JP5623391B2 - Medical manipulator - Google Patents

Description

  The present invention relates to a medical manipulator that includes a drive unit and a working unit having a distal end working unit that is operated by the drive unit, and the drive unit and the work unit are configured to be detachable.

  In laparoscopic surgery, a small hole is made in the patient's abdomen, etc., and an endoscope, manipulator (or forceps), 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.

  On the other hand, manipulators used in laparoscopic surgery are desired to be able to perform quick and appropriate procedures according to the position and size of the affected area. Done. In relation to this, a manipulator that has a high degree of freedom in operation and can be operated easily has been proposed (for example, see Japanese Patent Application Laid-Open No. 2008-104854).

  In the manipulator described in Japanese Patent Application Laid-Open No. 2008-104854, a working unit having a distal end working unit and a driving unit having a motor and a handle are detachable. This makes it possible to easily configure a manipulator having various tip operating parts according to the procedure by replacing a predetermined working part provided with various tip operating parts such as scissors and grippers with respect to the drive part. it can. In this manipulator, when the drive unit and the working unit are mounted, the cruciform projections and recesses formed at the tips of the drive shaft and the driven shaft are engaged with each other, whereby the rotational driving force of the motor is transmitted to the drive unit. Can be transmitted to the working unit to operate the tip working unit. In addition, this manipulator is provided with a lock member that can fix the rotational position of the motor. When the drive unit and the working unit are attached and detached, the motor is returned to the original position in advance so that the motor is always kept at the predetermined original position. Therefore, the control can be easily started from the origin position at the next mounting.

  In the manipulator according to the above-described conventional configuration, it is necessary to always return the motor to the origin position when attaching and detaching, otherwise the drive unit and the working unit cannot be attached and detached. However, for example, when exchanging the working unit during surgery, a configuration in which the driving unit and the working unit can be attached and detached more quickly and more easily regardless of the current phase of the working unit and the driving unit is desired. Yes.

  The present invention has been made in connection with such a conventional technique, and a drive unit having a drive shaft and a working unit having a driven shaft and a tip operation unit can be more quickly and easily attached and detached. An object is to provide a medical manipulator.

A medical manipulator according to the present invention includes a drive unit having a drive shaft rotated by an actuator, a driven shaft driven to rotate by the drive shaft, a tip operating unit operated by rotation of the driven shaft, and the tip A working unit detachably attached to the drive unit; and a control unit that controls the actuator ; and the drive shaft and the driven shaft have one end The engaging protrusion is provided on the other end, and an engaging recess that can be engaged with the engaging protrusion is provided on the other tip. The engaging protrusion and the engaging recess include the driving portion and the working portion. Engage with each other in the mounted state, and the rotation of the drive shaft can be transmitted to the driven shaft, and the engagement convex portion and the engagement concave portion are set based on an allowable rotation range of the driven shaft. One or more phases Possible der is, referred to as the allowable rotation range of the driven shaft theta, when referred the integer part of the quotient obtained by dividing by the theta 360 and n, the engagement projection and the engagement recess is less n location The control unit performs an origin search operation for returning the rotational phase of the drive shaft to the origin while the working unit is mounted on the drive unit. The driving in the origin search operation when the working part is mounted on the driving part in a state where the engaging convex part and the engaging concave part are positioned in a rotational phase in which the engaging convex part and the engaging concave part cannot be engaged with each other. The engaging convex part and the engaging concave part engage with each other as the shaft rotates .

  According to such a configuration, by setting the engagement phase (engagement location) between the engagement convex portion and the engagement concave portion in accordance with the allowable rotation range that is the operation region of the driven shaft that drives the tip operation portion. For example, the engagement convex portion and the engagement concave portion can be configured to be engageable with the maximum number of engagement phases in consideration of the operation region of the distal end operation portion. Accordingly, it is possible to reduce the time required for the origin search operation required when the driving unit and the working unit are mounted and the engaging convex portion and the engaging concave portion are engaged, as much as possible. As a result, the drive unit and the working unit can be mounted quickly and easily.

  In this case, if either one of the engaging convex portion and the engaging concave portion is elastically supported so as to be able to advance and retreat with respect to the axial direction of the drive shaft and the driven shaft, the engaging convex portion and the engaging concave portion Even when the drive unit and the working unit are mounted in a state where the phases do not match, one engagement convex portion (or engagement concave portion) elastically supported is the other engagement concave portion (or engagement). Since it retreats when it comes into contact with the convex part), it is possible to prevent the occurrence of breakage or malfunction.

Further, when the working portion is mounted on the drive portion in a state where the engaging convex portion and the engaging concave portion are positioned in a rotational phase where they cannot engage with each other, the engaging convex portion or the The engagement recess is displaced in the first direction in the axial direction against the elastic support force, and the engagement protrusion or the engagement recess is rotated along with the rotation of the drive shaft in the origin search operation. The engagement convex portion and the engagement concave portion may be engaged with each other by displacing in a second direction opposite to the first direction based on the elastic support force .

  The engagement convex portion or the engagement concave portion provided on the drive shaft is elastically supported so as to be movable back and forth in the axial direction, and the elastically supported engagement convex portion or the engagement concave portion includes the When the coupling sensor capable of detecting whether or not the engagement convex portion and the engagement concave portion can be engaged by moving back and forth in the axial direction is provided, the detection of the engagement state is ensured. It can be carried out.

To the drive unit, it is preferable to provide a detectable origin detection sensor the origin of the actuator or the drive shaft.

In this case, after the drive unit and the working unit are mounted, the drive shaft is rotated based on the detection information of the origin detection sensor to perform the origin detection operation, and the engagement convex portion and the performs engaging operation of the engaging recess, the origin and, after detecting an engagement state of the engagement recess and the engagement projection, idea includes an origin search unit that executes a pre-Kihara point search operation Fast and accurate origin detection is possible.

Further, a medical manipulator according to the present invention includes a drive unit having a drive shaft rotated by an actuator, a driven shaft driven to rotate by the drive shaft, a tip operating unit operated by rotation of the driven shaft, and And a working portion that is detachable from the driving portion, and the driving shaft and the driven shaft have an engaging convex portion at one tip. An engagement recess that can be engaged with the engagement projection is provided at the other tip, and the engagement projection and the engagement recess are engaged with each other in a state in which the drive unit and the working unit are mounted. In addition, the rotation of the drive shaft can be transmitted to the driven shaft, and the engagement convex portion and the engagement concave portion have one or more phases set based on an allowable rotation range of the driven shaft. engageable with each other, he said unto the driven shaft The rotation range is the origin of the rotation range of the driven shaft by contacting the contact member provided along the radial direction of the driven shaft and the corresponding contact member when the corresponding contact member rotates together with the driven shaft. It is defined using a regulating portion for regulating the range of each less than 180 degrees in the forward direction and the reverse direction from you characterized.

  Furthermore, it is preferable to provide an attachment / detachment sensor that detects the attachment / detachment state of the drive unit and the working unit because the attachment / detachment state can be reliably detected.

It is a perspective view of the manipulator concerning this embodiment. FIG. 6 is a partially omitted perspective view of an operation unit. It is a partially-omission perspective view of a working part. FIG. 5 is a partially omitted perspective view of a composite input unit and its peripheral part. It is a front view of a composite input part. It is a partially omitted exploded side view of the operation unit and the working unit. FIG. 5 is a partially omitted perspective view of the drive unit and its peripheral part in a state where the operation unit and the working unit are mounted. FIG. 6 is a partially omitted plan view of the drive unit and its peripheral part in a state where the operation unit and the working unit are mounted. FIG. 3 is a partially omitted cross-sectional side view of a drive unit and its peripheral part. FIG. 4 is a partially omitted cross-sectional front view of a drive unit and its peripheral part. It is a partially omitted plan view of a working unit. It is a partially-omitted cross-sectional side view along the XII-XII line in FIG. It is a cross-sectional perspective view of a pulley box. FIG. 14A is a partially omitted bottom view for explaining the allowable rotation range of the pulley, and FIG. 14B is a partially omitted bottom view showing a state in which the pulley is rotated from the state shown in FIG. 14A. It is sectional drawing which follows the XV-XV line | wire in FIG. It is a partially omitted cross-sectional perspective view of the trigger lever. 17A is a partially omitted cross-sectional side view of the trigger lever, and FIG. 17B is a partially omitted cross-sectional side view in a state where the lever is operated from the state shown in FIG. 17A. It is a partial omission cross-sectional side view of a trigger lever attaching part and its peripheral part. It is a partially omitted side view for explaining the imaging direction of the barcode by the camera. 20A is a partially omitted bottom view of the operation unit, and FIG. 20B is a partially omitted plan view of the working unit. FIG. 10 is a partially omitted plan view showing a modified example of a structure for restricting an allowable rotation range of a pulley. FIG. 22A is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are in a phase where they cannot be engaged, and FIG. 22B is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are engaged. is there. FIG. 23A is a partially omitted cross-sectional side view showing a state in which the operating portion and the working portion are mounted and the engaging convex portion and the engaging concave portion are not engaged, and FIG. It is a partially-omitted cross-sectional side view which shows the state which the joint convex part and the engagement recessed part engaged. FIG. 24A is an explanatory diagram illustrating a first example of the initial phase of the engaging convex portion and the engaging concave portion, and FIG. 24B is an explanatory diagram illustrating a second example of the initial phase of the engaging convex portion and the engaging concave portion. FIG. 24C is an explanatory diagram illustrating a third example of the initial phase of the engaging convex portion and the engaging concave portion, and FIG. 24D is an explanatory diagram illustrating a fourth example of the initial phase of the engaging convex portion and the engaging concave portion. FIG. 25A is an explanatory diagram illustrating a state in an initial phase in the operation pattern of the first example illustrated in FIG. 24A, and FIG. 25B is an explanatory diagram illustrating a state in which the engaging convex portion is rotated from the state illustrated in FIG. 25A. FIG. 25C is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are engaged from the state shown in FIG. 25B, and FIG. 25D is a diagram in which the engaging convex portion and the engaging concave portion are engaged. It is explanatory drawing which shows the state by which the motor was set to the origin. 26A is an explanatory diagram illustrating a state in an initial phase in the operation pattern of the second example illustrated in FIG. 24B, and FIG. 26B is an explanatory diagram illustrating a state in which the motor is rotated from the state illustrated in FIG. 26A. 26C is an explanatory diagram showing a state where the motor has overrun the origin from the state shown in FIG. 26B, and FIG. 26D is an explanatory diagram showing a state where the motor is set to the origin. FIG. 27A is an explanatory diagram showing a state in an initial phase in the operation pattern of the third example shown in FIG. 24C, and FIG. 27B shows that the engaging convex part is rotated from the state shown in FIG. FIG. 27C is an explanatory view showing a state where the motor is overrun from the state shown in FIG. 27B and then set to the origin. FIG. 28A is an explanatory diagram showing a state in an initial phase in the operation pattern of the fourth example shown in FIG. 24D, and FIG. 28B is an explanatory diagram showing a state in which the engaging convex portion is rotated from the state shown in FIG. 28A. FIG. 28C is an explanatory diagram showing a state in which the motor is set to the origin after the engagement convex portion and the engagement concave portion are engaged from the state shown in FIG. 28B. FIG. 29A is an explanatory view showing a configuration example when the engaging phase of the engaging convex portion and the engaging concave portion is configured in a 180 ° phase shape, and FIG. 29B is an engaging convex portion from the state shown in FIG. 29A. It is explanatory drawing which shows the state which engaged the engagement recessed part. FIG. 30A is an explanatory view showing another configuration example when the engaging phase of the engaging convex portion and the engaging concave portion is configured in a 180 ° phase shape, and FIG. 30B is an engaging state from the state shown in FIG. 30A. It is explanatory drawing which shows the state which made the convex part and the engagement recessed part engage. FIG. 31A is an explanatory view showing a configuration example when the engaging phase of the engaging convex portion and the engaging concave portion is configured in a 120 ° phase shape, and FIG. 31B shows the engaging convex portion from the state shown in FIG. 31A. It is explanatory drawing which shows the state which engaged the engagement recessed part. FIG. 32A is an explanatory view showing another configuration example when the engaging phase of the engaging convex portion and the engaging concave portion is configured in a 120 ° phase shape, and FIG. 32B is engaged from the state shown in FIG. 32A. It is explanatory drawing which shows the state which made the convex part and the engagement recessed part engage. It is a top view which shows the modification of the detection piece which is a sensor dog of an origin detection sensor. It is a top view which shows the other modification of the detection piece which is a sensor dog of an origin detection sensor. FIG. 35A is an explanatory diagram illustrating a configuration example in which the engagement phase of the engagement convex portion and the engagement concave portion is configured in a 180 ° phase shape, and the allowable rotation range of the pulley is set to 180 ° or more. FIG. 35C is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are engaged in a normal phase from the state shown in FIG. 35A, and FIG. It is explanatory drawing which shows the state engaged by the reverse phase. It is explanatory drawing which shows the rotation area | region of the structural example which set the engagement phase of the engagement convex part and the engagement recessed part to the shape of a 180 degree phase, and set the allowable rotation range of the pulley to 180 degrees or more. 37A and 37B are explanatory views showing the origin search operation from the normal phase state. 38A to 38C are explanatory views showing the origin search operation from the state of the inversion phase. It is a flowchart which shows an example of operation | movement of the manipulator which concerns on this embodiment. It is a partially omitted cross-sectional side view showing a first example of a modified example of the trigger lever. FIG. 41 is a partially omitted cross-sectional side view illustrating a state where the trigger lever illustrated in FIG. 40 is fully pulled. FIG. 41 is a partially omitted cross-sectional side view showing a state in which the trigger lever shown in FIG. 40 is latched. It is a partially omitted cross-sectional side view showing a second example of a modification of the trigger lever. FIG. 44 is a partially omitted cross-sectional side view showing a state in which the trigger lever shown in FIG. 43 is latched. FIG. 45A is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are in the initial phase in another method of the origin search operation, and FIG. 45B is a state in which the motor is rotated forward from the state shown in FIG. 45A. FIG. 45C is a diagram illustrating a state in which the contact portion is in contact with one stopper, and FIG. 45C illustrates a state in which the motor is reversely rotated from the state illustrated in FIG. 45B and the contact portion is in contact with the other stopper. FIG. 45D is an explanatory diagram illustrating a state in which the motor is set as the origin from the state illustrated in FIG. 45C. It is a model side view of a front-end | tip operation | movement part when fully pulling a trigger lever. It is a model side view of a front-end | tip operation | movement part when a trigger lever is pushed out. It is a schematic structure figure of a tip operation part. It is a section side view of a tip operation part. It is a section top view of a tip operation part. It is a section side view in the state where the gripper was closed in the tip operation part. It is a disassembled perspective view of a front-end | tip operation | movement part. It is a schematic structure figure which shows a part of end effector drive mechanism. It is a model side view of an end effector drive mechanism when not operating a trigger lever. It is a schematic cross-sectional top view of the connection location of the edge part of a passive wire. It is a schematic cross section side view of the connection location of the edge part of a passive wire. It is a partial cross section top view of the 2nd end effector drive mechanism when a trigger lever is pushed out. It is a partial cross section top view of the 2nd end effector drive mechanism when fully pulling a trigger lever. It is a partial cross section side view of the 2nd end effector drive mechanism when a trigger lever is pushed out. It is a schematic structure figure of the tip operation part concerning a modification. FIG. 3 is a schematic perspective view of a surgical robot system in which a base part to which a working part can be attached and detached is connected to a tip of a robot arm.

  Hereinafter, preferred embodiments of a medical manipulator according to the present invention will be described in detail with reference to the accompanying drawings.

  As shown in FIG. 1, the manipulator (medical manipulator) 10 according to the present embodiment grips a predetermined part of a living body or a curved needle or the like on a distal end working unit 12 provided at the distal end of a connecting shaft 18. It is a medical instrument for performing treatment, and is usually called a grasping forceps or a needle driver (needle holder).

  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 18 is defined as the Z direction. Further, when viewed from the front end side, 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 manipulator 10 includes an operation unit (base unit) 14 that is manually held and operated, and a work unit 16 that is detachable from the operation unit 14, and a controller 514 that is detachable from the operation unit 14 via a connector 520. It is comprised as a manipulator system which has. The operation unit 14 is provided with a drive unit (actuator unit) 30 that electrically drives the working unit 16 side. The separated operation unit 14 is shown in FIG. 2, and the separated operation unit 16 is shown in FIG.

  The controller 514 is a controller that comprehensively controls the manipulator 10, and is connected to the cable 61 extending from the lower end of the grip handle (handle) 26 via the connector 520. A part or all of the functions of the controller 514 can be integrally mounted on the operation unit 14, for example.

  The controller 514 includes, for example, a first port 515a, a second port 515b, and a third port 515c, and can control three manipulators 10 independently and simultaneously. Reference numeral 516 in FIG. 1 is a power switch of the controller 514.

  The controller 514 can be connected to a host computer 502 which is a usage history management unit via a communication unit such as a LAN. The host computer 502 records a usage history table in an internal recording means (not shown), and transmits / receives usage history data corresponding to the requested individual number to the controller 514 or a plurality of controllers connected by the LAN. And manage. The host computer 502 is not limited to a configuration independent of the controller 514, and the function may be provided in the controller 514.

  Such a manipulator 10 and a system including the manipulator 10 can selectively adopt various configurations. For example, the working unit 16 applies various end effectors such as a gripper and scissors as the distal end working unit 12 to obtain a desired configuration. The action can be performed.

  As shown in FIGS. 1 and 2, the operation unit 14 is configured in a substantially L shape extending in the Z1 direction and the Y2 direction, and a pair of upper covers 25a and 25b (substantially divided in the Z direction). Hereinafter, the drive unit 30 and the camera 224 (see FIG. 6) and the like are housed in the housing, and the portion extending in the Y2 direction on the base end side is also referred to as the “upper cover 25”. It is configured as a grip handle 26 that is manually gripped. The upper cover 25 may be formed of, for example, a resinous material and may have an integral configuration that cannot be divided.

  The grip handle 26 has a length suitable for being manually gripped, and has a composite input portion 24 on an upper inclined surface 26a. The grip handle 26 extends in an approximately Y2 direction from an inclined surface 26a formed in a bent portion of the upper cover 25. Specifically, the grip handle 26 has an angle of about 75 ° (degrees) with respect to the axis of the connecting shaft 18. It extends to. By making such an angle, it has been confirmed that the operability when moving the entire manipulator 10 is enhanced and the operability of the composite input unit 24 is enhanced.

  As shown in FIG. 1, a master switch (main switch) 34 is provided in the vicinity of the top of the operation unit 14 in the Y1 direction so as to be exposed from the upper cover 25. Is provided.

  The working unit 16 includes a distal end working unit 12 for performing work, a long and hollow connecting shaft (shaft) 18 provided with the distal end working unit 12 at the tip, and a lower bracket to which the proximal end side of the connecting shaft 18 is fixed. 32 and a trigger lever 36 pivotally supported at the end of the lower bracket 32 in the Z2 direction. The working unit 16 has a pair of lower covers 37a and 37b (hereinafter, collectively referred to as “lower cover 37”) divided substantially symmetrically in the Z direction as a housing, and houses the lower bracket 32 therein. . The lower cover 37 may be formed of a resinous material, for example, and may have an integral configuration that cannot be divided.

  Such a working unit 16 is fixed to the operation unit 14 by a pair of left and right attachment / detachment levers 400 and 400 provided in the operation unit 14 (drive unit 30), and from the operation unit 14 by an opening operation of the attachment / detachment lever 400. It is separable and can be easily replaced at the surgical site without using a special instrument. The upper surface (Y1 surface) of the lower bracket 32 is provided with a cleaning liquid injection port 39 used for cleaning the internal space in order to reuse the lower bracket 32.

  As shown in FIG. 1, the distal end working unit 12 and the connecting shaft 18 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. By operating the (base part side input part) 24 and the trigger lever (working part side input part) 36, various procedures such as excision of the affected part, grasping, suturing and ligation can be performed in the body cavity 22.

