JP5990026B2 - Medical manipulator - Google Patents

Description

  The present invention relates to a medical manipulator capable of performing treatment on a treatment target by inserting an end effector into a living body.

  In surgical treatment, without performing laparotomy or thoracotomy on a patient, a technique for performing a desired treatment on a diseased living tissue or the like by opening a small hole and inserting forceps, a heel or the like (so-called endoscopic surgery) ) Is done. In recent years, in this type of procedure, in addition to forceps and scissors, medical manipulators that can perform operations with a higher degree of freedom in vivo are used.

  For example, in a medical manipulator disclosed in Patent Document 1, an end effector provided on the distal end side of a shaft is inserted into a living body during a procedure. This end effector is configured as a gripper capable of holding a treatment target and energizing it. The gripper receives an operating force transmitted from an operation part (main body part) provided on the base end side of the shaft, so that the posture changes (for example, yaw operation that tilts the gripper in a direction different from the axial direction of the shaft, Roll operation that rotates to the center, etc.) and opening and closing operations are performed.

  When performing a procedure using a medical manipulator, a plurality of holes are opened in the patient's abdomen and the like to insert an endoscope (camera) and forceps, and the medical manipulator is inserted from the tip (gripper) side. Then, under the monitoring of the camera, the gripper is delivered to the living tissue (treatment target) in the living body, and the living tissue is gripped and energized by the closing operation of the gripper. During delivery of the gripper or treatment of living tissue, the state (posture and open / close) of the gripper is freely changed in the living body based on the operating force transmitted from the main body.

JP 2011-72570 A

  The present invention has been made in connection with the above-described medical manipulator, and can further enhance the operability of an end effector that performs a treatment on a treatment target, thereby performing an efficient and accurate treatment. An object of the present invention is to provide a medical manipulator that can perform the above-mentioned.

In order to achieve the above object, the present invention provides a shaft, a distal end working unit provided at a distal end of the shaft and having an end effector for performing treatment on a treatment target, and provided at a proximal end of the shaft. A medical manipulator including a main body that operates the end effector based on the input of the input, wherein the shaft is inserted into and fixed to the main body, and the distal end working unit is inserted through the outer cylinder. to transmit the operation force, move the conductor capable of supplying electric power to the end effector and a in that Yusuke inside tube, said body portion, said inner cylinder at the distal end and a proximal direction relative to the outer tube An advancing / retreating movement mechanism, a rotation mechanism for rotating the inner cylinder relative to the outer cylinder between a position where the inner cylinder is moved to the distal end side and a position where the inner cylinder is moved to the proximal end side by the advance / retreat movement mechanism ; And the conductor And an electrical connection structure for electrically connecting said electrical connection comprises a contact terminal connected to said power source, and rotates integrally with the inner cylinder is connected to the conductor, and the inner cylinder is between a position moved to the moved position and the proximal end side to the tip side, and wherein the Rukoto a contactable cylindrical terminal to the contact terminal.

  According to the above, by providing the main body portion with the forward / backward movement mechanism and the rotation mechanism, the inner cylinder can be moved in the distal end and proximal end directions, and the inner cylinder can be rotated. Can be satisfactorily transmitted to the distal end working unit provided on the head. Therefore, the end effector provided in the distal end operating unit can easily perform various operations (such as posture change and opening / closing operations) according to two types of operating forces. That is, since the medical manipulator has the advance / retreat movement mechanism and the rotation mechanism, high operability can be obtained in the end effector, and the treatment of the treatment target can be performed efficiently and accurately.

  In this case, the rotation mechanism has a driven gear attached to the inner cylinder, and a main gear that meshes with the driven gear and rotates the driven gear, and at least one of the driven gear and the main gear. The axial length may be longer than the amount of movement of the inner cylinder by the advance / retreat mechanism.

  As described above, the axial length of either the driven gear or the main driving gear is longer than the amount of movement of the inner cylinder by the advance / retreat movement mechanism, so that the inner cylinder moves in the distal end and proximal direction by the advance / retreat movement mechanism. However, the driven gear and the main gear can always be meshed. Therefore, the inner cylinder to which the driven gear is attached can be stably rotated.

  Further, the rotation mechanism includes a rotation operation unit that rotates the main driving gear based on a rotation operation by a person, and the rotation operation unit is provided at a position near the main body unit and is formed to be narrower than the width of the main body unit. It is preferable that

  Thus, by providing the rotation operation unit in the vicinity of the main body, the user of the medical manipulator can easily operate the rotation operation unit in the vicinity while holding the main body. In addition, since the rotation operation unit is formed narrower than the width of the main body unit, the rotation operation unit interferes with the medical device when a plurality of medical devices (such as forceps and medical manipulators) are used during the procedure. Can be reduced.

  Further, the rotation mechanism includes a latching gear that rotates as the rotation operation unit rotates, and a latch piece that elastically contacts the latching gear, and the latching gear rotates the rotation operation unit. It is preferable to have an uneven surface that elastically deforms the latch piece based on an operation amount.

  Thus, by providing the latching gear that rotates as the rotation operation unit rotates and the latch piece that elastically contacts the latching gear, the user feels latched when operating the rotation operation unit. Can be given. Thereby, the user can sensuously recognize the amount of rotation of the rotation operation unit, and can easily adjust the rotation of the inner cylinder.

  Still further, the forward / backward movement mechanism is inserted into the groove portion with the rotary shaft member mounted on the inner cylinder and formed with an annular groove portion extending in the circumferential direction, and the inner cylinder being rotatable. It can have a projecting portion and a moving body that displaces the projecting portion in the distal and proximal directions.

  Thereby, based on operation | movement of a moving body, a protrusion is displaced to a front-end | tip and base end direction, and the rotating shaft member which has the groove part in which the protrusion is inserted also moves to a front-end | tip and base end direction. Therefore, the inner cylinder on which the rotating shaft member is mounted can be smoothly moved in the distal end and proximal end directions. Further, since the rotary shaft member is formed with an annular groove portion in the circumferential direction, the rotary shaft member is rotatable relative to the projecting portion, and the rotation of the inner cylinder can be allowed with a simple configuration.

  According to the present invention, it is possible to further improve the operability of an end effector that performs a treatment on a treatment target, thereby enabling an efficient and accurate treatment.

It is a perspective view which shows the whole structure of the medical manipulator which concerns on this Embodiment. It is a principal part perspective view which expands and shows the front-end | tip operation | movement part of the manipulator of FIG. FIG. 3A is a first explanatory diagram schematically illustrating the energization operation of the manipulator of FIG. 1, and FIG. 3B is a second explanatory diagram schematically illustrating the energization operation of the manipulator of FIG. 1. 4A is a first explanatory diagram schematically illustrating the yaw operation of the manipulator of FIG. 1, and FIG. 4B is a second explanatory diagram schematically illustrating the yaw operation of the manipulator of FIG. It is explanatory drawing which illustrates roughly the roll operation | movement of the manipulator of FIG. 6A is a first explanatory diagram schematically illustrating the opening / closing operation of the manipulator of FIG. 1, and FIG. 6B is a second explanatory diagram schematically illustrating the opening / closing operation of the manipulator of FIG. 1. It is a partial exploded perspective view which expands and shows the front end side of the manipulator of FIG. It is a partial exploded perspective view which expands and shows the curved part of the manipulator of FIG. FIG. 2 is a partially exploded perspective view showing an enlarged handle of the manipulator in FIG. 1. It is a schematic plan view explaining the yaw operation of the manipulator of FIG. It is a fragmentary perspective view explaining the yaw operation of the manipulator of FIG. It is a fragmentary perspective view explaining the assembly | attachment state inside the handle | steering_wheel of FIG. 13A is a main part side view showing a bending part of the manipulator of FIG. 1, FIG. 13B is a main part plan view showing the bending part of the manipulator, and FIG. 13C is a cross-sectional view taken along line XIIIC-XIIIC of FIG. 13B. It is. 14A is a partially perspective view showing the joint member of FIG. 13A in an enlarged manner, and FIG. 14B is a partial perspective view showing the assembled state of the joint member in an enlarged manner. It is a schematic side view explaining the roll operation | movement of the manipulator of FIG. It is a fragmentary perspective view explaining the assembly | attachment state inside the handle | steering_wheel of FIG. It is a principal part perspective view which notches and shows the front-end | tip part of the manipulator of FIG. 18A is a plan sectional view showing a tip portion of the manipulator of FIG. 1, and FIG. 18B is a side sectional view showing a tip portion of the manipulator of FIG. It is a schematic perspective view explaining the opening / closing operation | movement of the gripper of FIG. 20A is a first side view for explaining the operation on the handle side in FIG. 19, and FIG. 20B is a second side view for explaining the operation on the handle side in FIG. FIG. 21A is a main part plan view showing the gripper of FIG. 1, FIG. 21B is a partial plan view showing an opened state of the gripper, and FIG. 21C is a partial plan view showing a closed state of the gripper.

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

  FIG. 1 is a perspective view showing the overall configuration of the medical manipulator according to the present embodiment. A medical manipulator (hereinafter simply referred to as manipulator 10) according to the present embodiment is used for a procedure such as endoscopic surgery, and energizes a living tissue to be treated X to perform a predetermined treatment (for example, ablation by heat). Etc.). Examples of the treatment target X to be treated by the manipulator 10 include a living tissue such as a tumor (lesioned part), muscle, blood vessel, or nerve.

  The end effector of the manipulator 10 is configured as a gripper 12 (electric knife) that energizes the treatment target X by sandwiching the treatment target X. Various mechanisms are provided in the manipulator 10 in order to deliver and sandwich the gripper 12 (energization operation). Hereinafter, the manipulator 10 will be specifically described.

  As shown in FIG. 1, the manipulator 10 includes a distal end working unit 14 having a gripper 12 for performing treatment on the treatment target X, a shaft 16 connected to the proximal end side of the distal end working unit 14 and extending in the proximal direction, A handle 18 (main body part) is provided on the proximal end side of the shaft 16 and operates the distal end working part 14 based on an operation (input) from a person. The handle 18 of the manipulator 10 is connected to a controller 20 that supplies desired power when operating the distal end working unit 14, and a high frequency power supply unit 22 that energizes (supplies high frequency voltage) to the gripper 12. Is done.

  When the manipulator 10 is used, the handle 18 is grasped and operated by a user (a technician such as a doctor), and the distal end side of the manipulator 10 (the distal end side of the distal end working unit 14 and the shaft 16) is inserted into the patient's body. At this time, the user opens a small-diameter hole at a predetermined position on the patient's body surface, injects carbon dioxide gas, attaches the trocar 24, and inserts the shaft 16 through the trocar 24. Further, in a state where the distal end side of the manipulator 10 is inserted into the body, the posture change and the opening / closing operation of the gripper 12 are appropriately performed under the monitoring of the endoscope. As a result, the gripper 12 is delivered to the treatment target X, and the treatment target X is energized.

