JP6465942B2 - Robotic operating table and robotic table - Google Patents

Description

  The present invention relates to a robot operation table and a robot treatment table with improved drive mechanisms for each joint.

  Patent Document 1 discloses a patient positioning assembly that moves a support table on which a patient is placed by a robot arm and positions the patient relative to a radiation source. The robot arm of Patent Document 1 includes a joint having a reduction ratio of 200 (meaning that an input rotation speed is output at a rotation speed of 1/200).

  Conventionally, there has been a demand for an operating table capable of easily moving a table on which a patient is placed in an operating room while suppressing interference with peripheral devices. Therefore, it is conceivable to apply the patient positioning assembly of Patent Document 1 to an operating table in an operating room to move a table on which a patient is placed. Thereby, unlike the case where the operating table is moved using a caster, the table on which the patient is placed can be easily moved while suppressing interference with peripheral devices.

Special table 2008-539963 gazette

  Here, in an operating table, an unconscious patient may be moved by general anesthesia, and high safety performance is required. For example, even when the power supply to the robot is cut off due to a power failure or the like, and even when the brake of the robot breaks down, it is required that the table on which the patient is placed does not suddenly descend. However, since the joint of the robot arm of Patent Document 1 has a reduction ratio as small as 200, there is an inconvenience that it is difficult to lower the robot arm at a low speed in the case described above.

  The present invention provides a robot operating table having high safety performance capable of suppressing a sudden lowering of a table even if a brake breaks down when power is stopped. In addition, the present invention provides a robot treatment table with improved safety performance as compared with the prior art.

A robot operating table according to a first aspect of the present invention includes a table for placing a patient, and an articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table, The multi-joint robot arm includes a plurality of joints including a vertical joint that can be rotated around a horizontal rotation axis, and the vertical joint is a first motor and an electromagnetic brake disposed on an output rotation shaft of the first motor. The rotation of the first motor is transmitted, the first reduction device that decelerates and outputs the transmitted rotation, the rotation that is decelerated by the first reduction device is transmitted, and the transmitted rotation is decelerated and output. A second reducer, and the input axis of the first reducer and the output axis of the second reducer are arranged on mutually different axes .

  In the robot operating table according to the first aspect of the present invention, as described above, the rotation of the first motor is transmitted to the vertical joint, and the first reduction device that decelerates and outputs the transmitted rotation, and the first deceleration. A second speed reducer that transmits the rotation decelerated by the machine and decelerates and outputs the transmitted rotation. As a result, the first speed reducer and the second speed reducer can perform deceleration in two stages, so that the driving speed of the vertical joint can be reduced. As a result, even when the power supply to the articulated robot arm is stopped in a state where the electromagnetic brake is broken, the first reduction gear and the second reduction gear reduce the speed in two stages, so that the patient is placed. It is possible to suppress a sudden drop of the table. Further, since the deceleration is performed in two stages, a large output torque can be obtained, and thereby the maximum output of the first motor can be reduced, so that the first motor can be reduced. As a result, an increase in the vertical joint can be suppressed, so that the robot arm can be reduced in size while securing the torque of the vertical joint of the robot arm that moves the table on which the patient to be operated is placed. be able to. In addition, even when the first motor rotates abnormally due to a failure, it is possible to prevent the table on which the patient is placed from rapidly rising or falling.

  In the robot operating table according to the first aspect, the electromagnetic brake is preferably built in the first motor. If comprised in this way, a vertical joint can be reduced more in size.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm is supported by the base so as to be rotatable about a vertical axis, and is configured to move the table with six or more degrees of freedom. Yes. If comprised in this way, a table can be easily moved to a desired position with the articulated robot arm which has 6 or more degrees of freedom.

  In this case, the articulated robot arm is preferably configured to move the table with seven or more degrees of freedom. If comprised in this way, a table can be easily moved to a desired position with the articulated robot arm which has a freedom degree of 7 or more.

  In the robot operating table according to the first aspect, the articulated robot arm preferably includes a vertical articulated assembly having two or more vertical joints and moving the table with a plurality of rotational degrees of freedom. With this configuration, a plurality of vertical joints that can be driven at a low speed can be provided, so that the table can be easily moved to a desired position in the vertical direction.

  In this case, preferably, the vertical articulated assembly further includes a roll rotary joint, and the roll rotary joint receives the second motor and the rotation of the second motor, and decelerates and outputs the transmitted rotation. A third reducer, and a fourth reducer that transmits the rotation decelerated by the third reducer and decelerates and outputs the transmitted rotation. If comprised in this way, a patient can be moved at low speed in the roll rotation direction of a table.

  In the configuration in which the articulated robot arm includes a vertical articulated assembly, the articulated robot arm is preferably a horizontal articulated assembly that moves the table with a plurality of rotational degrees of freedom or a table with a horizontal linear degree of freedom. Includes a moving linear assembly. If comprised in this way, a table can be easily moved to the desired position of a horizontal direction by a horizontal articulated assembly or a linear movement assembly.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm has an accommodation posture accommodated in an accommodation space which is a space under the table when the table is located at a predetermined position. It is configured to take. If comprised in this way, when performing medical treatments, such as a surgery, it can suppress that a multi-joint robot arm interferes with medical workers, such as a surgeon, an assistant, a nurse, and a medical engineer.

  In this case, preferably, the articulated robot arm has a length equal to or smaller than the length of the table in the first direction in the accommodated posture state, and is equal to or smaller than the length of the table in the second direction orthogonal to the first direction. Have a length. If comprised in this way, when performing a medical act such as surgery, the articulated robot arm does not protrude from the table, so that the articulated robot arm can effectively suppress interference with the medical staff. it can.

  In the robot operating table according to the first aspect, preferably, at least one of the first speed reducer and the second speed reducer is a wave gear speed reducer, a planetary gear speed reducer, or an eccentric oscillation type planetary gear speed reducer. If comprised in this way, using a wave gear reducer, a planetary gear reducer, or an eccentric oscillating planetary gear reducer, it is possible to effectively reduce the speed while reducing the size of the first reducer or the second reducer. It can be carried out.

  In the robot operating table according to the first aspect, preferably, the total reduction ratio by the first reduction gear and the second reduction gear is 1000 or more and 20000 or less. If comprised in this way, compared with the reduction ratio of less than 1000, while moving a patient at low speed, even if an electromagnetic brake fails at the time of an electric power stop, it can suppress that a table falls rapidly. Further, it is possible to suppress the drive speed of the vertical joint from becoming excessively low as compared with a reduction ratio larger than 20000. When the reduction ratio is N, the input rotational speed is set to 1 / N and output.

  In this case, preferably, the total reduction ratio by the first reduction gear and the second reduction gear is not less than 3000 and not more than 10,000. By setting such a reduction ratio, the patient can be surely moved at a low speed, and the table can be effectively prevented from suddenly descending even when the electromagnetic brake breaks down when the power is stopped. Moreover, it can suppress effectively that the drive speed of a vertical joint becomes low too much.