  The distal end operating unit 12 that operates based on the operation of the composite input unit 24 and the trigger lever 36 can perform a three-axis operation. That is, a yaw axis operation that tilts with respect to the Y axis, a roll axis operation that rotates with respect to an axis pointing at the tip (Z axis in the neutral posture), and a gripper axis operation that can be opened and closed. In the case of this embodiment, the yaw axis and the roll axis are electrically driven based on the operation of the composite input unit 24, and the gripper axis is mechanically driven based on the operation of the trigger lever 36. Here, mechanical is a system driven through wires, chains, timing belts, links, rods, gears, etc., and is a system driven mainly through solid mechanical parts that are inelastic in the power transmission direction. is there. Wires, chains, and the like may inevitably have some elongation due to tension, but these are inelastic solid mechanical parts. A load limiter 212 (see FIG. 18), which will be described later, has almost no elastic deformation during normal operation and is substantially an inelastic part.

  Hereinafter, each part of manipulator 10 which consists of the above basic composition is explained in order.

  First, the drive unit 30 constituting the operation unit 14 will be described with reference to FIGS. 6 to 10 with the upper cover 25 and the like removed (or seen through).

  As shown in FIGS. 6 to 10, the drive unit 30 converts two motors (actuators) 100 and 102, an upper bracket 104 that supports the motors 100 and 102, and a rotation direction of the motors 100 and 102. And a gear mechanism unit 106 that transmits to the working unit 16 side. The motors 100 and 102 and the gear mechanism 106 are supported by the upper bracket 104 fixed to the inner surface of one upper cover 25b with two screws 103 and 103 (see FIG. 6).

  As shown in FIG. 8, the motors 100 and 102 have a cylindrical shape with a diameter: length of about 1: 4, and are decelerated by the speed reducers 100a and 102a provided on the Z1 direction side, and the speed reducers 100a and 102a. Output shafts 100b and 102b (see FIG. 9) and angle sensors 100c and 102c provided on the Z2 direction side. The motors 100 and 102 are, for example, DC motors. The reduction gears 100a and 102a are, for example, planetary gear types, and the reduction ratio is about 1: 100 to 1: 300. For example, a rotary encoder is used as the angle sensors 100 c and 102 c, and the detected angle signal is supplied to the controller 514. The motor 100 and the motor 102 or the speed reducer 100a and the speed reducer 102a are not necessarily the same, and may be selected as appropriate.

  As shown in FIG. 8, the motor 100 and the motor 102 are arranged symmetrically in the X direction with almost no gap. The Z2 direction ends of the motors 100 and 102 are substantially equal to the Z1 direction end of the grip handle 26 (see FIG. 6). As shown in FIG. 6, the cables 100 d and 102 d (including the connection lines of the angle sensors 100 c and 102 c) of the motors 100 and 102 respectively extend from the Z2 direction end side and are pulled into the grip handle 26. Yes.

  The upper bracket 104 includes a first plate 108 that is an XY plane to which the motors 100 and 102 are fixed, a second plate 110 and a third plate 112 that extend in the Z1 direction from the upper and lower ends of the first plate 108, and a first plate. 108, and a fourth plate 114 that partitions the space surrounded by the second plate 110 and the third plate 112 into the X1 side and the X2 side, and is formed by cutting or welding molding. At the Z1 side end of the third plate 112, a block-shaped sensor support portion 109 protruding in the Y1 direction is formed. On the outer peripheral surfaces of the first plate 108 and the third plate 112 constituting the outer shape of the upper bracket 104 in a plan view (see FIG. 8), an O-ring 105 is fitted in a groove that makes a round (see FIG. 7). ).

  As shown in FIG. 9, the first plate 108 has a height of about 1.5 times the outer diameter of the motors 100 and 102. The motors 100 and 102 are supported on the first plate 108 in parallel with the X direction by a plurality of screws 111 in directions extending in the Z2 direction, and the output shafts 100b and 102b pass through the holes 113 and are Z1. Projects to the direction side.

  As shown in FIGS. 7 and 9, the second plate 110 protrudes from the upper end of the first plate 108 in the Z1 direction. The third plate 112 slightly protrudes in parallel with the second plate 110 and at the end in the Z1 direction, and the sensor support 109 is provided on the protruding portion. Three sides of the fourth plate 114 are connected to the first plate 108, the second plate 110, and the third plate 112, and form a YZ plane at the central portion in the X direction. The fourth plate 114 acts as a reinforcing plate, and the first plate 108, the second plate 110, and the third plate 112 are stabilized. The corners of the fourth plate 114 in the Z1 direction and the Y1 direction are formed to project to the Z1 side, and one of the screws 103 for fixing the upper bracket 104 to the inner surface of the upper cover 25b is disposed here (FIG. 6). And FIG. 9).

  As shown in FIG. 10, the sensor support 109 includes a pair of holes 300 and 302 on the extension line (Z direction) of the motors 100 and 102, and a hole 304 located therebetween. A total of three through holes in the Y direction are arranged in the X direction.

  Detection shafts (detection shafts) 310 and 312 that function as sensor dogs (detected members) of the coupling sensors 306 and 308 are inserted into the holes 300 and 302, respectively. A detection shaft (detection shaft) 316 that functions as a sensor dog of the attachment / detachment sensor 314 is inserted through the hole 304. The coupling sensors 306 and 308 and the attachment / detachment sensor 314 are substantially U-shaped in a plan view (see FIG. 8) opened in the Y direction, and can detect the detection shafts 310, 312, and 316 inside the U-shape. The coupling sensors 306 and 308 and the attachment / detachment sensor 314 are provided on a sensor substrate 317 fixed to the Z1 surface of the sensor support portion 109 along the XY plane (see FIGS. 6, 8, and 9).

  As shown in FIG. 10, the detection shaft 316 of the attachment / detachment sensor 314 is a stepped rod-like member that extends in the Y direction and has a narrow Y1 side. The detection shaft 316 is urged toward the Y2 direction (downward) by a coil spring 318 externally fitted to the small diameter portion at the center in the height direction, and the E ring 320 is fitted near the end in the Y1 direction. Therefore, the hole 304 is prevented from coming off.

  The upper part of the coil spring 318 is seated on a flange 304a having a reduced diameter formed at the end of the hole 304 in the Y1 direction, and the lower part is seated and held on a flange 316a formed substantially at the center of the detection shaft 316. The flange 316a constitutes one side wall of an annular groove into which the O-ring 320 is fitted.

  Similarly, the detection shafts 310 and 312 of the coupling sensors 306 and 308 are also rod-shaped members with a step extending in the Y direction and having a narrow Y1 side. The detection shafts 310 and 312 are urged toward the Y2 direction (downward) by coil springs 322 and 324 that are externally fitted to the narrow diameter portion on the Y1 side. Flange 310b, 312b is diameter-expanded at the Y2 direction end (lower end) of detection shafts 310, 312. The flanges 310b and 312b are engaged with annular groove portions 139 and 140 formed on engagement convex portions 137 and 138 that are externally fitted in the vicinity of the Y2 direction ends of the drive shafts 115 and 116 that receive the outputs of the motors 100 and 102, respectively. Accordingly, the detection shafts 310 and 312 are prevented from coming off.

  The upper portions of the coil springs 322 and 324 are seated on flanges 300a and 302a formed with reduced diameters at the ends of the holes 300 and 302 in the Y1 direction, and the flanges 310a and 312a formed slightly below the center of the detection shafts 310 and 312. The lower part is seated and held. The flanges 310a and 312a constitute one side wall of an annular groove into which the O-rings 326 and 328 are fitted. Detection heads 310c and 312c corresponding to the coupling sensors 306 and 308 are provided at the ends (upper ends) of the detection shafts 310 and 312 in the Y1 direction.

  As shown in FIGS. 7, 9, and 10, the gear mechanism unit 106 is a space surrounded by the first plate 108, the second plate 110, and the third plate 112, and the X direction with respect to the fourth plate 114. Are provided as symmetrical configurations. The gear mechanism unit 106 includes two drive shafts (drive shafts) 115 and 116, two drive bevel gears 117 and 118, and two driven bevel gears 119 and 120.

  As shown in FIG. 9, the second plate 110 and the third plate 112 constituting the upper bracket 104 have shaft holes 126 and 128 corresponding to the drive shafts 115 and 116, respectively, in which bearings 122 and 124 are arranged. A pair is provided. The bearings 122 and 124 are positioned by a part of the outer ring abutting against the end surfaces of the second plate 110 and the third plate 112. A stop plate 130 for stopping the outer ring of the bearing 122 is fixed to the upper surface of the second plate 110 by a plurality of screws 129 (see FIGS. 7 and 8). The stop plate 130 is provided with a pair of holes 130a and 130a (see FIGS. 8 and 9) through which the Y1 direction ends (upper ends) of the drive shafts 115 and 116 are inserted.

  As shown in FIG. 9, the output shaft 100b (102b) of the motor 100 (102) extends through the hole 113 to the vicinity of the drive shaft 115 (116) in the Z direction, and the drive bevel gear 117 (118). Is fixed by a push screw 134. On the other hand, a driven bevel gear 119 (120) is fixed to the drive shaft 115 (116) by a push screw 136 (see FIG. 9). The drive bevel gear 117 (118) and the driven bevel gear 119 (120) mesh with each other, and the rotation of the output shaft 100b (102b) can be converted by 90 ° and transmitted to the drive shaft 115 (116).

  As shown in FIGS. 7 to 10, the upper end side (Y1 side) of the drive shaft 115 (116) penetrates the bearing 122 and protrudes from the hole 130 a of the stop plate 130 by a predetermined amount. A detection piece 333 (334) having a substantially semicircular disk portion in plan view (see FIG. 8) is fixed to the tip of the drive shaft 115 (116) protruding from the stop plate 130. The detection piece 333 (334) rotates together with the drive shaft 115 (116), and functions as a sensor dog of the substantially U-shaped origin detection sensor 331 (332) in a side view (see FIG. 9). The origin detection sensors 331 and 332 are provided on the Z1 side surface of the sensor substrate 335 erected on the upper surface of the second plate 110 constituting the upper bracket 104.

  As shown in FIG. 9, the lower end side (Y2 side) of the drive shaft 115 (116) has a stepped shape below the portion pivotally supported by the bearing 124, and the O-ring 131 is sequentially fitted on the lower side. A flange 115 a (116 a), a short cylindrical flange seat 115 b (116 b) having a larger diameter than the flange 115 a (116 a) and on which the upper portion of the coil spring 121 is seated, and the coil spring 121 are externally fitted and the engaging projection 137. And a corrugated portion 115c (116c) (see FIG. 20A) having a hexagonal cross-sectional shape through which (138) is inserted so as to be able to advance and retreat. The engagement convex portion 137 (138) is fitted in the vicinity of the Y2 direction end of the drive shaft 115 (116) passing through the engagement convex portion 137 (138) while being urged in the Y2 direction by the coil spring 121. The E-ring 123 prevents it from coming off. That is, the engaging convex portion 137 (138) is elastically supported so as not to rotate and to advance and retreat in the Y direction (axial direction) with respect to the corrugated portion 115c (116c) of the drive shaft 115 (116). The lower end portion of the coil spring 121 may be disposed so as to form an annular recess (not shown) on the upper surface side of the engaging projection 137 (138) and to be inserted into the annular recess.

  In the drive shaft 115 (116), the upper end of the central portion 115d (116d) is in contact with the inner ring of the bearing 122, and the upper end of the flange 115a (116b) continuous to the lower portion of the central portion 115d (116d) is the inner ring of the bearing 124. It is positioned by abutting. The drive shafts 115 and 116 are disposed on an extension line (Z direction) of the motors 100 and 102 in a plan view (see FIG. 8).

  According to the gear mechanism portion 106 including the drive bevel gears 117 and 118, the driven bevel gears 119 and 120, and the drive shafts 115 and 116, the motors 100 and 102 have a larger diameter than the connection shaft 18. However, parallel arrangement becomes possible and the degree of freedom of motor arrangement increases. Further, the motor 100 and the motor 102 and the drive shaft 115 and the drive shaft 116 are provided at symmetrical positions with respect to the Y direction with respect to the connecting shaft 18, and thus have a good balance.

  In the gear mechanism unit 106, the second plate 110 and the third plate 112 act as pivot support members that pivotally support the drive shafts 115 and 116 with the driven bevel gears 119 and 120 interposed therebetween, and the first plate 108 serves as the motors 100 and 102. The second plate 110 and the third plate 112 are connected to each other, and high rigidity is obtained while being simple, and the motors 100 and 102 and the drive shafts 115 and 116 can be stably provided. Can be held. Further, by providing the fourth plate 114 connecting the first plate 108, the second plate 110, and the third plate 112 between the drive shafts 115, 116, higher rigidity can be obtained.

  Next, the lower bracket 32 constituting the working unit 16 will be described.

  As shown in FIGS. 6 and 11, the lower bracket 32 is formed in a substantially rectangular shape (see FIG. 6) in side view extending in the Z direction, and the Z1 side constitutes a pulley box 32a having a box structure. The trigger lever attaching part 32b which consists of a pair of plate structure with which Z2 side of the box 32a was parallel is comprised. In the lower bracket 32, first, the pulley box 32a is detachably connected to the gear mechanism unit 106 of the drive unit 30 so that the rotation of the drive shafts 115 and 116 is transferred from the coupling shaft 18 to the distal end working unit 12. Secondly, the trigger lever 36 is pivotally supported by the trigger lever mounting portion 32b, and the operation of the trigger lever 36 is relayed from the connecting shaft 18 to the distal end working portion 12. 3 has a function of maintaining an airtight state in the connecting shaft 18.

  First, the pulley box 32a will be described.

  As shown in FIGS. 11 to 13, the pulley box 32 a includes a cavity portion 152 that is open on both sides in the X direction, a shaft support portion 154 on the Z1 side of the cavity portion 152, a rod hole 156 a on the Z2 side of the cavity portion 152, 156b, pulleys (driven shafts) 158a and 158b and wire guide portions 160a and 160b housed in the cavity 152. A pair of pin holes 161 and 161 symmetrical with respect to the Z direction are formed in the vicinity of the connecting portion between the pulley box 32a and the trigger lever mounting portion 32b. A pair of guide pins 163 and 163 projecting from the upper bracket 104 in the Y1 direction are inserted into the pin holes 161 and 161 when the working unit 16 and the operation unit 14 are attached and detached (see FIGS. 2 and 6).

  The hollow portion 152 is a hole that communicates both sides of the pulley box 32a in the X direction, and is provided slightly closer to the Z2 direction of the pulley box 32a in a side view (see FIG. 12), and both ends in the Z direction are semicircular. ing. O-rings 164 and 164 surrounding the cavity 152 are provided on both sides in the X direction of the pulley box 32a (see FIGS. 6 and 13), and the O-ring 164 is formed by lower covers 37a and 37b attached from the outer surface. It is compressed moderately.

  The shaft support portion 154 is a hole that communicates from the cavity portion 152 to the end surface in the Z1 direction of the pulley box 32a, and supports the proximal end side of the connecting shaft 18 that extends in the Z direction. A cylindrical coupler 165 is provided at the end of the connecting shaft 18 in the Z2 direction (see FIGS. 12 and 13), and the shaft support portion 154 supports the connecting shaft 18 via the coupler 165. Two O-rings 166 and 166 are provided between the coupler 165 and the connecting shaft 18, and an O-ring 168 is provided between the coupler 165 and the shaft support portion 154. The connecting shaft 18 is fixed by fastening a clamp member 170 from the Y1 side to a notch formed at the upper end of the pulley box 32a in the Z1 direction (see FIGS. 11 and 12).

  As shown in FIGS. 12 and 13, in the hollow portion 152, two pairs of coaxial holes 172a, 172a (Y1 side) and 172b, 172b (Y2 side) aligned in the Y direction are respectively provided with bearings 174a, 174a and 174b. 174b, and pulleys 158a and 158b are pivotally supported by the bearings 174a and 174b.

  The pulleys 158a and 158b are coaxial with the drive shafts 115 and 116 (see FIGS. 6 and 7). Engagement projections 137 and 138 (see FIGS. 9 and 10) provided at the Y2 direction ends of the drive shafts 115 and 116 are engaged with the Y1 direction ends of the pulleys 158a and 158b protruding upward from the coaxial hole 172a. Engaging recesses 176a and 176b are provided (see FIGS. 11 and 12). Such engagement convex portions 137 and 138 and engagement concave portions 176a and 176b have a predetermined phase described later (in this case, one location, but a plurality of n locations depending on the allowable rotation range θ of the pulleys 158a and 158b). (See FIGS. 20A and 20B, etc.). By engaging these, the rotational driving force from the drive shafts 115 and 116 that are drive shafts is transmitted to the pulleys 158a and 158b that are driven shafts.

  The inter-axis distance between the pulley 158a and the pulley 158b is equal to the inter-axis distance between the drive shaft 115 and the drive shaft 116 (see FIG. 10), and the clearance between the pulley 158a and the pulley 158b is larger than the diameter of the connecting shaft 18 ( (See FIG. 13).

  As shown in FIG. 12, the pulleys 158a and 158b are hermetically sealed with an O-ring 178a so as to be rotatable with respect to the coaxial hole 172a, and are sealed with an O-ring 178b so as to be rotatable with respect to the coaxial hole 172b. The pulleys 158a and 158b are prevented from coming off by E-rings 180 at the ends in the Y2 direction. In addition, a diameter adjusting member 182 is interposed at the center of the pulleys 158a and 158b, and by appropriately selecting the diameter adjusting member 182, the winding diameter of the wires 1052 and 1054 described later can be adjusted. (See FIGS. 12 and 13). The pulleys 158a and 158b may be integrated with the diameter adjusting member.

  The engagement recesses 176a and 176b provided at the upper ends of the pulleys 158a and 158b have a larger diameter than the portion located in the cavity 152, and the lower surface facing the upper surface (Y1 direction surface) of the pulley box 32a is Arc-shaped notches 177 and 177 are formed by notching a predetermined angle (for example, 270 °) of the outer periphery in the diameter reducing direction (center direction) (see FIG. 12). Stoppers (regulators) 179a and 179a are inserted and arranged in the circular arc notches 177 and 177 of the engaging recesses 176a and 176b, respectively (see FIGS. 11 and 12). The stopper 179a is a plate-like protrusion formed on the Z2 side of the stopper plate 179 that prevents the wire guide portions 160a and 160b from coming off at the ends in the Y1 direction.

  Therefore, as shown in FIGS. 14A and 14B, the rotation range of the pulleys 158a and 158b is set so that the Z1 direction in the state shown in FIG. 177a and 177b are restricted to the range of normal rotation and reverse rotation until they contact the both side surfaces of the stopper 179a. That is, as shown in FIG. 14A, the rotation range of one pulley 158a is clockwise (less than 180 °) in the clockwise direction (below FIG. 14A is a bottom view). As indicated by an arrow + θ (for example, 90 °) and a counterclockwise rotation (in FIG. 14A, because it is a bottom view, clockwise) (less than 180 °) range (indicated by an arrow -θ in FIG. 14A, for example, 90 °) Is regulated. Similarly, the rotation range of the other pulley 158b is also a clockwise forward rotation range (indicated by arrow + θ in FIG. 14A, for example, 135 °) from the origin, and a counterclockwise reverse rotation range (arrow −θ in FIG. 14A). For example, 135 °). This reliably prevents the pulley 158a and the like from excessively rotating, causing the tip operating unit 12 driven by the wire 1052 and the like to excessively move and causing an excessive load such as tension on the wire 1052 and the like. can do.

  As shown in FIGS. 12 and 13, the wire guide portion 160 a (160 b) includes an insertion shaft 184, two layers of cylindrical idlers 186 and 188 that are supported adjacent to the insertion shaft 184, and these cylindrical idlers 186. And positioning cylinders 190a and 190b for positioning 188.

  The insertion shaft 184 extends in the Y direction, passes through the Y1 side through hole 194a with respect to the pulley box 32a, and is inserted into the bottomed hole 194b on the Y2 side, and the end of the through hole 194a in the Y1 direction is stopped. It is blocked by a plate 179. The insertion shaft 184 is sealed in the vicinity of the stop plate 179 by an O-ring 193. In the hollow portion 152, the insertion shaft 184 is provided with a positioning cylinder 190a, a cylindrical idler 186, a cylindrical idler 188, and a positioning cylinder 190b in this order from the Y1 side to the Y2 side. Cylindrical idlers 186 and 188 are independently rotatable pulleys.