  It should be noted that the configuration of the end effector is not limited to the gripper 12 that supplies current to the treatment target X, and it is needless to say that various configurations can be adopted. For example, as an end effector, a scissors or a scalpel (blade) that cuts a living tissue may be applied, and it is configured as a grasping instrument that grasps a medical device (forceps, needle, etc.) and is treated by the grasped medical device. X can also be treated.

  As shown in FIG. 2, the posture change and the opening / closing operation of the gripper 12 are performed in the distal end working unit 14 on the distal end side of the manipulator 10. The posture variation of the gripper 12 includes a yaw operation that tilts the gripper 12 so as to bend in the lateral direction (yaw direction) with respect to the axis Os of the shaft 16 and a roll operation that rotates around the axis Or of the gripper 12. It is done. Of course, the posture variation of the gripper 12 is not limited to the yaw operation and the roll operation, and for example, a pitch operation in which the gripper 12 tilts in the vertical direction (pitch direction) with respect to the axis Os of the shaft 16 may be performed.

  The gripper 12 includes two gripper members (a first gripper member 26 and a second gripper member 28), and is held by the gripper holding member 30 so as to be opened and closed. The first and second gripper members 26 and 28 are opened and closed at their tip portions with the longitudinal axis Og of the gripper holding member 30 as a base point. The base end side of the gripper holding member 30 is rotatably inserted into an outer shell member 32 formed in a cylindrical shape. A bending portion 34 (joint portion) that performs a yaw operation of the distal end working portion 14 is connected to the proximal end side of the outer shell member 32.

  The bending portion 34 is configured by arranging a plurality of (five in FIG. 2) joint members 36 made of, for example, stainless steel in parallel in the axial direction as a material having rigidity (hereinafter, referred to as the joint member 36 from the distal end side). In some cases, the description will be given with reference numerals A to E in order). The adjacent joint members 36 are connected to each other at the hinge portion 38 so as to be bendable. Further, the joint member 36 is connected to the distal end portion of the shaft 16 with the joint member 36A on the most distal end side connected to the outer shell member 32 so that it can be bent. In this embodiment, stainless steel is used as the material of the joint member 36. However, the material is not limited to this, and any material may be used as long as it has excellent durability and can achieve this function. For example, polyether ether ketone resin (PEEK) may be used.

  The yaw motion of the distal end working portion 14 is performed by the five hinge portions 38 being flexibly interlocked with the joint member 36E as an operating fulcrum. That is, when the outer shell member 32 and the joint members 36A to 36D are inclined in the yaw direction by substantially the same angle, the gripper 12 and the gripper holding member 30 on the distal end side of the bending portion 34 are integrally inclined. The movable range of the yaw motion of the bending portion 34 can be set as appropriate. For example, if the range of the axis Or of the gripper 12 is perpendicular to the axis Os of the shaft 16, that is, the range in which the gripper 12 is tilted 180 ° left and right, The gripper 12 can be exposed over a wide area.

  On the other hand, the roll operation of the distal end working unit 14 is performed by rotating the gripper holding member 30 relative to the outer shell member 32. That is, the outer shell member 32 connected to the curved portion 34 is fixed in the rotational direction, and the gripper holding member 30 rotates with respect to the outer shell member 32. For this reason, the gripper 12 also rotates together with the gripper holding member 30. In the present embodiment, the movable range of the roll operation (the rotation range of the gripper 12) is set to unlimited.

  Further, the gripper 12 is opened and closed by the first and second gripper members 26 and 28 being held by the gripper holding member 30 (that is, the tip portions of the first and second gripper members 26 and 28 are close to each other). (Contact) and separation). The opening / closing operation of the gripper 12 can be performed at a desired timing based on the user's operation regardless of the posture variation of the gripper 12.

  The above-described posture variation (yaw operation and roll operation) of the gripper 12 and the opening / closing operation of the gripper 12 are performed based on the operating force transmitted from the shaft 16 to the distal end operating unit 14.

  Returning to FIG. 1, the shaft 16 connected to the distal end working unit 14 extends in a straight line with a predetermined length (for example, 350 mm), and a handle 18 is connected to the base end thereof. The shaft 16 has a function of transmitting the operating force of the distal end operating unit 14 from the handle 18. Further, during the procedure, the proximal end side of the shaft 16 is exposed outside the patient's body, and the position and angle of the manipulator 10 (shaft 16) are operated from the outside, so that the distal end working unit 14 inserted into the body is inserted. The angle and insertion amount are changed.

  The handle 18 includes a handle main body 40 formed in a pistol shape so that the user can easily hold it with one hand, and a drive unit 41 that is detachably attached to the upper portion on the proximal end side of the handle main body 40. The handle body 40 includes a body portion 42 that extends in the same direction as the axial direction of the shaft 16, and a grip portion 44 that extends downward from the lower side of the body portion 42.

  The body portion 42 has an internal space (not shown) having a relatively large volume, and the above-described operation of the tip operation unit 14 (yaw operation, roll operation, opening / closing operation of the gripper 12) is performed in this internal space. Various mechanisms are provided. On the other hand, inside the drive unit 41, a drive motor 46 (see FIG. 11) serving as a drive source for the yaw operation of the distal end working unit 14 is accommodated. In addition, the controller 20 and the high-frequency power supply unit 22 described above are connected to the drive unit 41. The controller 20 is connected to a power source (not shown) and has a function of controlling the rotational drive of the drive motor 46. The high frequency power supply unit 22 has a function of supplying power (high frequency voltage) to the gripper 12 based on a user operation.

  A switch 48 (tilting operation unit) for operating the yaw operation of the distal end operation unit 14 is provided on a side surface of the body unit 42. Further, a rotary handle 50 (roll operation unit), on which the roll operation of the distal end operation unit 14 is performed, is provided at a connection portion of the shaft 16 on the distal end side of the body unit 42 so as to surround the outside of the shaft 16. . Further, a trigger 52 (opening / closing operation unit) for performing an opening / closing operation of the gripper 12 is provided below the body portion 42 and in front of the grip portion 44.

  The grip portion 44 is formed slightly on the distal end side with respect to the intermediate portion in the axial direction of the body portion 42. When the user grips the grip portion 44 with one hand, the switch 48 and the rotary handle 50 are touched by the finger of the gripped one hand. And the trigger 52 is configured to be operable.

  The operation of the distal end working unit 14 is performed by appropriately operating the switch 48, the rotary handle 50, and the trigger 52 by the user. The manipulator 10 according to the present embodiment performs the treatment of the treatment target X by interlocking the posture variation (yaw operation, roll operation) of the gripper 12, the opening / closing operation, and the energizing operation based on the opening / closing operation of the gripper 12. In the following description, the outline of the configuration related to each operation will be individually described in order to facilitate understanding of the invention.

  FIG. 3A is a first explanatory diagram schematically illustrating the energization operation of the manipulator 10 in FIG. 1, and FIG. 3B is a second explanatory diagram schematically illustrating the energization operation of the manipulator 10 in FIG. 1. First, a configuration that enables an energization operation in the manipulator 10 will be schematically described.

  The manipulator 10 has a function of energizing the treatment target X as the gripper 12 grips the treatment target X as described above. Therefore, the first and second gripper members 26 and 28 are made of a metal material, and are configured as electrodes (a plus electrode and a minus electrode) that energize the treatment target X. That is, the gripper 12 according to the present embodiment is a bipolar electric knife. Of course, the present invention is not limited to this, and the end effector may be configured as a monopolar electric knife.

  The first gripper member 26 and the second gripper member 28 are pivotally supported in an insulated state by one fulcrum pin 54 (see FIG. 2). When receiving the operating force of the opening / closing operation, the distal end portions of the first and second gripper members 26, 28 approach or separate with the fulcrum pin 54 as a fulcrum. For this reason, in the open state in which the tip portions of the first and second gripper members 26 and 28 are separated from each other, energization is interrupted, but the closed state in which the tip portions of the first and second gripper members 26 and 28 are in contact with each other (treatment) (Including a state in which the target X is indirectly closed across the target X), the first and second gripper members 26 and 28 are energized, and the treatment target X is also energized.

  Metal materials 56 (energization paths) are electrically connected to the proximal ends of the first and second gripper members 26 and 28, respectively. The bipolar metal material 56 (for example, copper wire) is covered with an insulating material 58 at the extended portion of the curved portion 34 and the shaft 16, and the two insulating materials 58 are combined into one by welding or adhesion. It extends as a conducting wire 60. The conducting wire 60 extends in the proximal direction together with the shaft 16 and is inserted into the handle 18. In the present embodiment, the conducting wire 60 is disposed so as to pass through the bending portion 34 and the axis of the shaft 16 (axis Os). Accordingly, since it is not necessary to separately wire a lead wire on the side of the distal end working unit 14 or the shaft 16, entanglement of the lead due to the operation of the tip working unit 14 is avoided, and energization can be performed satisfactorily.

  The conducting wire 60 extends to the proximal end side of the shaft 16 inserted into the handle 18, and two metal members 56 in the conducting wire 60 are connected to a pair of cylindrical terminals 62 (rotating terminals) provided on the shaft 16. Each is connected. Contact terminals 64 are in contact with the pair of cylindrical terminals 62, and the contact terminals 64 are connected to the high frequency power supply unit 22 outside the handle 18.

  4A is a first explanatory diagram schematically illustrating the yaw operation of the manipulator 10 in FIG. 1, and FIG. 4B is a second explanatory diagram schematically illustrating the yaw operation of the manipulator 10 in FIG. 1. Next, a configuration for performing the yaw operation will be schematically described.

  The yaw motion of the manipulator 10 is realized by the bending portion 34 of the distal end motion portion 14 as described above. A pair of belts (a first belt 66 and a second belt 68) are inserted through the inner surfaces in the width direction of the five joint members 36 arranged in the axial direction. Each joint member 36 includes a first belt 66 and a second belt 66. 68 are slidably held. The first and second belts 66 and 68 have a pair of semicircular tubes (a first semicircular tube 70 and a second semicircular tube) whose distal ends are connected to the outer shell member 32 and whose proximal ends extend inside the shaft 16. 72: a bending motion force transmission member).