A robot operating table according to a second aspect of the present invention includes a table for placing a patient, and an articulated robot arm supported at one end by a base fixed to the floor and supported at the other end by the table, The multi-joint robot arm has a plurality of joints, and each of the plurality of joints transmits the rotation of the motor, the electromagnetic brake arranged on the output rotation shaft of the motor, and the rotation of the motor. a first reduction gear for decelerating and outputting rotation reduced by the first reduction gear is transmitted, and a second reduction gear and outputting the decelerated rotation transmitted has a first reduction gear The input axis and the output axis of the second reduction gear are arranged on different axes .

  In the robot operating table according to the second aspect of the present invention, as described above, the motor, the electromagnetic brake disposed on the output rotation shaft of the motor, and the rotation of the motor are transmitted to the plurality of joints. A first speed reducer that decelerates and outputs the rotation, and a second speed reducer that transmits the rotation decelerated by the first speed reducer and decelerates and outputs the transmitted rotation. As a result, the first reduction gear and the second reduction gear can be used to reduce the speed in two stages. Therefore, even if the power supply to the articulated robot arm is stopped in a state where the electromagnetic brake is broken, the first reduction speed is reduced. Since the speed reduction is performed in two stages by the machine and the second speed reducer, it is possible to prevent the table on which the patient is placed from dropping rapidly. Further, since the deceleration is performed in two stages, a large output torque can be obtained, whereby the maximum output of the motor can be reduced, so that the motor can be reduced. As a result, it is possible to suppress the joint from becoming large, and it is possible to reduce the size of the robot arm while securing the torque of the joint of the robot arm that moves the table on which the patient on whom the operation is performed is placed. it can.

  In the robot operating table according to the second aspect, the total reduction ratio of the first reduction gear and the second reduction gear is preferably 1000 or more and 20000 or less. If comprised in this way, compared with the reduction ratio of less than 1000, while moving a patient at low speed, even if an electromagnetic brake fails at the time of an electric power stop, it can suppress that a table falls rapidly. Further, it is possible to suppress the drive speed of the vertical joint from becoming excessively low as compared with a reduction ratio larger than 20000.

  In this case, preferably, the total reduction ratio by the first reduction gear and the second reduction gear is not less than 3000 and not more than 10,000. By setting such a reduction ratio, the patient can be surely moved at a low speed, and the table can be effectively prevented from suddenly descending even when the electromagnetic brake breaks down when the power is stopped. Moreover, it can suppress effectively that the drive speed of a vertical joint becomes low too much.

A robot treatment table according to a third aspect of the present invention includes a table for placing a patient, and an articulated robot arm whose one end is supported by a base fixed to the floor and whose other end supports the table, The articulated robot arm includes a plurality of joints including a vertical joint that can rotate around a horizontal rotation axis. The vertical joint includes a motor, an electromagnetic brake disposed on an output rotation shaft of the motor, A first reduction device that transmits rotation, decelerates and outputs the transmitted rotation, a second reduction device that transmits rotation reduced by the first reduction device and decelerates and outputs the transmitted rotation; The input axis of the first reducer and the output axis of the second reducer are arranged on mutually different axes .

  In the robot treatment table according to the third aspect of the present invention, as described above, the rotation of the motor is transmitted to the vertical joint, and the first reduction device that decelerates and outputs the transmitted rotation and the first reduction device. There is provided a second speed reducer that transmits the decelerated rotation and decelerates and outputs the transmitted rotation. As a result, the first speed reducer and the second speed reducer can perform deceleration in two stages, so that the driving speed of the vertical joint can be reduced. As a result, even when the power supply to the articulated robot arm is stopped in a state where the electromagnetic brake is broken, the first reduction gear and the second reduction gear reduce the speed in two stages, so that the patient is placed. It is possible to suppress a sudden drop of the table. Further, since the deceleration is performed in two stages, a large output torque can be obtained, whereby the maximum output of the motor can be reduced, so that the motor can be reduced. As a result, an increase in the vertical joint can be suppressed, so that the robot arm can be reduced in size while ensuring the torque of the vertical joint of the robot arm that moves the table on which the patient to be treated is placed. be able to. In addition, even when the motor rotates abnormally due to a failure, it is possible to prevent the table on which the patient is placed from rapidly rising or falling. As a result, it is possible to provide a robot treatment table with improved safety performance than before.

A robot treatment table according to a fourth aspect of the present invention includes a table for placing a patient, and an articulated robot arm whose one end is supported by a base fixed to the floor and whose other end supports the table, The multi-joint robot arm has a plurality of joints, and each of the plurality of joints transmits the rotation of the motor, the electromagnetic brake arranged on the output rotation shaft of the motor, and the rotation of the motor. a first reduction gear for decelerating and outputting rotation reduced by the first reduction gear is transmitted, and a second reduction gear and outputting the decelerated rotation transmitted has a first reduction gear The input axis and the output axis of the second reduction gear are arranged on different axes .

  In the robot treatment table according to the fourth aspect of the present invention, as described above, the motor, the electromagnetic brake disposed on the output rotation shaft of the motor, and the rotation of the motor are transmitted to the plurality of joints, respectively. A first speed reducer that decelerates and outputs the rotation, and a second speed reducer that transmits the rotation decelerated by the first speed reducer and decelerates and outputs the transmitted rotation. As a result, the first reduction gear and the second reduction gear can be used to reduce the speed in two stages. Therefore, even if the power supply to the articulated robot arm is stopped in a state where the electromagnetic brake is broken, the first reduction speed is reduced. Since the speed reduction is performed in two stages by the machine and the second speed reducer, it is possible to prevent the table on which the patient is placed from dropping rapidly. Further, since the deceleration is performed in two stages, a large output torque can be obtained, whereby the maximum output of the motor can be reduced, so that the motor can be reduced. As a result, it is possible to suppress the joint from becoming large, so that it is possible to reduce the size of the robot arm while securing the torque of the joint of the robot arm that moves the table on which the patient to be treated is placed. it can. As a result, it is possible to provide a robot treatment table with improved safety performance than before.

  The robot treatment table according to the third or fourth aspect is preferably a treatment table for patient positioning in a radiation treatment system or a particle beam treatment system. If comprised in this way, in a radiotherapy or particle beam therapy, since a patient's position can be positioned with a robot treatment table accurately, a radiation or particle beam can be irradiated to a patient's affected part with a sufficient precision.

In the robot treatment table according to the third or fourth aspect, preferably, the multi-joint robot arm includes a slide joint movable with a vertical linear degree of freedom, and is supported by the base via the slide joint . In this case, preferably, sliding joint comprises a motor, a speed reducer and a ball screw mechanism or rack and pinion mechanism. With this configuration, when the ball screw mechanism is provided, the speed can be reduced in two stages by the speed reducer and the ball screw mechanism, so that even if the electromagnetic brake breaks down when the power is stopped, the table can be lowered suddenly. Can be suppressed. Further, when the rack and pinion mechanism is provided, the rotational drive of the motor can be easily converted into the vertical movement by the rack and pinion mechanism while effectively decelerating by the speed reducer.
In the robot treatment table according to the third or fourth aspect, preferably, the base is fixed below the floor surface.

  According to the present invention, it is possible to provide a robot operating table having high safety performance capable of suppressing a sudden drop of a table even when an electromagnetic brake fails when power is stopped. In addition, it is possible to provide a robot treatment table with improved safety performance as compared with the prior art.