  As shown in FIG. 13, the gap S1 between the two cylindrical idlers 186 and 186 constituting the wire guide portions 160a and 160b (the same applies to the gap between the cylindrical idlers 188 and 188) is narrower than the inner diameter of the connecting shaft 18. , About 1/2 of the inner diameter. The cylindrical idlers 186 and 188 are rotatable, and grooves 186a and 188a in which the wires 1054 (1052) are disposed are provided on the peripheral surfaces thereof. The cylindrical idlers 186 and 188 do not necessarily have to be rotatable as long as appropriate lubricity is ensured.

  By using such wire guide portions 160a and 160b, the connecting shaft 18 is sufficiently thin without depending on the diameters of the motors 100 and 102 and the distance S2 between the pulleys 158a and 158b (see FIG. 13). For example, it can be set to about 5 mm to 10 mm suitable for insertion into the trocar 20. Moreover, the freedom degree of arrangement | positioning of the motors 100 and 102 via the gear mechanism part 106 increases. The forward line and the return line of the wire 1054 (1052) move in opposite directions, but the two-layer cylindrical idlers 186 and 188 correspond to this, and each line can operate without friction.

  As shown in FIG. 12, in the hollow portion 152 constituting the pulley box 32a, two rods (transmission members) 192a and 192b are arranged in the Y direction and penetrated in the Z direction. The rods 192a and 192b are, for example, sufficiently strong and thin stainless steel pipes or solid rods, and the Z1 direction extends through the hollow portion 152 into the connecting shaft 18, and the Z2 direction passes through the rod holes 156a and 156b. Then, it extends to the trigger lever mounting portion 32b.

  On the opening side (Z2 side) of the rod holes 156a and 156b, a rectangular plate-shaped rubber sheet 194 surrounding the periphery of the rod holes 156a and 156b, and a support plate 196 for closely supporting the rubber sheet 191 are provided. (See FIG. 12). The rods 192a and 192b are inserted through a pair of through holes provided in the rubber sheet 194 and the support plate 196, respectively, and the sliding contact surfaces penetrating the rubber sheet 194 are sealed. That is, the rubber sheet 194 comes into contact with the rods 192a and 192b without a gap, and hermetically seals the cavity 152 and the connecting shaft 18 so as to be movable back and forth in the Z direction.

  Thus, the hollow portion 152 constituting the pulley box 32a is sealed with the rubber sheet 194 with respect to the rods 192a and 192b (see FIG. 12), and with the O-rings 178a and 178b with respect to the pulleys 158a and 158b. 12 (see FIG. 12), the wire guide portions 160a and 160b (insertion shaft 184) are sealed with an O-ring 193 (see FIG. 12), and the connecting shaft 18 is sealed with O-rings 166 and 168 (see FIG. 12). 12), the lower covers 37a and 37b are sealed by an O-ring 164 (see FIGS. 6 and 13), thereby being kept airtight. On the other hand, the outer peripheral surface of the connecting shaft 18 is airtightly supported by a trocar 20 (see FIG. 1).

  Therefore, the gas supplied to the body cavity 22 does not leak out from the connection shaft 18 via the pulley box 32a. Furthermore, it is possible to suppress, as much as possible, a situation in which liquid such as blood enters the connecting shaft 18 and the pulley box 32a from the gap of the distal end working unit 12 due to the sealed air. The pulley box 32a and the operation unit 14 can be easily cleaned. In addition, it is good also as a structure which provides a partition part etc. in the inside of the connection shaft 18, and maintains an airtight state.

  As shown in FIGS. 11 and 12, the clamp member 170 at the upper end in the Z1 direction of the pulley box 32a is provided with an electrode rod 197 standing in the Y1 direction. The electrode rod 197 is inserted into a Y-direction through hole 198 formed in the upper cover 25b, and an electrode plug 199 (see FIG. 1) is attached, so that a high voltage when using the manipulator 10 as an electric knife is increased. Applied. The electrode rod 197 is electrically connected to the one wire guide portion 160b by the conductive plate 195 (see FIG. 11), and thus, the wire rod 1052 that contacts the wire guide portion 160b moves toward the distal end working portion 12 side. High voltage can be transmitted.

  As shown in FIG. 15, in the shaft support portion 154, the rods 192a and 192b are arranged in parallel in the Y direction inside the coupler 165 and the connecting shaft 18, and the reciprocating lines of the wires 1052 and 1054 are arranged close to each other in the Y direction. The wire 1052 and the wire 1054 are arranged in parallel in the X direction and are arranged in a well-balanced manner.

  Next, the trigger lever attaching part 32b which comprises the lower bracket 32 and the trigger lever 36 pivotally supported by this trigger lever attaching part 32b are demonstrated.

  As shown in FIGS. 1, 6 and 18, the trigger lever mounting portion 32 b has a trigger shaft 35 extending between a pair of support plates 201, 201 extending in parallel with the Z2 direction from the end surface of the pulley box 32 a in the Z2 direction. Thus, the trigger lever 36 is pivotally supported.

  First, the trigger lever 36 will be described.

  As shown in FIGS. 16 and 18, the trigger lever 36 includes an arm part 200 that is pivotally supported by the trigger shaft 35, a ring part 202 provided on the Y <b> 2 side of the arm part 200, and Y <b> 2 of the ring part 202. A substantially arcuate finger-hanging projection 204a, 204b provided on the side, a ratchet claw 206 housed in an internal space 203 formed from the ring portion 202 to the finger-hanging projection 204a, 204b, and swinging the ratchet claw 206 And a lever 208 to be operated. The ring part 202 is mainly suitable for inserting an index finger (or middle finger), and the finger hooking protrusions 204a and 204b are mainly suitable for hanging the middle finger (or ring finger).

  The ratchet claw 206 is supported by the swing shaft 207 on the Z1 side, and a claw portion 206a formed by a recess 206b and directed upward is provided on the Z2 side. Is biased in the Y2 direction by the coil spring 209. As a result, the claw portion 206a is urged upward, and the recess 206b abuts against the stopper pin (stopper member) 211 across the internal space 203 in the X direction, thereby further swinging upward. It is regulated.

  Therefore, when the trigger lever 36 is largely displaced (turned) in the Z2 direction with the trigger shaft 35 as a fulcrum, the claw portion 206a of the ratchet claw 206 is engaged in a substantially U shape in plan view protruding from the grip handle 26 in the Z1 direction. It contacts the mating ring (engagement portion) 27 (see FIGS. 2, 6, and 16). Next, the engaging ring 27 is slidably contacted with the Z2 side inclined surface of the claw 206a, and the claw 206a is slightly swung downward against the urging force of the coil spring 209. When the engagement ring 27 completely gets over the claw 206a, the ratchet claw 206 is returned to a position where it comes into contact with the stopper pin 211 by the urging force of the coil spring 209, and at the same time, the engagement ring 27 is moved to the claw 206a ( Engages with the recess 206b) (see FIG. 17A). As a result, the position of the trigger lever 36 can be held, and the end effector 1300 (see FIG. 1) can be locked in the closed state. The engagement ring 27 may be provided in multiple stages, for example, and in this case, the lock position or gripping force of the trigger lever 36 can be adjusted according to the gripping target.

  The lever 208 is a substantially L-shaped member partially exposed from the internal space 203 in the Z1 direction (see FIG. 16). The lever 208 is supported at one end in the internal space 203 by the swing shaft 213 and is normally pressed by the Z1 direction end of the ratchet pawl 206 urged in the Y2 direction by the coil spring 209, as shown in FIG. 17A. It is held in such an initial posture.

  Therefore, as shown in FIG. 17B, when the operation end 208b exposed to the outside of the lever 208 is pushed down in the Y2 direction, the lever 208 swings around the swing shaft 213 and is formed on one end side in the internal space 203. The pressed surface 208a swings the ratchet pawl 206 against the elastic force of the coil spring 209, and the ratchet pawl 206 can be fixed as shown in FIG. 17B. As a result, as shown in FIG. 17B, the claw portion 206a (recessed portion 206b) and the engagement ring 27 can be used without being engaged. In addition, when the engagement is released while the engagement between the claw portion 206a and the engagement ring 27 is generated, when the engagement is released, the central recess (release) of the ratchet claw 206 partially protruding below the ring portion 202 is provided. Part) 206c can be released by pushing it downward with a finger (see ratchet claw 206 shown by a one-dot chain line in FIG. 17A).

  As shown in FIG. 16, an inclined surface 203a that is inclined upward is formed in the upper portion of the internal space 203 of the trigger lever 36, and a concave portion 203b that is dug deeper than other portions is formed. ing. Thereby, the engagement ring 27 on the grip handle 26 side can be smoothly engaged with the ratchet pawl 206 from the recess 203b.

  Further, even when the operation portion 14 and the working portion 16 are separated while the ratchet pawl 206 is engaged with the engagement ring 27, the ratchet pawl 206 is swung upward by the stopper pin 211. Since the inclined surface 203a and the recessed portion 203b act as escape portions for the engagement ring 27, the engagement ring 27 can be easily moved along the inclined surface 203a as shown by the broken arrow in FIG. 17A. Can be removed. For this reason, the engagement state between the engagement ring 27 and the ratchet pawl 206 is firmly maintained, and it is possible to effectively avoid the generation of an excessive force on the engagement ring 27 and the trigger lever 36.

  Although not shown, an engagement ring having a structure corresponding to the engagement ring 27 is provided on the ratchet claw 206 side instead of the claw portion 206a and the concave portion 206b, while a structure corresponding to the claw portion 206a (and the concave portion 206b). You may provide a nail | claw part in the grip handle 26 side. Also in this case, the same effect as described above is obtained by engaging the claw portion on the grip handle 26 side from the Y1 side to the Y2 side with the engagement ring on the ratchet claw 206 side. Can be obtained.

  Next, the trigger lever mounting portion 32b will be described.

  As shown in FIGS. 11 and 18, the trigger lever mounting portion 32b extends from the Z2 direction end surface of the pulley box 32a and supports a pair of support plates 201 and 201 that pivotally support the trigger lever 36 near the end of the Z2 direction. A load limiter 212 and a trigger wire 214 provided between the plates 201 and 201 are provided. The center between the support plates 201 and 201 is substantially coaxial with the connecting shaft 18. The support plate 201 may be, for example, a cylindrical shape other than a pair of parallel plate members, and may be any shape that can support the trigger shaft 35, the load limiter 212, and the like.

  The load limiter 212 has a cylindrical shape and includes an outer cylinder 212a, an inner rod 212b, and a coil spring 212c. The inner rod 212b at the end in the Z1 direction is pivotally supported by the end of the rod 192a, and the end at the end in the Z2 direction. An outer cylinder 212 a is pivotally supported on a shaft 200 a in the arm portion 200. A shaft 205 that pivotally connects the inner rod 212b and the rod 192a is supported in a slidable manner in an elongated hole 215 provided in the support plate 201 (see FIG. 19). Thereby, irrespective of the angle of the rod 192a and the inner rod 212b, the rod 192a can be moved straight in the Z direction. The coil spring 212c is moderately hard and is interposed between the outer cylinder 212a and the inner rod 212b in a preloaded state. Therefore, the load limiter 212 normally connects the rod 192a and the trigger lever 36 as a substantial rigid body. However, when an excessively large load is applied, that is, the end effector 1300 pinches something or the like. When a load greater than the preload is applied, the coil spring 212c is further compressed and the inner rod 212b extends. Thus, even if the trigger lever 36 is pulled too strongly, the force is limited by the load limiter 212, and the end effector 1300 (see FIG. 1) and its drive mechanism or gripping object can be protected. .

  Note that the maximum load of the load limiter 212 is set so that the driving mechanism such as the trigger wire 214 is less than the allowable strength even when the trigger lever 36 is pulled most forward when the end effector 1300 is fully opened. It is desirable that

  As shown in FIG. 18, the trigger wire 214 is connected (for example, crimped) to the end of the rod 192b at the end in the Z1 direction, and the end in the Z2 direction is pivotally supported by the shaft 200b in the arm unit 200 via a pin 214a. . The trigger wire 214 is guided by a pulley 216, and a portion closer to the Z1 side than the pulley 216 is substantially coaxial with the rod 192b.

  The shaft 200a is disposed on the Y2 side of the trigger shaft 35, the shaft 200b is disposed on the Y1 side of the trigger shaft 35, and the shafts 200a and 200b are substantially equidistant from the trigger shaft 35. Therefore, by operating the trigger lever 36, the shaft 200a and the shaft 200b are displaced in the opposite directions by substantially the same distance, and accordingly, the rod 192a and the rod 192b are moved in the opposite directions (Z1 direction and Z2 direction). Displace. As described above, the trigger shaft 35, the rods 192a and 192b, the shafts 200a and 200b, the load limiter 212, the trigger wire 214, and the like serve as an operation transmission unit that mechanically transmits the input operation to the trigger lever 36 to the distal end operation unit 12. It is composed. Of course, the operation transmission unit may include other components or any of the components may be omitted. In short, a configuration in which the transmission member such as the rods 192a and 192b can be advanced and retracted by an input operation to the trigger lever 36. If it is.

  As shown in FIGS. 3, 11, and 20 </ b> B, on the upper surface (Y1 direction surface) of the pair of support plates 201, 201 constituting the trigger lever mounting portion 32 b, both the support plates 201 are located near the pulley box 32 a. 201, a barcode plate 220 is fixed, and a barcode 222 is provided on the surface thereof.

  The barcode 222 is, for example, a substantially square matrix shape, and is a two-dimensional barcode printed with white and black according to the grid, and the camera 224 provided on the operation unit 14 side passes through the mirror 226 and the photographing window 227. (See FIGS. 6 and 19).

  Therefore, next, the barcode 222 and the camera 224 that captures the image will be described.

  As shown in FIGS. 3, 11 and 20B, the barcode 222 is attached to the upper surface (Y1 direction surface) of the barcode plate 220 constituting the XZ plane, and is formed on the mating surface of the lower covers 37a and 37b. It is exposed to the upper part by the notch 230. The barcode 222 includes individual information, specifications, time stamp (manufacturing date, etc.), serial number, usage amount (usage count) upper limit, etc. of the working unit 16. The individual information held by the barcode 222 is given a different value so that it can be identified for each working unit. Further, since the barcode 222 is photographed through the mirror 226, it is a mirror image.

  The barcode 222 is not limited to one, and may be composed of a plurality of barcodes. When the barcode 222 is composed of two pieces, one piece shows individual information such as individual information, production date, serial number, etc., and the other piece shows common information for each type such as specifications and upper limit of usage amount. You may do it. The barcode 222 is not limited to two-dimensional data, and may be a one-dimensional shape. The color of the grid in the barcode 222 is not limited to white and black, but may be an infrared absorption color and an infrared reflection color, or information may be indicated by distinguishing three or more colors.

  As shown in FIGS. 6 and 19, the camera 224 is disposed below the motors 100 and 102 constituting the operation unit 14, and is fixed to the inner surface of one upper cover 25b. A pair of LEDs 224a and 224a are provided on both sides in the X direction of the camera 224 (see also FIG. 7). The camera 224 is a camera for imaging the barcode 222, for example, having a CCD format or a CMOS format.

  As shown in FIG. 19, the camera 224 is set in a direction (substantially Z1 direction) in which the imaging direction is bent by the mirror 226 that is a reflecting mirror and the barcode 222 can be imaged, that is, the bending direction (orthogonal direction). The bar code 222 that is the subject located at () can be imaged via the mirror 226. Similarly, the LED 224a is set in a direction (approximately Z1 direction) in which the optical axis is bent by the mirror 226 and the barcode 222 is illuminated. The LED 224a allows the camera 224 to recognize the barcode 222 more reliably. The LEDs 224a are provided at symmetrical positions with the camera 224 in between, and can illuminate the barcode 222 with good balance. The LEDs 224a may be provided above and below the camera 224, or three or more LEDs may be provided at equal intervals. If the LED 224a has a sufficient amount of light, it may be one.

  A photographing window 227 that allows the upper cover 25 to pass through is provided in the Y2 direction of the mirror 226 (see FIG. 19). That is, in the operation unit 14, the camera 224, the LED 224a, and the mirror 226 are stored in the upper cover 25. (See FIGS. 2 and 6). Further, in a state where the working unit 16 is mounted on the operation unit 14, the barcode 222 is also disposed in the substantially closed space by the upper cover 25 and the lower cover 37, so that the barcode 222 and the camera are used when the manipulator 10 is used. The 224 can be prevented from being contaminated with blood or the like, and unnecessary disturbance light can be shielded to enable stable imaging with the LED 224a. In addition, since the relative position and orientation of the barcode 222 and the camera 224 are fixed, it is not necessary to specify the position and orientation of the barcode 222 on the camera 224 side, and a code for specifying them. Therefore, the amount of information that can be recorded on the barcode 222 is increased, or a space-saving arrangement is possible.

  By providing such a barcode 222 in the working unit 16, the operation unit 14 and the controller 514 can recognize individual information of the working unit 16 using the camera 224, and the motor 100 constituting the manipulator 10, 102 and the like can be appropriately and accurately driven and controlled so as to correspond to the type of the working unit 16 (for example, gripper, scissors, electric knife).

  Here, the attachment of the working unit 16 to the operation unit 14 can be quickly detected by the attachment / detachment sensor 314 and the detection shaft 316 (see FIG. 7 and the like). Therefore, in the controller 514, the detection of the attachment of the working unit 16 by the attachment / detachment sensor 314 can be used as a trigger signal for acquiring the individual signal from the barcode 222 by controlling the activation of the camera 224 and the LED 224a.

  That is, the controller 514 acquires the individual signal from the barcode 222 by driving and controlling the camera 224 and the LED 224 a almost simultaneously with the operation unit 16 being attached to the operation unit 14. In the controller 514, it is only necessary to acquire the individual signal at least when the working unit 16 is attached to the operation unit 14, and the operation of the camera 224 and the LED 224a can be stopped at other times, thereby reducing the processing load. In addition, power saving can be achieved. Further, the bar code 222 does not need to be directly energized, the operation unit 14 and the work unit 16 have no electrical contacts, and there is no power storage unit such as a battery, so that the power consumption is further reduced. It is possible to more easily perform cleaning, sterilization, and the like of the working unit 16 removed from the apparatus.

  Next, the master switch 34 and the composite input unit 24 on the operation unit 14 side will be described.

  The master switch 34 (see FIGS. 1 and 6) is an input means for setting whether the operation state of the manipulator 10 is valid or invalid, and its operation is detected by an input detection unit (such as a toggle switch or a tact switch) 350. The detected signal is supplied to the controller 514. The LED 29 is an indicator that indicates the control state of the manipulator 10, has 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 top surface (Y1 direction surface) of the upper cover 25, and is arranged side by side with the master switch 34. For example, since the LED 29 is turned on in synchronization with the ON operation by the master switch 34, the operator can surely recognize the input state by the LED 29 while operating the master switch 34. The LED 29 can emit, for example, green and red, and can be turned on and off for each color.

  As shown in FIGS. 6 and 7, the master switch 34 is disposed on a substrate 354 fixed to the inner surface of one upper cover 25 b via a support member 352, and a portion in the upper cover 25 is formed by the switch cover 356. Sealed from the outside.

  The controller 514 (see FIG. 1) reads the input state of the master switch 34, and when it is turned on, performs an origin search operation described later to drive and control the manipulator 10 to a predetermined usable state. Thereby, the operation command of the operation unit 14 becomes valid, and a desired operation can be given to the distal end operation unit 12.

  As shown in FIGS. 4 and 5, the composite input unit 24 has a symmetrical structure in the X1 direction and the X2 direction around the Z axis (Y axis), and is in the roll direction (axial rotation direction) with respect to the distal end working unit 12. ) And a yaw direction (left-right direction) rotation command. The upper surface of the grip handle 26 is an inclined surface 26a that rises in the Y1 direction toward the Z1 direction, and the composite input unit 24 is provided on the inclined surface 26a. The inclination angle of the inclined surface 26a is an angle at which the composite input unit 24 can be easily operated with the thumb or index finger when the grip handle 26 is gripped by hand, and is preferably about 20 ° to 35 ° with respect to the Z direction.

