JP5213654B2 - Remote control type actuator - Google Patents

Description

  The present invention relates to a remotely operated actuator that can change the posture of a tool by remote operation and is used for medical use, machining, and the like.

  There are remote-operated actuators that are used for bone processing for medical purposes and drilling and cutting for mechanical processing. The remote operation type actuator remotely controls a tool provided at the end of a long and narrow pipe portion having a linear shape or a curved shape. However, since the conventional remote control actuator only controls the rotation of the tool by remote control, in the case of medical use, it was difficult to process a complicated shape or a part that is difficult to see from the outside. Further, in drilling, it is required that not only a straight line but also a curved shape can be processed. Furthermore, in the cutting process, it is required that a deep part inside the groove can be processed. Hereinafter, taking the medical use as an example, the prior art and problems of the remote control type actuator will be described.

  In the field of orthopedics, there is an artificial joint replacement operation in which a joint that has become worn out due to bone aging or the like is replaced with a new artificial one. In this operation, it is necessary to process the patient's living bone so that the artificial joint can be inserted. In order to increase the adhesive strength between the living bone and the artificial joint after the operation, the shape of the artificial joint is required. It is required to process with high accuracy.

  For example, in hip joint replacement surgery, an artificial joint insertion hole is formed in the medullary cavity at the center of the femur bone. In order to maintain the contact strength between the artificial joint and the bone, it is necessary to increase the contact area between them, and the hole for inserting the artificial joint is processed into an elongated shape extending to the back of the bone. As a medical actuator used for such a bone cutting process, a tool is rotatably provided at the distal end of an elongated pipe portion, and by driving a rotational drive source such as a motor provided on the proximal end side of the pipe portion, There exists a thing of the structure which rotates a tool via the rotating shaft arrange | positioned inside (for example, patent document 1). In this type of medical actuator, the rotating part exposed to the outside is only the tool at the tip, so that the tool can be inserted deep into the bone.

Artificial joint replacement surgery involves skin incision and muscle cutting. That is, the human body must be damaged. In order to minimize the scratches, the pipe part may not be straight but may be appropriately curved. In order to cope with such a situation, there are the following conventional techniques. For example, in Patent Document 2, an intermediate portion of a pipe portion is bent twice, and the axial center position on the distal end side and the axial center position on the proximal end side of the pipe portion are shifted. There are other known cases where the axial position of the pipe portion is shifted between the tip end side and the axial center side. In Patent Document 3, the pipe portion is rotated 180 degrees.
JP 2007-301149 A U.S. Pat. No. 4,466,429 US Pat. No. 4,265,231 JP 2001-17446 A

  If there is a wide gap between the living bone and the artificial joint with the artificial joint inserted in the artificial bone insertion hole of the living bone, the adhesion time after the operation becomes longer, so the gap is as narrow as possible. desirable. It is also important that the contact surface between the living bone and the artificial joint is smooth, and high accuracy is required for processing the hole for inserting the artificial joint. However, no matter what the shape of the pipe part, the operating range of the tool is limited by the shape of the pipe part. It is difficult to process the artificial joint insertion hole so that the gap is narrow and the contact surface of both is smooth.

  Generally, bones of patients undergoing artificial joint replacement surgery are often weakened due to aging or the like, and the bones themselves may be deformed. Therefore, it is more difficult to process the artificial joint insertion hole than is normally conceivable.

  Therefore, the present applicant tried to make it possible to remotely change the posture of the tool provided at the tip for the purpose of relatively easily and accurately processing the hole for inserting the artificial joint. . This is because, if the posture of the tool can be changed, the tool can be held in an appropriate posture regardless of the shape of the pipe portion. Note that some medical actuators that do not have an elongated pipe part can change the position of the part where the tool is provided relative to the hand-held part (for example, Patent Document 4), but the position of the tool can be changed remotely. Nothing has been proposed to make it happen.

  An object of the present invention is to provide a remote operation type actuator that can change the posture of a tool provided at the tip of an elongated pipe portion by remote operation and can change the posture of the tool by hand operation.

  A remote-control actuator according to the present invention includes an elongated spindle guide portion, a tip member attached to the tip of the spindle guide portion via a tip member connecting portion so that the posture can be freely changed, and a base end of the spindle guide portion And a drive housing that can be held by hand, the tip member rotatably supports a spindle that holds a tool, and the spindle guide portion is provided for rotating the tool provided in the drive housing. A posture operation member having a rotation shaft for transmitting the rotation of the drive source to the spindle and guide holes penetrating at both ends, and changing the posture of the tip member by advancing and retracting with the tip contacting the tip member. Is inserted into the guide hole so as to freely advance and retract, and a posture changing drive source for moving the posture operating member forward and backward is provided in the drive unit housing. In addition, a posture changing operation tool for changing the posture of the tip member by directly or indirectly issuing an operation command signal by an input operation to the posture changing drive source is provided, and the posture changing operation tool is provided. Is characterized in that an input operation can be performed by a hand holding the drive unit housing.