It is the perspective view which showed the outline of the robot operating table by 1st Embodiment. It is the perspective view which showed the articulated robot arm of the robot operating table by 1st Embodiment. It is the perspective view which showed the vertical articulated assembly of the robot operating table by 1st Embodiment. It is the figure which showed the outline of the vertical joint of the robot operating table by 1st Embodiment. It is the figure which showed the outline of the reduction gear of the robot operating table by 1st Embodiment. It is the upper surface perspective view which showed the linear movement assembly of the robot operating table by 1st Embodiment. It is the bottom perspective view showing the linear movement assembly of the robot operation table by a 1st embodiment. It is the perspective view which showed the outline of the robot operating table by 2nd Embodiment. It is the perspective view which showed the articulated robot arm of the robot operating table by 2nd Embodiment. It is the figure which showed the outline of the joint of the robot operating table by 2nd Embodiment. It is the figure which showed the outline of the horizontal joint of the robot operating table by the modification of 2nd Embodiment. It is the schematic which showed the robot treatment table by 3rd Embodiment.

  Hereinafter, embodiments will be described with reference to the drawings.

[First Embodiment]
(Configuration of robot operating table)
With reference to FIGS. 1-7, the outline | summary of the robot operating table 100 by 1st Embodiment is demonstrated.

  As shown in FIG. 1, the robot operating table 100 includes a table 1 for placing a patient, an articulated robot arm 2, and a control unit 3 (see FIG. 2). As shown in FIG. 2, the articulated robot arm 2 includes a base 21, a vertical articulated assembly 22, and a linear movement assembly 23. The vertical articulated assembly 22 includes a vertical joint 221, a roll rotary joint 222, a vertical joint 223, and a yaw rotary joint 224. The linear movement assembly 23 includes a guide member 231, a slide member 232, and a substrate member 233. The vertical joint 221, the roll rotary joint 222, the vertical joint 223, and the yaw rotary joint 224 are examples of “joints” in the claims.

  The robot operating table 100 is used as an operating table used in, for example, surgery and internal medicine. The robot operating table 100 moves to a placement position where the patient 10 is placed on the table 1, and in a state where the patient 10 is placed on the table 1, the robot operating table 100 is placed at an operation position, an examination position, a treatment position, an X-ray imaging position, or the like. The patient 10 can be moved. The robot operating table 100 can tilt the patient 10 while the patient 10 is placed on the table 1.

  The table 1 is formed in a substantially rectangular flat plate shape. Moreover, the upper surface of the table 1 is formed substantially flat. The table 1 is configured to be moved by an articulated robot arm 2. Specifically, the table 1 is orthogonal to the first direction (X direction) in the horizontal direction, the second direction (Y direction) in the horizontal direction orthogonal to the first direction, and the first direction and the second direction, It is configured to be movable in a third direction (Z direction) which is the vertical direction. Further, the table 1 is configured to be rotatable (rollable) about the axis line in the X direction. The table 1 is configured to be rotatable (pitch) around an axis in the Y direction. The table 1 is configured to be rotatable (yaw) around an axis in the Z direction.

  The articulated robot arm 2 is configured to move the table 1. The articulated robot arm 2 is supported by a base 21 having one end fixed to the floor, and the other end movably supports the table 1. The articulated robot arm 2 is supported by a base 21 so as to be rotatable about an axis in the vertical direction (Z direction), and is configured to move the table 1 with six degrees of freedom. Specifically, the articulated robot arm 2 is rotated about the rotation axis A1, rotated about the rotation axis A2, rotated about the rotation axis A3, and the rotation axis A4 by the vertical articulated assembly 22. It has 4 degrees of freedom of rotation around. Further, the articulated robot arm 2 has two degrees of freedom of linear movement in the B1 direction and B2 direction and rotation around the rotation axis B3 by the linear movement assembly 23.

  The articulated robot arm 2 is supported by the base 21 so as to rotate about the rotation axis in the Z direction. That is, the substrate member 233 is configured to rotate about the rotation axis B <b> 3 in the vertical direction (Z direction) with respect to the base 21. The guide member 231 is configured to linearly move in the B2 direction with respect to the substrate member 233. The slide member 232 is configured to linearly move in the B1 direction with respect to the guide member 231.

  The vertical articulated assembly 22 is connected to the guide member 231. The vertical joint 221 of the vertical multi-joint assembly 22 is configured to rotate about a rotation axis A1 in a direction substantially orthogonal to the moving direction (B1 direction) of the guide member 231. The roll rotation joint 222 is configured to rotate about a rotation axis A <b> 2 in a direction substantially orthogonal to the rotation axis of the vertical joint 221. The vertical joint 223 is configured to rotate about a rotation axis A3 in a direction substantially orthogonal to the rotation axis of the roll rotation joint 222. The yaw rotary joint 224 is configured to rotate about a rotation axis A4 in a direction substantially orthogonal to the rotation axis of the vertical joint 223. In other words, the vertical articulated assembly 22 has two vertical joints 221 and 223, and is configured to move the table 1 with a plurality of degrees of freedom of rotation.

  Here, in the first embodiment, the vertical joint 221 (223) is configured to be rotatable around a horizontal rotation axis A1 (A3). As shown in FIGS. 3 and 4, the vertical joint 221 (223) receives the rotation of the first motor 4a that is a servo motor and the rotation of the first motor 4a, and decelerates and outputs the transmitted rotation. The first speed reducer 6a and the second speed reducers 6b and 6c that transmit the rotation decelerated by the first speed reducer 6a and decelerate and output the transmitted rotation. Moreover, the vertical joint 221 (223) has the 2nd electromagnetic brake 5, the gear part 7, and the connection part 8, as shown in FIG.

  In the first embodiment, as shown in FIG. 4, the first motor 4 a includes an encoder 41 and a built-in first electromagnetic brake 42. A second electromagnetic brake 5 is attached to the output rotating shaft of the first motor 4a. The first electromagnetic brake 42 and the second electromagnetic brake 5 are configured to brake the vertical joint 221 (223). The encoder 41 is configured to detect the drive amount of the first motor 4 a and transmit the detection result to the control unit 3.

  The first speed reducer 6a is constituted by a wave gear speed reducer. The second speed reducers 6b and 6c are wave gear speed reducers. The first reduction gear 6a and the second reduction gears 6b and 6c are connected in series. That is, the first speed reducer 6a and the second speed reducers 6b and 6c are decelerated in two stages. The second reduction gears 6b and 6c are connected in parallel. That is, the load received via the vertical joint 221 (223) is dispersed and supported by the second reduction gears 6b and 6c.

  As shown in FIG. 5, the wave gear reducer includes an annular rigid internal gear 63, an annular flexible external gear 62 disposed inside the rigid internal gear 63, and a flexible external gear. The wave generator 61 which bends 62 and partially meshes with the rigid internal gear 63 at two locations and moves the meshing position of the rigid internal gear 63 and the flexible external gear 62 in the circumferential direction. And. The rigid internal gear 63 is fixedly arranged. The wave generator 61 is attached coaxially to the input rotation shaft C1 of the wave gear reducer. The flexible external gear 62 is connected and fixed to the output rotation shaft C2 of the wave gear reducer. That is, in the wave gear reducer, rotation is input to the wave generator 61, and the reduced rotation is output from the flexible external gear 62.