  The composite input unit 24 is supported by the sensor holder 52 disposed on the inclined surface 26a, and is provided on the Z1 side (Y1 side) of the inclined surface 26a and on the Z2 side (Y2 side) thereof. The tilt operation unit 56 includes three switch operators 58a, 58b, and 58c disposed on the lower side surface of the tilt operation unit 56, respectively.

  As shown in FIG. 5, a switch substrate 62 is provided in the sensor holder 52, and the switch substrate 62 is tilted with an input detection unit (tact switch) 66 a that detects an input operation to the rotation operation unit 54. Input detection units (tact switches) 66b that detect input operations to the operation unit 56 and input detection units (tact switches) 66c to 66e that detect input operations to the switch operators 58a to 58c are provided. The composite input unit 24 drives the motors 100 and 102, the drive shafts 115 and 116, and the pulleys 158a and 158b, and moves the tip operation unit 12 in the roll direction and yaw through the wires 1052 and 1054 which are flexible members. Can be operated in the direction.

  The switch operator 58b switches between valid / invalid of the rotation operation unit 54 and the tilt operation unit 56 and returns the yaw axis mechanism (pivot axis mechanism) to a predetermined initial position (once it is pressed once, it automatically moves to the initial position). , Stop) or move in the initial posture direction (moves in the initial posture direction only when pressed, and automatically stops when the initial posture is reached).

  The switch operators 58a and 58c are preferably used as switches for returning the roll rotation mechanism to a predetermined initial posture or moving it in the initial posture direction. The switch operators 58a and 58c are arranged on the left and right as switches having exactly the same function, so that the operator can perform the same operation without any problem regardless of whether the operator grips the operation unit 14 with the right hand or the left hand. be able to. Specifically, the same operation with the thumb, for example, is possible in both the right-hand operation and the left-hand operation. Also, the roll rotation mechanism can be returned to a predetermined initial posture or moved in the initial posture direction without being aware of the current position of the roll rotation mechanism (positive region or negative region).

  As shown in FIG. 5, the rotation operation unit 54 is configured to be rotatable about an axis (not shown) along the YZ direction, and a lever 72a extending in the X1 direction and the X2 direction, and both levers 72a. , 72a, and a manipulator 72c provided with notches 72b in three directions that swell appropriately in the X, Y, and Z directions. The left and right ends of the lever 72a have a semicircular shape with a number of anti-slip lines on the surface. The operation element 72c forms a continuous surface (a flat surface or a curved surface) with the upper covers 25a and 25b in the initial position (see FIG. 4), and has no useless protrusions or steps, which is preferable in appearance. In addition, the shape is easy to operate.

  The rotation operation unit 54 has a function of rotating the notch 72b of the operation element 72c in the circumferential direction with a finger and operating the roll rotation mechanism. As described above, according to the rotation operation unit 54 having the finger rest on the outer peripheral surface, the rotation operation is performed around the axis along the YZ direction, and an intuitive operability of the roll rotation mechanism is obtained. It is done. In addition, since the finger-hanging portion is provided on the outer diameter side of the end portion of the tilt operation portion 56, it is easy to use the finger hook portion with the tilt operation portion 56.

  As shown in FIG. 5, the tilt operation unit 56 has a configuration in which a tilt plate 76 that can tilt about an axis 74 along the YZ direction is provided. The shaft 74 is the center of the composite input unit 24 in the X direction. The tilt operation unit 56 has a function of operating a yaw shaft mechanism (pivot shaft mechanism) by performing a tilt operation by pushing the tilt plate 76 with a finger.

  As described above, in the composite input unit 24, the rotation operation unit 54 is rotated in the circumferential direction, and the tilt operation unit 56 is tilted by being pushed. The correspondence between the mechanism and the yaw (pivot) shaft mechanism is easily understood, and a more intuitive operation is possible.

  The sensor holder 52 also has a function of tightly contacting the upper cover 25 and sealing the periphery of the composite input unit 24, and prevents liquid or the like from entering the upper cover 25 from the periphery of the composite input unit 24. ing. Of course, a seal member separate from the sensor holder 52 may be provided.

  As described above, in the upper cover 25 of the operation unit 14, the periphery of the composite input unit 24 is sealed by the sensor holder 52 (see FIGS. 4 and 6), and the periphery of the master switch 34 is sealed by the switch cover 356 (FIG. 6). Between the camera 224 and mirror 226 and the barcode 222 is sealed by the photographing window 227 (see FIGS. 6 and 19), and the bottom surface of the upper bracket 104 is surrounded by O-rings 105, 131, 320, 326, and 328. Sealed (see FIGS. 6, 9 and 10) and sealed by this. Accordingly, it is possible to prevent blood, a cleaning solution, and the like from entering the upper cover 25, and the operation unit 14 can be easily cleaned and sterilized even when separated from the working unit 16.

  Next, a configuration for attaching and detaching the operation unit 14 (drive unit 30) and the working unit 16 will be described.

  As shown in FIGS. 2 and 6, the drive unit 30 is housed in the upper cover 25, and the gear from the lower surface side (Y2 direction) of the upper cover 25 in a state where the operation unit 14 and the working unit 16 are separated. The bottom surface of the upper bracket 104 that supports the mechanism unit 106 and the like is exposed.

  As shown in FIGS. 2 and 20A, from the bottom surface of the upper bracket 104 exposed from the upper cover 25, the drive shafts 115 and 116 and the engaging convex portions 137 and 138 corresponding to the drive shafts 115 and 116, The detection shafts 310 and 312 of the coupling sensors 306 and 308 corresponding to the engagement convex portions 137 and 138 and the detection shaft 316 of the attachment / detachment sensor 314 protrude in the Y2 direction. Further, a pair of guide pins 163 and 163 protrude in the Y2 direction from the bottom surface of the upper bracket 104. In the recesses 399 and 399 formed in the X1 direction surface of the upper cover 25a and the X2 direction surface of the upper cover 25b in the vicinity of each guide pin 163, the detachable levers 400 and 400 whose lower ends protrude from the upper cover 25 in the Y2 direction are provided. Each is provided.

  The two guide pins 163 and 163 are provided at both ends in the X direction of the bottom Z2 direction end of the upper bracket 104 at positions opposed to the two pin holes 161 and 161 of the lower bracket 32 (FIG. 6, FIG. 20A and FIG. 20B).

  As shown in FIGS. 1 and 2, the two attachment / detachment levers 400 and 400 are provided symmetrically on the left and right side surfaces (X1 and X2 side surfaces) of the upper cover 25 that covers the driving unit 30, and are rotated along the Z direction. By a pair of elastic members 400b and 400b provided on the upper portion (Y1 side) of the moving shaft 400a, the claw portion 400c formed on the inner side of the Y2 direction end is elastically biased in the direction toward the inner side of the upper cover 25. ing. The upper surface (Y1 side) of the detachable lever 400 is slightly depressed, and constitutes an operation surface 400d that is pressed by a finger to open the detachable lever 400 against the urging force of the elastic member 400b.

  According to such a detachable lever 400, when the operation unit 14 is attached to the working unit 16, the claw portions 400 c are fixed in the recesses 401 formed on both side surfaces in the X direction of the lower cover 37. Engage with the stop 401a. Thereby, the operation part 14 and the working part 16 can be reliably connected and fixed. On the other hand, by pressing the two operation surfaces 400d and 400d inwardly at the same time with the operation unit 14 and the working unit 16 mounted, the engagement state between the claw portion 400c and the locking portion 401a is released. The operation unit 14 and the working unit 16 can be separated.

  When the operating unit 14 and the working unit 16 are mounted, two guide pins 163 provided in parallel are fitted into the two pin holes 161 on the working unit 16 side, so that the drive unit 30 (the operating unit 14) is the working unit. 16 is reliably positioned and stably held. Of course, three or more guide pins may be used. The guide pin 163 can receive a moment acting in the XZ plane, and can reduce the force applied to the engaging portion, the pulley, the drive shaft, and the like.

  Further, as shown in FIGS. 2, 3 and 6, when mounting, the lower cover is positioned against the positioning recess 406 formed near the base of the grip handle 26 on the bottom surface side (Y2 side) of the upper cover 25. The positioning convex part 408 formed at the Z2 direction end of 37 is engaged. Thereby, the operation part 14 and the working part 16 can be positioned more reliably, and the rigidity in the torsional direction and the like between the operation part 14 and the working part 16 after mounting can be increased.

  As shown in FIGS. 2 and 20A, the engaging protrusions 137 (138) provided at the tip (end in the Y2 direction) of the drive shaft 115 (116) have a plurality of arc-shaped ( As five (5) convex portions, one large convex portion 402a and four small convex portions 402b are provided. As can be understood from FIG. 20A, the large convex portion 402a has a shape in which two of the six small convex portions arranged uniformly are connected.

  On the other hand, as shown in FIG. 3 and FIG. 20B, the engagement concave portion 176a (176b) provided at the tip (Y1 direction end) of the pulley 158a (158b) has the shape of the engagement convex portion 137 (138). Correspondingly, one large concave portion 404a and four small concave portions 404b are provided as a plurality (five) of circular arc-shaped concave portions extending radially from the axial center. As can be understood from FIG. 20B, the large recess 404a has a shape in which two of the six small recesses arranged uniformly are connected. Furthermore, a central recess 404c that is deeper in the Y2 direction is provided at the center of the groove provided with the large recess 404a and the small recess 404b. The central concave portion 404c is a relief portion at the tip of the drive shafts 115 and 116 protruding in the Y2 direction from the centers of the engaging convex portions 137 and 138 (see FIG. 23B), and also has a function of a guide for positioning so as to be coaxial. Have.

  As can be understood from FIGS. 20A and 20B, the engaging convex portions 137 and 138 and the engaging concave portions 176a and 176b can be engaged with each other in a state where they are in a predetermined engaging phase. That is, the large convex portion 402a and the large concave portion 404a are engaged, and all the small convex portions 402b and the small concave portions 404b are engaged, whereby the operation portion 14 and the working portion 16 are mounted. Thus, the rotational driving force of the motors 100 and 102 can be reliably transmitted from the drive shafts 115 and 116 to the pulleys 158a and 158b.

  At this time, the engaging convex portion 137 (138) is inserted into the corrugated portion 115c (116c) of the drive shaft 115 (116), and therefore rotates together with the drive shaft 115 (116). Further, the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are configured such that a plurality of large convex portions 402a and small convex portions 402b and large concave portions 404a and small concave portions 404b arranged in the circumferential direction mesh with each other. Therefore, the rotational driving force of the drive shaft 115 (116) can be transmitted to the pulley 158a (158b) more reliably. An engagement recess may be provided on the drive shaft 115 (116) side, and an engagement protrusion may be provided on the pulley 158a (158b) side.

  As described above, the engagement convex portions 137 and 138 on the drive unit 30 side can rotate around the drive shafts 115 and 116 as a rotation axis (see FIG. 20A). Similarly, the engaging recesses 176a and 176b on the working unit 16 side can rotate with the pulleys 158a and 158b as rotation axes (see FIG. 20B), but the rotation range thereof is the stopper 179a and the contact portions 177a and 177b. Are restricted to a predetermined forward rotation range (see arrow + θ in FIG. 14A) and reverse rotation range (see arrow −θ in FIG. 14A).

  Note that the rotation range of the pulleys 158a and 158b may be restricted by other structures. For example, as shown in FIG. 21, the pulleys 158a and 158b (engaging recesses 176a and 176b) protrude in the outer diameter direction. The abutting portion (abutting member) 177c is provided, and abuts on the upper surface (Y1 direction surface) of the lower bracket 32 when the abutting portion 177c performs predetermined forward rotation and reverse rotation, and further rotates. A stopper 179b for regulating may be provided. These contact portions 177c and stoppers 179b are arc-shaped notches 177 (see FIGS. 12 and 14A) formed in the lower portions of the engagement recesses 176a and 176b as in the structure of the contact portions 177a and 177b and the stopper 179a. ).

  The engaging convex portions 137 and 138 and the engaging concave portions 176a and 176b have one large convex portion 402a and a large concave portion 404a larger than the other among the convex portions and concave portions extending radially from the center, respectively. (See FIGS. 20A and 20B).

  Accordingly, as shown in FIG. 22B, the one engaging convex portion 137 and the engaging concave portion 176a, and the other engaging convex portion 138 and the engaging concave portion 176b are respectively a large convex portion 402a and a large concave portion 404a. Can be engaged only at a single rotation angle (phase), and as shown in FIG. 22A, the engagement is structurally impossible at other rotation angles (phases). That is, when the operating portion 14 and the working portion 16 are mounted, if the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are in a rotational phase in which they cannot be engaged with each other, the engaging rotation is possible. An engagement operation (coupling operation) that drives and controls the phase is required. In addition, after the engagement operation is completed, the controller 514 controls the distal end working unit 12 accurately and accurately, so that the distal end working unit 12 has a predetermined origin posture (see FIGS. 1, 49, and 51). In order to set the motors 100 and 102 to the predetermined origin phase, the pulleys 158a and 158b and the drive shafts 115 and 116 for reciprocatingly driving the wires 1052 and 1054 and the origin search operation for returning the rotation phases of the motors 100 and 102 to the origin are performed. There is a need to.

  The engaging convex portions 137 and 138 and the engaging concave portions 176a and 176b are configured to be engageable in a plurality of phases in addition to being configured to engage with each other only in a single phase as described above. It is possible to do this, but details will be described later. In addition to the engagement structure in which the large convex portion 402a and the large concave portion 404a are matched, various structures such as an engagement structure in which the small convex portion 402b and the small concave portion 404b are matched may be used. As long as the engaging convex portion and the engaging concave portion are engaged with each other, the rotational force can be transmitted. Also, the shape of the engaging convex portion 137, the engaging concave portion 176a, etc. may be other shapes. In short, the rotational driving force from the drive shafts 115, 116 is applied to the pulleys 158a, 158b which are driven shafts. Any shape that can be reliably transmitted and detachable may be used.

  Next, an engagement operation (coupling operation) between the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) and an origin search operation performed together with this engagement operation will be described. Note that the engagement operation and origin search operation of one engagement convex portion 137 and the engagement recess portion 176a and the engagement operation and origin search operation of the other engagement projection portion 138 and the engagement recess portion 176b are substantially the same. . For this reason, below, the engagement operation and the origin search operation of one of the engagement protrusions 137 and the engagement recesses 176a will be representatively described.

  First, the engaging operation between the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) will be described.

  22A and 23A show a case where the rotation phases of the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are shifted by approximately 90 ° when the operating portion 14 and the working portion 16 are mounted, that is, The large convex portion 402a and the large concave portion 404a are displaced by approximately 90 °, the small convex portion 402b and the small concave portion 404b are also displaced, and the engaging convex portion 137 and the engaging concave portion 176a cannot be engaged with each other. It is an example. In the manipulator 10 according to the present embodiment, the operation unit 14 and the working unit 16 can be mounted on the appearance even in such a state.

  That is, as can be understood from FIGS. 23A and 23B, when the engaging projection 137 cannot be engaged with the engaging recess 176a when the operating portion 14 and the working portion 16 are mounted (see FIG. 23A), the operating portion 14 Is pushed down to the working portion 16, the lower end surface (Y2 direction end surface) of the engagement convex portion 137 comes into contact with the upper end surface (Y1 direction end surface) of the engagement concave portion 176 a and resists the biasing force of the coil spring 121. Then, it moves backward in the Y1 direction along the corrugated portion 115c of the drive shaft 115.

  As a result, even if the engaging convex portion 137 and the engaging concave portion 176a are not engaged (see FIG. 23A), the claw portion 400c of the detachable lever 400 is engaged with the locking portion 401a (FIGS. 1 to 3). Reference), the mounting of the operation unit 14 and the working unit 16 is completed. This attachment completion is recognized by the controller 514 when the attachment / detachment sensor 314 detects that the detection shaft 316 is seated on the stop plate 179.

  At this time, as shown in FIG. 23A, the detection shaft 310 for the coupling sensor 306 is engaged with the annular groove 139 of the engagement protrusion 137 because the flange 310 b at the lower end thereof is engaged with the engagement protrusion 137. Retreats in the Y1 direction with the retreat in the Y1 direction. Accordingly, the coupling sensor 306 cannot detect the completion of the engaging operation between the engaging convex portion 137 and the engaging concave portion 176a. That is, the controller 514 indicates that the operation unit 14 and the working unit 16 have been mounted. Simultaneously with the recognition, it is recognized that the engagement between the engagement convex portion 137 and the engagement concave portion 176a is not completed.

  Therefore, in the controller 514, for example, when the master switch 34 (see FIG. 1) is turned on, an engagement operation for engaging the engagement convex portion 137 and the engagement concave portion 176a as one operation of the origin search operation. (Coupling operation) is performed.

  As shown in FIGS. 22A and 23A, first, the motor 100 is driven in a state where the lower surface of the front end of the engaging convex portion 137 is seated in contact with the upper surface of the front end of the engaging concave portion 176a. As a result, the drive shaft 115 is rotated via the gear mechanism portion 106, while the pulley 158a is not rotated, and the engagement convex portion 137 slides on the engagement concave portion 176a as indicated by the broken line arrow in FIG. 22A. Rotates while touching.

  As shown in FIG. 22B, when the rotating large convex portion 402a coincides with the large concave portion 404a, the engaging convex portion 137 and the engaging concave portion 176a are engaged with each other. The convex portion 137 is advanced in the Y2 direction by the biasing force of the coil spring 121, and the engaging convex portion 137 and the engaging concave portion 176a are engaged with each other. As a result, the detection shaft 310 also moves in the Y2 direction together with the engaging convex portion 137, so that the coupling sensor 306 can detect the completion of the engaging operation between the engaging convex portion 137 and the engaging concave portion 176a. . Further, since the drive shaft 115 and the pulley 158a are coupled so as to be able to transmit the rotational driving force, the rotational phase of the engaging recess 176a, that is, the operating posture of the distal end operating unit 12 with the pulley 158a and the wire 1054 interposed therebetween is also considered. It becomes a controllable state with 100 rotational driving force.

  Note that substantially the same operation can be obtained even if the object to be elastically supported by the coil spring 121 is the engagement concave portion 176a (176b) side, but the coupling sensor 306 is provided on the operation unit 14 side with the controller 514. For this reason, it is preferable that the engaging convex portion 137 (138) side to which the detection shaft 310 is coupled is elastically supported by the coil spring 121 and can be moved forward and backward.

  Next, the origin search operation performed together with the above-described engagement operation will be described. In the present embodiment, the origin search operation is driven and controlled under the control of the controller 514, that is, the controller 514 functions as an origin search unit.

  24A to 24D show the initial phases of the engaging convex portion 137 (shown by a broken line) and the engaging concave portion 176a (shown by a solid line) in a state where the operation unit 14 and the working unit 16 are externally mounted ( It is explanatory drawing which illustrated each pattern of the coupling position).

  24A to 24D, a straight line M0 indicated by an alternate long and short dash line indicates the motor origin M0, that is, the origin phase of the motor 100, the drive shaft 115, and the pulley 158a, and the phase at which the distal end working unit 12 assumes the origin posture. As for the motor origin M0, two end portions 333a, 333a (334a, 334a) of the semicircular disk portion of the detection piece 333 (334) shown in FIGS. 7 and 8 pass through the origin detection sensor 331 (332). Thus, the controller 514 detects that the output of the origin detection sensor 331 (332) is switched. The detection piece 333 has a detected end portion 333a having a 180 ° phase. As described above, since the rotation range of the pulley 158a is less than 180 ° in both the forward rotation and the reverse rotation (see FIG. 14A, etc.), by setting the detection piece 333 to a 180 ° phase, Thus, it can be determined whether the region is a positive region or a negative region.