  According to this configuration, the rotation of the rotation drive source is transmitted to the spindle of the tip member via the rotation shaft, and the tool held on the spindle rotates. In addition, when the posture operation member is moved forward and backward by the posture change drive source, the tip of the posture operation member acts on the tip member, so that the posture can be changed to the tip of the spindle guide portion via the tip connecting portion. The attached tip member changes its posture. The posture changing drive source is provided in the drive portion housing on the proximal end side of the spindle guide portion, and the posture change of the tip member is performed by remote control. Since the posture operation member is inserted into the guide hole, the posture operation member does not shift in the direction intersecting the longitudinal direction, and can always act properly on the tip member, and the posture change operation of the tip member Is done accurately.

  This remote operation type actuator cuts a processing portion by applying a rotating tool to a processing portion such as a bone while holding the drive unit housing by hand. During the cutting process, the posture of the tip member is changed in accordance with the shape of the processed part. Since this posture change operation is performed by a posture change operation tool that can be operated by a hand holding the drive housing, it is easy to match the sense of hand operating the posture change operation tool with the actual posture change of the tip member. Can quickly change posture.

In this invention, the tip connecting member supports the tip member so as to be tiltable in an arbitrary direction, and the guide hole and the posture operation member inserted into the guide hole are used as the tilt center of the tip member. Are provided at three or more positions around the position, the posture changing drive source is provided individually for each posture operation member, and the tip member is provided by balancing the acting forces of the three or more posture operation members on the tip member. The posture can be changed and maintained.
With this configuration, the posture of the tip member can be changed around the two posture change axes.

Further, in the present invention, the tip end connecting member supports the tip member so as to be tiltable in an arbitrary direction, and the posture operation member inserted into the guide hole and the guide hole is connected to the tip member. Provided at a plurality of positions around the tilting center, providing the posture changing drive source individually for each posture operating member, providing a restoring elastic member for urging the tip member toward a predetermined posture, and The operation member may change the posture of the tip member against the urging force of the restoring elastic member.
Also in this configuration, the posture of the tip member can be changed around the two posture change axes.

As described above, when the posture of the tip member can be changed around the two posture change axes, the posture change operation tool outputs an operation command signal to each posture change drive source to thereby change the direction of the tip member in two directions. The posture is changed, and it is preferable that it can be operated in two directions corresponding to the posture changing direction of the tip member.
If the posture change operation tool can be operated in two directions corresponding to the posture change direction of the tip member, the tip member can be operated to an arbitrary posture by the posture change operation tool.

In this invention, it is preferable to provide a lock operation tool that invalidates the input operation of the posture change operation tool.
If the lock operation tool is provided, the posture change of the tip member due to the erroneous operation of the posture change operation tool can be prevented.

In the present invention, it is preferable to provide posture detection means for detecting the posture of the tip member, and to provide posture display means for displaying the posture of the tip member detected by the posture detection means.
If the posture display means is provided, the posture of the tip member can be accurately grasped.

The posture detection means may be an encoder that detects an operation position of the posture change drive source, for example.
By detecting the operation position of the posture changing drive source with the encoder, the posture of the tip member can be accurately detected.

In the present invention, posture control means for controlling a posture changing drive source in accordance with an operation command signal issued from the posture changing operation tool may be provided.
If the posture control means is provided, it becomes possible to change the relationship between the motion command signal output from the posture changing operation tool and the operation of the posture changing drive source in accordance with various conditions.

An initial posture operating tool for outputting an operation command signal for causing the tip member to be in a predetermined initial posture can be provided. In this case, the posture control means includes an initial posture control unit that controls the posture changing drive source in accordance with an operation command signal of the initial posture manipulator.
If the initial posture operating tool is provided and the posture control means has the initial posture control unit, the tip member can be accurately returned to the predetermined initial posture.

In addition, a storage unit that stores an operation position of the posture changing drive source when the tip member is in the initial posture is provided, and the initial posture control unit of the posture control unit operates the initial posture manipulator. Sometimes, the posture changing drive source may be controlled so as to be in the operation position stored in the storage means.
By providing the storage unit, the initial posture return control of the tip member by the initial posture control unit of the posture control unit is facilitated.

Furthermore, an encoder that detects an operating position of the posture changing drive source may be provided, and an initial posture control unit of the posture control unit may control the posture changing drive source using an output of the encoder. .
By using the output of the encoder, the initial attitude control unit can accurately control the attitude changing drive source.

In this invention, it is preferable that a rotation operation means for operating the rotation of the spindle is provided so as to be operable by a hand holding the drive unit housing.
If the rotation operation means can be operated with the hand holding the drive unit housing, the spindle can be rotated and stopped by hand operation, and the cutting work can be easily performed.

When the rotation operation means is provided, it is preferable to provide a rotation condition display means for displaying conditions necessary for the rotation of the spindle.
By providing the rotation condition display means, it is possible to prevent the spindle from rotating under an unfavorable situation.