  In the first reduction gear 6 a, the rotation of the first motor 4 a is input to the wave generator 61 via the input rotation shaft 64. Then, the rotation reduced from the flexible external gear 62 via the shaft is output to the gear unit 7.

  A plurality of second reduction gears 6b and 6c are provided in parallel by connecting the input rotation shafts 64 to each other on the same shaft. Specifically, the second reduction gears 6b and 6c are arranged such that the wave generators 61 face each other. And the common input rotating shaft 64 is connected to each wave generator 61, and rotation is transmitted. Then, the reduced rotation is output from each of the outer flexible external gears 62. The output rotation is transmitted to the load side via the connection portion 8. Thereby, the vertical joint 221 (223) is driven.

  The second reduction gears 6b and 6c have substantially the same reduction ratio, and the output rotation shaft is disposed on the horizontal rotation axis of the vertical joints 221 and 223. The two second reduction gears 6b and 6c are attached with their phases synchronized so that a load is evenly applied. Specifically, the meshing phases of the wave generator 61, the flexible external gear 62, and the rigid internal gear 63 are synchronized in the two second speed reducers 6b and 6c. As a result, the torque / twist angle relationship between the two second reduction gears 6b and 6c becomes equivalent. Thereby, the rotation output from the two second speed reducers 6b and 6c is synchronized, and the force can be distributed and transmitted by the connecting portion 8.

  The total reduction ratio by the first reduction gear 6a and the second reduction gears 6b and 6c is preferably 1000 or more and 20000 or less. When the reduction ratio is N, the input rotational speed is set to 1 / N and output. For example, when the reduction ratio is 1000, the input rotational speed is reduced to 1/1000 and output. More preferably, the total reduction ratio by the first reduction gear 6a and the second reduction gears 6b and 6c is not less than 3000 and not more than 10,000.

  As shown in FIG. 3, the roll rotation joint 222 includes a second motor 4 b that is a servo motor, a third reduction device 6 d that receives the rotation of the second motor 4 b and decelerates and outputs the transmitted rotation. The rotation decelerated by the third reduction device 6d is transmitted, the fourth reduction devices 6e and 6f that decelerate and output the transmitted rotation, and the rotation reduced by the third reduction device 6d are transmitted and transmitted. It has a speed reducer 6g that decelerates and outputs the rotation, and a second electromagnetic brake 5 to which the rotation decelerated by the speed reducer 6g is transmitted. Further, the second motor 4b has an encoder 41 and a built-in first electromagnetic brake 42.

  The third speed reducer 6d is constituted by a wave gear speed reducer. Moreover, the 4th reduction gears 6e and 6f are comprised by the wave gear reduction gear. The speed reducer 6g is a wave gear speed reducer. The third reduction gear 6d and the fourth reduction gears 6e and 6f are connected in series. That is, the speed is reduced in two stages by the third reduction gear 6d and the fourth reduction gears 6e and 6f. The fourth reduction gears 6e and 6f are connected in parallel. That is, the load received via the roll rotary joint 222 is dispersed and supported by the fourth reduction gears 6e and 6f.

  As shown in FIG. 3, the yaw rotary joint 224 receives the rotation of the motor 4c that is a servo motor, the speed reducer 6h that receives the rotation of the motor 4c, decelerates and outputs the transmitted rotation, and is decelerated by the speed reducer 6h. A speed reducer 6i that receives the transmitted rotation, decelerates and outputs the transmitted rotation, a speed reducer 6j that receives the rotation decelerated by the speed reducer 6h and decelerates and outputs the transmitted rotation, and a speed reducer And a second electromagnetic brake 5 to which the rotation decelerated by 6j is transmitted. Further, the motor 4c has an encoder 41 and a built-in first electromagnetic brake 42.

  The reduction gears 6h, 6i and 6j are wave gear reduction gears. The reduction gear 6h and the reduction gear 6i are connected in series. That is, the speed is reduced in two stages by the reduction gear 6h and the reduction gear 6i.

  As shown in FIG. 6, the linear moving assembly 23 transmits the rotation of the motor 4 that is a servo motor, the second electromagnetic brake 5, and the rotation of the motor 4 in order to linearly move the slide member 232 relative to the guide member 231. A speed reducer 6 that decelerates and outputs the transmitted rotation, and a ball screw shaft 9 that receives the rotation decelerated by the speed reducer 6 and decelerates the transmitted rotation and outputs it as a linear motion. Yes. The slide member 232 is screwed into the ball screw shaft 9 and is configured to move along the guide member 231 by the rotation of the ball screw shaft 9. The motor 4 includes an encoder and a built-in first electromagnetic brake.

  In addition, as shown in FIG. 7, the linear movement assembly 23 moves the guide member 231 linearly with respect to the base 21 so that the motor 4 as a servo motor, the second electromagnetic brake 5, and the motor 4 rotate. A speed reducer 6 that transmits and reduces the output of the transmitted rotation, and a ball screw shaft 9 that receives the rotation decelerated by the speed reducer 6 and decelerates the transmitted rotation and outputs it as a linear motion. ing. The base 21 is screwed to the ball screw shaft 9, and the guide member 231 is configured to linearly move with respect to the base 21 by the rotation of the ball screw shaft 9. The motor 4 includes an encoder and a built-in first electromagnetic brake.

  In addition, the articulated robot arm 2 is configured to take a storage posture stored in a storage space, which is a space under the table 1, when the table 1 is located at the surgical position. That is, the articulated robot arm 2 is folded when the table 1 is moved to a position where surgery or treatment is performed on the patient 10 placed on the table 1, and is viewed in plan view (as viewed in the Z direction). ), And is configured to be completely hidden below the table 1. The surgical position is an example of a “predetermined position” in the claims.

  Specifically, as shown in FIG. 1, the articulated robot arm 2 has a length L3 that is equal to or less than the length L1 of the table 1 in the first direction (X direction) in the accommodated posture state. The length L4 is equal to or less than the length L2 of the table 1 in the second direction (Y direction) orthogonal to the direction.

  The control unit 3 is installed in the base 21 and is configured to control the movement of the table 1 by the articulated robot arm 2. Specifically, the control unit 3 is configured to move the table 1 by controlling the drive of the articulated robot arm 2 based on an operation by a medical worker (operator). The control unit 3 includes one or more processors including a CPU (Central Processing Unit) and the like, and a storage unit including a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device, and the like. The storage device is, for example, a hard disk drive or a semiconductor storage device.

(Effect of 1st Embodiment)
In the first embodiment, the following effects can be obtained.

