JP6147460B2 - 医療用マニピュレータシステム - Google Patents
医療用マニピュレータシステム Download PDFInfo
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- JP6147460B2 JP6147460B2 JP2017510696A JP2017510696A JP6147460B2 JP 6147460 B2 JP6147460 B2 JP 6147460B2 JP 2017510696 A JP2017510696 A JP 2017510696A JP 2017510696 A JP2017510696 A JP 2017510696A JP 6147460 B2 JP6147460 B2 JP 6147460B2
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Description
このようにすることで、可動部を水平軸線回りに揺動させて第1の位置に配置すると可動部に取り付けられているオーバーチューブの基端部における長手軸が水平方向に配置され、マニピュレータの基端駆動部の駆動源への接続を容易にすることができる。
このようにすることで、マニピュレータの挿入時には、弾性部材の弾発力により支持部の可動部が第2の位置に移動させられて挿入性が向上され、基端駆動部を駆動源に接続する際には、弾性部材の弾発力に抗して支持部の可動部を第1の位置に移動させることにより、接続を容易に行うことができる。
このようにすることで、支持部をベースに取り付けると、支持部に一体的に設けられたドレープがベースの少なくとも一部を被覆するように装着される。
このようにすることで、ベースにドレープを装着すると、ドレープに設けられた開口から駆動部を露出させた状態でベースがドレープによって覆われる。ドレープに設けられた開口から露出している駆動源にマニピュレータの基端駆動部を接続することができる。
このようにすることで、オーバーチューブのチャネル内からマニピュレータを引き抜いたときに、チャネルを介して患者の体内から液体が溢れ出たとしても、基端部の鉛直下方位置に配置されている凹部によって受け止めて貯留することにより、外部への流出を抑えることができる。
本実施形態に係る医療用マニピュレータシステム1は、図1および図2に示されるように、操作者Oにより操作される操作入力部2と、患者Pの体腔内に挿入されるオーバーチューブ3と、該オーバーチューブ3の2つのチャネル4内にそれぞれ挿入される2つのマニピュレータ5と、操作入力部2の操作に基づいてマニピュレータ5を制御する制御部6と、モニタ7とを、これら操作入力部2、制御部6およびモニタ7が配置されたコンソール(ベース)8とを備えている。
基端駆動部11には後述するモータユニット14に設けられた係合凹部15に着脱可能に接続するための係合片16が設けられている。
電気信号伝達部29は、第1の操作部21により発生された電気信号からなる動作指令を制御部6に伝達し、制御部6によって生成された指令信号を、モータユニット14の各モータに供給するようになっている。制御部6は、第1の操作部21により発生した動作指令に基づいて、モータユニット14の各モータの回転移動量および回転速度を算出し各モータを制御するようになっている。
伝達部32は、図4に示されるように、操作入力部2のスライダ28の直進移動量を回転角度に変換する第1のラックアンドピニオン機構33と、回転動作を進退機構30の直進移動量に変換する第2のラックアンドピニオン機構34と、これらのラックアンドピニオン機構33,34のピニオンギヤ35にそれぞれ固定されたプーリ37,38と、これらのプーリ37,38に掛け渡されたベルト39とを備えている。
なお、機械的動力伝達部31に代えて、電気的に動力を伝達するものを採用してもよい。
本実施形態に係る医療用マニピュレータシステム1を用いて患者Pの体内の患部を処置するには、オーバーチューブ3を患者Pの体腔内に挿入し、オーバーチューブ3の基端側管状部20をコンソール8の上面に設けられた支持部41の可動部材42に取り付ける。また、オーバーチューブ3の内視鏡用チャネル18を介して内視鏡17の挿入部を挿入する。
すなわち、オーバーチューブ3の基端側管状部20の開口が斜め上向きとなることにより、マニピュレータ5の挿入作業は斜め上方から行うことができ、コンソール8の上面から十分に離れた位置でマニピュレータ5を取り扱うことができる。