The remote control type actuator according to the present invention comprises an elongated spindle guide portion, a tip member attached to the tip of the spindle guide portion via a tip member connecting portion so that the posture can be freely changed, and a base end of the spindle guide portion. A drive housing which is coupled and can be held by hand,
The tip member rotatably supports a spindle that holds a tool, and the spindle guide portion includes a rotating shaft that transmits rotation of a driving source for tool rotation provided in the driving portion housing to the spindle, and both ends. A guide hole penetrating into the guide hole, and a posture operation member for changing the posture of the tip member by advancing and retreating with the tip contacting the tip member is inserted into the guide hole so as to be able to advance and retract. An attitude change drive source is provided in the drive unit housing for advancing and retreating the member, and an attitude change is made to change the attitude of the tip member by directly or indirectly issuing an operation command signal to the attitude change drive source by an input operation. An operation tool is provided outside the drive unit housing, and the posture changing operation tool can be input by a hand holding the drive unit housing. The attitude of the tool provided at the distal end of the flop portion can be changed by remote control, the posture change of the tool, people with remote controlled actuator is easily by hand operation.

  An embodiment of the present invention will be described with reference to FIGS. In FIG. 1, the remote operation type actuator includes an actuator body 5 and a control box 7 connected to the actuator body 5 by an electric cable 6.

  The actuator body 5 includes a distal end member 2 that holds the rotary tool 1, an elongated spindle guide portion 3 that is attached to the distal end of the distal end member 2 so that its posture can be freely changed, and a proximal end of the spindle guide portion 3. It consists of the drive part housing 4a couple | bonded. The drive unit housing 4a constitutes the drive unit 4 together with the built-in tool rotation drive mechanism 4b and posture changing drive mechanism 4c.

  As shown in FIGS. 2 and 3, the tip member 2 has a spindle 13 rotatably supported inside a substantially cylindrical housing 11 by a pair of bearings 12. The spindle 13 has a cylindrical shape with an open end, and the shank 1a of the tool 1 is non-rotatably fitted to a spline portion 13a having an inner diameter, and the shank 1a is prevented from being detached by a retaining pin 14. The tip member 2 is attached to the tip of the spindle guide portion 3 via the tip member connecting portion 15. The tip member connecting portion 15 is a means for supporting the tip member 2 so that the posture thereof can be freely changed, and includes a spherical bearing. Specifically, the distal end member connecting portion 15 includes a guided portion 11 a that is a reduced inner diameter portion of the proximal end of the housing 11 and a hook-shaped portion of a retaining member 21 that is fixed to the distal end of the spindle guide portion 3. It is comprised with the guide part 21a. The guide surfaces F1 and F2 that are in contact with each other 11a and 21a are spherical surfaces having a center of curvature O located on the center line CL1 of the distal end member 2 and having a smaller diameter toward the proximal end side. As a result, the tip member 2 is prevented from being detached from the spindle guide portion 3 and is supported so as to be freely changeable in posture.

  The spindle guide part 3 has a rotating shaft 22 that transmits the rotational force of the tool rotation drive source 41 (FIGS. 3 and 4) in the drive part housing 4a to the spindle 13. In this example, the rotating shaft 22 is a wire and can be elastically deformed to some extent. As the material of the wire, for example, metal, resin, glass fiber or the like is used. The wire may be a single wire or a stranded wire. As shown in FIG. 2C, the spindle 13 and the rotary shaft 22 are connected so as to be able to transmit rotation via a joint 23 such as a universal joint. The joint 23 includes a groove 13 a provided at the closed base end of the spindle 13 and a protrusion 22 a provided at the distal end of the rotating shaft 22 and engaged with the groove 13 a. The center of the connecting portion between the groove 13a and the protrusion 22a is at the same position as the center of curvature O of the guide surfaces F1 and F2. The rotating shaft 22 and the protrusion 22a may be configured as separate members.

  The spindle guide section 3 has an outer pipe 25 that is an outer shell of the spindle guide section 3, and the rotation shaft 22 is located at the center of the outer pipe 25. The rotating shaft 22 is rotatably supported by a plurality of rolling bearings 26 that are arranged apart from each other in the axial direction. Between each rolling bearing 26, spring elements 27A and 27B for generating a preload on the rolling bearing 26 are provided. The spring elements 27A and 27B are, for example, compression coil springs. There are an inner ring spring element 27A for generating a preload on the inner ring of the rolling bearing 26 and an outer ring spring element 27B for generating a preload on the outer ring, which are arranged alternately. The retaining member 21 is fixed to the pipe end portion 25a of the outer pipe 25 by a fixing pin 28, and rotatably supports the distal end portion of the rotary shaft 22 via a rolling bearing 29 at the distal end inner peripheral portion thereof. The pipe end portion 25a may be a separate member from the outer pipe 25 and may be joined by welding or the like.