  In the first embodiment, as described above, the rotation of the first motor 4a is transmitted to the vertical joints 221 and 223, and the first reduction device 6a that decelerates and outputs the transmitted rotation, and the first reduction device 6a. The second decelerators 6b and 6c are provided which transmit the decelerated rotation and reduce the transmitted rotation and output it. As a result, the first reduction gear 6a and the second reduction gears 6b and 6c can reduce the speed in two stages, so that the vertical joints 221 and 223 can be driven at a low speed. As a result, the movement of the table 1 on which the patient 10 is placed can be slowed down. Even when the supply of electric power to the articulated robot arm 2 is stopped in a state where the electromagnetic brake is broken, the first speed reducer 6a and the second speed reducers 6b and 6c perform the deceleration in two stages. It is possible to prevent the table 1 on which the table 10 is placed from dropping suddenly. As a result, the patient 10 can be moved at a low speed, and the table 1 can be prevented from suddenly descending even when the electromagnetic brake breaks down when the power is stopped. Further, since the first reduction gear 6a and the second reduction gears 6b and 6c are decelerated in two stages, a large output torque can be obtained, and thereby the maximum output of the first motor 4a can be reduced. The first motor 4a can be made smaller. As a result, it is possible to suppress the vertical joints 221 and 223 from becoming large, so that the torque of the vertical joints 221 and 223 of the multi-joint robot arm 2 that moves the table 1 on which the patient 10 to be operated is moved is set. While ensuring, the articulated robot arm 2 can be reduced in size.

  In the first embodiment, as described above, the first motor 4a includes the first electromagnetic brake 42, and the second electromagnetic brake 5 is attached to the output rotation shaft of the first motor 4a. . As a result, in addition to the two-stage deceleration, the vertical joints 221 and 223 can be braked by the two-stage brakes of the first electromagnetic brake 42 and the second electromagnetic brake 5, so that either one of the electromagnetic brakes when the power is stopped. Even if a failure occurs, it is possible to more reliably prevent the table 1 from dropping suddenly.

  In the first embodiment, as described above, the articulated robot arm 2 is supported by the base 21 so as to be rotatable around the axis in the vertical direction (Z direction), and the table 1 is moved with six or more degrees of freedom. To be configured. Thereby, the table 1 can be easily moved to a desired position by the articulated robot arm 2 having six or more degrees of freedom.

  In the first embodiment, as described above, the articulated robot arm 2 is provided with the vertical articulated assembly 22 that has two or more vertical joints 221 and 223 and moves the table 1 with a plurality of degrees of freedom of rotation. . As a result, a plurality of vertical joints 221 and 223 that can be driven at a low speed can be provided, so that the table 1 can be easily moved to a desired position in the vertical direction, and the electromagnetic brake fails when the power is stopped. Even so, it is possible to effectively suppress the table 1 from descending suddenly.

  In the first embodiment, as described above, the roll multi-joint assembly 22 is provided with the roll rotary joint 222, and the rotation of the second motor 4b and the second motor 4b is transmitted to the roll rotary joint 222. A third speed reducer 6d that decelerates and outputs the generated rotation, and fourth speed reducers 6e and 6f that transmit the rotation decelerated by the third speed reducer 6d and decelerate and output the transmitted rotation. Provide. Thereby, the patient 10 can be moved at a lower speed in the roll rotation direction of the table 1.

  In the first embodiment, as described above, the articulated robot arm 2 is provided with the linear movement assembly 23 that moves the table 1 with a horizontal linear degree of freedom. Thereby, the table 1 can be easily moved to a desired horizontal position by the linear movement assembly 23.

  Further, in the first embodiment, as described above, the multi-joint robot arm 2 is accommodated in the accommodation space that is the space under the table 1 when the table 1 is located at the surgical position. Configure to take Thereby, when performing a surgery, it can suppress that the articulated robot arm 2 interferes with a medical worker.

  In the first embodiment, as described above, the articulated robot arm 2 has a length equal to or shorter than the length of the table 1 in the first direction (X direction) in the accommodated posture and the first direction. In the second direction (Y direction) orthogonal to the length of the table 1, the length is equal to or less than the length of the table 1. As a result, the articulated robot arm 2 does not protrude from the table 1 when performing medical operations such as surgery, so the articulated robot arm 2 can be used by medical personnel such as surgeons, assistants, nurses, and medical technicians. Interference can be effectively suppressed.

  In the first embodiment, as described above, the first speed reducer 6a and the second speed reducers 6b and 6c are constituted by wave gear speed reducers. Thereby, it is possible to effectively reduce the speed while reducing the size of the first speed reducer 6a and the second speed reducers 6b and 6c using the wave gear speed reducer.

  In the first embodiment, as described above, the wave gear reducer includes an annular rigid internal gear 63, an annular flexible external gear 62 disposed inside the rigid internal gear 63, and The flexible external gear 62 is bent to partially mesh with the rigid internal gear 63 at two locations, and the meshing position of the rigid internal gear 63 and the flexible external gear 62 is set in the circumferential direction. The rigid internal gear 63 is fixedly disposed, and the wave generator 61 is attached coaxially to the input rotation shaft of the wave gear reducer and is flexible. The external gear 62 is connected and fixed to the output rotation shaft of the wave gear reducer. Accordingly, the wave gear reducer including the rigid internal gear 63, the flexible external gear 62, and the wave generator 61 can be easily and stably decelerated.

  In the first embodiment, as described above, the second reduction gears 6b and 6c of the vertical joints 221 and 223 are provided in parallel with the input rotation shafts connected to each other on the same axis, and a plurality of second reduction gears are provided. The reduction gears 6b and 6c have substantially the same reduction ratio, and the output rotation shaft is arranged on the horizontal rotation axis of the vertical joints 221 and 223. As a result, the load can be distributed and supported by the plurality of second speed reducers 6b and 6c provided in parallel, so that the resistance of the vertical joints 221 and 223 to the load can be easily increased.

  In the first embodiment, as described above, the total reduction ratio by the first reduction gear 6a and the second reduction gears 6b and 6c is configured to be 1000 or more and 20000 or less. Thereby, it is possible to move the patient 10 at a low speed as compared with a reduction ratio of less than 1000, and to suppress the table 1 from descending suddenly even when the electromagnetic brake breaks down when the power is stopped. Further, it is possible to suppress the drive speeds of the vertical joints 221 and 223 from becoming excessively low as compared with a reduction ratio larger than 20000.

  In the first embodiment, as described above, the total reduction ratio by the first reduction gear 6a and the second reduction gears 6b and 6c is configured to be not less than 3000 and not more than 10,000. Thereby, while being able to move the patient 10 reliably at low speed, even if it is a case where an electromagnetic brake fails at the time of an electric power stop, it can suppress effectively that the table 1 falls rapidly. Moreover, it can suppress effectively that the drive speed of the vertical joints 221 and 223 becomes low too much.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. In the second embodiment, an example of a configuration in which an articulated robot arm includes a horizontal articulated assembly will be described, unlike the first embodiment in which the articulated robot arm includes a linear movement assembly. In addition, the same code | symbol is attached | subjected to the location similar to 1st Embodiment.

(Configuration of robot operating table)
As shown in FIG. 8, the robot operating table 200 includes a table 1 for placing a patient, an articulated robot arm 201, and a control unit 3 (see FIG. 9). As shown in FIG. 9, the articulated robot arm 201 includes a base 21, a vertical articulated assembly 202, and a horizontal articulated assembly 203. The vertical articulated assembly 202 includes vertical joints 202a and 202b, a roll rotary joint 202c, and a yaw rotary joint 202d. The horizontal articulated assembly 203 includes horizontal joints 203a, 203b and 203c. The vertical joints 202a and 202b, the roll rotary joint 202c, the yaw rotary joint 202d, and the horizontal joints 203a, 203b, and 203c are examples of “joints” in the claims.