  24A to 24D, for easy understanding, the engagement convex portion 137 on the drive shaft 115 side is shown in a broken-line large circle shape, and the large convex portion 402 a is shown in a broken-line small circle shape, while the pulley 158 a side is shown. The engagement concave portion 176a is shown in a solid large circle shape, and the large concave portion 404a is shown in a solid line small circle shape. In addition, in order to clarify the rotation range of the engagement recess 176a (pulley 158a), the contact portion 177a (177b) on the engagement recess 176a side is illustrated as a contact member protruding in the outer diameter direction, and the rotation is performed. The stopper (pulley operation limit) 179a to be controlled is illustrated by a hatched straight line, in other words, similar to the restriction of the rotation range by the contact between the contact portion 177c and the stopper 179b shown in the modified example of FIG. The same applies to FIG. 25A and subsequent drawings. Further, as the cases of engagement of the engagement convex portion 137 and the engagement concave portion 176a, there can be eight types of cases depending on the initial phase of the pulley 158a, and eight operations are performed for each case for the origin search. Programmed to work with patterns. Basically, there are eight operation patterns. Since these operation patterns are symmetric systems with the motor origin M0 as the center, in this embodiment, the control patterns shown in FIGS. The four typical operation patterns shown in FIG. 24D will be described.

  FIG. 24A shows a state in which the phase of the engagement recess 176a (large recess 404a) is in the opposite direction (reverse direction) to the motor origin M0 when the phase of the engagement protrusion 137 (large protrusion 402a) is used as a reference. The engagement operation and the origin search operation from the coupling position are illustrated below as an operation pattern (1). FIG. 24B shows that the phases of the engaging convex portion 137 (large convex portion 402a) and the engaging concave portion 176a (large concave portion 404a) coincide with each other from the beginning (that is, from the moment when the driving unit 30 and the working unit 16 are mounted). This is an example of a state of being present and is hereinafter referred to as an operation pattern (2). FIG. 24C shows an engagement recess 176a (between the engagement projection 137 (large projection 402a) and the motor origin M0 when the phase of the engagement projection 137 (large projection 402a) is used as a reference. The state in which the phase of the large concave portion 404a) is illustrated is illustrated, and is hereinafter referred to as an operation pattern (3). FIG. 24D shows a state in which there is a phase of the engagement recess 176a (large recess 404a) in the positive direction (forward rotation direction) of the motor origin M0 when the phase of the engagement protrusion 137 (large protrusion 402a) is used as a reference. And is hereinafter referred to as an operation pattern (4).

  The basic program sequence includes a detection operation of the motor origin M0 and an engagement operation. First, the motor origin M0 is detected. In the operation of detecting the motor origin M0, the origin detection sensor 331 determines the positive / negative area at the start, and the drive shaft 115 is moved in the direction of the motor origin M0. After the motor origin M0 is detected, the motor is continuously operated from either the positive or negative operation limit to one of the operation limits.

  If the engagement of the engagement convex portion 137 and the engagement concave portion 176a is confirmed by the coupling sensor 306 as an engagement sensor after the motor origin M0 is detected, a sequence for continuously operating from the operation limit to the operation limit is determined. This is finished and moved to the motor origin M0, and the origin search operation is completed.

  The timing and position of engagement between the engaging convex portion 137 and the engaging concave portion 176a differ depending on the phase relationship between the engaging convex portion 137 and the engaging concave portion 176a. As a result, a plurality of operation patterns can be considered. 4 cases are considered. The operation pattern in each case will be described.

  The operation pattern (1) will be described with reference to FIGS. 25A to 25D. In the operation pattern (1), in the initial state, the phase of the engagement concave portion 176a (large concave portion 404a) is opposite to the motor origin M0 (reverse direction) with respect to the phase of the engagement convex portion 137 (large convex portion 402a). (See FIGS. 24A and 25A).

  First, since the origin shaft detection sensor 331 shows that the drive shaft 115 is in the negative region, the motor 100 is driven and controlled to rotate the drive shaft 115 in the positive direction (clockwise in FIG. 25A). As shown, the engaging convex portion 137 (large convex portion 402a) is rotated in the motor origin M0 direction. Then, the engagement convex portion 137 (large convex portion 402a) has a phase that coincides with the motor origin M0 (see FIG. 25B), and the origin detection sensor 331 detects the end 333a of the detection piece 333 (see FIG. 8). The controller 514 recognizes the phase as the origin of the motor 100.

  Subsequently, as indicated by a broken-line arrow in FIG. 25C, the phase of the engaging convex portion 137 (large convex portion 402a) is further increased by further rotating the engaging convex portion 137 (large convex portion 402a) in the normal rotation direction. The engaging recesses 176a (large recesses 404a) are in phase with each other (see FIG. 25C). The engaging operation of the engaging convex portion 137 and the engaging concave portion 176a is as described above with reference to FIGS. 22A to 23B, and this engagement is detected by the controller 514 via the coupling sensor 306. .

  Therefore, as shown by a solid line arrow in FIG. 28C, by rotating the engaging convex portion 137 engaged with the engaging concave portion 176a to the motor origin M0, the engaging concave portion 176a is also rotated to the motor origin M0 together. Similarly to the case shown in FIG. 25D and the like, the drive shaft 115 and the pulley 158a are set to a predetermined origin phase, and the distal end working unit 12 also has a predetermined origin posture.

  The operation pattern (2) will be described with reference to FIGS. 26A to 26D. In the operation pattern (2), in the initial state, the phases of the engaging convex portion 137 (large convex portion 402a) and the engaging concave portion 176a (large concave portion 404a) coincide from the beginning (see FIGS. 24B and 26A). Engagement is detected by the controller 514 via the coupling sensor 306.

  First, as shown by the arrow in FIG. 26A, by rotating the engaging convex portion 137 engaged with the engaging concave portion 176a to the motor origin M0, the engaging concave portion 176a is also rotated to the motor origin M0 together. Then, the engaging convex portion 137 and the engaging concave portion 176a have a phase that matches the motor origin M0 (see FIG. 26B), and the origin detecting sensor 331 detects the end portion 333a of the detecting piece 333 (see FIG. 8). Is recognized as the origin of the motor 100. For this reason, the rotation of the motor 100 is stopped. However, when the origin is detected as shown in FIGS. 26A to 26B, the motor 100 remains at the origin position even if the motor 100 is stopped almost simultaneously with the detection. Some overruns have occurred (see FIG. 26C).

  Therefore, as shown in FIG. 26D, by rotating the motor 100 in the reverse direction to the motor origin M0, the engagement convex portion 137 and the engagement concave portion 176a are returned to the motor origin M0 and stopped. 115 and the pulley 158a are set to a predetermined origin phase, and the distal end working unit 12 is also in a predetermined origin posture.

  The operation pattern (3) will be described with reference to FIGS. 27A to 27C. In the operation pattern (3), when the phase of the engaging convex portion 137 (large convex portion 402a) is used as a reference in the initial state, between the engaging convex portion 137 (large convex portion 402a) and the motor origin M0. There is a phase of the engaging recess 176a (large recess 404a) (see FIGS. 24C and 27A).

  First, drive control of the motor 100 is performed, and the engagement convex part 137 (large convex part 402a) is rotated in the motor origin M0 direction as shown by the broken line arrow in FIG. 27A. Then, as shown in FIG. 27B, the phase of the engaging convex portion 137 (large convex portion 402a) matches the phase of the engaging concave portion 176a (large concave portion 404a) and is engaged with each other. It is detected by the controller 514 via the sensor 306.

  Therefore, as shown by the arrow in FIG. 27B, by rotating the engagement protrusion 137 engaged with the engagement recess 176a to the motor origin M0, the engagement recess 176a is also rotated to the motor origin M0 together. The engaging convex portion 137 and the engaging concave portion 176a have a phase that coincides with the motor origin M0 (see FIG. 27C), and the origin detecting sensor 331 detects the end 333a of the detecting piece 333 (see FIG. 8). The controller 514 recognizes the origin of the motor 100. Subsequently, as shown by the reciprocating arrow in FIG. 27C, the motor 100 is stopped by slightly overrunning the motor origin M0 and then rotated in the reverse direction, as shown by the reciprocating arrow in FIG. 27C. The engaging convex portion 137 and the engaging concave portion 176a are returned to the motor origin M0 and stopped, whereby the drive shaft 115 and the pulley 158a are set to a predetermined origin phase, and the distal end operating portion 12 is also set to a predetermined origin posture. Become.

  The operation pattern (4) will be described with reference to FIGS. 28A to 28C. In the operation pattern (4), in the initial state, when the phase of the engaging convex portion 137 (large convex portion 402a) is used as a reference, the engaging concave portion 176a (large concave portion 404a) extends in the positive direction (forward rotation direction) of the motor origin M0. ) (See FIGS. 24D and 28A).

  First, the drive control of the motor 100 is performed, and the engagement convex part 137 (large convex part 402a) is rotated in the motor origin M0 direction as shown by the broken line arrow in FIG. 28A. Then, as shown in FIG. 28B, the engaging convex portion 137 (large convex portion 402a) has a phase that coincides with the motor origin M0, and the origin detection sensor 331 detects the end 333a of the detection piece 333 (see FIG. 8). The controller 514 recognizes this phase as the origin of the motor 100.

  Subsequently, as indicated by a broken line arrow in FIG. 28B, the phase of the engaging convex portion 137 (large convex portion 402a) is changed by further rotating the engaging convex portion 137 (large convex portion 402a) in the normal rotation direction. The engagement recesses 176a (large recesses 404a) are in phase with each other (see FIG. 28C), and this engagement is detected by the controller 514 via the coupling sensor 306.

  Therefore, in substantially the same manner as shown in FIG. 25D, by returning the engaging convex portion 137 engaged with the engaging concave portion 176a to the motor origin M0, the engaging concave portion 176a is also rotated to the motor origin M0 and driven. The shaft 115 and the pulley 158a are set to a predetermined origin phase, and the distal end working unit 12 is also in a predetermined origin posture.

  By the way, depending on the case, the pulley 158a is moved together with the drive shaft 115 even if the engagement convex portion 137 and the engagement concave portion 176a are not engaged (fitted) due to friction or catching. It is also possible to rotate and rotate. In such a case, the operation pattern (1) does not engage at the position of FIG. 25C, and in the worst case, engages at the position of the stopper 179a (+ operation limit). Similarly, in the case of the operation patterns (3) and (4), the engagement is performed at the position of the stopper 179a (+ operation limit). That is, even when the pulley 158a rotates with the drive shaft 115, it can be engaged in the vicinity of the operation limit if at least a sequence of continuous operation from the positive / negative operation limit to the operation limit is included. Even when engaged in the vicinity of the operation limit when operating in the direction of the operation limit, since the detection of the motor origin M0 has already been completed in sequence, the position of the operation limit is known. In the vicinity of the operation limit, measures such as deceleration and stop are possible, and the origin search operation is performed at high speed without causing mechanical damage, breakage or destruction to the drive system by colliding with the stopper 179a in a mechanically high speed state. Is possible.

  In the case of the operation pattern (1), as a method of operating from the state of FIG. 25B to the state of FIG. 25C, the case of rotating in the same direction has been described, but at the position of the stopper 179a that is the operation limit after the operation of FIG. It may be temporarily stopped and rotated in the reverse direction. Also in this case, since the detection of the motor origin M0 has already been completed in sequence, it is easy to stop and reverse it. If the angle of θ is small, the movement distance becomes shorter and the origin search operation can be shortened if it is temporarily stopped.

  Whether to rotate or reverse in the same direction, or to incorporate the sequence program into the controller 514, considers the allowable rotation range θ, which is the operation range, the maximum origin search allowable time, the frequency of the phase state of the engaging part, etc. And decide.

  The origin search operation starts when the operation button (master switch 34) is pressed and automatically completes. Alternatively, the search operation is performed only when the switch (master switch 34) is pressed, stops when released, and restarts when pressed again. You may do it like a start. In the latter case, the operation is a manual operation, and the origin search operation can be immediately stopped when an abnormality is felt or when it is desired to stop halfway.

  By the way, as described above, the engagement (coupling) between the drive shaft 115 (116) and the pulley 158a (158b) is not limited to the above-described single phase, but may be two or more. It can also be configured to be engageable at the phase.

  Next, a configuration example of the engagement phase of the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) of the drive shaft 115 (116) and the pulley 158a (158b) will be described.

  The engagement phase between the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) in the coupling of the drive shaft 115 (116) and the pulley 158a (158b) is, for example, the difference in the configuration of the distal end working portion 12. It may be set according to the operation region (allowable rotation range) set in the pulley 158a (158b) by, for example, and it may be configured to allow engagement in two or more phases in addition to a single phase. it can.

  Let θ (°) be an allowable rotation range that is an operation region of the pulley 158a (158b) that is a driven shaft that directly operates the distal end working unit 12, and an integer part of a quotient of 360 (°) / θ (°) is n. Then, in consideration of the above-described origin search operation and the like, it is possible to engage at a maximum of n places, that is, to be engageable only at a phase of n places or less.

  Therefore, the relationship between the allowable rotation range θ and the engagement location (n location) can be set as illustrated in the following (1) to (5). In the case of the pulley 158a shown in FIG. 14A, the allowable rotation range θ is 90 °, for example, the arrow + θ is 90 °, and the allowable rotation range θ is 180 ° if the arrow −θ is 90 °, for example. In this case, if the arrow + θ is, for example, 135 ° and the arrow −θ is, for example, 135 °, the allowable rotation range θ is 270 °.

  (1) When θ is 180 ° (degrees) or more and less than 360 ° (degrees), there is one place, and the engaging convex portion and the engaging concave portion need to be configured to be engageable in a single phase shape. . (2) When θ is 120 ° or more and less than 180 °, there are two or less places, and the engaging convex portion and the engaging concave portion can be configured to be engageable in a 180 ° phase shape. (3) When θ is 90 ° or more and less than 120 °, the number is three or less, and the engagement convex portion and the engagement concave portion can be configured to be engageable in a 120 ° phase shape. (4) When θ is not less than 72 ° and less than 90 °, there are four locations or less, and the engaging convex portion and the engaging concave portion can be configured to be engageable in a 90 ° phase shape. (5) When θ is 60 ° or more and less than 72 °, the number is 5 or less, and the engagement convex portion and the engagement concave portion can be configured to be engageable in a 72 ° phase shape, and the subsequent operation The same applies to the area.

  For example, in FIG. 14A, the permissible rotation ranges θ of pulleys 158a and 158b (the sum of the ranges indicated by arrows + θ and −θ) are set to 180 ° and 270 °, respectively. For this reason, as shown in the above (1), it is necessary to have one place where engagement is possible, and the engagement phases of the engagement convex portions 137 and 138 and the engagement concave portions 176a and 176b are also only a single phase. It is configured to engage.

  On the other hand, as shown in FIGS. 29A and 29B, when the allowable rotation range θ of pulley 158a (158b) (the sum of the ranges indicated by arrows + θ and −θ) is set to 120 ° or more and less than 180 °. (120 ° ≦ θ <180 °), the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) have a 180 ° phase shape having two large convex portions 402a and large concave portions 404a. It can comprise, and it can comprise so that engagement is possible at two places (it is natural even if it is one place). 30A and 30B show the case where the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) are configured in a 180 ° phase shape, that is, other cases where 120 ° ≦ θ <180 °. It is a shape example, and of course, other shapes may be used.

  As shown in FIGS. 31A and 31B, when the allowable rotation range θ of the pulley 158a (158b) is set to 90 ° or more and less than 120 ° (90 ° ≦ θ <120 °), the engagement convex portion 137 (138) and the engagement recess 176a (176b) are formed in a 120 ° phase shape having three large protrusions 402a and a large recess 404a, and are engaged at three positions (which may be one or two positions as a matter of course). Can be configured. 32A and 32B show the case where the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are configured in a 120 ° phase shape, that is, other cases where 90 ° ≦ θ <120 °. It is a shape example, and of course, other shapes may be used.

  As described above, the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) that couple with each other and transmit the rotational driving force are n places according to the rotation allowable range θ of the pulley 158a (158b). It can comprise so that engagement is possible below. In particular, as shown in the above (2), (3), etc., when engagement at a plurality of locations is possible, each of the maximum engagement locations, for example, 2 locations in (2) above and 3 in (3) above. If it is configured in a shape that can be engaged at a location, the coupling shape can be symmetrized, and the time required for the origin search operation can be shortened as much as possible. Note that even when the shape is such that the engagement at two or more locations shown in the above (2) to (5) or the like is possible, the origin search operation is performed in a single manner as shown in FIGS. 24A to 28C. The operation can be performed in substantially the same manner as in the case of the phase shape.

  Similarly, the shape of the detection piece 333 (334), which is a sensor dog of the origin detection sensor 331 (332), can be changed in accordance with the coupling engagement position (n position), and the n engagement phases can be changed. If it is set to n, it may be configured to be detected by the origin detection sensor 331 (332) by switching at n · 2 places. For example, as described above, in the case of a single engagement phase, since the forward rotation and the reverse rotation are each less than 180 °, the detection piece 333 (334) is configured in a 180 ° phase shape (biaxial). This makes it possible to detect the motor origin more quickly.

  More specifically, as for the shape of the detection piece 333, for example, when 180 ° ≦ allowable rotation range θ <360 °, the shape of the semicircular 180 ° phase may be used as shown in FIGS. In the case of 120 ° ≦ θ <180 °, the shape of the 90 ° phase having two quarter circles may be formed as shown in FIG. 33, and in the case of 90 ° ≦ θ <120 °, As shown in FIG. 34, it is preferable to have a 60 ° phase shape in which there are three 1/6 circles. Thus, the motor origin is configured by optimally configuring the phase shape of the detection piece 333, which is the sensor dog of the origin detection sensor 331, according to the allowable rotation range θ and the coupling engagement shape (n-point coupling shape). It becomes possible to detect M0 more rapidly.

  In addition, about the engagement phase of the engagement convex part 137 (138) and the engagement recessed part 176a (176b), for example, in the case of a 180 ° phase shape that can be engaged at two locations (see FIGS. 29A to 30B), The coupling shape is symmetrized. For this reason, the time required for the origin search operation can be shortened as much as possible, and the part shape can be simplified and the cost can be reduced accordingly. Furthermore, due to the balance effect due to the symmetrization of the coupling shape, the symmetric position always comes into contact in the uncoupled state, and it is possible to prevent backlash and the like, and the origin search operation can be performed more stably. Become.

  However, in the case of a 180 ° phase symmetrical shape that can be engaged at two locations, in order to be able to recognize on the controller 514 side in which direction of the two engageable locations is engaged, As shown in FIGS. 29A to 30B, the allowable rotation range θ, which is the operation region of the pulley 158a (158b), is configured to be less than 180 ° and is engaged on the opposite side by disabling operation outside the operation region. There is a way to recognize. However, the operation region of the pulley 158a (158b) may have a sufficient operation region of 180 ° or more, even in the case of a 180 ° phase symmetrical shape, depending on the product specifications, the structure of the tip operation unit 12, and the like. Is preferred.

  For example, in FIG. 35A to FIG. 35C, the engaging convex portion 137 (138) on the operation portion 14 side and the engaging concave portion 176a (176b) on the working portion 16 side have two large convex portions 402a and large concave portions 404a. This is a configuration example in which the allowable rotation range θ of the pulley 158a (158b) is set to 180 ° or more in the 180 ° phase shape (similar to the configuration of FIGS. 30A and 30B).

  A point P indicated by a circle in FIGS. 35A to 35C is a reference orientation with respect to the motor origin M0 of the engagement convex portion 137 (138) on the drive shaft 115 (116) side. That is, the origin search operation in this configuration example is an operation for making the point P coincide with the motor origin M0. Therefore, the engagement recess 176a (176b) on the pulley 158a (158b) side has the contact portion 177a at the point P. Must be coupled in a direction consistent with

  For example, when the operation unit 14 and the working unit 16 are externally mounted and the initial phases of the engaging convex portion 137 and the engaging concave portion 176a are in the state shown in FIG. 35A, the engaging operation and the origin search are performed. A case of performing the operation will be described.