  Between the inner diameter surface of the outer pipe 25 and the rotating shaft 22, three guide pipes 30 penetrating at both ends are provided at circumferential positions at a phase of 120 degrees. Then, posture operation members 31 (31U, 31L, 31R) composed of a plurality of balls 31a, which are force transmission members, and columnar pins 31b at both ends can be freely advanced and retracted in guide holes 30a, which are inner diameter holes of each guide pipe 30. It is inserted. The balls 31a and the columnar pins 31b are arranged in a line along the length direction of the guide holes 30a and are arranged without gaps. The distal end of the columnar pin 31 b on the distal end member 2 side is spherical, and the spherical distal end is in contact with the bottom surface of the radial groove portion 11 b formed on the proximal end surface of the housing 11. The groove 11b and the columnar pin 31b constitute an anti-rotation mechanism 37, and the tip member 2 contacts the side of the groove 11b with the tip of the columnar pin 31b inserted into the groove 11b, so that the tip member 2 is in contact with the spindle guide 3 at the tip member 2. Is prevented from rotating around the center line CL1. The tip of the columnar pin 31b on the drive unit housing 4a side is also spherical and is in contact with the side surface of the lever 43b described later.

  In addition to the guide pipe 30, a plurality of reinforcing shafts 34 are arranged on the same pitch circle C as the guide pipe 30 between the inner diameter surface of the outer pipe 25 and the rotary shaft 22. These reinforcing shafts 34 are for ensuring the rigidity of the spindle guide portion 3. The intervals between the guide pipe 30 and the reinforcing shaft 34 are equal. The guide pipe 30 and the reinforcing shaft 34 are in contact with the inner diameter surface of the outer pipe 25 and the outer diameter surface of the rolling bearing 26. Thereby, the outer diameter surface of the rolling bearing 26 is supported.

  As shown in FIGS. 3 and 4, the tool rotation drive mechanism 4 b includes a tool rotation drive source 41. The tool rotation drive source 41 is, for example, an electric motor, and its output shaft 41 a is coupled to the proximal end of the rotation shaft 22. The rotating shaft 22 passes through an opening 44 formed in the lever 43b described later.

  The posture changing drive mechanism 4c includes three posture changing drive sources 42 (42U, 42L, 42R) corresponding to the posture operating members 31 (31U, 31L, 31R), respectively. The posture changing drive source 42 is, for example, an electric linear actuator, and the movement of the output rod 42 a that moves in the left-right direction in FIG. 3 is transmitted to the posture operating member 31 via the boost transmission mechanism 43. The forward / backward position of the output rod 42a of each posture operation member 31, that is, the operation position of each posture change drive source 42 is detected by posture detection means 45 (45U, 45L, 45R) comprising an encoder.

  The force-intensifying transmission mechanism 43 has a lever 43b that is rotatable around a support shaft 43a. The force of the output rod 42a acts on an action point P1 of the lever 43b that is long from the support shaft 43a. The force is applied to the posture operation member 31 at a force point P2 having a short distance from the position, and the output of the posture change drive source 42 is increased and transmitted to the posture operation member 31. If the boost transmission mechanism 43 is provided, a large force can be applied to the posture operation member 31 even with a linear actuator having a small output, and thus the linear actuator can be downsized.

  As shown in FIGS. 1 and 5, a pair of left and right handles 50L and 50R are attached to the left and right side surfaces of the drive unit housing 4a. As shown by a two-dot chain line in FIG. 5, the actuator body 5 can be held by holding the handles 50 </ b> L and 50 </ b> R with both hands.

  A rotation on / off operation tool 51 for rotating and stopping the spindle 13 is provided at the tip of the left handle 50L. A lock operation tool 52 for stopping the function of the postural change operation tool 53 described later is provided on the upper surface of the left handle 50L. The rotation on / off operation tool 51 and the lock operation tool 52 are push button type switches, and can be operated with the left hand holding the left handle 50L.

  Further, a posture changing operation tool 53 for changing the posture of the tip member 2 is provided at the tip of the right handle 50R. As shown in an enlarged view in FIG. 6, the posture change operation tool 53 is a cross switch having four operation units arranged in a cross shape, and each operation unit tilts the tip member 2 upward. 53a, a downward tilt operation unit 53b that tilts downward, a left tilt operation unit 53c that tilts left, and a right tilt operation unit 53d that tilts right. Each operation part 53a, 53b, 53c, 53d of the posture change operation tool 53 can be operated with the right hand holding the right handle 50R.

  The posture changing operation tool 53 may be a joystick as shown in FIG. The posture changing operation tool 53, which is a joystick, has a lever 53e having two degrees of freedom. When the lever 53e is tilted upward, the tip member 2 tilts upward, and when the lever 53e is tilted downward, the tip member 2 faces downward. When tilted and tilted to the left, the tip member 2 tilts to the left, and when tilted to the right, the tip member 2 tilts to the right.

  As shown in FIG. 1, on the outer front of the control box 7, a display 61 such as a liquid crystal display type that is a rotation condition display means and a posture display means, an initial posture control display lamp 62, an initial posture operation tool 63, and various types An operation tool 64 is provided. The initial posture operating tool 63 and the various operating tools 64 are, for example, push button switches. The functions of these devices will be described later.