  The articulated robot arm 201 is configured to move the table 1. The articulated robot arm 201 is supported by a base 21 having one end fixed to the floor, and the other end movably supports the table 1. The articulated robot arm 201 is configured to move the table 1 with seven degrees of freedom. Specifically, the articulated robot arm 201 is rotated about the rotation axis D1, rotated about the rotation axis D2, rotated about the rotation axis D3, and the rotation axis D4 by the vertical articulated assembly 202. It has 4 degrees of freedom of rotation around. Further, the articulated robot arm 201 has three degrees of freedom of rotation about the rotation axis E1, rotation about the rotation axis E2, and rotation about the rotation axis E3 by the horizontal articulated assembly 203.

  Here, in the second embodiment, the vertical joint 202a (202b) is configured to be rotatable about a horizontal rotation axis D1 (D3). Further, as shown in FIG. 10, the vertical joint 202a (202b) includes a first motor 204a, a first reduction device 206a to which the rotation of the first motor 204a is transmitted, and the transmitted rotation is decelerated and output. The second decelerator 206b that transmits the rotation decelerated by the first decelerator 206a and decelerates and outputs the transmitted rotation. The vertical joint 202a (202b) includes a second electromagnetic brake 205 and a gear portion 207.

  Similarly to the vertical joint 202a (202b), the horizontal joints 203a, 203b, 203c and the yaw rotary joint 202d are also provided with the first motor 204a, the second electromagnetic brake 205, the first speed reducer 206a, and the second joint. A reduction gear 206b and a gear portion 207 are provided. The roll rotation joint 202c includes a second motor 204b, a second electromagnetic brake 205, a third reduction gear 206c, a fourth reduction gear 206d, and a gear portion 207.

  In the second embodiment, as shown in FIG. 10, the first motor 204 a (second motor 204 b) includes an encoder 41 and a built-in first electromagnetic brake 42. A second electromagnetic brake 205 is attached to the output rotation shaft of the first motor 204a (second motor 204b). The first electromagnetic brake 42 and the second electromagnetic brake 205 are configured to brake each joint (the vertical joints 202a and 202b, the roll rotary joint 202c, the yaw rotary joint 202d, and the horizontal joints 203a, 203b, and 203c). The encoder 41 is configured to detect the drive amount of the first motor 204 a and transmit the detection result to the control unit 3.

  In addition, the other structure of 2nd Embodiment is the same as that of the said 1st Embodiment.

(Effect of 2nd Embodiment)
In the second embodiment, the following effects can be obtained.

  As described above, in the second embodiment, similarly to the first embodiment, the rotation of the first motor 204a is transmitted to the vertical joints 202a and 202b, and the transmitted rotation is decelerated and output. 206a and a second speed reducer 206b that transmits the rotation decelerated by the first speed reducer 206a and decelerates and outputs the transmitted rotation is provided. Thereby, while moving the patient 10 at low speed, it can suppress that the table 1 falls rapidly at the time of an electric power stop.

  In the second embodiment, as described above, the articulated robot arm 201 is configured to move the table 1 with seven or more degrees of freedom. As a result, the articulated robot arm 201 having 7 or more degrees of freedom can easily move the table 1 to a desired position.

  In the second embodiment, as described above, the articulated robot arm 201 is provided with the horizontal articulated assembly 203 that moves the table 1 with a plurality of degrees of freedom of rotation. Accordingly, the table 1 can be easily moved to a desired horizontal position by the horizontal articulated assembly 203.

  The remaining effects of the second embodiment are similar to those of the aforementioned first embodiment.

[Modification of Second Embodiment]
Note that one reducer 206e may be provided in each joint of the horizontal articulated assembly 203 of the articulated robot arm 201 in the second embodiment. That is, each joint of the horizontal multi-joint assembly 203 is decelerated by one reduction gear 206e, and each joint of the vertical multi-joint assembly 202 is the first reduction gear 206a (third reduction gear 206c) and the second reduction gear 206b. You may decelerate with two reduction gears of (4th reduction gear 206d). Specifically, as shown in FIG. 11, the horizontal joints 203a, 203b, and 203c are provided with one speed reducer 206e. As shown in FIG. 10, the vertical joints 202a and 202b and the yaw rotary joint 202d are provided with a first reduction gear 206a and a second reduction gear 206b. Further, as shown in FIG. 10, the roll rotary joint 202c is provided with a third reduction gear 206c and a fourth reduction gear 206d.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG. In the third embodiment, an example of the configuration of a robot treatment table including a table and an articulated robot arm will be described. In addition, the same code | symbol is attached | subjected to the location similar to 1st Embodiment.

(Configuration of robotic treatment table)
As shown in FIG. 12, the robot treatment table 300 includes a table 1 for placing a patient, an articulated robot arm 301, and a control unit 3. The articulated robot arm 301 includes a slide joint 302, a vertical articulated assembly 303, and a horizontal articulated assembly 304. The slide joint 302 includes a motor 305, an electromagnetic brake 306, a speed reducer 307, and a ball screw mechanism 308. The vertical articulated assembly 303 includes vertical joints 303a and 303b and a yaw rotary joint 303c. Horizontal articulated assembly 304 includes horizontal joints 304a and 304b. The vertical joints 303a and 303b, the yaw rotary joint 303c, and the horizontal joints 304a and 304b are examples of “joints” in the claims.

  The articulated robot arm 301 is configured to move the table 1. The articulated robot arm 301 has one end supported by the base 21 fixed to the floor and the other end movably supporting the table 1. The articulated robot arm 301 is configured to move the table 1 with six degrees of freedom. Specifically, the articulated robot arm 301 has a vertical linear degree of freedom due to the slide joint 302. Further, the articulated robot arm 301 has three degrees of freedom of rotation about the rotation axis F1, rotation about the rotation axis F2, and rotation about the rotation axis F3 by the vertical articulated assembly 303. Further, the articulated robot arm 301 has two degrees of freedom of rotation about the rotation axis G1 and rotation about the rotation axis G2 by the horizontal articulated assembly 304.

  Here, in the third embodiment, the vertical joint 303a (303b) is configured to be rotatable about a horizontal rotation axis F1 (F2). As shown in FIG. 10, the vertical joint 303a (303b) includes a first motor 204a, a first reduction device 206a to which the rotation of the first motor 204a is transmitted, and the transmitted rotation is decelerated and output. The second decelerator 206b that transmits the rotation decelerated by the first decelerator 206a and decelerates and outputs the transmitted rotation. The vertical joint 303a (303b) includes a second electromagnetic brake 205 and a gear portion 207.

  Similarly to the vertical joint 303a (303b), the horizontal joints 304a and 304b and the yaw rotary joint 303c also have the first motor 204a, the second electromagnetic brake 205, and the first reduction gear 206a, as shown in FIG. The second reduction gear 206b and the gear portion 207 are provided.