  The first and second semicircular tubes 70 and 72 are inserted through the shaft 16 and extend to the handle 18, and a pair of slide members (first slide member 74, second slide) provided inside the handle 18. It is connected to a slide member 76). The first and second slide members 74 and 76 are disposed at positions facing each other, and a rack 78 is formed on each facing surface. A single pinion 80 (rotating member) that meshes with both racks 78 is disposed between the first and second slide members 74 and 76, and the pinion 80 is connected to a plurality of gears described later. And mechanically connected to the drive motor 46.

  In the manipulator 10 configured as described above, for example, as illustrated in FIG. 4B, when the pinion 80 is rotated clockwise by the rotational drive of the drive motor 46, the first slide member 74 slides in the proximal direction, The second slide member 76 slides in the distal direction. Therefore, the first semicircular tube 70 connected to the first slide member 74 slides in the proximal direction, and the second semicircular tube 72 connected to the second slide member 76 slides in the distal direction. The operating force of the first and second semicircular tubes 70 and 72 is transmitted to the distal end operating unit 14 (curved portion 34).

  That is, the first belt 66 moves in the proximal direction relative to the curved portion 34, the first belt 66 in the curved portion 34 becomes shorter, and the second belt 68 moves in the distal direction relative to the curved portion 34. As a result, the second belt 68 in the bending portion 34 becomes longer. As a result, the five joint members 36 are tilted in conjunction with the shortened first belt 66 side, and the outer shell member 32 connected to the distal end side of the joint member 36 is tilted, whereby the gripper 12 and the gripper holding member are tilted. 30 is operated laterally (yaw direction) with respect to the axis Os of the shaft 16.

  FIG. 5 is an explanatory diagram schematically illustrating the roll operation of the manipulator 10 of FIG. Next, a configuration for performing the roll operation will be schematically described.

  As described above, the roll operation of the manipulator 10 is realized by the gripper 12 and the gripper holding member 30 rotating relative to the outer shell member 32. A rotatable hollow tube 82 is connected to the proximal end side of the gripper holding member 30, and the hollow tube 82 passes through the inside of the bending portion 34 (five joint members 36). The hollow tube 82 is configured as a torque tube that is flexible enough to follow the bending of the bending portion 34 and can rotate even if it curves following the bending portion 34. A conducting wire 60 (see FIG. 3A) is inserted into the hollow tube 82. The outer diameter of the hollow tube 82 is preferably 2.5 mm to 3.0 mm, and in the present embodiment, it will be described as 2.7 mm.

  The shaft 16 connected to the bending portion 34 has a double-pipe structure having an outer cylinder 84 that configures the appearance and extends in the axial direction, and an inner cylinder 86 that passes through the inside of the outer cylinder 84. The hollow tube 82 is connected to an inner cylinder 86 of the shaft 16, and an operating force (rotational torque) in the rotational direction is transmitted from the inner cylinder 86 to rotate.

  The base end side of the outer cylinder 84 is inserted into the handle 18 and connected and fixed at the tip position of the handle 18. On the other hand, the inner cylinder 86 extends in the proximal direction from the outer cylinder 84 and is rotatably supported by a rotation mechanism 88 inside the handle 18. The rotation mechanism 88 has a plurality of gears, and the inner cylinder 86 is mechanically connected to the rotation handle 50 provided on the distal end side of the handle 18 via the plurality of gears. The rotary handle 50 is rotatable along the circumferential direction of the outer cylinder 84.

  Therefore, when the user manually rotates the rotary handle 50, the rotational torque of the rotary handle 50 is transmitted into the proximal handle 18, and the inner cylinder 86 is rotated via the rotation mechanism 88. The operating force in the rotational direction of the inner cylinder 86 is transmitted to the hollow tube 82, and the hollow tube 82 rotates together with the inner cylinder 86. As a result, the gripper holding member 30 (gripper 12) connected to the distal end side of the hollow tube 82 rotates around the axis Or of the gripper 12. In particular, in the manipulator 10 according to the present embodiment, the gripper 12, the gripper holding member 30, the hollow tube 82, and the inner cylinder 86 are disposed in a separated state with respect to the outer shell member 32, the curved portion 34, and the outer cylinder 84, Unrestricted rotation is possible. Therefore, the gripper 12 can change the posture by the roll operation any number of times.

  6A is a first explanatory diagram schematically illustrating the opening / closing operation of the manipulator 10 of FIG. 1, and FIG. 6B is a second explanatory diagram schematically illustrating the opening / closing operation of the manipulator 10 of FIG. Next, a configuration for performing the opening / closing operation will be schematically described.

  The opening / closing operation of the gripper 12 is realized by transmitting operating forces in the distal end direction and the proximal end direction from the handle 18 to the gripper 12. The first and second gripper members 26, 28 include an extending portion 90 that extends obliquely rearward from the fulcrum pin 54 that pivotally supports each other, and a long hole 92 is formed in the extending portion 90. Is formed. Inside the gripper holding member 30, a movable body 94 that is movable relative to the gripper holding member 30 (that is, movable in the distal and proximal directions) is disposed, and a movable pin 96 attached to the movable body 94. Is inserted into the long hole 92. The gripper holding member 30 and the moving body 94 are arranged so that the gripper holding member 30 and the moving body 94 operate together during the roll operation, but the moving body 94 moves forward and backward without the gripper holding member 30 operating during the opening and closing operation. It has become a relationship. For this reason, the movable pin 96 (moving body 94) approaches and separates from the fulcrum pin 54 of the gripper holding member 30.

  The above-described hollow tube 82 is connected to the base end side of the moving body 94. The moving body 94 is moved forward and backward by transmitting operating forces in the distal and proximal directions from the hollow tube 82. Further, the above-described inner cylinder 86 is connected to the proximal end side of the hollow tube 82, and the forward / backward moving mechanism 98 in the handle 18 is connected to the proximal end side of the inner cylinder 86. The forward / backward moving mechanism 98 has a plurality of links, and mechanically connects the inner cylinder 86 and a trigger 52 provided on the lower side of the handle 18.

  For example, when the user manually pulls the trigger 52, the operating force of the trigger 52 is transmitted into the proximal handle 18, and the inner cylinder 86 is moved in the proximal direction via the advance / retreat mechanism 98. The operating force in the proximal direction of the inner cylinder 86 is transmitted to the moving body 94 by the hollow tube 82, and the moving body 94 is moved backward. Conversely, when the trigger 52 is pushed out, the moving body 94 moves forward.

  As shown in FIG. 6A, in the position where the movable body 94 has advanced (the movable pin 96 is positioned on the distal end side of the long hole 92), the extending portions 90 of the first and second gripper members 26, 28 are movable pins. Since the crossing occurs at 96, the front end portions of the first and second gripper members 26 and 28 are separated from each other and are opened. As shown in FIG. 6B, in the position where the movable body 94 has moved backward (the movable pin 96 is located on the proximal end side of the long hole 92), the long holes 92 of the first and second gripper members 26, 28 are guided. Thus, the extending portions 90 operate so as to be close to each other (overlap). Accordingly, the tip portions of the first and second gripper members 26 and 28 are also close to each other and are closed. As described above, the gripper 12 is opened and closed when the operating force in the distal and proximal directions is transmitted from the hollow tube 82.

  7 is an enlarged partial exploded perspective view showing the distal end side of the manipulator 10 shown in FIG. 1, and FIG. 8 is an enlarged partial exploded perspective view showing the curved portion 34 of the manipulator 10 shown in FIG. 9 is a partially exploded perspective view showing the handle 18 of the manipulator 10 in FIG. 1 in an enlarged manner. Next, members constituting the manipulator 10 according to the present embodiment will be specifically described with reference to FIGS.

  The first and second gripper members 26 and 28 constituting the gripper 12 have a shape in which the tip end portion is curved downward and extends in the tip direction, and saw-like meshing teeth 100 are formed on the opposing surfaces. Has been. The meshing teeth 100 of the first and second gripper members 26 and 28 mesh with each other in the closed state. The extending portions 90 of the first and second gripper members 26 and 28 are formed in a flat plate shape having a predetermined plate thickness (for example, 0.5 mm), and extend from the proximal end portion of the meshing tooth 100. Yes. A round hole 102 into which the fulcrum pin 54 is inserted is formed near the tip of the extending portion 90, and the fulcrum pin 54 is pivotally supported by an insulating ring 104 fitted in the round hole 102. A long hole 92 is formed on the proximal end side of the extending portion 90, and the movable pin 96 is inserted into the long hole 92 via the insulating cylinder 106. Further, the extending portions 90 of the first and second gripper members 26 and 28 are respectively inserted into the gaps 108 on the distal end side of the gripper holding member 30.

  The gripper holding member 30 includes a holding member-side trifurcated portion 112 that extends in the distal direction so that the plate-like holding plate 110 branches in a trifurcated manner and has the gap 108, and a base of the holding member-side trifurcated portion 112. It consists of the engagement cylinder part 114 which continues to the end side and extends in the proximal direction. A fulcrum pin hole 116 into which the fulcrum pin 54 is inserted is formed at the distal end portion of the three holding plates 110, and a movable pin long hole into which the movable pin 96 is inserted at the base end side of the fulcrum pin hole 116. 118 is formed. A protruding portion 120 that protrudes radially outward along the circumferential direction is provided on the outer surface of the engagement cylinder portion 114. Further, a sliding space 122 (see FIG. 18A) into which the moving body 94 is inserted is formed inside the holding member side trifurcated portion 112 and the engaging cylinder portion 114.

  The fulcrum pin 54 is inserted into the fulcrum pin hole 116 with the first and second gripper members 26, 28 disposed in the gap 108, and the end is fixed to the washer 124, whereby the first and second grippers The members 26 and 28 are pivotally supported. The movable pin 96 is inserted into the elongated hole 92 and the movable pin elongated hole 118 in a state where the first and second gripper members 26 and 28 are fixed by the fulcrum pin 54 and the movable body 94 is inserted into the sliding space 122. By being inserted and the end portion thereof being fixed to the washer 126, the elongated hole 92 and the movable pin elongated hole 118 are disposed so as to be movable forward and backward.

  Similar to the gripper holding member 30, the movable body 94 has a movable body side trifurcated member that extends in the distal direction so that the plate-like holding plate 128 branches in a trifurcated manner and has a gap 130 having the same width as the gap 108. And a insertion portion 134 that is connected to the proximal end side of the movable body side trifurcation 132 and extends in the proximal direction. A movable pin round hole 136 is formed at the tip portion of the three holding plates 128, and the movable pin 96 is inserted into the movable pin round hole 136, so that the movable body 94 is attached. A cylindrical body 138 is inserted into the insertion portion 134 of the moving body 94. Of the three holding plates 128 of the moving body 94, the holding plate 128a extending to the center is made of an insulating material.