  As shown in FIG. 8, the control box 7 includes a computer 70 that performs various controls. The computer 70 includes tool rotation control means 71 for controlling the tool rotation drive source 41 and attitude change control means 72 for controlling the attitude change drive source 42 (42U, 42L, 42R).

  The tool rotation control means 71 outputs to the motor driver 73 in accordance with the rotation command signal from the rotation on / off operation tool 52, and turns on / off the tool rotation drive source 41. Thereby, the spindle 13 is rotated and stopped. For example, when the rotation on / off operation tool 51 is pressed once, the spindle 13 rotates, and when it is pressed again, the rotation of the spindle 13 stops. On the display 61 as the rotation condition display means, conditions necessary for the rotation of the spindle 13 are displayed. The condition is, for example, that the tip member 2 is correctly fixed.

The posture control means 72 includes a posture change control unit 72a and an initial posture control unit 72b.
The posture change control unit 72a outputs to the motor driver 74 in response to an operation command signal by an input operation of the posture change operation tool 53, and drives the posture change drive source 42 (42U, 42L, 42R). For example, the driving amount of the posture changing drive source 42 is proportional to the operation time of the posture changing operation tool 53. Depending on which one of the operation units 53a, 53b, 53c, and 53d is operated, the posture of the tip member 2 is changed by changing the output direction and the output magnitude for each of the posture changing drive sources 42U, 42L, and 42R.

  For example, when an input operation is performed on the operation unit 53a, it is output to each of the posture change drive sources 42U, 42L, and 42R, and the one posture operation member 31U on the upper side in FIG. 2 is advanced to the tip side, and the other two The posture operation members 31L and 31R are moved backward. Then, when the housing 11 of the tip member 2 is pushed by the upper posture operation member 31U, the tip member 2 changes its posture along the guide surfaces F1 and F2 to the side in which the tip side faces downward in FIG. When the operation unit 53b is input, each posture operation member 31 moves back and forth in the reverse direction, and the housing 11 of the tip member 2 is pushed by the left and right posture operation members 31L and 31R. In A), the posture is changed along the guide surfaces F1 and F2 to the side where the front end side is upward.

  Further, when an input operation is performed on the operation unit 53c, the operation is output to the left and right posture changing drive sources 42L and 42R, the right posture operating member 31R is advanced to the distal end side, and the left posture operating member 31L is moved backward. . Then, when the housing 11 of the tip member 2 is pushed by the right attitude operation member 31R, the tip member 2 faces leftward, that is, along the guide surfaces F1 and F2 toward the front side of the paper surface in FIG. Change posture. When an input operation is performed on the operation portion 53d, the posture operation members 31L and 31R advance and retract in the opposite direction, and the housing 11 of the tip member 2 is pushed by the left posture operation member 31L, so that the tip member 2 is directed to the right side. The posture is changed along the guide surfaces F1 and F2.

  Since the posture operation member 31 is provided at three locations in the circumferential direction, the posture of the tip member 2 can be changed in the biaxial directions of up, down, left and right as described above. The tip member connecting portion 15 is subjected to the pressures of the three posture operation members 31 and the reaction force from the retaining member 21, and the posture of the tip member 2 is determined by the balance of these acting forces. Since the housing 11 of the tip member 2 is pressurized by the three posture operation members 31, the posture stability of the tip member 2 is high.

  The posture of the tip member 2 is displayed on the display 61 as posture display means under the control of the posture display control means 75. FIGS. 9A and 9B are display examples. (A) displays the tilt angle of the tip member 2 in the biaxial direction by numerical values. For example, “α” indicates the vertical tilt angle, and “β” indicates the horizontal tilt angle. (B) displays the tilt direction and tilt angle of the tip member 2 as a point P on the graph. Either of these display methods may be selectively displayed. In that case, the display method may be switched by giving a display direction switching command to the posture display control means 75 using the various operation tools 64.

  In a state where the lock operation tool 52 is pressed once, the function of the posture change control unit 72a is stopped. Therefore, even if the posture changing operation tool 53 is operated, the posture changing drive source 42 is not driven, and the tip member 2 is fixed in a fixed posture. When the lock operation tool 52 is pressed again, the function change of the posture change control unit 72a is released, and the tip member 2 can be changed in posture.

  Instead of switching between the function stop state and the function stop release state of the posture change control unit 72a by the lock operation tool 52 as described above, the operation of the posture change operation tool 53 becomes invalid unless the lock operation tool 52 is pressed. It may be made to become. Conversely, the operation of the posture change operation tool 53 may be invalidated only when the lock operation tool 52 is pressed.