  In the third embodiment, as shown in FIG. 10, the first motor 204 a includes an encoder 41 and a built-in first electromagnetic brake 42. A second electromagnetic brake 205 is attached to the output rotation shaft of the first motor 204a. The first electromagnetic brake 42 and the second electromagnetic brake 205 are configured to brake each joint (vertical joints 303a and 303b, yaw rotary joint 303c, horizontal joints 304a and 304b). The encoder 41 is configured to detect the drive amount of the first motor 204 a and transmit the detection result to the control unit 3.

  The first speed reducer 206a is a planetary gear speed reducer. The second speed reducer 206b is configured by an eccentric oscillating planetary gear speed reducer (RV speed reducer). The first reduction gear 206a and the second reduction gear 206b are connected in series. That is, the first speed reducer 206a and the second speed reducer 206b are decelerated in two stages.

  The eccentric oscillating planetary gear reducer includes a first stage reduction part and a second stage reduction part. The first stage reduction unit includes an input gear and a spur gear having a larger number of teeth than the input gear. The second speed reduction part has an eccentric part and is connected to the spur gear, the internal gear, and the eccentric part engages with the eccentric part to rotate eccentrically, while inscribed in the internal gear and moving the meshing position. An external planetary gear that rotates.

  The multi-joint robot arm 301 can move with a vertical linear degree of freedom by a slide joint 302. Specifically, the articulated robot arm 301 is supported by the base 21 via the slide joint 302. As shown in FIG. 12, the slide joint 302 includes a motor 305 that is a servo motor, an electromagnetic brake 306, a reduction gear 307 that transmits the rotation of the motor 305, decelerates and outputs the transmitted rotation, and a reduction gear. A rotation reduced by 307 is transmitted, and a ball screw shaft 308a that decelerates the transmitted rotation and outputs it as a linear motion is provided. The slide member 308b is screwed to the ball screw shaft 308a, and is configured to move along the guide member by the rotation of the ball screw shaft 308a. As the slide member 308b moves, the articulated robot arm 301 connected to the slide member 308b moves in the vertical direction. The motor 305 has an encoder and a built-in first electromagnetic brake.

  Further, the slide joint 302 is disposed below the floor surface. That is, the base 21 is fixed below the floor surface.

  The robot treatment table 300 is a treatment table for patient positioning in the radiation treatment system. Radiation includes X-rays, gamma rays, electron beams, and particle beams. Particle beams contain accelerated nuclei. Particle beam nuclei include hydrogen nuclei (protons), helium nuclei, carbon nuclei (carbon ions), neon nuclei, silicon nuclei, and argon nuclei. In the case of a treatment system using particle beams, the robot treatment table 300 is a treatment table for patient positioning in the particle beam treatment system.

  The robot treatment table 300 is used for adjusting the irradiation position of the particle beam (radiation) irradiated from the particle beam irradiation apparatus 400 to the patient 10. In order to accurately irradiate the treatment site of the patient 10 with the particle beam, it is necessary to accurately position the patient 10. The robot treatment table 300 is used to accurately position the table 1 (patient 10) three-dimensionally by driving the articulated robot arm 301. The particle beam irradiation apparatus 400 includes an incident unit 401, an acceleration unit 402, a transport unit 403, and an irradiation unit 404.

  The incident unit 401 is configured to generate a particle beam and make it incident on the acceleration unit 402. Specifically, the incident unit 401 generates ions with an ion source, accelerates the generated ions with a linear accelerator, and sends the ions to the acceleration unit 402. The acceleration unit 402 is configured to generate a magnetic field and accelerate the incident particle beam. The acceleration unit 402 is formed in an annular shape, and is configured to accelerate while rotating around the particle beam.

  The transport unit 403 is configured to transport the accelerated particle beam. The irradiation unit 404 is configured to scan and irradiate a treatment site of the patient 10 with a particle beam. The irradiation unit 404 may be configured to irradiate the patient 10 by shaping the shape of the particle beam by scattering the particle beam.

  The remaining configuration of the third embodiment is similar to that of the aforementioned first embodiment.

(Effect of the third embodiment)
In the third embodiment, the following effects can be obtained.

  As described above, in the third embodiment, the rotation of the first motor 204a is transmitted to the vertical joints 303a and 303b, and the first reduction device 206a that decelerates and outputs the transmitted rotation, and the first reduction device 206a. And a second speed reducer 206b that transmits the rotation decelerated by the motor and decelerates and outputs the transmitted rotation. As a result, the patient 10 can be moved at a low speed, and the table 1 can be prevented from suddenly descending when the power is stopped. Therefore, the robot treatment table 300 with improved safety performance compared to the prior art can be provided.

  In the third embodiment, as described above, the robot treatment table 300 is a treatment table for patient positioning in the particle beam treatment system. Thereby, since the position of the patient 10 can be accurately positioned by the robot treatment table 300 in the particle beam therapy, the particle beam can be irradiated to the affected part of the patient 10 with high accuracy.

  In the third embodiment, the motor 305, the speed reducer 307, and the ball screw mechanism 308 are provided in the slide joint 302 as described above. Thereby, since the speed reduction can be performed in two stages by the speed reducer 307 and the ball screw mechanism 308, it is possible to effectively suppress the table 1 from descending suddenly even when the electromagnetic brake breaks down when the power is stopped.

(Modification)
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the first and second embodiments, an example in which the first speed reducer and the second speed reducer are configured by wave gear speed reducers is shown. In the third embodiment, the first speed reducer is configured by a planetary gear speed reducer. And although the example which comprises a 2nd reduction gear by an eccentric rocking | swiveling planetary gear reduction gear was shown, this invention is not limited to this. In the present invention, for example, the types of the reducers of the first reducer and the second reducer are combined by any kind of reducer among a wave gear reducer, a planetary gear reducer, and an eccentric oscillating planetary gear reducer. Also good. Moreover, you may comprise a 1st reduction gear and a 2nd reduction gear by reduction gears other than a wave gear reduction device, a planetary gear reduction device, and an eccentric oscillation type planetary gear reduction device.

  Moreover, although the said 1st and 2nd embodiment showed the example by which both the 1st speed reducer and the 2nd speed reducer were comprised by the wave gear speed reducer, this invention is not limited to this. In the present invention, at least one of the first reduction gear and the second reduction gear may be constituted by a wave gear reduction device, a planetary gear reduction device, or an eccentric oscillating planetary gear reduction device.

  In the first and third embodiments, an example of a configuration in which the articulated robot arm has six degrees of freedom is shown. In the second embodiment, an example of a configuration in which the articulated robot arm has seven degrees of freedom. However, the present invention is not limited to this. In the present invention, the robot arm may have five or less degrees of freedom, or may have eight or more degrees of freedom.

  In the first to third embodiments, the example of the configuration in which the articulated robot arm has two vertical joints is shown, but the present invention is not limited to this. In the present invention, the articulated robot arm may have three or more vertical joints or one vertical joint.

  Moreover, in the said 1st Embodiment, although the example of the structure by which two 2nd reduction gears were provided in parallel about one joint was shown, this invention is not limited to this. In the present invention, one second speed reducer may be provided for one joint, or three or more may be provided in parallel.

  Moreover, in the said 1st and 2nd embodiment, although the example of the structure by which the base was fixed on the floor was shown, this invention is not limited to this. In the present invention, the base may be embedded and fixed in the floor.