  The cylindrical body 138 is extended in a predetermined length (for example, 6 mm) in the axial direction, and a hollow space 140 is formed therein. The insertion portion 134 described above is inserted into the distal end portion of the cylindrical body 138, and the first connector 142 is inserted into the proximal end portion of the cylindrical body 138.

  The first connector 142 has a flange portion 144 at an intermediate portion, and has a distal end connection projection 146 extending from the flange portion 144 in the distal direction and a proximal end connection projection 148 extending in the proximal direction. . The first connector 142 has the distal end connecting projection 146 inserted into the cylindrical body 138 and the proximal end connecting projection 148 inserted into the hollow tube 82, thereby connecting the cylindrical body 138 and the hollow tube 82. . The cylindrical body 138 is inserted into the outer shell member 32 in a state where the hollow tube 82 (first connector 142) is connected.

  The outer shell member 32 includes a distal end side cylindrical portion 150 into which the engagement cylindrical portion 114 of the gripper holding member 30 is inserted, and a proximal end side cylindrical portion 152 into which the cylindrical body 138 is inserted. The distal end side cylindrical portion 150 is an arc piece 150a that can be separated on one half. A groove portion 154 having a predetermined width (for example, 2 mm) is provided on the inner surface of the distal end side cylindrical portion 150 (including the arc piece 150a). When the gripper holding member 30 is inserted, the groove portion 154 has a protruding portion 120. Is inserted and both engage.

  The distal end side of the cylindrical body 138, the first connector 142, and the hollow tube 82 is inserted into the proximal end side cylindrical portion 152. An outer shell member side hinge piece 156 that protrudes in the proximal direction is formed at the upper and lower positions of the proximal end side cylindrical portion 152, and the outer shell member side hinge piece 156 is connected to the proximal side curved portion 34 so as to be bent. Is done. A pair of notches 158 that substantially match the shape of the tip of the belt (first and second belts 66 and 68) are formed on the outer surface of the base end side cylindrical portion 152, and the tip of the belt is a fixed pin. 160 is connected and fixed to the notch 158.

  As shown in FIG. 8, the distal end working portion 14 is provided with a bending portion 34 that performs the yaw motion of the gripper 12 (see FIG. 7) on the proximal end side with respect to the outer shell member 32. Of the five joint members 36 </ b> A to 36 </ b> E constituting the bending portion 34, four joint members 36 </ b> A to 36 </ b> D have a central cylindrical portion 162 (cylindrical portion) formed in a cylindrical shape at the central portion, and a distal end from the central cylindrical portion 162. A distal-end hinge piece 164 extending to the side, and a proximal-end hinge piece 166 extending from the central cylindrical portion 162 to the proximal end side. The central cylindrical portion 162 has a hollow portion 162a (see FIG. 14A) penetrating in the axial direction at the central portion.

  The distal hinge piece 164 is formed to extend inward from the proximal hinge piece 166. In the adjacent joint members 36, the distal hinge piece 164 and the proximal hinge piece 166 overlap each other. Further, a hinge hole 168 is formed in both the distal hinge piece 164 and the proximal hinge piece 166, and the joint pin 170 is inserted into the hinge hole 168 with the distal hinge piece 164 and the proximal hinge piece 166 overlapped. . Thereby, the hinge part 38 to which the adjacent joint members 36 were connected flexibly with the joint pin 170 as a fulcrum is configured. The distal hinge piece 164 of the most distal joint member 36A is connected to the outer shell member side hinge piece 156 of the outer shell member 32 so as to be bendable.

  On the other hand, the most proximal joint member 36E has the same central cylindrical portion 162 and distal hinge piece 164 as the joint members 36A to 36D, but the proximal hinge piece 166 is located on the proximal end side of the central cylindrical portion 162. It is not provided, and has a fitting extension 172 formed to have an outer diameter substantially coinciding with the inner diameter of the outer cylinder 84. In the joint member 36E, the fitting extension 172 is fitted and fixed to the outer cylinder 84.

  A hollow tube 82 having flexibility is inserted into the cavity 162a of the five joint members 36. The hollow tube 82 has a hollow portion 82a having a predetermined inner diameter (for example, 1.5 mm) and penetrating in the axial direction. A first connector 142 is connected to the distal end portion of the hollow tube 82, and a second connector 174 is connected to the proximal end portion of the hollow tube 82. Similar to the first connector 142, the second connector 174 has a flange portion 176 in the middle portion, a distal end connection projection 178 extending from the flange portion 176 in the distal direction, and a base portion extending in the proximal direction. And an end connection protrusion 180. The second connector 174 connects the hollow tube 82 and the inner cylinder 86 by inserting the distal end connection protrusion 178 into the hollow tube 82 and inserting the proximal end connection protrusion 180 into the inner cylinder 86. .

  Further, in the bending portion 34, belts (first and second belts 66 and 68) are inserted through the inner surfaces of the five joint members 36. The first and second belts 66 and 68 have a reinforcing plate 182 bonded to the inside thereof and extend in the axial direction. The first and second semicircular tubes 70 and 72 are connected between the tube 84 and the inner tube 86. The first and second belts 66 and 68 are slidable with respect to the joint member 36, and the outer shell member 32 on the distal end side can be tilted in the lateral direction in accordance with the sliding amount.

  The outer cylinder 84 and the inner cylinder 86 constituting the shaft 16 and the first and second semicircular tubes 70 and 72 provided therebetween are inserted into the handle 18 so as to extend in the proximal direction. As shown in FIG. 9, the handle body 40 of the handle 18 is configured to be separated in the vertical direction (right housing 40a, left housing 40b: see FIG. 1) (in FIG. 9, the left housing). 40b is omitted). Further, an insertion hole 42 a into which the shaft 16 is inserted is formed in the distal end surface of the handle body 40.

  In the internal space of the handle main body 40, a first bracket 200 to which the proximal end portion of the shaft 16 (outer cylinder 84) is connected is installed, and a second bracket 202 facing the first bracket 200 is installed. The first bracket 200 is formed in a bent plate shape having a front end surface and a right side surface, and the second bracket 202 is formed in a bent plate shape having a left side surface and an upper surface. A shaft insertion cylinder 204 extending in the distal direction is provided on the distal end surface of the first bracket 200, and the shaft 16 in a state where the outer cylinder 84, the semicircular pipe, and the inner cylinder 86 overlap is inserted. Further, the shaft insertion cylinder 204 is inserted into the through hole 50a of the rotary handle 50, so that the rotary handle 50 is rotatably attached to the first bracket 200 (that is, the handle 18).

  First and second slide members 74 and 76 are disposed near the upper portion between the first and second brackets 200 and 202. The first and second slide members 74 and 76 are formed in a substantially T shape in a side view, and a rod portion 206 extending in the distal end and proximal direction, and a mounting portion hanging below the rod portion 206. 208. The rack 78 described above is provided on the opposing surfaces of the pair of rod portions 206. The bar portion 206 is slidably disposed in a support cutout portion 210 formed in the first bracket 200. A stopper 212 that defines a movement limit on the proximal end side of the first and second slide members 74 and 76 is disposed on the proximal end side of the first and second brackets 200 and 202.

  On the other hand, the lower-surface-side facing surfaces of the pair of attachment portions 208 are formed in an arc shape and can be in close contact with the outer surfaces of the first and second semicircular tubes 70 and 72. That is, the first semicircular tube 70 is connected to the attachment portion 208 of the first slide member 74, and the second semicircular tube 72 is connected to the attachment portion 208 of the second slide member 76. Accordingly, the first and second semicircular tubes 70 and 72 are supported by the first and second slide members 74 and 76 at their proximal ends, and extend between the outer cylinder 84 and the inner cylinder 86 in the distal direction. Put out.

  The pinion 80 disposed in the rack 78 between the first and second slide members 74 and 76 is formed at the lower end portion of the pinion shaft 214. The pinion shaft 214 extends upward through a pinion hole 202 a provided on the upper surface of the second bracket 202. A driven bevel gear 216 is fitted to the pinion shaft 214 at a position above the pinion 80. The driven bevel gear 216 has a tooth surface formed on the upper side surface (inclined surface), and is arranged so that the tooth surface of the main drive bevel gear 218 meshes with the tooth surface. The main drive bevel gear 218 is connected to the distal end portion of the motor gear pin 220, and a motor drive driven gear 222 is provided at the proximal end portion of the motor gear pin 220.

  The motor drive driven gear 222 is configured to mesh with the motor drive main drive gear 224 protruding from the front end surface of the drive unit 41 in a state where the drive unit 41 is attached to the handle body 40. A drive motor 46 (see FIG. 11) is disposed inside the drive unit 41, and the motor drive main drive gear 224 is rotationally driven by the drive motor 46. With such a configuration, the first and second slide members 74 and 76 are slidably moved in the distal and proximal directions based on the rotational drive of the drive motor 46, and are connected to each other. 70 and 72 are operated.

In addition, the right side surface and left side surface of the second bracket 202 of the first bracket 200, provided the switch 48 described above, respectively, the switch 48 is exposed from the side to the window formed 42b of the handle body 40 to the outside (See also FIG. 1). An electric circuit (not shown) is printed on the outer surfaces of the first and second brackets 200 and 202 with which both ends of the switch 48 are in contact with each other, so that the operation state of the switch 48 can be detected. Further, a second signal connector (not shown) that is electrically connected to the electric circuit and is connected to a first signal connector (not shown) of the drive unit 41 when the drive unit 41 is mounted is provided inside the handle 18. Z). The manipulator 10 is configured to supply power to the electric circuit by connecting the first and second signal connectors and to transmit an operation signal (voltage value) generated by the operation of the switch 48 to the external controller 20. . The controller 20 supplies electric power (signal) for rotating the drive motor 46 based on this operation signal.

  By the way, the inner cylinder 86 covered with the first and second semicircular tubes 70 and 72 extends in the proximal direction from the mounting portion 208 of the first and second slide members 74 and 76. A rotation driven gear 226 that constitutes a part of the rotation mechanism 88 and a slide drive shaft 228 (rotation shaft member) that constitutes a part of the advance / retreat mechanism 98 are mounted on the side surface on the proximal end side of the inner cylinder 86.