  The initial posture control unit 72b performs control to bring the tip member 2 into a predetermined initial posture based on an operation command signal output from the initial posture operation tool 63. For example, as shown in FIG. 10A, immediately after turning on the power to the remote control type actuator or at the initial operation after the tool 1 is replaced, the base end surface of the housing 11 of the tip member 2 and the columnar shape of the posture operation member 31 are used. There may be a gap S between the pins 31b. Therefore, it is necessary to return the tip member 2 to the initial posture once to eliminate the gap S. For example, as shown in FIG. 10B, the initial posture is a posture in which the center line CL1 of the tip member 2 and the center line CL2 of the spindle guide portion 3 coincide. The operation position of each posture changing drive source 42 in this initial posture is stored in the storage means 76. 10A and 10B are simplified views of a cross section corresponding to the X-CL2-X cross section of FIG.

  Specifically, the initial posture control is performed in the order shown in the flowchart of FIG. When the initial posture operating tool 62 is operated and an operation command to the initial posture position is received (S1), each posture changing drive source 42 is moved backward (S2). The position of each posture changing drive source 42 is detected by the posture detecting means 45. When all the attitude changing drive sources 42 are retracted to the retracted end of the advance / retreat range (S3), each attitude changing drive source 42 is advanced (S4). When the movement of each posture changing drive source 42 to the initial posture position is completed (S5), the forward movement of each posture changing drive source 42 is stopped and the initial posture position movement is completed (S6). The fact that each posture change drive source 42 has moved to the initial posture position indicates that the actual operation position of each posture change drive source 42 indicated by the output of the posture detection means 45 is in the initial posture stored in the storage means 76. This is confirmed by matching with the operation position of each posture changing drive source 42. The progress of the initial posture control is displayed stepwise on the initial posture control display lamp 62. For example, the initial posture control display lamp 62 is turned off when the operation is not completed, blinks while moving to the initial posture position, and is turned on when the operation is completed. Here, incomplete means immediately after the power is supplied to the remote control type actuator, when the tool is not moved to the initial posture position by using the initial posture operating tool 62 after the tool 1 is changed, or the initial posture position. This corresponds to a case where a discrepancy with the operation position of each posture changing drive source 42 in the initial posture stored in the storage unit 76 occurs during the movement to.

  As described above, the remote control type actuator holds the actuator body 5 by holding the left and right handles 50L and 50R with both hands. Then, by operating the rotation on / off operation tool 51, the spindle 13 is rotated, and the tool 1 performs cutting of bone and the like. Since the condition necessary for the rotation of the spindle 13 is displayed on the display 61 as the rotation condition display means, it is possible to prevent the spindle 13 from rotating under an inappropriate condition.

  During machining, the posture changing operation tool 53 is operated according to the shape of the machining location and the progress of the machining, thereby changing the posture of the tip member 2 in the biaxial direction by remote operation. By operating the lock operation tool 52, it is possible to perform processing while maintaining the tip member 2 in a constant posture. Since the rotation on / off operation tool 51, the posture change operation tool 53, and the lock operation tool 52 can be operated by hand while holding the left and right handles 50L and 50R, the operation can be performed with the operator's own sense and the work can be easily performed. . In particular, the posture changing operation tool 53 is a cross switch, and the arrangement of the operation parts 53a, 53b, 53c, 53d and the posture changing direction of the tip member 2 are the same. It is easy to match the posture change, and the posture can be changed accurately and quickly.

  Since the rotation preventing mechanism 37 for preventing the distal end member 2 from rotating around the center line CL1 of the distal end member 2 with respect to the spindle guide portion 3 is provided, the posture changing drive mechanism 4c and the posture control means 72 are broken. Even when the tip member 2 that holds the tool 1 becomes uncontrollable due to, for example, the tip member 2 rotates around the center line CL1 and the periphery of the machining site is damaged, or the tip member 2 itself is damaged. Can be prevented.

  Since the posture operation member 31 is inserted through the guide hole 30a, the posture operation member 31 does not shift in the direction intersecting the longitudinal direction, and can always act properly on the tip member 2, and the tip member 2 posture change operation is performed accurately. Further, the posture operation member 31 includes a plurality of balls 31a and columnar pins 31b, and has a flexible property as a whole. Therefore, even when the spindle guide portion 3 is curved, the posture change operation of the tip member 2 is reliably performed. Is called. Furthermore, since the center of the connecting portion between the spindle 13 and the rotating shaft 22 is at the same position as the center of curvature O of the guide surfaces F1 and F2, a force for pushing and pulling against the rotating shaft 22 by changing the posture of the tip member 2 is increased. Accordingly, the posture of the tip member 2 can be changed smoothly.

  This remote control type actuator is used, for example, for cutting the medullary cavity of bone in artificial joint replacement surgery. During the operation, all or part of the distal end member 2 is inserted into the patient's body. The For this reason, if the posture of the tip member 2 can be changed by remote control as described above, the bone can be processed while the tool 1 is always held in an appropriate posture, and the artificial joint insertion hole is finished with high accuracy. Can do.

  The elongated spindle guide portion 3 needs to be provided with the rotating shaft 22 and the posture operation member 31 in a protected state. The rotating shaft 22 is provided at the center of the outer pipe 25, and the outer pipe 25, the rotating shaft 22, Since the guide pipe 30 accommodating the posture operation member 31 and the reinforcing shaft 34 are arranged side by side in the circumferential direction, the rotary shaft 22 and the posture operation member 31 are protected and the interior is hollow. It is possible to secure rigidity while reducing the weight. Also, the overall balance is good.