マニピュレータ5の基端駆動部11に設けられた係合片16をモータユニット14に設けられた係合凹部15に係合させることにより、基端駆動部11はモータユニット14に接続状態に維持される。これにより、モータユニット14の駆動力を基端駆動部11に伝達することができるようになる。
また、バネ44により可動部材42を揺動させることにしたが、これに代えて、モータ等によって駆動することにしてもよい。
また、本実施形態においては、図7A、図7Bに示されるように、支持部41のブラケット43をコンソール8の上面に対して着脱可能にして、コンソール8の上面をドレープ46によって被覆した状態で、支持部41のブラケット43をコンソール8に取り付けることにしてもよい。
ドレープ46としては、形状変形の少ない比較的硬質の材料、例えば、シリコーンゴムやプラスチックを採用すればよい。
さらに、オーバーチューブ3の基端側管状部20と可動部材42とが着脱不可に設けられ、ブラケット43がコンソール8の上面に対して着脱可能に設けられていてもよい。
このようにすることで、支持部41の洗浄および滅菌を容易に行うことができる。すなわち、処置時において、操作者Oが支持部41の清潔性を考慮する必要がないため、より容易に処置を行うことができる。
3 オーバーチューブ
4 チャネル(マニピュレータ用チャネル)
5 マニピュレータ
8 コンソール(ベース)
9 挿入部(長尺部)
11 基端駆動部
12 処置部
14 モータユニット(駆動源)
20 基端側管状部(基端部)
41 支持部
42 可動部材(可動部)
44 バネ(付勢部、弾性部材)
46 ドレープ
50 凹部
Claims (8)
- 先端部に処置部を有し、基端部に前記処置部を駆動する基端駆動部を備えたマニピュレータを接続する医療用マニピュレータシステムにおいて、
前記マニピュレータが該マニピュレータを長手方向に貫通させるチャネルを有するオーバーチューブの基端部から前記チャネル内に挿入された際に、前記マニピュレータの前記基端駆動部を着脱可能に接続し、該基端駆動部に駆動力を供給する駆動源と、前記オーバーチューブの前記基端部を取り付ける支持部とを上面に備えるベースを備え、
前記支持部が、取り付けた前記オーバーチューブの前記基端部における長手軸を水平に支持する第1の位置と、該第1の位置よりも前記基端部を前記上面から離間させた位置に支持する第2の位置との間で移動可能に設けられた可動部と、前記基端駆動部が前記駆動源から取り外された状態で、前記可動部を前記第2の位置に移動させる付勢部とを備える医療用マニピュレータシステム。 - 前記可動部が、水平軸線回りに揺動可能に設けられている請求項1に記載の医療用マニピュレータシステム。
- 前記付勢部が、前記第2の位置の方向に前記支持部に弾発力を加える弾性部材である請求項1または請求項2に記載の医療用マニピュレータシステム。
- 前記支持部が、前記ベースに着脱可能に設けられ、
前記ベースの少なくとも一部を被覆するように装着されるドレープを備え、
前記支持部が、前記ドレープを挟んで前記ベースに取り付けられる請求項1から請求項3のいずれかに記載の医療用マニピュレータシステム。 - 前記支持部が、前記ベースに着脱可能に設けられるとともに、前記ベースの少なくとも一部を被覆するように装着されるドレープを一体的に備える請求項1から請求項3のいずれかに記載の医療用マニピュレータシステム。
- 前記オーバーチューブが前記支持部の前記可動部に着脱可能に取り付けられ、
前記ベースの少なくとも一部を被覆するように装着されるドレープを備え、
前記オーバーチューブが前記ドレープを挟んで前記可動部に取り付けられる請求項1から請求項3のいずれかに記載の医療用マニピュレータシステム。 - 前記ドレープは、少なくとも前記駆動源を露出させる開口を有し、該開口から前記駆動源を露出させて前記ベースを被覆するように装着される請求項4から請求項6のいずれかに記載の医療用マニピュレータシステム。
- 前記ベースに、前記可動部に取り付けられた前記オーバーチューブの前記基端部の鉛直下方位置に、液体を貯留可能な凹部を有する請求項1から請求項7のいずれかに記載の医療用マニピュレータシステム。
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