  In the first to third embodiments, the example in which the rotation axis of the motor and the rotation axis of the joint are substantially parallel is shown, but the present invention is not limited to this. In the present invention, the rotation axis of the motor and the rotation axis of the joint may not be parallel. For example, the axial direction of the joint rotation axis may be converted to a direction intersecting the rotation axis of the motor by a gear. In this case, the gear for changing the axial direction may be provided integrally with the speed reducer.

  Moreover, in the said 3rd Embodiment, although the example of the structure in which a slide joint contains a ball screw mechanism was shown, this invention is not limited to this. In the present invention, the slide joint may include a rack and pinion mechanism.

  Moreover, in the said 3rd Embodiment, although the example of the structure used for the particle beam treatment system which is a treatment system using a particle beam for a robot treatment table was shown, this invention is not limited to this. The robot treatment table may be used in a radiation treatment system that is a treatment system using radiation other than particle beams.

  Moreover, in the said 1st-3rd embodiment, although the example which the control part 3 is arrange | positioned in the base was shown, this invention is not limited to this. In the present invention, the control unit for the robot is a control box placed in the casing. For example, the control box may be arranged at an arbitrary position in the operating room or the treatment room. It may be arranged in a room different from the treatment room.

  1: table 2, 201, 301: articulated robot arm, 4a, 204a: first motor (motor), 4b, 204b: second motor, 5, 205: second electromagnetic brake (electromagnetic brake), 6a, 206a : First reducer, 6b, 6c, 206b: Second reducer, 6d, 206c: Third reducer, 6e, 6f, 206d: Fourth reducer, 21: Base, 22, 202, 303: Vertical articulated Assembly, 23: Linear movement assembly, 42: First electromagnetic brake (electromagnetic brake), 100, 200: Robotic operating table, 202a, 202b, 221, 223, 303a, 303b: Vertical joint (joint), 202c, 222: Roll Rotating joint (joint), 202d, 224, 303c: Yaw rotating joint (joint), 203, 304: Horizontal articulated assembly, 203a, 20 b, 203c, 304a, 304b: horizontal joints (joints), 300: robot couch, 302: sliding joint, 305: Motor 307: reducer, 308: ball screw mechanism

Claims (21)

A table for patient placement;
An articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table;
The articulated robot arm includes a plurality of joints including a vertical joint rotatable around a horizontal rotation axis,
The vertical joint includes a first motor, an electromagnetic brake disposed on an output rotation shaft of the first motor, and a first speed reducer that receives the rotation of the first motor and decelerates and outputs the transmitted rotation. And a second speed reducer that transmits the rotation decelerated by the first speed reducer, decelerates and outputs the transmitted rotation , and
The robot operating table , wherein an input axis of the first speed reducer and an output axis of the second speed reducer are arranged on different axes .   The robot operating table according to claim 1, wherein the electromagnetic brake is built in the first motor.   3. The robot according to claim 1, wherein the articulated robot arm is supported by the base so as to be rotatable about an axis in a vertical direction, and is configured to move the table with six or more degrees of freedom. Operating table.   The robot operating table according to claim 3, wherein the articulated robot arm is configured to move the table with a degree of freedom of 7 or more.   The robotic operation according to any one of claims 1 to 4, wherein the articulated robot arm includes a vertical articulated assembly having two or more vertical joints and moving the table according to a plurality of rotational degrees of freedom. Stand. The vertical articulated assembly further comprises a roll rotary joint;
The roll rotation joint is transmitted with a second motor, a third speed reducer that transmits the rotation of the second motor, decelerates and outputs the transmitted rotation, and a rotation decelerated by the third speed reducer. The robot operating table according to claim 5, further comprising: a fourth speed reducer that decelerates and outputs the transmitted rotation.   The articulated robot arm includes a horizontal articulated assembly that moves the table with a plurality of rotational degrees of freedom, or a linear movement assembly that moves the table with a degree of horizontal linear freedom. Robotic operating table.   2. The articulated robot arm is configured to take an accommodation posture accommodated in an accommodation space that is a space under the table when the table is located at a predetermined position. The robot operating table according to any one of? 7.   The articulated robot arm has a length equal to or shorter than the length of the table in the first direction and a length equal to or shorter than the length of the table in a second direction orthogonal to the first direction in the accommodated posture state. The robot operating table according to claim 8, having a thickness.   The at least one of the first reducer and the second reducer is a wave gear reducer, a planetary gear reducer, or an eccentric oscillating planetary gear reducer according to any one of claims 1 to 9. Robotic operating table.   The robot operating table according to any one of claims 1 to 10, wherein a total reduction ratio by the first reduction gear and the second reduction gear is 1000 or more and 20000 or less.   The robot operating table according to claim 11, wherein a total reduction ratio by the first reduction gear and the second reduction gear is not less than 3000 and not more than 10,000. A table for patient placement;
An articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table;
The articulated robot arm has a plurality of joints,
Each of the plurality of joints includes a motor, an electromagnetic brake disposed on an output rotation shaft of the motor, a first reduction device that transmits the rotation of the motor and decelerates and outputs the transmitted rotation, A rotation reduced by the first reduction device is transmitted, and a second reduction device that decelerates and outputs the transmitted rotation ,
The robot operating table , wherein an input axis of the first speed reducer and an output axis of the second speed reducer are arranged on different axes .   14. The robot operating table according to claim 13, wherein a total reduction ratio by the first reduction device and the second reduction device is 1000 or more and 20000 or less.   The robot operating table according to claim 14, wherein a total reduction ratio by the first reduction gear and the second reduction gear is not less than 3000 and not more than 10,000. A table for patient placement;
An articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table;
The articulated robot arm includes a plurality of joints including a vertical joint rotatable around a horizontal rotation axis,
The vertical joint includes a motor, an electromagnetic brake disposed on an output rotation shaft of the motor, a first reduction device that transmits the rotation of the motor and decelerates and outputs the transmitted rotation, and the first deceleration. A second decelerator that transmits the rotation decelerated by the machine, decelerates and outputs the transmitted rotation , and
The robot treatment table , wherein an input axis of the first reduction gear and an output axis of the second reduction gear are arranged on different axes . A table for patient placement;
An articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table;
The articulated robot arm has a plurality of joints,
Each of the plurality of joints includes a motor, an electromagnetic brake disposed on an output rotation shaft of the motor, a first reduction device that transmits the rotation of the motor and decelerates and outputs the transmitted rotation, A rotation reduced by the first reduction device is transmitted, and a second reduction device that decelerates and outputs the transmitted rotation ,
The robot treatment table , wherein an input axis of the first reduction gear and an output axis of the second reduction gear are arranged on different axes .   The robot treatment table according to claim 16 or 17, which is a treatment table for patient positioning in a radiation therapy system or a particle beam therapy system. The robot according to any one of claims 16 to 18, wherein the multi-joint robot arm includes a slide joint movable with a vertical linear degree of freedom, and is supported by the base via the slide joint. Treatment table. The robot treatment table according to claim 19, wherein the slide joint includes a motor, a speed reducer, and a ball screw mechanism or a rack and pinion mechanism. The robot treatment table according to any one of claims 16 to 18, wherein the base is fixed below the floor surface.

Images