  Since the outer diameter surface of the rolling bearing 26 that supports the rotating shaft 22 is supported by the guide pipe 30 and the reinforcing shaft 34, the outer diameter surface of the rolling bearing 26 can be supported without using extra members. Moreover, since the preload is applied to the rolling bearing 26 by the spring elements 27A and 27B, the rotating shaft 22 made of a wire can be rotated at a high speed. Therefore, machining can be performed by rotating the spindle 13 at a high speed, the machining finish is good, and the cutting resistance acting on the tool 1 can be reduced. Since the spring elements 27A and 27B are provided between the adjacent rolling bearings 26, the spring elements 27A and 27B can be provided without increasing the diameter of the spindle guide portion 3.

  FIG. 12 shows a tip member and a spindle guide portion of different embodiments. This remote operation type actuator is provided at two circumferential positions where the guide pipe 30 and the posture operation member 31 form 90 degrees. These two posture operation members 31X and 31Y are individually driven forward and backward by two posture change driving sources (not shown). For example, a compression coil is provided between the proximal end surface of the housing 11 of the distal end member 2 and the distal end surface of the outer pipe 25 of the spindle guide portion 3 at a position 180 degrees relative to the circumferential position where the posture operation member 31 is located. A restoring elastic member 32 made of a spring is provided. The restoring elastic member 32 acts to urge the tip member 2 toward a predetermined posture.

  In this configuration, when the upper posture operation member 31Y of FIG. 12 is advanced to the distal end side, the housing 11 of the distal end member 2 is pushed by the posture operation member 31Y, and the distal end member 2 is directed downward in FIG. When the posture is changed along the guide surfaces F1 and F2 and the posture operation member 31Y is retracted, the housing 11 of the tip member 2 is pushed back by the elastic repulsive force of the corresponding restoring elastic member 32, and the tip member 2 In FIG. 12A, the posture is changed along the guide surfaces F1 and F2 to the side where the front end side is upward. During this posture changing operation, the pressure of the posture operation member 31X, the elastic repulsive force of the restoring elastic member 32, and the reaction force from the retaining member 21 are acting on the tip member connecting portion 15, and these acting forces The posture of the tip member 2 is determined by the balance.

  Further, when the posture operation member 31X on the right side of FIG. 12 is advanced to the distal end side, the housing 11 of the distal end member 2 is pushed by the posture operation member 31X, and the distal end member 2 is guided to the side where the distal end side faces left. When the posture is changed along F2 and the posture operation member 31X is retracted, the housing 11 of the tip member 2 is pushed back by the elastic repulsive force of the corresponding restoring elastic member 32, and the tip member 2 moves to the side in which the tip side faces rightward. The posture is changed along the guide surfaces F1 and F2. During this posture change operation, the pressure of the posture operation member 31Y, the elastic repulsive force of the restoring elastic member 32, and the reaction force from the retaining member 21 are acting on the tip member connecting portion 15, and these acting forces The posture of the tip member 2 is determined by the balance.

  In this way, the posture of the tip member 2 can be changed in the biaxial direction also by using the posture operation members 31X and 31Y and the restoring elastic member 32 in combination. Also in this case, the posture changing drive mechanism (not shown) and the posture control means (not shown) have the same configuration as described above.

  In each of the above embodiments, the spindle guide portion 3 has a linear shape. However, in the remote control type actuator of the present invention, the posture operation member 31 is flexible, and the posture of the tip member 2 is maintained even when the spindle guide portion 3 is curved. Since the changing operation is reliably performed, the spindle guide portion 3 may be curved in the initial state. Alternatively, only a part of the spindle guide portion 3 may be curved. If the spindle guide portion 3 is curved, it may be possible to insert the distal end member 2 to the back of the bone, which is difficult to reach in the straight shape, so that the hole for artificial joint insertion can be accurately processed in artificial joint replacement surgery. It becomes possible to finish.