  In this case, when the engagement convex portion 137 is rotated in the direction indicated by the broken-line arrow in FIG. 35B and coupled, the phase of the point P of the engagement convex portion 137 and the contact portion 177a of the engagement concave portion 176a. Therefore, the origin search operation can be performed without any problem thereafter. On the other hand, when the engagement convex portion 137 is rotated and coupled in the direction indicated by the broken line arrow in FIG. 35C, the phase of the point P of the engagement convex portion 137 and the contact portion 177a of the engagement concave portion 176a is the same. Opposite phase. For this reason, if the origin search operation is continued, the contact portion 177a contacts the stopper 179a, which is the operation limit, so that it is difficult to perform a normal origin search.

  Therefore, next, an operation pattern of an engagement operation and an origin search operation that can ensure an operation region of 180 ° or more even in the case of a symmetrical shape of 180 ° phase will be described. Also in this case, the basic control algorithm is the same as the operation patterns (1) to (4) in the coupling of the 360 ° phase shape shown in FIGS. 25A to 28C.

  First, the motor origin M0 is detected. That is, the direction in which the origin search is performed first, that is, the direction in which the point P of the engagement convex portion 137 is rotated is determined based on the detection phase (positive region, negative region) by the origin detection sensor 331. If the initial phase of the engaging convex portion 137 and the engaging concave portion 176a is the positive region, the motor starting point M0 is detected by rotating the engaging convex portion 137 in the reverse direction, and if it is the negative region, the positive direction. The determination of the positive region and the negative region in the initial phase may be the same as in the case of FIGS. 25A to 28C, and the shape (for example, FIG. 8) that can be detected as two sensor dogs of the origin detection sensor 331 (332) The rising or falling position of the detection signal may be detected by the detection piece 333 (334) having a half-moon shape shown in FIG.

  At this time, as shown in FIG. 36, the rotation allowable range θ of the pulley 158a (158b) in this configuration example is an angle from + A to −A (90 ° ≦ A <180 °) indicated by a solid line arrow in FIG. Set the range.

  First, similarly to the operation patterns (1) and (4) shown in FIG. 24A (FIGS. 25A to 25D) and FIG. 24D (FIGS. 28A to 28C), the drive shaft 115 is rotated by controlling the drive of the motor 100. By doing so, the case where the motor origin M0 is detected before the engagement convex portion 137 and the engagement concave portion 176a are engaged will be described.

  In this case, after the motor origin M0 is detected, the origin search operation may be performed with the same algorithm as in the operation patterns (1) and (4). However, the engaging phase of the engaging convex portion 137 and the engaging concave portion 176a is the normal phase where the point P and the abutting portion 177a coincide as shown in FIG. 35B, and the point P and the abutting portion as shown in FIG. 35C. There are two possibilities for the inverted inversion phase where 177a does not match.

  Therefore, by determining in which of the regions R0, R1, and R2 the engagement convex portion 137 and the engagement concave portion 176a are engaged with each other as indicated by the one-dot chain line arrow in FIG. 36, the normal phase and The coupling state at the reverse phase is determined.

  First, as shown in FIG. 36, the coupling sensor 306 couples the engagement convex portion 137 and the engagement concave portion 176a in the range indicated by the region R0, that is, in the range of (−180 + A) ° to (180−A) °. When it is detected, it can be determined that the coupling is completed at the normal phase (0 ° phase where the point P and the contact portion 177a coincide). The region R0 is a region opposite to the region where the pulley 158a does not operate (between the stoppers 179a and 179a, which is the operation limit). When the engaging recess 176a faces the region R0, the region R0 is always in contact with the region R0. This is because the portion 177a is arranged. Therefore, in this case, the origin search operation may be performed as it is after the coupling.

  On the other hand, the engagement convex portion 137 and the engagement concave portion 176a are in the range indicated by the region R1, as shown in FIG. 37A, that is, in the range of −A ° to (−180 + A) °, or as shown in FIG. 38A. When it is detected that the coupling is detected in the range shown, that is, in the range of (180-A) ° to A °, there is a possibility of either the normal phase or the inverted phase.

  First, a case where the engaging convex portion 137 and the engaging concave portion 176a are coupled in a normal phase (0 ° phase) will be described. For example, as shown in FIG. 37A, the coupling phase is + B ° in the positive region (region R1) (the broken line arrow + B in FIG. 37A indicates the phase of the engaging convex portion 137, and the solid line arrow + B indicates the engagement). In the case of the joint recess 176a, the origin search operation is completed by rotating the motor 100 in the direction of the motor origin M0, as indicated by the broken and solid arrows in FIG. 37B.

  Next, a case where the engaging convex portion 137 and the engaging concave portion 176a are coupled in the reverse phase (180 ° phase) will be described. For example, as shown in FIG. 38A, with respect to the phase during coupling, the point P of the engaging convex portion 137 is at + B ° of the positive region (region R1), and the contact portion 177a of the engaging concave portion 176a is in the negative region ( It is assumed that it is at (B-180) ° in the region R2).

  In this case, the motor 100 is rotated in the direction of the motor origin M0 as indicated by the broken line arrow in FIG. 38B. Then, the engagement recess 176a is rotated in the direction indicated by the solid line arrow in FIG. Collides with the stopper 179a. Therefore, when this collision is detected, the controller 514 corrects the angle (phase) of the engaging convex portion 137 by 180 °, that is, B ° = (180−A) ° is corrected by 180 °, and B = −. By setting it to A °, it becomes possible to control the coupling in a normal phase substantially. Accordingly, the origin search operation is completed by rotating the motor 100 in the direction of the motor origin M0, as indicated by the broken and solid arrows in FIG. 38BC.

  When the angle of the motor 100 side, that is, the engaging convex portion 137 is B ° = (180−A) °, the pulley 158a side, that is, the angle of the engaging concave portion 176a is (180−A−180) ° = Since A °, the contact portion 177a can be predicted to collide with the stopper 179a. Accordingly, in the vicinity of this region, it is possible to take measures such as reducing the rotational speed of the motor 100 in order to reduce the impact of the collision and minimize the damage to the mechanical system. Further, by limiting the collision determination area, erroneous determination and the like can be prevented.

  Next, as in the case of the operation patterns (2) and (3) shown in FIG. 24B (FIGS. 26A to 26D) and FIG. 24C (FIGS. 27A to 27C), the engagement protrusion 137 is engaged in the initial state. When the concave portion 176a is engaged, or when the drive shaft 115 is rotated by controlling the drive of the motor 100, the engaging convex portion 137 and the engaging concave portion 176a are engaged before the motor origin M0 is detected. The case where they match will be described.

  In this case, the origin search operation may be performed with the same algorithm as in the operation patterns (2) and (3). However, since the operation angle at the time of coupling is unknown, the operation range cannot be predicted. It is impossible to predict a region where the contact portion 177a collides with the stopper 179a. Therefore, when the contact portion 177a collides with the stopper 179a, for example, by applying a collision detection algorithm using a speed threshold value and a current threshold value described in FIGS. It detects and recognizes that the angle is the operation limit, and estimates the current angle. Next, the origin position (motor origin M0) of the origin detection sensor 331 can be detected by rotating in the direction opposite to the collision direction.

  When the engaging convex portion 137 and the engaging concave portion 176a are coupled at a normal phase (0 ° phase), the origin position (motor origin M0) of the origin detection sensor 331 can be easily detected. On the other hand, in the case of coupling at the reverse phase (180 ° phase), it can be detected at the 180 ° phase, but the controller 514 corrects the angle (phase) of the engaging convex portion 137 by 180 °, It is possible to correct the coupling at 180 ° phase.

  Next, with respect to the starting operation (use preparation operation) in the manipulator 10 basically configured as described above and the mounting operation of the operation unit 14 and the working unit 16 related to the starting operation, refer to the flowchart of FIG. I will explain. In the following, a configuration using the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) that engage with each other in a single phase will be described as an example. Even a thing (see FIG. 29A etc.) can be controlled and operated in substantially the same manner.

  In step S1 of FIG. 39, in order to start up the system including the manipulator 10, first, the operator turns on the power switch 516 (see FIG. 1) of the controller 514 to start up the controller 514 and the peripheral system (step S2). ).

  Next, in step S <b> 3, the operation unit 14 is attached to the controller 514. For example, the connector 520 at the tip of the cable 61 extending from the lower end of the grip handle 26 of the operation unit 14 is connected to the first port 515a of the controller 514 (see FIG. 1).

  In step S <b> 4, the working unit 16 including the predetermined tip operating unit 12 is attached to the operation unit 14 connected to the controller 514. As described above, the mounting operation is performed so that the two guide pins 163 and 163 protruding from the operation unit 14 are fitted in the pin holes 161 and 161 of the working unit 16 and the operation unit 14 is positioned. While positioning so that the concave portion 406 engages with the positioning convex portion 408 of the working portion 16, the operation portion 14 and the working portion 16 are pressed and brought into close contact with each other (see FIGS. 6, 20A, and 20B). Thereby, the claw portion 400c of the detachable lever 400 is engaged with the locking portion 401a (see FIGS. 1 to 3), and the mounting of the operation portion 14 and the working portion 16 is completed. The completion of the mounting of the operation unit 14 and the working unit 16 is based on the fact that the attachment / detachment sensor 314 detects that the detection shaft 316 is seated on the stop plate 179 (see FIGS. 7, 23A and 23B). 514.

  Therefore, in step S5, the controller 514 captures an image of the barcode 222 by controlling the driving of the camera 224 and the LED 224a based on the detection of the attachment / detachment sensor 314 in step S4 or based on other switch input (not shown) ( As shown in FIG. 19, the specification (the type of the distal end working unit 12), the number of times of use, the usage limit (upper limit), and the like are acquired from the barcode 222 as the individual information of the working unit 16. Further, the controller 514 can acquire individual information of the working unit 16 and appropriately control the motors 100 and 102 and the like according to the type of the working unit 16 according to the individual information.

  As described above, even when the operation unit 14 and the working unit 16 are apparently mounted, the engagement operation for engaging the drive shaft 115 (116) and the pulley 158a (158b) as substantial mounting. It is necessary to perform an origin search operation for setting the motor 100 (102) and the distal end operating unit 12 to a predetermined origin position and origin posture together with this engagement operation.

  Therefore, in step S6, by turning on the master switch 34 (see FIG. 1) of the manipulator 10 to which the operation unit 14 and the working unit 16 are attached, in step S7, under the control of the controller 514 or the operation unit 14 The above-described origin search operation illustrated in FIGS. 24A to 28C is performed under the control of a control unit (not shown) incorporated in the system. As a result, the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are engaged (see FIGS. 23B and 25C, etc.), and the drive shaft 115 and the pulley 158a are set to a predetermined origin phase ( As shown in FIG. 25D, the distal end working unit 12 is also set to a predetermined origin posture, and preparation for use of the manipulator 10 is completed (step S8). As described above, by performing the origin search operation, the origin position can be easily detected, and the operation start after the operation unit 14 and the working unit 16 are mounted can be more smoothly performed.

  During the origin search operation in step S7, the LED 29 (see FIG. 1) provided in parallel with the master switch 34 is controlled to blink in green, for example. Then, the operator can easily recognize that the origin search operation is being performed. Further, after the preparation for use is completed in step S8, the LED 29 is controlled so as to be lit in green, for example, to clearly indicate to the operator that the manipulator 10 is normally activated and is in a predetermined usable state. be able to. The LED 29 is turned off until the above steps S1 to S6, but it is needless to say that the LED 29 may be controlled to be turned on or blinking according to the processing state.

  After the preparation for use is completed in step S8, that is, after the manipulator 10 is ready for use, the operator holds the grip handle 26 and operates the composite input unit 24 and the trigger lever 36 to operate the manipulator 10. Can be operated in accordance with a predetermined procedure.

  In this state, for example, when the master switch 34 is turned off due to a temporary interruption of the procedure (step S9), the LED 29 is turned off, and the usable state of the manipulator 10 is stopped. After that, when performing the procedure without removing the working unit 16 or the like, by turning on the master switch 34 again (step S10), the process returns to step S8, and the manipulator 10 becomes usable again. An operator can initiate or continue a predetermined procedure. At this time, unless the detachment of the working unit 16 from the operation unit 14 or the like is performed from step S9 to step S10, that is, after the master switch 34 is turned off, the step S7 is performed. The origin positions of the motors 100 and 102 and the distal end working unit 12 set in step S5 are not shifted, and after step S10, the process can quickly move to step S8.

  On the other hand, after step S8, for example, when the work unit 16 and the operation unit 14 are removed in order to change the work unit 16 in response to another procedure (step S11 and step S12), step S4 and step S4, respectively. Returning to step S3, the control flow described above is performed thereafter.

  Incidentally, in the reading operation of the bar code 222 shown in step S5, for example, errors as indicated by E1 to E3 in FIG. 39 may occur. Although errors that occur in the manipulator 10 may naturally occur in relation to states other than the following errors E1 to E3 and error E4, the errors E1 to E4 will be described below as examples.

  Error E1 (abnormal barcode reading) occurs when the barcode 222 reading abnormality occurs in step S5, for example, when the barcode 222 cannot be accurately captured by the camera 224 or when the barcode 222 is This is the case other than the work unit 16 or the like to be controlled by the controller 514. In this case, in step S13, a work unit removal request for controlling the LED 29 to blink in red, for example, is performed. In addition to the LED 29 display, the work unit removal request displays an error E1 on the display unit (display) 517 (see FIG. 1) of the controller 514 and generates a warning sound or the like through a speaker (not shown). May be. When the operator removes the work unit 16 from the operation unit 14 in response to the work unit removal request, the red flashing by the LED 29 is turned off, and the process returns to step S4. Therefore, the operator reconfirms the working unit 16 and confirms the stain of the barcode 222 and the like.

  Error E2 (use amount limit over) is a case where the attached working unit 16 is over use amount limit by the reading operation of the barcode 222 in step S5. This is because, for example, when the number of uses of the predetermined work unit 16 is 10 times, when the work unit 16 is mounted even though the use of the predetermined work unit 16 has already been performed, or the cumulative use time limit is 300. In terms of time, when the working unit 16 is mounted even though it has already been used for more than 300 hours, or the bending or rotating operation of the manipulator tip is used beyond the cumulative use angle limit. This is an error that is notified in the event of a failure. In this case, in substantially the same manner as in the case of the error E1, a work unit removal request for controlling the LED 29 to blink in red, for example, is performed in step S13. Of course, regarding the work unit removal request in this case, an error E2 may be displayed on the display unit 517 of the controller 514, and the warning sound or the like may be generated. When the operator removes the work unit 16 from the operation unit 14 in response to the work unit removal request, the red flashing by the LED 29 is turned off, and the process returns to step S4. Therefore, the operator performs work such as replacing the work unit 16 with a new work unit 16.

  The error E3 (imaging module system abnormality) is a case where the camera 224 does not function normally in the reading operation of the barcode 222 in step S5. In this case, in step S14, an operation unit removal request for controlling the LED 29 to blink in red, for example, is performed. Also in this case, the error E3 may be displayed on the display unit 517 of the controller 514, and the warning sound or the like may be generated. When the operator removes the operation unit 14 from the work unit 16 in response to the operation unit removal request, the red blinking by the LED 29 is turned off, and the process returns to step S3. Therefore, the operator performs operations such as confirmation and replacement of the operation unit 14.

  Similarly, in the origin search operation shown in step S7, for example, an error as indicated by E4 in FIG. 39 may occur. Error E4 (operation system abnormality) occurs when an abnormality occurs during the origin search operation in step S7, for example, when an abnormality of the motors 100 and 102 is detected by the controller 514, or when the origin search is not completed within a predetermined time. (When the coupling sensor 306 cannot be detected). In this case, in the same manner as in the case of the error E3, in step S14, an operation unit removal request for controlling the LED 29 to blink in red, for example, is performed. Also in this case, the error E3 may be displayed on the display unit 517 of the controller 514, and the warning sound or the like may be generated. When the operator removes the operation unit 14 from the work unit 16 in response to the operation unit removal request, the red blinking by the LED 29 is turned off, and the process returns to step S3. Therefore, the operator performs operations such as confirmation and replacement of the operation unit 14.

  In each state including steps S1 to S14, for example, when the power switch 516 of the controller 514 or another main power switch (not shown) is turned off, or from a power plug (not shown) connected to the controller 514 or the like. When the power cord is disconnected, or when various failures or abnormalities occur in the controller 514, the manipulator 10 operates after a predetermined termination process (the LED 29 is controlled to flash, for example, red). End.

  As described above, according to the manipulator 10 according to the present embodiment, the operation unit 14 including the drive unit 30 and the working unit 16 can be attached to and detached from each other, and the allowable rotation range θ of the pulleys 158a and 158b that are driven shafts is achieved. The engagement convex portions 137 and 138 on the drive shafts 115 and 116 side and the engagement concave portions 176a and 176b on the pulleys 158a and 158b side can be engaged with each other at one or more (n places) phases set based on the phase. ing. Therefore, the engagement convex portions 137 and 138 and the engagement concave portions 176a and 176b are engaged with the maximum number (n places) of engagement phases in consideration of the operation region of the tip operation portion 12 operated by the rotation of the pulleys 158a and 158b. The engagement can be configured, the coupling shape can be symmetrized, and the time required for the origin search operation can be shortened as much as possible.

  In this case, since the engaging convex portion 137 (138) is elastically supported by the coil spring 121, when the operating portion 14 and the working portion 16 are mounted, the engaging convex portion 137 (138) and the engaging concave portion 176a ( Even if the engagement phase of 176b) is not in agreement, these engagement projections 137 and the like are not damaged. Further, since the detection shafts 310 and 312 which are detection portions of the coupling sensor 306 (308) are connected to the engagement convex portions 137 (138) which are elastically supported, the detection of the coupling is easy and reliable. Moreover, since the coupling sensor 306 (308) is on the operation unit 14 side, connection to the controller 514 and the like is easy. In addition, as described above, the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) are configured to be engageable only at the phase of n or less, thereby making it possible to detect an origin error in the origin search operation. The occurrence of defects can be effectively suppressed.

  Further, the attachment / detachment sensor 314 and the coupling sensor 306 (308) are provided, so that the operation unit 14 (drive unit 30) and the working unit 16 are mounted, and the engagement projection 137 (138) and the engagement recess 176a ( 176b) can be reliably detected, and mounting failure and engagement failure can be prevented.

  In the manipulator 10, a trigger lever 36 that is a mechanism that mechanically drives the distal end working unit 12, a trigger lever mounting portion 32 b, and rods 192 a and 192 b that are rod-shaped or linear transmission members are all provided on the working unit 16 side. It has been. On the other hand, the drive unit 30 which is a mechanism unit for electrically driving the distal end working unit 12, the pulleys 158a, 158b, the wires 1052, 1054, etc. are provided so as to be separated from each other on the operation unit 14 side and the working unit 16 side. It has been. That is, the rotational driving force of the motors 100 and 102 constituting the electric drive unit can be separated relatively easily by the coupling structure between the engagement convex part 137 (138) and the engagement concave part 176a (176b). However, if the mechanical drive unit that directly transmits the operation of the trigger lever 36 by the rod 192a or the like constitutes a separation structure, the structure tends to be somewhat complicated. Therefore, in the manipulator 10, the trigger lever 36, the rod 192a, and the like constituting the mechanical drive unit are collectively arranged on the working unit 16 side, so that the detachable structure between the operation unit 14 and the working unit 16 is further simplified. Has been. In particular, the rods 192a and 192b are configured to transmit the input to the trigger lever 36 by advancing and retreating operations in the Z direction, that is, as rod-shaped or linear transmission members, so that they are not separated. The attachment / detachment structure is further simplified.

  In this case, the claw portion 206a and the engagement ring 27 constituting the latch mechanism of the trigger lever 36 may be on the working portion 16 side (or the operating portion 14 side) and the operating portion 14 side (or the working portion 16 side), respectively. ). Thereby, even if it is a case where the latch mechanism which fixes the position to the trigger lever 36 is mounted, it can be set as the structure which can attach or detach the operation part 14 and the operation | work part 16 easily.