  The rotation driven gear 226 extends with a predetermined axial length (for example, 6 mm), and has a configuration in which a tooth surface formed on the outer surface thereof meshes with a tooth surface of the rotation main driving gear 230 disposed on the lower side. The rotation main driving gear 230 is connected and fixed to the base end portion of the rotation pin 232, and the rotation pin 232 is rotatably supported by a holding projection 234 protruding from the plate surface of the first bracket 200. Further, a handle driven gear 236 is formed at the distal end portion of the rotation pin 232, and the handle driven gear 236 is disposed in front of the distal end surface of the first bracket 200. A tooth surface of the handle driven gear 236 is configured to mesh with a tooth surface of a handle main driving gear 238 provided on the proximal end side of the rotary handle 50 and disposed in the body portion 42. With this configuration, the rotation mechanism 88 rotates the inner cylinder 86 around the axis based on the rotation operation of the rotary handle 50.

  On the other hand, the slide drive shaft 228 attached to the inner cylinder 86 includes a head portion 240 having a diameter increased radially outward on the distal end side, and a body portion 242 extending a predetermined length from the head portion 240 to the proximal end side. Have. A concave portion 244 (groove portion) is formed in the outer surface of the head portion 240 along the circumferential direction, and the convex portion of the response member 246 (moving body) disposed below the slide drive shaft 228 is formed in the concave portion 244. Part 248 (protrusion) is inserted.

  The response member 246 is formed of a block body formed in an oval shape in a side view, and a pair of arms 250 extend from the upper part thereof. The convex portions 248 are respectively formed on the inner side surfaces on the upper end side of the pair of arms 250. In addition, two holes (an upper hole 246a and a lower hole 246b) are formed on the side surface of the response member 246, and the upper hole 246a is pivotally supported by a first support pin 252 extending from the first bracket 200. The As a result, the response member 246 can rotate around the upper hole (first support pin 252). On the other hand, the lower hole 246 b is connected to the spring link 256 via the first link shaft 254.

  The spring link 256 has a zigzag spring portion 258 in the center portion, and two holes (a front hole 256a and a rear hole 256b) are formed at both ends thereof. The first link shaft 254 described above is inserted into the rear hole 256b, and the second link shaft 260 is inserted into the front hole 256a. The second link shaft 260 is connected to the upper end portion of the trigger 52.

  The trigger 52 has a bifurcated branch handle 262 that extends downward and a link that protrudes from the upper portion of the handle 262 and has two holes (link hole 264a and support hole 264b) formed therethrough. Part 264. The second link shaft 260 described above is inserted into the link hole 264a. On the other hand, the support hole 264 b is pivotally supported by a second support pin 266 extending from the first bracket 200. As a result, the trigger 52 can rotate around the support hole 264b (second support pin 266). The forward / backward moving mechanism 98 is configured in this way, and moves the slide drive shaft 228 in the distal end and proximal end directions based on the pulling operation and the pushing operation of the trigger 52. As a result, the inner cylinder 86 can be moved back and forth.

  The body 242 of the slide drive shaft 228 is provided with a rotating portion of the slip ring system 270. Even if the inner cylinder 86 is rotated by the rotation mechanism 88, the slip ring system 270 continues the electrical connection between the conductive wire 60 (two metal members 56) disposed in the inner cylinder 86 and the high frequency power supply unit 22. It is a mechanism to perform. Specifically, the first resin cylinder 272, the first cylindrical terminal 62a, the second resin cylinder 274, the second cylindrical terminal 62b, the insulating washer 276, and the nut 278 are externally mounted on the body 242 of the slide drive shaft 228. . The first cylindrical terminal 62a is mounted on the outer surface of the first resin cylinder 272, and one (for example, a positive electrode) of the metal material 56 is connected to the inside thereof. The second cylindrical terminal 62b is mounted on the outer surface of the second resin cylinder 274, and the other metal member 56 (for example, a negative pole) is connected to the inside thereof. The first and second contact terminals 64a and 64b are in contact with the side surfaces of the first and second cylindrical terminals 62a and 62b, respectively, and the first and second contact terminals 64a and 64b are connected to the high frequency power supply unit 22. The Therefore, in the slip ring system 270, even if the first and second cylindrical terminals 62a and 62b rotate, the first and second contact terminals 64a and 64b continue to contact each other. Thereby, the output from the high frequency power supply unit 22 is supplied to the metal material 56.

  10 is a schematic plan view illustrating the yaw operation of the manipulator 10 in FIG. 1, FIG. 11 is a partial perspective view illustrating the yaw operation of the manipulator 10 in FIG. 1, and FIG. 12 is a handle in FIG. It is a fragmentary perspective view explaining the assembly state inside 18.

  Next, the configuration related to the yaw operation of the manipulator 10 according to the present embodiment will be described more specifically. As shown in FIGS. 9 and 10, the handle 18 has two switches 48 (a right switch 48 a and a left switch 48 b) attached to both side surfaces of the handle body 40. The right and left switches 48a and 48b are supported at the center by the handle 18 (first and second brackets 200 and 202), and both ends (the front end and the base end) are pushed by the user with the center as a fulcrum. It is comprised so that it may displace by. The right and left switches 48a and 48b are configured to support both right-handed and left-handed users. For example, when the grip 44 is gripped with the right hand, the right switch 48a is operated by the right index finger. It is possible.

  When the proximal end side (A1 in FIG. 10) is pushed, the right switch 48a causes the distal end working portion 14 to yaw in the right direction (Y1 direction), and the distal end side (A2 in FIG. 10) pushes. In this case, the tip operation unit 14 is configured to yaw in the left direction (Y2 direction). On the other hand, when the proximal end side (A2 in FIG. 10) is pushed, the left switch 48b causes the distal end operating unit 14 to yaw in the left direction (Y2 direction), and the distal end side (A1 in FIG. 10) When pushed, the tip operating unit 14 is configured to yaw in the right direction (Y1 direction). With this configuration, the operation feeling of the switch 48 matches the user's sense (viewpoint) regardless of whether the right switch 48a or the left switch 48b is operated.

  That is, the operation signal generated by the operation of the switch 48 has two patterns of a right yaw operation signal and a left yaw operation signal, and these signals are transmitted to the controller 20 (see FIG. 11). The controller 20 outputs a drive signal for controlling the rotation direction and the rotation speed of the drive motor 46 to the drive motor 46 based on the operation signal. The drive motor 46 rotates clockwise or counterclockwise based on the drive signal of the controller 20. Of course, the drive control of the drive motor 46 can take various configurations. For example, the rotational speed of the drive motor 46 is changed according to the pressing force of the switch 48, and the speed at which the yaw operation is curved is changed. A configuration may be adopted.

  As shown in FIGS. 11 and 12, in the manipulator 10, the drive unit 41 is attached to the handle body 40, so that the motor drive main drive gear 224 attached to the tip of the drive motor 46 is driven by the motor drive follower inside the handle 18. It is configured to mesh with the gear 222. The motor gear pin 220 including the motor driven driven gear 222 is rotatably held by a first support bar 280 and a second support bar 282 that are erected upward from the base end side of the second bracket 202. The first support bar 280 extends in the tip direction at the upper end portion and holds the upper end of the pinion shaft 214. The pinion shaft 214 is rotated by a driven bevel gear 216 that is in contact with a main drive bevel gear 218 provided at the tip of the motor gear pin 220, and rotates the pinion 80 formed at the lower end of the driven bevel gear 216.

  The pinion 80 is disposed in a space formed by assembling the first and second brackets 200 and 202, and the first and second slide members 74 and 76 are disposed so as to face each other with the pinion 80 interposed therebetween. The bar portion 206 of the first and second slide members 74 and 76 is supported by the support cutout portion 210 (see FIG. 9) of the first bracket 200 and is attached to the attachment portion 208 extending below the bar portion 206. Are connected to the first and second semicircular tubes 70 and 72, respectively. For this reason, when the pinion 80 rotates in one direction, the first slide member 74 and the second slide member 76 slide in opposite directions, and accordingly, the first semicircular tube 70 and the second semicircular tube 72 also in opposite directions. Slide to. The slides in the opposite directions of the first and second semicircular tubes 70 and 72 are transmitted to the distal end working unit 14 on the distal end side via the shaft 16.

  13A is a main part side view showing the bending part 34 of the manipulator 10 in FIG. 1, FIG. 13B is a main part plan view showing the bending part 34 of the manipulator 10, and FIG. 13C is XIIIC- in FIG. 13B. 14A is a partial perspective view showing the joint member 36 of FIG. 13A in an enlarged manner, and FIG. 14B is a partial perspective view showing the assembled state of the joint member 36 in an enlarged manner. .

  As shown in FIGS. 13A and 13B, in the bending portion 34, the first and second belts 66 and 68 connected to the distal end portions of the first and second semicircular tubes 70 and 72 pass through the five joint members 36. Then, it is connected to the outer shell member 32 on the distal end side by the fixing pin 160. During the yaw operation, the first and second belts 66 and 68 slide in opposite directions, so that one of them becomes shorter and the other becomes longer, so that the bending portion 34 performs a bending operation. In order to perform this bending operation, the first and second belts 66 and 68 are configured to slide along the inner surface of the joint member 36.

  As shown in FIG. 14A, the central cylindrical portion 162 of the joint member 36 is provided with a guide portion 283 that guides the first and second belts 66 and 68 outside the hollow portion 162 a of the central cylindrical portion 162. The guide portion 283 includes a belt space portion 286 (through cavity) that penetrates the central cylindrical portion 162 in the axial direction, and a protruding wall portion 284 that separates the cavity portion 162a and the belt space portion 286 from each other. The protruding wall portion 284 is erected in the cavity portion 162 a so as to be orthogonal to the distal end and proximal end hinge pieces 164, 166 extending in pairs above and below the central cylinder portion 162. The first and second belts 66 and 68 are assembled so as to pass through the belt space portion 286 separated by the protruding wall portion 284 (see FIG. 14B).

  On the other hand, the distal hinge piece 164 and the proximal hinge piece 166 are formed at positions shifted by 90 ° in the circumferential direction with respect to the belt space portion 286 through which the first and second belts 66 and 68 are inserted. Therefore, when the distal hinge piece 164 and the proximal hinge piece 166 are connected to bendable by the joint pin 170, the adjacent joint members 36 move according to the slide of the first and second belts 66 and 68, and the joint pin 170. Bends easily from the base point. Further, when the first and second belts 66 and 68 are slid (that is, when the bending portion 34 is bent), the first and second belts 66 and 68 are moved to the central tube portion 162 by the protruding wall portion 284. Therefore, the joint member 36 can be bent in conjunction with the sliding amount.

  Further, an arc surface 288 is formed above and below the inner surface of the joint member 36 so that the hollow tube 82 can be inserted therethrough. When the joint member 36 is bent, the hollow tube 82 is guided and curved by the arcuate surface 288.