It is a figure which shows schematic structure of the remote control type actuator concerning embodiment of this invention. (A) is a cross-sectional view of the tip member and spindle guide portion of the remote operation type actuator, (B) is a IIB-IIB cross-sectional view thereof, (C) is a diagram showing a connection structure between the tip member and the rotating shaft, (D ) Is a view of the housing of the tip member as seen from the base end side. It is sectional drawing which mainly shows the structure in a drive part housing of the remote control type actuator. It is IV-IV sectional drawing of FIG. It is a V arrow view of FIG. It is the elements on larger scale of FIG. 5 which shows the attitude | position change operation tool of the remote control type actuator. It is a figure which shows another example of an attitude | position change operation tool. It is a block diagram of a control system of the remote operation type actuator. (A) is a figure which shows one display state of the display machine of the same remote control type actuator, (B) is a figure which shows a different display state. In the explanatory view of the initial posture control, (A) shows the state before the initial posture control of the tip member and the spindle guide part, and (B) shows the state after the initial posture control. It is a flowchart of initial posture control of the same remote operation type actuator. (A) is a sectional view of the distal end member and spindle guide portion of the remote control type actuator according to different embodiments of the present invention, (B) is a sectional view of XIIB-XIIB, (C) is a base end of the housing of the distal end member It is the figure seen from the side.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Tool 2 ... Tip member 3 ... Spindle guide part 4a ... Drive part housing 5 ... Actuator main body 7 ... Control box 13 ... Spindle 15 ... Tip member connection part 22 ... Rotary shaft 25 ... Outer pipe 30 ... Guide pipe 30a ... Guide hole 31 ... Posture operation member 41 ... Tool rotation drive source 42 ... Posture change drive source 45 ... Posture detection means 50L, 50R ... Handle 51 ... Rotation on / off operation tool 52 ... Lock operation tool 53 ... Posture change operation tool 61 ... Display (rotation condition display means, posture display means)
63 ... Initial posture operation tool 71 ... Tool rotation control means 72 ... Posture change control means 72a ... Posture change control unit 72b ... Initial posture control unit 76 ... Storage means

Claims (13)

An elongated spindle guide part, a tip member attached to the tip of the spindle guide part via a tip member connecting part so that the posture can be freely changed, and a drive part that can be held by hand by connecting the base end of the spindle guide part A housing,
The tip member rotatably supports a spindle that holds a tool, and the spindle guide portion includes a rotating shaft that transmits rotation of a driving source for tool rotation provided in the driving portion housing to the spindle, and both ends. A guide hole penetrating into the guide hole, and a posture operation member for changing the posture of the tip member by advancing and retreating with the tip contacting the tip member is inserted into the guide hole so as to be able to advance and retract. An attitude change drive source is provided in the drive unit housing for advancing and retreating the member, and an attitude change is made to change the attitude of the tip member by directly or indirectly issuing an operation command signal to the attitude change drive source by an input operation. An operating tool is provided outside the drive unit housing,
The remote operation type actuator, wherein the posture changing operation tool can be input by a hand holding the drive housing.   In Claim 1, the said front-end | tip part connection member supports the said front-end | tip member so that tilting is possible in arbitrary directions, The attitude | position operation member inserted in this guide hole and this guide hole is used for the inclination of the said front-end | tip member. Provided at three or more places around the center, the posture changing drive source is provided individually for each posture operation member, and the tip member is balanced by the balance of the acting force of the posture operation members of the three or more locations on the tip member. Remote control type actuator that changes and maintains the attitude of the robot.   In Claim 1, the said front-end | tip part connection member supports the said front-end | tip member so that tilting is possible in arbitrary directions, The attitude | position operation member inserted in this guide hole and this guide hole is used for the inclination of the said front-end | tip member. Provided at a plurality of positions around the center, provided with the posture changing drive source individually for each posture operation member, provided with a restoring elastic member for urging the tip member toward a predetermined posture, the plurality of posture operations The member is a remote operation type actuator that changes the posture of the tip member against the biasing force of the elastic member for restoration.   4. The posture changing operation tool according to claim 2, wherein the posture changing operation tool changes a posture of the tip member in two directions by outputting an operation command signal to each posture change drive source. A remotely operated actuator that can be operated in two directions corresponding to the change direction.   5. The remote operation type actuator according to claim 1, further comprising a lock operation tool that invalidates an input operation of the posture changing operation tool. 6.   6. The remote control according to claim 1, further comprising posture detection means for detecting the posture of the tip member, and posture display means for displaying the posture of the tip member detected by the posture detection means. Operation type actuator.   7. The remote control type actuator according to claim 6, wherein the posture detection means is an encoder that detects an operation position of the posture change drive source.   8. The remote operation type actuator according to claim 1, further comprising posture control means for controlling a posture changing drive source in response to an operation command signal output from the posture changing operation tool.   9. The posture changing tool according to claim 8, wherein an initial posture manipulator that outputs an operation command signal for causing the tip member to assume a predetermined initial posture is provided, and the posture control means is configured to perform the posture changing drive according to the operation command signal of the initial posture manipulator. A remote operation type actuator having an initial posture control unit for controlling a power source.   10. The storage device according to claim 9, further comprising a storage unit that stores an operation position of the posture changing drive source when the tip member is in the initial posture. The initial posture control unit of the posture control unit includes the initial posture manipulator. A remote-operated actuator that controls a posture-changing drive source so as to be in an operating position stored in the storage means when operated.   11. The remote operation according to claim 10, wherein an encoder that detects an operating position of the posture changing drive source is provided, and an initial posture control unit of the posture control means controls the posture changing drive source using an output of the encoder. Type actuator.   12. The remote control type actuator according to claim 1, wherein a rotation operation means for operating rotation of the spindle is provided so as to be operated by a hand holding the drive unit housing.   The remote control type actuator according to claim 12, further comprising a rotation condition display means for displaying a condition necessary for the rotation of the spindle.

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