700 includes an articulated robot arm 702 and a console 704, and the working unit 16 is connected to the tip of the robot arm 702. By providing the same mechanism as the actuator block 30 at the tip of the robot arm 702, the working unit 16 can be connected and driven. The manipulator 10 in this case includes a robot arm 702 and a working unit 16. The robot arm 702 may be any means that moves the working unit 16, and is not limited to a stationary type, but may be an autonomous moving type, for example. The console 704 may take a configuration such as a table type (operation console) or a control panel type.

  If the robot arm 702 has six or more independent joints (such as a rotation axis and a slide axis), the position and orientation of the working unit 16 can be arbitrarily set. The actuator block 30 at the tip is integrated with the tip 708 of the robot arm 702.

  The actuator block 30 has two independent levers 206 that lock the working unit 16 as described above. The connecting portion 15 has a locking plate 304 that is elastically biased by the coil spring 306 and driven by the alignment pins 212a to 212c, and can lock or release the pulleys 50a to 50c.

  The robot arm 702 may be configured to operate under the action of the console 704 and perform automatic operation based on a program, operation following a joystick 706 provided on the console 704, and a combination of these operations. The console 704 includes the function of the controller 45 described above.

  The console 704 is provided with two joysticks 706 and a monitor 710 as operation command units of the mechanism excluding the actuator block 30 in the operation command unit 14, and the same operation as the operation command unit 14 is possible. . Although not shown, two robot arms 702 can be individually operated by two joysticks 706. The two joysticks 706 are provided at positions that can be easily operated with both hands. The monitor 710 displays information such as an image obtained by an endoscope.

  The joystick 706 can move up and down, move left and right, twist, and tilt, and can move the robot arm 702 according to these operations. Further, the same operation as that of the operation command unit 14 can be performed by the trigger lever 32, the composite input unit 34, and the switch 36 provided in the grip handle 26. The joystick 706 may be a master arm. The communication means between the robot arm 702 and the console 704 may be wired, wireless, network, or a combination thereof.

  Of course, the operation jig according to the present invention is not limited to the above-described embodiment, and various configurations can be adopted without departing from the gist of the present invention.

It is a perspective view of a medical manipulator. It is a side view of the manipulator which separated the work part and the operation command part. It is a perspective view of an operation command part. It is the perspective view which looked at the state which isolate | separated the connection part of the operation | work part, and the actuator block of the operation command part from diagonally downward. It is a disassembled perspective view of a connection part. It is a side view of a connection part. It is a side view of a connection part when connected to the operation command part. It is a front view of the manipulator in the state of pressing two operation surfaces simultaneously when removing the connecting portion from the actuator block. It is a partial cross section perspective view of a locking plate and its periphery when connected to an operation command section. It is a perspective view of the operation jig concerning this embodiment. It is a top view of a rotating shaft. It is the perspective view which looked at the state which left | separated the connection part and working jig | tool of the working part from diagonally downward. It is a side view of the connection part in the state where the operation jig was connected. It is a perspective view of the front-end | tip operation | movement part of a state which opened the gripper. 1 is a schematic perspective view of a surgical robot system in which a working unit is connected to the tip of a robot arm.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Manipulator 12 ... Tip operation part 14 ... Operation command part 15 ... Connection part 16 ... Working part 29 ... LED
40a to 40c: Motor 42a to 42c ... Rotating shaft 50a to 50c ... Pulley (rotating body) 202a to 202c ... Fitting holes 212a to 212c, 404a to 404c ... Alignment pin 302 ... Upper body 304 ... Locking plate 306, 412 ... Coil Spring 308a-308c ... Plate-shaped part 316a-316c ... Slit (engagement hole) 400 ... Operation jig 402 ... Base plate 406a-406c ... Cylindrical body 416 ... Indicator

Claims (7)

A medical manipulator having an actuator unit including a motor, a connection unit including a rotating body that is detachably attached to the actuator unit and connected to a rotation shaft of the motor, and a working unit including an operation unit interlocked with the rotating body. The working part is an operating jig for operating the operating part when being removed from the actuator part,
The connection portion includes a lock member that is moved by a part of the actuator portion when being attached to and detached from the actuator portion,
The locking member engages with the engaging portion of the rotating body when the actuator portion and the working portion are separated from each other to prevent the rotating body from rotating, and the actuator portion and the working portion are connected to each other. The rotating body can be rotated by moving away from the engaging portion when
The operation jig is
A rotatable cylindrical body connected to the rotating body when the connecting portion is connected;
Has a function corresponding to the portion of the actuator portion, said locking member engaged with the engaging portion when the connecting portion is away, the locking member when the connecting portion is connected A lock member moving means for moving the lock member so as to be separated from the engaging portion;
An operation jig characterized by comprising: The operation jig according to claim 1,
The locking member moving means is a pin extending in the direction of the connecting portion,
The working unit includes an elastic body that presses the lock member in the direction of the rotating body,
Wherein when the working portion and the operating tool is away, the merits circular portion by that is pressed by the locking member wherein the elastic member is engaged with the engagement hole, the operation jig and the working portion When the pin is connected, the non-circular portion is separated from the engagement hole by the tip of the pin pushing out the lock member. The operation jig according to claim 2,
The connecting portion has two or more through holes,
Two or more pins are provided, and when the operation jig and the working part are connected, the pins are inserted into the through holes, respectively. In the operation jig according to any one of claims 1 to 3,
Each connecting surface of the rotating shaft of the motor and the cylindrical body has a shape in which one convex portion engages with the other concave portion, and the convex portion and the concave portion engage with only one place per one rotation. An operation jig characterized by being. In the operation jig according to any one of claims 1 to 4,
It has one or more engaging parts that hold the working part, and the engaging part has a release operation part that is elastically biased, and engages with the actuator part by pressing the release operation part. An operation jig characterized in that is released. The operation jig according to claim 5,
The engaging jig is provided on the left and right surfaces, respectively. In the operation jig according to any one of claims 1 to 6,
The cylindrical jig is provided with an indicator for indicating the amount of rotation.

Images