  Such a trigger lever 36 and its latch structure can be configured as shown in FIGS. 40 and 43, for example. That is, as described above, the trigger lever 36 includes the ratchet pawl 206 on the working unit 16 side and the engagement ring 27 on the operation unit 14 side, which is a latch mechanism that maintains the pulled state in the direction of the grip handle 26. In the state where the working unit 16 is detached from the operation unit 14, it is not latched. However, depending on the type of procedure, it may be convenient to latch the trigger lever 36 as a single unit with the working unit 16 removed from the operation unit 14. For example, when the working unit 16 is a single unit, the connecting shaft 18 is taken in and out of the trocar 20, and in such a case, a trigger is used to keep the end effector (gripper) 1300 of the distal end working unit 12 closed. It is preferable to keep the lever 36 in a fully pulled state. Hereinafter, the self-latching mechanisms 900a and 900b that keep the trigger lever 36 pulled even when the working unit 16 is a single unit will be described.

  As shown in FIG. 40, the self-latching mechanism 900a according to the first example includes a long hole 902 provided in the lower surface of the trigger lever mounting portion 32b and extending in the Z direction, and a shaft 904 obliquely above the ring portion 202. And a latch arm 906 supported on the shaft. A peripheral portion of the shaft 904 in the latch arm 906 is in the internal space 203.

  A short latch groove 902a bent obliquely upward is provided at the end of the long hole 902 in the Z2 direction. The latch arm 906 includes a guide bar 910 that is guided by a front end roller 908 inserted into the long hole 902 in front of the shaft 904 (Z1 side), and an arc-shaped balance behind the shaft 904 (Z2 side). Bar 912. The balance bar 912 has the same shape as the arc of the ring portion 202, and includes a finger pressing projection 912a that faces downward at the center portion, and a weight 912b at the end portion.

  Since the balance bar 912 has an arc shape, an appropriate length is secured and a weight 912b is provided at the end, so that the balance bar 912 is slightly heavier than the guide bar 910, and the latch arm 906 has a clockwise rotational force in FIG. is recieving. This rotational force is small and does not hinder the operation of the trigger lever 36. The balance bar 912 has an appropriate length, but since it has an arc shape, it does not protrude excessively in the Z2 direction and does not interfere with the grip handle 26. As is apparent from FIG. 40, when the trigger lever 36 is pushed in the distal direction (Z1 direction), almost all of the balance bar 912 protrudes outside the internal space 203. Here, a spring force may be used as the clockwise rotational force.

  As shown in FIG. 41, when the trigger lever 36 is pulled in the Z2 direction, the roller 908 reaches the end of the elongated hole 902 in the Z-direction linear portion, and at this time, the end effector 1300 that is a gripper is in a closed state. Since the latch arm 906 receives rotational force from the balance bar 912, when the finger is released from the trigger lever 36, the latch arm 906 rotates slightly clockwise, and the roller 908 fits into the latch groove 902a as shown in FIG. . As a result, the trigger lever 36 is held in that position and latched.

  As shown in FIG. 42, since the balance bar 912 enters the internal space 203 along the periphery of the ring portion 202, the balance bar 912 is easy to handle with no useless protrusions outward. The finger pressing projection 912a slightly protrudes into the ring portion 202, and the latched state is easily released by pushing the finger pressing projection 912a.

  Next, as shown in FIG. 43, the self-latching mechanism 900b according to the second example includes a guide arm 922 pivotally supported by the shaft 920 of the trigger lever mounting portion 32b, and a long hole 924 provided in the trigger lever 36. And a latch arm 928 that is pivotally supported by a shaft 926 at an oblique lower portion of the ring portion 202, and a spring 930 that biases the end of the latch arm 928 upward. Almost all of the lower end of the guide arm 922 and the latch arm 928 are in the internal space 203.

  The long hole 924 extends substantially parallel to the arm part 200 in front of the ring part 202 (Z1 side), and a roller 932 provided at the lower end of the guide arm 922 is inserted therein. On the Z2 side of the long hole 924, a low guide wall 924a is provided.

  The latch arm 928 has a wide V-shape bent at a portion of the shaft 926, and includes a front arm 934 in front of the shaft 926 (Z1 side) and a rear arm 936 in rear of the shaft 926 (Z2 side). Have.

  The front arm 934 includes a notch portion 934a at the tip and a stopper 934b that protrudes laterally slightly on the root side from the notch portion 934a. The stopper 934b is in contact with the guide wall 924a and restricts the rotation of the latch arm 928 in the counterclockwise direction in FIG.

  The rear arm 936 has a finger pressing portion 936a provided on the upper surface of the central portion. The Z2 direction end of the rear arm 936 is urged upward by a spring 930, and the latch arm 928 receives a counterclockwise rotational force in FIG. 43, and is opposite to the stopper 934b and the spring 930. The stopper pin 937 projecting on the side stops at a predetermined angle, and the notch 934 a is disposed in the vicinity of the upper end of the long hole 924.

  When the trigger lever 36 is pulled in the Z2 direction, the roller 932 is guided upward by the long hole 924, and the guide arm 922 rotates counterclockwise about the shaft 920. Eventually, the roller 932 comes into contact with the triangular portion 934c formed on the front side of the notch 934a and climbs over the triangular portion 934c against the urging force of the spring 930. The spring 930 is moderately light, and there is no hindrance to the climbing operation. When the roller 932 gets over the triangular portion 934c, an appropriate click feeling is obtained, and the operator can confirm the latched state.

  As shown in FIG. 44, the roller 932 fits into the notch 934a. Since the rear arm 936 is continuously urged counterclockwise by the spring 930, the stopper 934b is returned to a position where it abuts (or substantially abuts) on the guide wall 924a, and at the same time, the rear arm 936 is moved from the stopper pin 937. After a momentary separation, the rollers 932 are held in a gap formed by the notch 934a and the upper end of the elongated hole 924. As a result, the trigger lever 36 is held in that position and is latched. The finger pressing part 936a slightly protrudes into the ring part 202, and the latched state is easily released by pushing the finger pressing part 936a.

  Since these self-latching mechanisms 900 a and 900 b are configured independently of the operation unit 14, the latched state is maintained even without the operation unit 14. Therefore, even when the trigger lever 36 is fixed in the latched state, the operation unit 14 and the working unit 16 can be easily attached and detached. Moreover, since the working unit 16 can always be maintained in the latched state regardless of the state of attachment with the operation unit 14, the end effector 1300 of the distal end working unit 12 can be always maintained in the closed state. The handleability of the working unit 16 is improved.

  Next, another method of the above-described origin search operation will be described. In the above, the case where the origin search is performed based on the detection of the detection piece 333 (334) by the origin detection sensor 331 (332) is illustrated as the origin search operation, but it is of course possible to perform the origin search by other methods. is there.

  45A to 45D are explanatory diagrams of other methods of the origin search operation. In the initial state, the phase of the engaging convex portion 137 (large convex portion 402a) and the engaging concave portion 176a (large concave portion 404a) is from the beginning. This is a case where the origin search operation is performed from the state of matching, which is a modification of the operation pattern (2) shown in FIGS. 26A to 26D. Of course, a substantially similar modification can be applied to other operation patterns.

  First, as shown by the arrow in FIG. 45A, the origin search operation is started by rotating the engagement convex portion 137 engaged with the engagement concave portion 176a in the normal rotation direction. At this time, for the motor 100 (102), the motor rotation speed is greater than a predetermined set speed (speed threshold), and the motor current value is smaller than the predetermined current value (current threshold).

  When the origin search operation is started, the engagement convex portion 137 and the engagement concave portion 176a pass through the motor origin M0 and are further rotated in the forward rotation direction to come into contact with one stopper 179a serving as the forward rotation side operation end. The part 177a comes into contact (see FIG. 45B), the motor rotation speed becomes smaller than the speed threshold value, and the motor current value becomes larger than the current threshold value. That is, by detecting the current value and the rotation speed of the motor 100 by the controller 514, first, the operation limit in the forward rotation side region (forward region) of the engaging convex portion 137 and the engaging concave portion 176a is detected. The current phase can also be detected.

  Therefore, since the mechanism is a symmetric system, it is possible to calculate the reverse side region (negative region), and the motor 100 can be returned to the origin position. However, in this example, more accurately and more reliably. Since the origin search is performed, detection in the reverse direction is also performed.

  That is, as indicated by the arrow in FIG. 45C, this time, the motor 100 is rotated in the reverse direction (at this rotation, the motor rotation speed is larger than the speed threshold value and the motor current value is smaller than the current threshold value), and finally The contact portion 177a comes into contact with the other stopper (operation limit) 179a serving as the reverse operation end (see FIG. 45C), the motor rotation speed becomes smaller than the speed threshold value, and the motor current value becomes larger than the current threshold value.

  Therefore, the controller 514 can detect the operation limit in the reverse rotation side region (negative region) of the motor 100, and obtain the average value of the detected operation limit in the positive region and the operation limit in the negative region. The origin search is completed, and as shown in FIG. 45D, the engagement convex portion 137 and the engagement concave portion 176a are returned to the motor origin M0 and stopped, whereby the drive shaft 115 and the pulley 158a are set to a predetermined origin phase. The distal end working unit 12 also has a predetermined origin posture.

  Although the origin search operation from the engaged state has been described above, the origin search operation from the non-engaged state is also possible. For example, the origin search operation is started by rotating in the forward direction, and the engaged state can be established by rotating in the forward direction until the engagement is recognized. Once in the engaged state, the operation pattern is basically the same as that of the origin search described above. Even when the pulley 158a rotates together with the pulley 158a, when the pulley 158a is rotated in the forward direction, at least the pulley 158a is restricted in operation by the stopper 179a which is the + operation limit, and is engaged at the + operation limit. At the same time, the motor rotation speed becomes smaller than the speed threshold value, the motor current value becomes larger than the current threshold value, and the operation limit in the forward rotation side region of the engagement convex portion 137 and the engagement concave portion 176a can be detected. . Thereafter, the operation pattern is basically the same as that of the above-described origin search.

  According to such an origin search operation, the origin detection sensor 331 (332), the detection piece 333 (334), and the like can be omitted, so that the configuration of the manipulator 10 can be further simplified.

  Next, a specific configuration of the distal end working unit 12 applied to the manipulator 10 configured as described above will be described by exemplifying a structure that employs an end effector 1300 that is a gripper. Of course, a structure other than a gripper, such as scissors or an electric knife, can be applied as the distal end working unit 12, and it can be easily attached to and detached from the operation unit 14 by configuring as the working unit 16 including the distal end working unit 12. Can be exchanged.

  As shown in FIG. 46, the distal end working unit 12 includes a first end effector driving mechanism 1320a including a rod 192a, a passive wire 1252a, an idle pulley 1140a, a guide pulley 1142a, and a passive pulley 1156a, and a second end corresponding thereto. An effector driving mechanism 1320b is provided. The first end effector drive mechanism 1320a and the second end effector drive mechanism 1320b have a basic configuration for opening and closing the end effector (gripper) 1300.

  The components in the first end effector drive mechanism 1320a are identified by a and the components in the second end effector drive mechanism 1320b are identified by b. The components of the first end effector drive mechanism 1320a and the components of the second end effector drive mechanism 1320b that have the same function may be described typically only with respect to the first end effector drive mechanism 1320a so as not to become complicated. is there.

  In FIG. 46 and FIG. 47, the first end effector drive mechanism 1320a and the second end effector drive mechanism 1320b are shown side by side on the paper for easy understanding, but when applied to an actual manipulator 10. As shown in FIG. 48, the pulleys are arranged in parallel in the axial direction (ie, Y direction) of each pulley, and idle pulleys (columnar members, transmission members) 1140a and 1140b and guide pulleys (columnar members, transmission members) 1142a and 1142b The rotation axes may be arranged on the same axis. That is, the idle pulleys 1140a and 1140b can be pivotally supported on the shaft 1110 (see FIG. 48), and the guide pulleys 1142a and 1142b can be pivotally supported on the shaft 1112. By making the guide pulley 1142a and the guide pulley 1142b coaxial, the yaw axis operation mechanism is simplified.

  As shown in FIGS. 49 to 52, the distal end working unit 12 includes a wire passive unit 1100, a composite mechanism unit 1102, and an end effector 1300, which is centered on the first rotation axis Oy in the Y direction. A first degree of freedom in which the portion ahead rotates in the yaw direction, a second degree of freedom in rotation in the roll direction around the second rotation axis Or, and an end effector at the tip about the third rotation axis Og The mechanism has a total of three degrees of freedom having a third degree of freedom for opening and closing 1300.

  The first rotation axis Oy, which is a mechanism with the first degree of freedom, may be set so as to be rotatable in a non-parallel manner with an axis extending from the proximal end side to the distal end side of the connecting shaft 18. The second rotation axis Or, which is a mechanism with a second degree of freedom, is a mechanism that can rotate around the axis in the extending direction of the distal end portion (that is, the end effector 1300) in the distal end working unit 12, and the distal end portion is set to be rotatable. Good.

  The mechanism with the first degree of freedom (yaw direction) is, for example, a tilting mechanism (or a bending mechanism) having an operating range of ± 90 ° or more. The mechanism of the second degree of freedom (roll direction) is a rotating mechanism having an operating range of ± 180 ° or more, for example. The mechanism of the third degree of freedom (end effector 1300) is an opening / closing mechanism that can be opened, for example, 40 ° or more.

  The end effector 1300 is a part that performs an actual work in the operation, and the first rotation axis Oy and the second rotation axis Or constitute a posture changing mechanism for changing the posture of the end effector 1300 so that the work can be easily performed. It is a posture axis. In general, a mechanism unit related to the third degree of freedom for opening and closing the end effector 1300 is also called a gripper (or a gripper shaft), and a mechanism unit related to the first degree of freedom rotating in the yaw direction is also called a yaw axis. The mechanism part according to the second degree of freedom that rotates in the direction is also called a roll shaft.

  The wire passive portion 1100 is provided between the pair of tongue pieces 1058, and is a portion that converts the reciprocating motions of the wires 1052 and 1054 into rotational motions and transmits them to the composite mechanism portion 1102. The wire passive portion 1100 includes a shaft 1110 inserted into the shaft holes 1060a and 1060a and a shaft 1112 inserted into the shaft holes 1060b and 1060b. The shafts 1110 and 1112 are fixed to the shaft holes 1060a and 1060b by, for example, press fitting or welding. The axis | shaft 1112 is arrange | positioned on the axis | shaft of the 1st rotating shaft Oy (refer FIG.49 and FIG.52).

  A gear body 1126 and a pulley 1130 that are symmetrical in the Y direction are provided at both ends of the shaft 1112 in the Y direction. The gear body 1126 includes a cylindrical body 1132 and a gear 1134 provided concentrically on the top of the cylindrical body 1132. The pulley 1130 has substantially the same diameter and the same shape as the cylindrical body 1132. The gear 1134 meshes with a face gear 1165 of a gear body 1146 described later.

  Wires 1052 and 1054 are partially wound around the cylinder 1132 and the pulley 1130 by a predetermined fixing means. The angle at which the wires 1052 and 1054 are wound is, for example, 1.5 rotations (540 °). The pulley 1130 is integrally provided on the base end side of the main shaft member 1144. The main shaft member 1144 is supported by the shaft 1112 so as to be rotatable (tilted) about the first rotation axis Oy (yaw axis). Has been.

  By rotating the wire 1054, the main shaft member 1144 provided integrally with the pulley 1130 rotates about the first rotation axis Oy, and the yaw operation is performed. By rotating the wire 1052 (see FIG. 49), the gear body 1126 rotates with respect to the shaft 1112, the gear body 1146 rotates with reference to the second rotation axis Or, and a roll rotation operation is performed. When the gear body 1126 and the pulley 1130 are rotated, a combined operation of the yaw direction operation and the roll rotation operation is performed. As described above, the mechanism of the distal end working unit 12 is not limited to the type in which the wire 1052 drives the face gear 1165 via the gear 1134 while the wire 1054 directly drives the main shaft member 1144 to rotate. A differential mechanism corresponding to the configuration shown in FIG. 23 in Japanese Patent Laid-Open No. 2008-253463 may be used.

  An idle pulley (cylindrical member, transmission member) 1140a is rotatably supported at a substantially central portion of the shaft 1110, and a guide pulley (cylindrical member, transmission member) 1142a is rotatable at a substantially central portion of the shaft 1112. It is pivotally supported. The idle pulley 1140a is provided to keep the winding angle of the passive wire (flexible member, transmission member) 1252a wound around the guide pulley 1142a constant at all times (approximately 180 ° on both sides). Instead of the idle pulley 1140a, the guide pulley 1142a may have one or more turns of the passive wire 1252a. The idle pulley 1140a and the guide pulley 1142a may be made of a material with a smooth surface or less friction in order to reduce slippage with respect to the passive wire 1252a (see FIG. 54) and wear due to friction. The guide pulley 1142a is provided on the yaw axis Oy in the posture changing mechanism.

  A main shaft member 1144 having a pulley 1130 is rotatably supported on the shaft 1112 between the gear body 1126 and the guide pulley 1142a. The main shaft member 1144 has a cylindrical portion that protrudes toward the composite mechanism portion 1102. A square hole 1144 a is provided in the axial center portion of the main shaft member 1144. At the end in the Z2 direction of the main shaft member 1144, two auxiliary plates 1144b that hold the upper surface in the Y direction of the guide pulley 1142a and the lower surface in the Y direction of the guide pulley 1142b and have a hole through which the shaft 1112 passes are provided. . The auxiliary plate 1144b has a mountain shape that becomes wider in the Z1 direction and prevents intrusion of foreign matter such as yarn.

  The composite mechanism unit 1102 is a composite mechanism unit including an opening / closing operation mechanism of the end effector 1300 and a posture changing mechanism that changes the posture of the end effector 1300.

  The compound mechanism portion 1102 includes a gear body 1146 that is rotatably inserted into the circumferential surface of the cylindrical portion of the main shaft member 1144, a nut body 1148 provided at the tip of the main shaft member 1144, and an end portion in the Z2 direction in the hole 1144a. A square-shaped transmission member 1152 to be inserted, a passive pulley (cylindrical member, transmission member) 1156a rotatably supported by a pin 1154 with respect to the Z2 direction end of the transmission member 1152, and a passive plate (transmission member) ) 1158 and a cylindrical cover 1160.

  A resin-made thrust bearing member 1144c is provided at a portion of the main shaft member 1144 that contacts the gear body 1146. A thrust bearing member 1148a made of resin is provided on a portion of the nut body 1148 that contacts the gear body 1146. The thrust bearing members 1144c and 1148a are low-friction materials, and reduce the friction and torque of the contact portion and prevent the load from being directly applied to the face gear 1165. The thrust bearing members 1144c and 1148a are so-called sliding bearings, but may be provided with rolling bearings. Thereby, even when the end effector 1300 is strongly closed or opened, that is, even when the gear body 1146 strongly contacts the main shaft member 1144, the roll shaft operation can be performed smoothly.

  The gear body 1146 has a stepped cylindrical shape, and includes a large diameter portion 1162 in the Z2 direction, a small diameter portion 1164 in the Z1 direction, and a face gear 1165 provided on the end surface of the large diameter portion 1162 in the Z2 direction. Face gear 1165 meshes with gear 1134. The gear body 1146 prevents the nut body 1148 from coming off from the main shaft member 1144. A screw is provided on the outer periphery of the large diameter portion 1162.

  The passive plate 1158 includes a concave portion 1166 in the Z2 direction, an engaging portion 1168 provided on the bottom surface of the concave portion 1166, axial ribs 1170 provided on both sides in the Y direction, and link holes 1172. The engaging portion 1168 has a shape that engages with a mushroom-like protrusion 1174 provided at the tip of the transmission member 1152. By this engagement, the passive plate 1158 and the transmission member 1152 can rotate relative to each other. The width of the passive plate 1158 is substantially equal to the inner diameter of the cover 1160.