  The hollow tube 82 is flexible so that it can bend following the bending portion 34, and a hollow portion 82a having an inner diameter through which the conducting wire 60 can be inserted is formed, as shown in FIG. 13C. Yes. A second connector 174 is connected to the proximal end side of the hollow portion 82a, and a first connector 142 is connected to the distal end side of the hollow portion 82a.

  In addition, double coils (a first coil 290 and a second coil 292) are disposed inside the hollow tube 82 so as to surround the hollow portion 82a. The first and second coils 290 and 292 are overlapped and extend in the axial direction while being wound in different winding directions (clockwise and counterclockwise). Therefore, when the hollow tube 82 rotates in the clockwise direction, the coil wound in the clockwise direction (for example, the first coil 290) expands in diameter, and the coil wound in the counterclockwise direction (for example, the second coil 292) contracts. Since the diameter is increased, the shape of the entire double coil is maintained. Thereby, even if the hollow tube 82 is rotated in a state of being bent by the bending portion 34, the rotation torque can be easily transmitted to the tip (gripper 12) side.

The manipulator 10 can tilt the gripper 12 in the lateral direction by the yaw operation by configuring the distal end working unit 14 and the handle 18 as described above. For example, as shown in FIG. 11, when it is desired to tilt the gripper 12 to the right, the user (Fig. By pressing the base end portion of the right side switch 48a A1 (or left switch 48 b of the distal end portion A1) 10 The operation signal from the switch 48 is transmitted to the controller 20. The controller 20 receives this operation signal and outputs a predetermined drive signal (electric power) to the drive motor 46 to rotate the motor drive main drive gear 224 of the drive motor 46 in the clockwise direction. As a result, the motor gear pin 220 (motor driven driven gear 222) rotates counterclockwise, and the driven bevel gear 216 (pinion shaft 214) meshing with the main driven bevel gear 218 is rotated clockwise in plan view. Accordingly, the pinion 80 also rotates in the clockwise direction to slide the first slide member 74 in the proximal direction and slide the second slide member 76 in the distal direction.

  As the first slide member 74 moves in the proximal direction, the first semicircular tube 70 and the first belt 66 slide in the proximal direction. Further, as the second slide member 76 moves in the distal direction, the second semicircular tube 72 and the second belt 68 slide in the distal direction. Accordingly, in the bending portion 34, the axial length of the first belt 66 is shortened and the axial length of the second belt 68 is increased. Therefore, the bending portion 34 is yawed so as to bend toward the first belt 66 side. Perform the action. As a result, the gripper 12 provided on the distal end side of the bending portion 34 changes to a posture inclined rightward.

  In the bending of the bending portion 34, the sliding amount of the first and second belts 66 and 68 may be changed according to the bending direction. That is, when the bending portion 34 is tilted, the length of the curved portion of the inner belt (first belt 66) in the bending direction is shorter than necessary than the outer belt (second belt 68). For this reason, by interposing a gear (not shown) in the rack 78 of the first and second slide members 74 and 76 without directly engaging the pinion 80, the inner belt in the bending direction (the first belt in the case of the right side). In the case of the belt 66 on the left side, the slide amount of the second belt 68) may be reduced.

  15 is a schematic side view for explaining the roll operation of the manipulator 10 in FIG. 1, and FIG. 16 is a partial perspective view for explaining the assembled state of the handle 18 in FIG.

  Next, the configuration related to the roll operation of the manipulator 10 according to the present embodiment will be described more specifically. As shown in FIG. 15, the gripper 12 at the tip of the manipulator 10 rotates around the axis Or of the gripper 12 by a roll operation. Here, the axis Or of the gripper 12 (end effector) in the present embodiment is a central axis of a portion extending substantially linearly on the distal end side of the bending portion 34 (joint portion). The axis Or tilts in the yaw direction with respect to the axis Os of the shaft 16 (see FIG. 4B).

  The roll operation is performed by the user manually operating the rotary handle 50 attached to the tip of the handle 18. The rotary handle 50 is a block-like member having a width smaller than the width of the handle 18 in plan view (see FIG. 10), and the shaft insertion cylinder 204 of the first bracket 200 is inserted into the through hole 50a at the center. Is inserted (see FIG. 9). A plurality of wings 50b are provided on the side surface of the rotary handle 50 so that the user can easily perform the rotation operation.

  As shown in FIGS. 15 and 16, a latching gear 294 and a handle main driving gear 238 that rotate together with the rotating handle 50 are provided on the proximal end side of the rotating handle 50. The main driving gear 238 is disposed at the tip of the internal space of the handle 18. The outer surface of the latch gear 294 is formed in a wave shape (uneven surface) by a trough portion 296 formed in an arc shape and a crest portion 298 protruding between the trough portions 296. The latch piece 300 is in contact with the outer surface of the latch gear 294.

  The latch piece 300 is mounted on a mounting plate 302 that extends from the second bracket 202 in the distal direction, and extends obliquely downward from the mounting portion 304 and is elastically swingable with respect to the mounting portion 304. And an elastic piece 306 (see also FIG. 9). The lower end portion of the elastic piece 306 is formed in an arc shape that matches the valley portion 296 of the latch gear 294, and comes into surface contact with the valley portion 296 when the latch piece 300 is attached. When the rotary handle 50 is rotated, the latch gear 294 also rotates, and the latch piece 300 (elastic piece 306) is elastically rocked along the valley portion 296 and the mountain portion 298 by this rotation. When the elastic piece 306 moves beyond the peak portion 298 to the valley portion 296, positive displacement is caused by the elastic force, and the displacement of the latch piece 300 is transmitted as a tactile sensation to the user who operates the rotary handle 50. Is done. Furthermore, since an operation sound is generated in accordance with the displacement of the latch piece 300, it is possible to make the user more strongly recognize the operational feeling of the rotary handle 50. Thereby, the user can perform the rotation operation of the rotary handle 50 more intuitively.

The handle main driving gear 238 rotates the rotation pin 232 (the handle driven gear 236) supported by the first bracket 200. The handle driven gear 236 is formed to have a small outer diameter with respect to the handle main drive gear 238 and rotates with a larger rotation amount than the rotation amount of the rotary handle 50. The rotation main driving gear 230 provided on the base end side of the rotation pin 232 rotates the rotation driven gear 226 fixed to the inner cylinder 86 of the shaft 16, and the rotation driven gear 226 rotates the inner cylinder 86 integrally. .

  Further, the slide drive shaft 228 and the slip ring system 270 (excluding the first and second contact terminals 64 a and 64 b) mounted on the base end side with respect to the rotation driven gear 226 rotate together with the inner cylinder 86. The first and second contact terminals 64 a and 64 b are in elastic contact with each other so as to keep contacting even if the first and second cylindrical terminals 62 a and 62 b rotate, and are disposed inside the inner cylinder 86. Steady electrical continuity is realized between the conductor 60 and the high-frequency power supply unit 22.

  17 is a perspective view of a main part of the manipulator 10 of FIG. 1 with a part cut away, FIG. 18A is a plan sectional view showing the tip of the manipulator 10 of FIG. 1, and FIG. It is side surface sectional drawing which shows the front-end | tip part of the manipulator 10 of FIG.

  As shown in FIG. 17, the distal end working unit 14 is configured to rotate the gripper 12 in the circumferential direction on the distal end side of the bending portion 34. That is, the outer shell member 32 is connected to the distal end portion of the joint member 36 constituting the bending portion 34, so that the outer shell member 32 does not rotate. On the other hand, the gripper 12 and the gripper holding member 30 are configured to rotate in the circumferential direction around the axis of the gripper 12 when a rotational torque is transmitted from a hollow tube 82 provided inside the bending portion 34. .

  That is, the hollow tube 82 rotates with the inner cylinder 86 by being connected to the inner cylinder 86 of the shaft 16 via the second connector 174 (see FIG. 13C). As shown in FIGS. 18A and 18B, the distal end portion of the hollow tube 82 is inserted into the engagement cylinder portion 114 of the gripper holding member 30, and the proximal end connection projection 148 of the first connector 142 is fitted and connected. Has been. Further, the tip connection projection 146 of the first connector 142 is fitted into the cylindrical body 138.

  The cylindrical body 138 is formed to have an outer diameter substantially coinciding with the inner diameter of the engagement cylinder portion 114, and the rotation torque is transmitted to the engagement cylinder portion 114 from the cylinder body 138 connected to the hollow tube 82. . That is, when the hollow tube 82 rotates and rotational torque is transmitted, the first connector 142 and the cylindrical body 138 rotate integrally, and as the cylindrical body 138 rotates, the gripper holding member 30 (engagement cylinder portion 114) also rotates. Rotate.

  In addition, the insertion portion 134 of the moving body 94 is inserted into the distal end portion of the cylindrical body 138. The movable body 94 has a central holding plate 128a made of an insulating material. The holding plate 128a extends to the base end side of the insertion portion 134, and welds 308 are provided on both upper and lower surfaces of the base end portion. It has been. A metal material 56 (metal wire) exposed from the distal end portion of the conducting wire 60 is welded to the welded portion 308 with a welding material. The leading end of the conducting wire 60 is fixed and held by the first connector 142, and extends through the hollow portion 82a of the hollow tube 82 in the axial direction. The moving body 94 rotates with the rotation of the cylindrical body 138 by fitting the insertion portion 134 to the cylindrical body 138. The rotation of the moving body 94 is also transmitted to the gripper holding member 30, thereby rotating the gripper holding member 30 more smoothly.

  Since the first and second gripper members 26, 28 constituting the gripper 12 are supported by the gripper holding member 30, they rotate together with the rotation of the gripper holding member 30. That is, in the manipulator 10, as shown in FIG. 17, the gripper 12, the gripper holding member 30, and the hollow tube 82 rotate around the axis Or of the gripper 12.

  In particular, the manipulator 10 according to the present embodiment is capable of rotating 360 ° without limitation with respect to the axis Or of the gripper 12 as a roll operation of the gripper 12. That is, the inner cylinder 86 is freely rotatable with respect to the outer cylinder 84, and the hollow tube 82 disposed at a position overlapping with the bending portion 34 is also freely rotatable, and the gripper inserted into the outer shell member 32. The holding member 30 (gripper 12) is also freely rotatable. Moreover, since the conducting wire 60 extends through the hollow tube 82 and the inner cylinder 86, it rotates integrally with the hollow tube 82 and the inner cylinder 86. At this time, the electrical continuity with the high frequency power supply unit 22 on the proximal end side of the conducting wire 60 is continued by the slip ring system 270.