  The cover 1160 is sized to cover substantially the entire composite mechanism section 1102 and prevents foreign matter (biological tissue, medicine, thread, etc.) from entering the composite mechanism section 1102 and the end effector 1300. Two axial grooves 1175 in which the two ribs 1170 of the passive plate 1158 are fitted are provided on the inner surface of the cover 1160 so as to face each other. The passive plate 1158 is guided in the axial direction by fitting the rib 1170 into the groove 1175. Since the protrusion 1174 engages with the engaging portion 1168 of the passive plate 1158, the passive pulley 1156 a can advance and retreat in the axial direction together with the passive plate 1158 and the transmission member 1152 in the hole 1144 a, and the transmission member 1152 can be used as a reference. As a roll rotation is possible. The cover 1160 is fixed to the large diameter portion 1162 of the gear body 1146 by means such as screwing or press fitting.

  The cover 1160 is coupled to the gear body 1146 on the base side (screwing, press-fitting, welding, etc.), and the cover 1160 and the end effector 1300 perform a roll axis operation as the gear body 1146 rotates.

  The lever portion 1310 and the passive plate 1158 are connected by a gripper link 1220. That is, the pin 1222 is inserted into the hole 1220 a at one end of each gripper link 1220 together with the hole 1218, and the pin 1224 is inserted into the hole 1220 b at the other end together with the link hole 1172 of the passive plate 1158.

  As shown in FIG. 53, the idle pulley 1140a includes two coaxially arranged first layer idle pulley (first layer idle cylinder) 1232 and second layer idle pulley (second layer idle cylinder) 1234 in parallel. The guide pulley 1142a is composed of a coaxial first layer guide pulley (first layer guide column) 1236 and a second layer guide pulley (second layer guide column) 1238 arranged in parallel. It is configured.

  As shown in FIG. 54, the end of the rod 192a in the Z1 direction is connected to both ends of a passive wire (flexible member) 1252a by a wire engaging portion 1250a.

  As shown in FIGS. 55 and 56, in the wire engaging portion 1250a, a roller 1416 is provided at a tip portion 1414 of a rod 192a, and a passive wire 1252a is wound around the roller 1416. The roller 1416 is supported by a pin 1418 and is rotatable. As a result, the passive wire 1252a is appropriately advanced and retracted while being wound around the roller 1416, and when the rod 192a is pulled in the Z2 direction, the passive wire 1252a is pulled with a good balance in the X direction even when the yaw axis is not bent. be able to. The tip portion 1414 is screwed to the rod 192a. In this embodiment, the pair of tensions in the Y direction of the passive wire 1252a are uniform, and it is possible to extend the life of the passive wire 1252a, and it is possible to achieve a parallel pair of both the upper and lower Y directions.

  Returning to FIGS. 53 and 54, the passive wire 1252a is an annular flexible member partially connected to the wire engaging portion 1250a, and a rope, a resin wire, a piano wire, a chain, or the like is used in addition to the wire. be able to. Here, the term “annular” is used in a broad sense, and the flexible member does not necessarily have to be applied over the entire length. The flexible member may be at least a portion that is wound around each pulley, and the straight portion is connected by a rigid body. Of course, it may be done.

  The passive wire 1252a passes from the rod 192a of the driving member through the X1 direction (first side) of the idle pulley 1140a, toward the X2 direction (second side), and through the surface of the guide pulley 1142a in the X2 direction. It reaches the X2 direction surface of the passive pulley 1156a. The passive wire 1252a is further wound halfway around the Z1 direction surface of the passive pulley 1156a to reach the X1 direction surface, passes through the X1 direction surface of the guide pulley 1142a, passes in the X2 direction, and passes through the X2 direction of the idle pulley 1140a. It is arrange | positioned by the path | route which reaches the engaging part 1250a.

  That is, the passive wire 1252a constitutes a circuit that has the wire engaging portion 1250a as a base point and an end point, passes through both sides of the idle pulley 1140a, is wound around the passive pulley 1156a, and the idle pulley 1140a and the guide pulley 1142a It intersects between the two to form an approximately 8-character shape. Thus, the wire engaging portion 1250a and the passive wire 1252a are mechanically connected to the trigger lever 36 via the rod 192a.

  The idle pulley 1140a, the guide pulley 1142a, and the passive pulley 1156a have substantially the same diameter, and have an appropriately large diameter in a possible range in the layout so that the passive wire 1252a is not bent so much. The wire engaging portion 1250a is provided at a position moderately separated from the idle pulley 1140a so that the passive wire 1252a does not bend excessively, and both ends of the passive wire 1252a have an acute angle with the wire engaging portion 1250a as the top. Is forming. The gap between the idle pulley 1140a and the guide pulley 1142a is narrow, and for example, a gap substantially equal to the width of the passive wire 1252a is formed.

  The idle pulley 1140a, the guide pulley 1142a, and the passive pulley 1156a may be provided with small flanges on the upper surface and the lower surface to prevent the passive wire 1252a from coming off, or the side surfaces may be concave.

  As is clear from FIG. 54, in the first end effector drive mechanism 1320a, the passive wire 1252a, the idle pulley 1140a, the guide pulley 1142a, and the passive pulley 1156a are arranged along the center line from the proximal end side to the distal end side. ing. The end effector 1300 is coupled to the passive pulley 1156a via the transmission member 1152 and the like.

  In the first end effector drive mechanism 1320a configured as described above, when the rod 192a (see FIG. 54) is pulled in the Z2 direction, the first layer idle pulley 1232 and the second layer guide pulley 1238 are counterclockwise in plan view. The second layer idle pulley 1234 and the first layer guide pulley 1236 rotate clockwise. As described above, the idle pulley 1140a and the guide pulley 1142a are configured such that two pulleys are coaxially arranged in parallel, and thus can rotate in the reverse direction according to the movement of the passive wire 1252a that comes into contact, and the operation is smooth. is there.

  As shown in FIGS. 49 to 52, the end effector 1300 is a so-called double-open type in which a pair of grippers 1302 operate. The end effector 1300 includes a gripper base 1304 that is integrally formed with the cover 1160, a pair of end effector members 1308 that operate based on pins 1196 provided on the gripper base 1304, and a pair of gripper links 1220. .

  Each end effector member 1308 is L-shaped, and has a gripper 1302 extending in the Z1 direction and a lever portion 1310 extending at approximately 35 ° with respect to the gripper 1302. A hole 1216 is provided in the L-shaped bent portion, and a hole 1218 is provided in the vicinity of the end of the lever portion 1310. By inserting the pin 1196 into the hole 1216, the pair of end effector members 1308 can swing around the third rotation axis Og.

  Each end effector member 1308 is connected to the pin 1224 of the passive plate 1158 by one side gripper link 1220. In the passive plate 1158 of the end effector 1300, two link holes 1172 are provided at symmetrical positions in the Y direction in FIG. 50, and the pair of gripper links 1220 are arranged so as to intersect in a side view.

  As shown in FIGS. 48 to 52, the second end effector driving mechanism 1320b is basically a folding pulley (cylindrical member, transmission member) 1350 with respect to the first end effector driving mechanism 1320a (see FIG. 54). Is added. The passive pulley 1156a and the passive pulley 1156b have a coaxial configuration.

  The main shaft member 1144 is provided with a radial shaft hole 1354 into which the pin 1352 is inserted and fixed. The shaft hole 1354 passes through the cylindrical portion of the main shaft member 1144 via the hole 1144a.

  The transmission member 1152 is provided with a long hole 1356 extending in the axial direction with a width allowing the pin 1352 to be inserted. The transmission member 1152 is provided at a position slightly offset in the Y1 direction from the axis of the working unit 16, but only the protrusion 1174 at the tip may be disposed on the axis (see FIG. 54). Of course, the transmission member 1152 may be arranged at the center.

  The pin 1154 passes through the transmission member 1152 and protrudes in the Y2 direction to pivotally support the passive pulley 1156b. The passive pulley 1156b has a width that allows the passive wire 1252b to be wound twice. The hole 1144a of the main shaft member 1144 has a height into which the passive pulleys 1156a and 1156b and the transmission member 1152 can be inserted (see FIGS. 49 and 52). Passive pulleys 1156a and 1156b are axially supported by pins 1154 in the hole 1144a and are independently rotatable.

  As shown in FIGS. 48 and 49, the pin 1352 is inserted into the center hole of the long hole 1356 and the folding pulley 1350 from the Y1 direction toward the Y2 direction in the hole 1144a, and the transmission member 1152 and the passive pulley 1156a and 1156b can advance and retract in the axial direction. The folding pulley 1350 is pivotally supported by a pin 1352 and is rotatable, and its position is fixed. The folding pulley 1350 has a width that allows the passive wire 1252b to be wound twice. In addition, by forming the folding pulley 1350 into two layers, the folding pulley 1350 can be rotated in the opposite direction during the opening / closing operation, and friction between the passive wire 1252b and the pulley can be reduced.

  As shown in FIGS. 57, 58 and 59, in the second end effector drive mechanism 1320b, a folding pulley 1350 is provided on the tip side of the passive pulley 1156b, and the passive wire 1252b includes the passive pulley 1156b and the folding pulley 1350. It is wrapped around. That is, the passive wire 1252b passes through the X1 direction of the idle pulley 1140b, the X2 direction, and the X2 direction of the guide pulley 1142b from the wire engaging portion 1250b (see FIGS. 46 to 48) of the rod 192b of the driving member. It reaches the X2 direction surface of the passive pulley 1156b. The passive wire 1252b extends in the Z1 direction as it is, reaches the surface in the X2 direction of the folding pulley 1350, is wound around the Z1 direction surface of the folding pulley 1350, and is folded in the Z2 direction.

  The passive wire 1252b is wound around the Z2-direction surface of the passive pulley 1156b by a half turn, passes through the X2 side, reaches the folding pulley 1350 again, is again wound around the Z1-direction surface of the folding pulley 1350, and turns back in the Z2 direction. . Thereafter, the passive wire 1252b extends from the X1 direction of the guide pulley 1142b to the X2 direction of the idle pulley 1140b and is connected to the wire engaging portion 1250b of the rod 192b. The wire engaging portion 1250a and the passive wire 1252b are mechanically connected to the trigger lever 36 via the rod 192b.

  In order to facilitate understanding of the structure of the distal end working unit 12, a schematic diagram thereof is shown in FIG.

  As shown in FIG. 46, in the distal end working unit 12 configured as described above, when the trigger lever 36 is sufficiently pulled manually, the rod 192a pulls the passive wire 1252a, and the passive pulley 1156a and the transmission member 1152 are moved in the Z2 direction. The end effector 1300 can be closed from the movement. That is, the end effector 1300 is closed by pulling transmission members such as the rod 192a, the passive wire 1252a, and the passive pulley 1156a.

  In this case, with respect to the second end effector driving mechanism 1320b, the rod 192b is disposed so as to be pushed out, and thus does not hinder the operation of the transmission member 1152.

  As shown in FIG. 47, when the trigger lever 36 is sufficiently pushed out manually, the transmission member 1152 and the passive pulley 1156a can move in the Z1 direction toward the tip side to open the end effector 1300.

  The end effector 1300 is mechanically directly transmitted by the second end effector drive mechanism 1320b to push the trigger lever 36 manually, so that the end effector 1300 can be opened with an arbitrary strong force instead of a predetermined force such as an elastic body. it can. Therefore, it can be suitably used for a procedure in which the biological tissue is peeled off using the outer side surface of the end effector 1300 or the hole is expanded.

  Further, when the object comes into contact with the outer surface of the end effector 1300, the passive wire 1252b, the rod 192b, and the trigger lever 36 do not move further in the Z1 direction, and the operator can move the outer surface of the end effector 1300 to the object. The contact and the hardness of the object can be perceived with the fingertip.

  The tip operation unit 12 can perform a yaw axis operation and a roll axis operation. Although not shown in the drawings, the tip operating unit 12 performs the yaw axis operation with the shaft 1112 (see FIG. 48) of the guide pulley 1142a and the guide pulley 1142b as the center, and the composite mechanism unit 1102 and the end at the tip. The effector 1300 swings in the yaw direction. Since the distal end working unit 12 is a non-interference mechanism, the opening degree of the end effector 1300 does not change even if the yaw axis operation is performed. Conversely, even if the opening degree of the end effector 1300 is changed, the yaw axis does not change. It will not work. The same applies to the relationship between the end effector 1300 and the roll shaft.

  Next, a distal end working unit 12a as a modification of the distal end working unit 12 is shown in FIG.

  As shown in FIG. 60, the distal end working unit 12a is common to the distal end working unit 12 (see FIG. 47) in that it has a first end effector drive mechanism 1320a. The drive mechanism 1320b is omitted. Regarding the distal end working unit 12a, the same components as those of the distal end working unit 12 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The distal end working unit 12a is provided with a single-open type end effector 1300a instead of the double-open type end effector 1300. The end effector 1300a includes a fixed gripper 1202, a gripper 1212 that opens and closes around a pin 1196, and a spring 1305 that elastically biases the transmission member 1152 in the Z1 direction. The gripper 1212 is driven to open and close via the gripper link 1220 as the transmission member 1152 advances and retreats. That is, when the trigger lever 36 is pulled in the Z2 direction, the transmission member 1152 is also displaced in the Z2 direction by the first end effector driving mechanism 1320a, and the gripper 1212 is rotated counterclockwise in FIG. 60 to close the end effector 1300. To do. On the other hand, when the trigger lever 36 is opened, the transmission member 1152 is displaced in the Z1 direction by the bias of the spring 1305, and the end effector 1300 returns to the open state. The trigger lever 36 returns in the Z1 direction.

  The present invention may be applied to a surgical robot system 700 as shown in FIG. 61, for example.

  The surgical robot system 700 includes an articulated robot arm 702 and a console 704, and the same mechanism as the manipulator 10 is provided at the tip of the robot arm 702. Instead of the operation unit 14, a base 14 a that houses the drive unit 30 is fixed to the distal end 708 of the robot arm 702, and the working unit 16 is detachably attached to the base 14 a. 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 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. A base portion 14 a constituting the manipulator 10 at the distal end is integrated with the distal end portion 708 of the robot arm 702. The manipulator 10 has an electric operation mechanism by a motor (an actuator linked to an input unit operated by a hand) (not shown) instead of the mechanical operation mechanism by the trigger lever 36, and the motor has two rods. 192a and 192b are driven.

  The robot arm 702 may be configured to operate under the action of the console 704 and perform an automatic operation based on a program, an operation following a joystick 706 provided on the console 704, and a combination of these operations. The console 704 includes the functions of the controller. The working unit 16 is provided with the distal end working unit 12.

  The console 704 is provided with two joysticks 706 as operation command units and a monitor 710. 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. On the monitor 710, information such as an image by a flexible endoscope is displayed.

  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. 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.

  The joystick 706 is provided with a trigger lever 36, and the motor can be driven by operating the trigger lever 36.

  The present invention is not limited to the above-described embodiment, and it is needless to say that various configurations and processes can be adopted without departing from the gist of the present invention.

Claims (8)

A drive unit (30) having a drive shaft (115, 116) rotated by an actuator (100, 102);
The driven shafts (158a, 158b) driven to rotate by the drive shafts (115, 116), the tip operating unit (12) operated by the rotation of the driven shafts (158a, 158b), and the tip operating unit (12 A working part (16) having a shaft (18) provided at the tip, and detachable from the drive part (30);
A control unit (514) for controlling the actuator;
With
The drive shafts (115, 116) and the driven shafts (158a, 158b) are provided with engaging convex portions (137, 138) at one end, and the engaging convex portions (137, 138) at the other end. Engaging recesses (176a, 176b) are provided,
The engaging projections (137, 138) and the engaging recesses (176a, 176b) engage with each other in a state in which the driving unit (30) and the working unit (16) are mounted, and the driving shaft (115, 116) can be transmitted to the driven shaft (158a, 158b), and the engaging convex portions (137, 138) and the engaging concave portions (176a, 176b) are connected to the driven shaft (158a). , engageable der each other in one or more phases allowed are set based on the rotational range of 158b) is,
When the allowable rotation range of the driven shaft (158a, 158b) is referred to as θ, and the integer part of the quotient obtained by dividing 360 by θ is referred to as n.
The engagement convex portions (137, 138) and the engagement concave portions (176a, 176b) are configured to be able to engage with each other only at a phase of n or less places,
In a state where the working unit is mounted on the drive unit, the control unit performs an origin search operation for returning the rotational phase of the drive shaft to the origin,
The drive shaft in the origin search operation when the working part is mounted on the drive part in a state where the engagement convex part and the engagement concave part are positioned in a rotational phase where they cannot engage with each other. The medical manipulator is characterized in that the engaging convex portion and the engaging concave portion are engaged with each other with rotation of . The medical manipulator according to claim 1, wherein
Any one of the engagement convex portions (137, 138) and the engagement concave portions (176a, 176b) can advance and retreat with respect to the axial direction of the drive shaft (115, 116) and the driven shaft (158a, 158b). A medical manipulator characterized by being elastically supported by the robot. The medical manipulator according to claim 2 ,
When the working part is mounted on the drive part in a state where the engaging convex part and the engaging concave part are positioned in a rotational phase where they cannot engage with each other, the engaging convex part or the engaging convex part The recess is displaced in the first direction in the axial direction against the elastic supporting force,
As the drive shaft rotates in the origin search operation, the engagement convex portion or the engagement concave portion is displaced in a second direction opposite to the first direction based on the elastic support force. By doing so, the engaging convex part and the engaging concave part engage with each other . The medical manipulator according to claim 2 or 3,
The engagement convex portions (137, 138) or the engagement concave portions (176a, 176b) provided on the drive shafts (115, 116) are elastically supported so as to advance and retreat in the axial direction, and are also elastically supported. Further, the engaging convex portions (137, 138) and the engaging concave portions (176a, 176b) are moved forward and backward in the axial direction to move the engaging convex portions (137, 138) and A medical manipulator provided with coupling sensors (306, 308) capable of detecting whether or not the engaging recesses (176a, 176b) can be engaged. The medical manipulator according to any one of claims 1 to 4,
To the driving unit (30), for medical use, characterized in that the actuator (100, 102) or a detectable origin detection sensor the origin of the drive shaft (115, 116) (331, 332) is provided manipulator. The medical manipulator according to claim 5, wherein
After the drive unit (30) and the working unit (16) are mounted,
Based on the detection information of the origin detection sensors (331, 332), the drive shafts (115, 116) are rotated to perform the origin detection operation, and the engagement protrusions (137, 138) and the engagement are detected. Engage the mating recesses (176a, 176b),
The origin and, characterized in that it comprises the engagement convex portion (137, 138) and said engagement recess (176a, 176b) after detecting the engagement state of the origin search unit that executes a pre-Kihara point search operation Medical manipulator. A drive unit (30) having a drive shaft (115, 116) rotated by an actuator (100, 102);
The driven shafts (158a, 158b) driven to rotate by the drive shafts (115, 116), the tip operating unit (12) operated by the rotation of the driven shafts (158a, 158b), and the tip operating unit (12 A working part (16) having a shaft (18) provided at the tip, and detachable from the drive part (30);
With
The drive shafts (115, 116) and the driven shafts (158a, 158b) are provided with engaging convex portions (137, 138) at one end, and the engaging convex portions (137, 138) at the other end. Engaging recesses (176a, 176b) are provided,
The engaging projections (137, 138) and the engaging recesses (176a, 176b) engage with each other in a state in which the driving unit (30) and the working unit (16) are mounted, and the driving shaft (115, 116) can be transmitted to the driven shaft (158a, 158b), and the engaging convex portions (137, 138) and the engaging concave portions (176a, 176b) are connected to the driven shaft (158a). 158b) and can be engaged with each other at one or more phases set based on the allowable rotation range of
The permissible rotation range of the driven shaft (158a, 158b) includes a contact member (177a, 177b) provided along a radial direction of the driven shaft (158a, 158b) and a corresponding contact member (177a, 177b). Is rotated together with the driven shaft (158a, 158b), the rotation range of the driven shaft (158a, 158b) is changed from the origin to the forward rotation direction and the reverse rotation direction by contacting the corresponding contact member (177a, 177b), respectively. A medical manipulator characterized by being defined using a regulating portion (179a) that regulates within a range of less than 180 degrees. In the medical manipulator according to any one of claims 1 to 7,
A medical manipulator comprising an attachment / detachment sensor (314) for detecting attachment / detachment states of the drive unit (30) and the working unit (16).

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