  19 is a schematic perspective view for explaining the opening / closing operation of the gripper 12 in FIG. 1, FIG. 20A is a first side view for explaining the operation on the handle 18 side in FIG. 19, and FIG. 20B is in FIG. It is the 2nd side view explaining operation of the handle 18 side.

  Next, the configuration related to the opening / closing operation of the gripper 12 of the manipulator 10 according to the present embodiment will be described more specifically. As shown in FIG. 19, the gripper 12 is brought close to and away from the tip portions (engagement teeth 100) of the first and second gripper members 26 and 28 by an opening / closing operation. This opening / closing operation is performed by the user manually operating the trigger 52 of the handle 18.

  As shown in FIGS. 20A and 20B, the trigger 52 is disposed below the rotation pin 232 constituting the rotation mechanism 88 and is supported to be swingable with respect to the first bracket 200 (handle 18). That is, the link portion 264 of the trigger 52 is supported by the second support pin 266 extending from the first bracket 200, and the extension handle 262 operates in the distal and proximal directions with the second support pin 266 as a base point.

The link portion 264 of the trigger 52 is connected to an advance / retreat mechanism 98 that operates the inner cylinder 86. Specifically, the tip of the spring link 256 is connected to the upper portion (link hole 264a) of the link portion 264 from the insertion position of the second support pin 266 via the second link shaft 260. The spring link 256 is disposed so as to extend in the proximal direction, and the proximal end thereof is connected to the lower end portion (lower hole 246 b) of the responding member 246 via the first link shaft 254. The upper hole 246a of the reaction member 246, the first support pin 2 52 extending from the first bracket 200 is inserted, the convex portion 248 of the pair of arms 250 extending upward from the upper hole 246a (FIG. 9 Is inserted into the recess 244 of the slide drive shaft 228.

  Accordingly, when the extending handle 262 of the trigger 52 is pulled in the proximal direction, the trigger 52 rotates around the second support pin 266, and the upper end portion of the link portion 264 (where the spring link 256 is connected) is in the distal direction. Move to. Along with this, the spring link 256 also moves in the distal direction and moves the lower end portion of the responsive member 246 in the distal direction. The response member 246 rotates around the first support pin 252 as the lower end moves in the distal direction, and moves the arm 250 on the upper end side in the proximal direction. As a result, the slide drive shaft 228 (concave portion 244) is pushed by the convex portion 248 and moves in the proximal direction. As a result, the inner cylinder 86 moves in the proximal direction together with the slide drive shaft 228, and the operating force in the proximal direction is transmitted to the distal end working unit 14 on the distal end side via the shaft 16.

  The spring portion 258 of the spring link 256 is elastically extended when the extension handle 262 of the trigger 52 is pulled, and suppresses the movement of the inner cylinder 86 in the proximal direction. That is, the amount of movement when the inner cylinder 86 is moved in the proximal direction is limited to the extent that the gripper 12 moves from the open state to the closed state, and when the trigger 52 is further pulled, the spring portion 258 is moved. The operating force is absorbed by the elastic deformation. As a result, it is possible to avoid applying a large torque to the closing operation of the gripper 12. For example, the movement of the inner cylinder 86 in the proximal direction is such as to shift from the state shown in FIG. 20A to the state shown in FIG. 20B.

  Here, the rotation driven gear 226 and the two cylindrical terminals 62 attached to the inner cylinder 86 are designed such that the axial length thereof is longer than the amount of movement of the inner cylinder 86 in the advancing / retreating movement. For this reason, even when the trigger 52 is operated and the inner cylinder 86 moves in the proximal direction, the rotary main gear 230 continuously meshes with the rotary driven gear 226, and the first and second cylindrical terminals 62a, The first and second contact terminals 64a and 64b can continuously contact 62b. Therefore, the gripper 12 can be opened and closed while the inner cylinder 86 is rotated (that is, the gripper 12 is being rolled), and the treatment target X can be energized.

  21A is a main part plan view showing the gripper 12 of FIG. 1, FIG. 21B is a partial plan view showing the opened state of the gripper 12, and FIG. 21C is a partial plan view showing the closed state of the gripper 12. is there. The operating force that moves the inner cylinder 86 in the distal and proximal directions is also transmitted to the hollow tube 82 connected to the distal end of the inner cylinder 86, and moves the hollow tube 82 in the distal and proximal directions. A cylindrical body 138 is connected to the distal end portion of the hollow tube 82 via a first connector 142, and the cylindrical body 138 is also moved together with the hollow tube 82.

  Here, the hollow tube 82 is formed to be longer in the axial direction than the curved portion 34 of the distal end working unit 14, and is disposed so as to always overlap the curved portion 34 even if the hollow tube 82 moves forward and backward. Yes. Therefore, even if the bending portion 34 is bent as shown in FIG. 11 and the hollow tube 82 is bent following this, the hollow tube 82 can be moved back and forth along the curve. The operating force of the forward / backward movement can be transmitted to the cylindrical body 138 connected to the side.

  As shown in FIG. 18A, connection pins 310a and 310b projecting a predetermined amount toward the inner direction (hollow space 140) are provided on the distal end side and the proximal end side of the cylindrical body 138. The first connector 142 includes a first connector-side engagement groove 312 that is carved in the circumferential direction at the base portion of the distal end connection protrusion 146, and the proximal-side connection pin 310 a is the first connector-side engagement groove 312. Inserted into. The movable body 94 includes a movable body side engaging groove 314 carved in the circumferential direction in the insertion portion 134 that protrudes in the proximal direction, and the distal end side connection pin 310b is inserted into the movable body side engaging groove 314. The As a result, the first connector 142, the cylindrical body 138, and the moving body 94 are reinforced by the connection pins 310a, 310b in the axial connection, and the forward / backward movement operating force transmitted from the hollow tube 82 is transmitted via the cylindrical body 138. Is reliably transmitted to the moving body.

  On the other hand, the gripper holding member 30 is in a state in which the moving body 94 is disposed in the sliding space 122 and is fixed to the movement of the moving body 94 in the distal and proximal directions. That is, the gripper holding member 30 of the moving body 94 is engaged by the engagement between the protruding portion 120 formed on the outer side surface of the engaging cylinder portion 114 and the groove portion 154 formed on the inner side surface of the outer shell member 32. With respect to the advance / retreat movement, the advance / retreat movement is restricted and becomes a fixed state.

  The movable body 94 sandwiches the first and second gripper members 26 and 28 in the gap 130 at the tip (movable body side trifurcated portion 132), and has a movable pin 96 inserted into the elongated hole 92 of each extending portion 90. keeping. As shown in FIGS. 21A to 21C, in a state in which the moving body 94 is located on the distal end side of the sliding space 122, the movable pin 96 has moved to the distal end side of the long hole 92, and the first and second The gripper members 26 and 28 are in the open state in which the tip portions are separated from each other.

  When the inner cylinder 86 is moved in the proximal direction by pulling the trigger 52 in this open state, the inner cylinder 86 moves through the inner cylinder 86, the second connector 174, the hollow tube 82, the first connector 142, and the cylindrical body 138. The operating force in the proximal direction is transmitted to the body 94. At this time, the first connector 142, the cylindrical body 138, and the moving body 94 are coupled by the connection pins 310a and 310b, so that the operating force in the proximal direction is smoothly transmitted. When the moving body 94 moves in the proximal direction, the movable pin 96 moves in the proximal direction while guiding the long hole 92, and the first and second gripper members 26 and 28 are guided based on the guide of the long hole 92. The tip portions of the two can be brought close to each other to be in a closed state.

  Further, in the closed state of the gripper 12, as described above, an energized state is formed by the connection of the first and second gripper members 26 and 28 having different polarities. That is, in a state where the treatment target X is sandwiched between the first and second gripper members 26 and 28, the output supplied from the high frequency power supply unit 22 to the first and second gripper members 26 and 28 via the lead wire 60 is treated. Supplied to the object X, and a predetermined treatment (cauterization by heat, etc.) is performed.

  As described above, according to the manipulator 10 according to the present embodiment, the hollow tube 82 provided at a position overlapping the bending portion 34 bends following the yaw motion of the bending portion 34, for example, a treatment target. Even when X is located in the back of the living body, the posture (tilt) of the gripper 12 can be easily changed and delivered smoothly to the treatment target X.

  Further, the distal end working unit 14 rotates the gripper 12 in an unlimited manner (rolling operation) by transmitting the operating force in the rotational direction to the gripper 12 through the hollow tube 82. For this reason, the posture of the gripper 12 (the posture in the rotational direction around the axis Or of the gripper 12) can be freely changed on the distal end side of the bending portion 34, and the orientation of the gripper 12 matches the treatment target X. It is possible to change the number of times and perform an appropriate treatment.

  Further, since the bending portion 34 is constituted by a plurality (five) of the joint members 36, the bending portion 34 is gently bent. For this reason, the hollow tube 82 provided at a position overlapping the bending portion 34 also follows the bending portion 34 and bends easily. Since the hollow tube 82 extends longer than the bending portion 34, the rotational force and the distal and proximal movement forces transmitted from the inner cylinder 86 are more distal than the bending portion 34 (grippers). 12) can be transmitted smoothly.

  Further, the opening / closing operation of the gripper 12 can be easily performed by the operating force in the distal end and proximal direction transmitted through the hollow tube 82. Therefore, the treatment object X can be easily sandwiched by the gripper 12, and a predetermined treatment (treatment to energize) can be efficiently performed on the treatment object X. Of course, the operating force in the distal and proximal directions is not only used for the opening / closing operation of the gripper 12, but may be applied to an operation of moving the end effector in the distal and proximal directions as it is, for example.

  Furthermore, the hollow tube 82 that is positioned so as to overlap the curved portion 34 is rotated, and the gripper holding member 30 connected to the hollow tube 82 is rotated relative to the outer shell member 32, so that the gripper holding member 30 holds the gripper holding member 30. The gripper 12 can be rotated satisfactorily. At this time, the protrusion 120 of the gripper holding member 30 is rotatably inserted into the groove 154 of the outer shell member 32, so that the rotation of the gripper holding member 30 is guided by the groove 154. Therefore, the gripper 12 can be rotated more smoothly and the gripper 12 can be in a desired posture.

  Furthermore, since the first and second coils 290 and 292 that are wound in different winding directions are disposed inside the hollow tube 82 (hollow portion 82a), the strength of the hollow tube 82 can be increased. In other words, the rotational operating force transmitted from the inner cylinder 86 can be smoothly transmitted to the gripper 12 via the hollow tube 82 whose strength is increased and the shape is maintained.

  Further, according to the manipulator 10 according to the present embodiment, even if the hollow tube 82 provided at the position overlapping the bending portion 34 is bent by the bending portion 34, the operating force from the inner cylinder 86 remains in the bending state. The bending portion 34 is transmitted to the tip side (gripper holding member 30 and moving body 94). Therefore, the posture change and the opening / closing operation of the gripper 12 can be easily performed on the distal end side of the bending portion 34.

  In this case, by arranging the conducting wire 60 in the hollow portion 82a of the hollow tube 82, the energization path of the gripper 12 configured as a bipolar electric knife can be easily constructed, and the gripper 12 can be stably provided. Electric power can be supplied.

  For example, when the operating force transmitted from the handle 18 is an operating force for rotating the inner cylinder 86, the hollow tube 82 is rotated by this operating force to roll the gripper 12 connected to the distal end side of the hollow tube 82. It can be operated and can face the treatment target X in a desired posture. At this time, since the conducting wire 60 accommodated in the hollow tube 82 also rotates integrally, it is possible to reliably prevent the gripper 12 and the conducting wire 60 (conduction path) from being disconnected.

  Further, as described above, in the manipulator 10, the slip ring system 270 is provided, that is, the contact terminal 64 can be electrically connected to the cylindrical terminal 62 while the cylindrical terminal 62 is rotating and stationary. Thereby, in order to roll the gripper 12, even if the inner cylinder 86 is rotated, the electrical continuity with the high frequency power supply unit 22 can be continuously maintained. Therefore, even when the gripper 12 changes its posture in the rotation direction, the electrical treatment can be performed satisfactorily.

  Further, for example, when the operating force transmitted from the handle 18 moves the inner cylinder 86 in the distal and proximal directions, the gripper 12 can be opened and closed by moving the hollow tube 82 forward and backward. At this time, since the lead wire 60 moves forward and backward integrally with the hollow tube 82, disconnection of the gripper 12 and the lead wire 60 (energization path) can be reliably prevented.

  Furthermore, according to the manipulator 10 according to the present embodiment, the bending portion 34 is configured by a plurality (five) of the joint members 36, the hinge portion 38, and the first and second belts 66 and 68, so that the gripper 12 Can be easily bent in a direction different from the axis Os of the shaft 16. Further, by applying the first and second belts 66 and 68, it is possible to stably hold the arrangement of the plurality of joint members 36. For example, the bending portion 34 is returned to the origin (the bending portion 34 is changed). Such operations as aligning in the axial direction of the shaft 16) can be performed quickly and accurately. Furthermore, when the first and second belts 66 and 68 bend the bending portion 34, the plurality of joint members 36 can be smoothly interlocked and bent. Note that the belt is not limited to the configuration in which a pair (two) of belts are provided on the bending portion 34 as described above, and one or three or more belts may be provided.

  When a pair of belts (first and second belts 66 and 68) are provided, the bending portion 34 can be smoothly bent by the relative operation of the first and second belts 66 and 68. That is, when the first belt 66 is moved in the proximal direction and the second belt 68 is moved in the distal direction, the gripper 12 is easily tilted to the first belt 66 side. .

  Further, by providing the handle 18 with the pinion 80 and the first and second slide members 74 and 76, the rotational driving force of the pinion 80 is used as the operating force in the distal and proximal directions of the first and second slide members 74 and 76. Can be easily converted. The operating force can be easily transmitted to the first and second belts 66 and 68 via the first and second semicircular tubes 70 and 72. In this case, by controlling the rotation amount of the pinion 80, the bending amount (tilting angle of the gripper 12) of the bending portion 34 can be freely changed.

  Further, the manipulator 10 guides the first and second belts 66 and 68 by the guide portion 283, so that the first and second belts 66 and 68 move smoothly with respect to the central cylindrical portion 162, and the first and second belts 66 and 68 move smoothly. The operating force for moving the second belts 66 and 68 in the distal and proximal directions can be easily transmitted to the surrounding joint members 36. When the bending portion 34 is bent, the first and second belts 66 and 68 can be prevented from bulging outward. Furthermore, by providing the guide portion 283 outside the cavity portion 162a, various transmission members for operating the end effector (gripper 12) can be appropriately disposed in the cavity portion 162a.

  Further, since the guide portion 283 includes the protruding wall portion 284 that separates the cavity portion 162a and the belt space portion 286, the first and second belts 66 and 68 are located on the inner side (the joint member 36) when the bending portion 34 is bent. The curved portion 34 can be bent more smoothly because the protruding wall portion 284 restricts the bending toward the central portion).

  Further, by forming an arcuate surface 288 that can contact the hollow tube 82 on the inner side surface of the central cylindrical portion 162, the hollow tube 82 inserted through the central cylindrical portion 162 can be easily inserted when the curved portion 34 is curved. Can be curved.

  Furthermore, according to the manipulator 10 according to the present embodiment, by providing the handle 18 with the rotation mechanism 88 and the advance / retreat mechanism 98, the inner cylinder 86 is moved in the distal end and proximal direction, and the inner cylinder 86 is moved. Can be rotated. The two types of operating forces of the inner cylinder 86 are transmitted to the gripper 12 of the distal end working unit 14 provided at the distal end of the shaft 16 so that the posture change and opening / closing operation of the gripper 12 can be easily performed.

  In this case, the axial length of any one of the rotation driven gear 226 and the rotation main driving gear 230 of the rotation mechanism 88 is formed to be longer than the movement amount of the inner cylinder 86 by the advance / retreat movement mechanism 98, so that the advance / retreat movement mechanism Even if the inner cylinder 86 is moved in the distal and proximal directions by 98, the rotation driven gear 226 and the rotation main driving gear 230 can always be meshed. Therefore, the inner cylinder 86 can be rotated stably.

  In addition, since the rotary handle 50 is provided in the vicinity of the handle 18, the user of the manipulator 10 can easily operate the rotary handle 50 in the vicinity while holding the handle 18. In addition, since the rotary handle 50 is formed to be narrower than the width of the handle 18, the rotary handle 50 interferes with the medical device when a plurality of medical devices (such as forceps and manipulator 10) are used during the procedure. Can be reduced.

  Further, by providing a latching gear 294 that rotates with the rotation of the rotary handle 50 and a latch piece 300 that elastically contacts the latching gear 294, when the rotary handle 50 is operated, the user feels latched. Can be given. Thereby, the user can sensuously recognize the amount of rotation of the rotary handle 50, and can easily adjust the rotation of the inner cylinder 86.

  Furthermore, in the advance / retreat mechanism 98, the slide drive shaft 228 having the concave portion 244 in which the convex portion 248 is displaced in the distal end and proximal end directions and the convex portion 248 is inserted based on the rotational operation of the response member 246. Move in the distal and proximal directions. Therefore, the inner cylinder 86 on which the slide drive shaft 228 is mounted can be smoothly moved in the distal end and proximal end directions. Further, since the slide drive shaft 228 has a concave portion 244 formed in the circumferential direction, the slide drive shaft 228 can rotate relative to the convex portion 248 and can allow the inner cylinder 86 to rotate with a simple configuration.

  That is, the manipulator 10 according to the present embodiment can obtain high operability for the gripper 12 inserted into the living body, and can treat the treatment target X efficiently and accurately.

  In the above description, the present invention has been described with reference to preferred embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention. Needless to say. For example, in the manipulator 10 described above, only the yaw operation is operated by electric (drive motor 46), but it is needless to say that the present invention is not limited to this. That is, the manipulator 10 can be configured to electrically operate any one or two or more of the yaw operation, the roll operation, and the opening / closing operation, or the yaw operation, the roll operation, and the opening / closing operation are all performed. It can also be set as the structure operated manually.

10. Manipulator (medical manipulator)
DESCRIPTION OF SYMBOLS 12 ... Gripper 14 ... Tip operation | movement part 16 ... Shaft 18 ... Handle 20 ... Controller 22 ... High frequency power supply part 26 ... 1st gripper member 28 ... 2nd gripper member 30 ... Gripper holding member 32 ... Outer shell member 34 ... Curved part 36 ... Joint member 46 ... Drive motor 50 ... Rotating handle 60 ... Conducting wire 62 ... Cylindrical terminal 64 ... Contact terminal 66 ... First belt 68 ... Second belt 82 ... Hollow tube 82a ... Hollow part 84 ... Outer cylinder 86 ... Inner cylinder 94 ... Movement Body X ... treatment target

Claims (5)

A shaft,
A distal end working unit provided at the distal end of the shaft and having an end effector for performing treatment on a treatment target;
A medical manipulator provided at a proximal end of the shaft and including a main body that operates the end effector based on an input from a person;
Said shaft, an outer cylinder mounted fixed to the body portion, the outer cylinder is inserted was transmitting operation force to the distal end working unit, that have a possible supply conductors power within the end effector With an inner cylinder,
The main body is
An advancing / retreating mechanism for moving the inner cylinder in the distal and proximal directions relative to the outer cylinder;
A rotation mechanism for rotating the inner cylinder relative to the outer cylinder between a position where the inner cylinder moves to the distal end side and a position where the inner cylinder moves to the proximal end side by the advance / retreat movement mechanism ;
An electrical connection structure for electrically connecting a power source and the conductive wire ;
The electrical connection structure is:
A contact terminal connected to the power source;
A cylindrical terminal that is connected to the conductive wire and rotates integrally with the inner cylinder and is capable of contacting the contact terminal between a position where the inner cylinder moves to the distal end side and a position where the inner cylinder moves to the proximal end side; medical manipulator, characterized in that Ru equipped with. The medical manipulator according to claim 1, wherein
The rotation mechanism has a driven gear attached to the inner cylinder, and a main gear that meshes with the driven gear and rotates the driven gear.
A medical manipulator, wherein an axial length of at least one of the driven gear and the main driving gear is longer than a moving amount of the inner cylinder by the advance / retreat mechanism. The medical manipulator according to claim 2,
The rotation mechanism includes a rotation operation unit that rotates the main driving gear based on a rotation operation by a person,
The rotation manipulator is provided in the vicinity of the main body, and is formed to be narrower than the width of the main body. The medical manipulator according to claim 3, wherein
The rotation mechanism includes a latching gear that rotates as the rotation operation unit rotates, and a latch piece that elastically contacts the latching gear,
The latching gear has an uneven surface that elastically deforms the latch piece based on a rotation operation amount of the rotation operation unit. In the medical manipulator according to any one of claims 1 to 4,
The forward / backward movement mechanism includes a rotary shaft member that is attached to the inner cylinder and formed with an annular groove extending in the circumferential direction;
A medical manipulator comprising: a protrusion that is inserted into the groove while the inner cylinder is in a rotatable state; and a moving body that displaces the protrusion in the distal end and proximal end directions.

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