JP6714059B2 - 3-axis motion device - Google Patents

Description

The present invention relates to a multi-axis motion device, and more particularly to a three-axis motion device capable of realizing highly accurate movement, weight reduction in volume, and size reduction.

Surgical robots are already widely used in various surgical procedures. With the support of the surgical robot, it is possible to not only accurately grasp the medical activities related to the operation (judgment of the lesion position or control of the depth to which the scalpel reaches, etc.), but also the risk of causing a medical accident due to human error. Can be reduced to However, since the volume of the surgical robot is enormous, a relatively large space is required to operate the surgical robot.

JP-A-4-152090

It is a main object of the present invention to provide a three-axis motion device capable of achieving high-precision motion with multiple degrees of freedom, and realizing reduction in weight and size of a surgical robot.

In order to solve the above-mentioned problem, the three-axis motion device includes a first base, a hollow rotary shaft, a first power source, a second base, a second power source, a third base and a rotation mechanism. The first power source is disposed on the first base and has a first drive shaft. The hollow rotary shaft can rotate synchronously with the first drive shaft by being connected to and driven by the first drive shaft of the first power source. The second base can rotate toward the first base around the first axial direction by being connected to and driven by the hollow rotary shaft. The second power source is located on the first base and has a second drive shaft. The second drive shaft rotatably passes through the hollow rotary shaft. The third base can rotate toward the second base about the second axial direction perpendicular to the first axial direction by being connected to and driven by the second driving shaft of the second power source. The rotation mechanism is arranged on the third base and has a tool fixing member. The tool fixing member rotates toward the third base about the third axial direction perpendicular to the second axial direction.

Due to the above-mentioned structural features, the three-axis motion apparatus according to the present invention can achieve high-precision motion with multiple degrees of freedom, and thus can be applied to a surgical robot compatible with minimally invasive ear and nose surgery. Further, since the present invention realizes the weight reduction and the size reduction of the surgical robot, it is possible to solve the problem of the conventional technique that the volume is large and the weight is large.

In a relatively preferred case, the first drive axis is parallel to the first axis direction. Since the second drive shaft and the first axial direction are coaxially positioned so as to correspond to each other, it is possible to reduce power loss when transmitting power.

In a relatively preferable case, since the first power source and the second power source are arranged on the same side of the first base, it is possible to reduce the volume and size of the components having a large volume.

In a relatively preferred case, the first base has a first arm and a second arm. The first arm and the second arm are connected to each other at one end, and the included angle between them is 90 to 180 degrees, which allows the first base to avoid a lower object, for example, the patient's head or another part during the operation process. There is enough space.

Detailed structure, characteristics, assembling or use method of the three-axis motion device according to the present invention will be clarified through the following detailed description of the embodiments. It should be noted that the following detailed description and the embodiment presented by the present invention are merely examples for explaining the present invention, and it is not possible to limit the scope of the claims of the present invention by a person who has common sense in the area related to the present invention. Then you should understand.

FIG. 3 is a perspective view showing a triaxial motion device according to an embodiment of the present invention. FIG. 3 is a perspective view showing a state in which the housing of the triaxial motion device according to the embodiment of the present invention is removed. 1 is a front view showing a three-axis exercise device according to an embodiment of the present invention. FIG. 3 is a rear view showing the triaxial motion device according to the embodiment of the present invention. FIG. 3 is a cross-sectional view showing a part of a triaxial motion device according to an embodiment of the present invention. 1 is a side view showing a triaxial exercise device according to an embodiment of the present invention. FIG. 7 is a perspective view showing a state in which the third base and the rotation mechanism are coupled in the three-axis motion device according to the embodiment of the present invention. It is an exploded perspective view showing a rotation mechanism of a triaxial motion device by one embodiment of the present invention. FIG. 9 is a cross-sectional view taken along line 9-9 in FIG. 7, that is, a cross-sectional view showing a state in which the push button is installed at the first position. FIG. 9 is a cross-sectional view taken along line 9-9 in FIG. 7, that is, a cross-sectional view showing a state in which the push button is installed in the second position.

A three-axis motion device according to the present invention will be described below with reference to the drawings. The same reference numerals in the figures indicate structural features of the same or similar parts.

(One embodiment)
As shown in FIG. 1, a triaxial motion device 10 according to an embodiment of the present invention is mounted in a housing 12 and applied to a surgical robot 14.
As shown in FIGS. 2 and 3, when the housing 12 is removed, the three-axis motion device 10 according to the embodiment of the present invention includes a first base 20, a first power source 30, a hollow rotary shaft 40, and a second base. 50, a second power source 60, a third base 70, and a rotation mechanism 80.

The first base 20 has a first arm 21 and a second arm 22. The end portion of the first arm 21 is connected to the tip portion of the second arm 22 to be integrated. Since the first arm 21 and the second arm 22 form an included angle θ of 90 to 180 degrees, as shown in FIG. 4, an object below the first base 20, for example, the head of the patient or another part of the first base 20, is moved during the operation process. You can secure enough space to avoid. Therefore, the present invention can be applied to a surgical robot compatible with minimally invasive ear and nose surgery.
As shown in FIGS. 2 and 4, the controller 90 is attached and fixed to the first arm 21. The second arm 22 has a first plate-shaped support portion 23, a second plate-shaped support portion 24, and a third plate-shaped support portion 25 arranged in order from the top.

The first power source 30 has a first motor 31, a first speed reducer 33, and a first drive shaft 35. The first motor 31 is attached to the first plate-shaped support portion 23 of the second arm 22 of the first base 20, and has a first output shaft 32. The first reduction gear 33 is attached to the second plate-shaped support portion 24 of the second arm 22 of the first base 20, and has a first transmission shaft 34.
As shown in FIGS. 3 and 6, the first output shaft 32 of the first motor 31 is connected to the first reduction gear 33. Since the first transmission shaft 34 of the first reduction gear 33 is coaxially connected to the first drive shaft 35, the first drive shaft 35 can be rotated by the driving force of the first motor 31.

The hollow rotation shaft 40 rotatably penetrates the third plate-shaped support portion 25 of the second arm 22 of the first base 20, and is connected to the first drive shaft 35 of the first power source 30 by the first transmission mechanism 41. It Specifically, as shown in FIGS. 2, 3 and 6, the first transmission mechanism 41 has a first transmission wheel 42, a second transmission wheel 43 and a first transmission belt 44.
The first transmission wheel 42 is arranged on the third plate-shaped support portion 25 of the second arm 22 of the first base 20, and is coaxially connected to the first drive shaft 35. The second transmission wheel 43 is arranged on the third plate-shaped support portion 25 of the second arm 22 of the first base 20, and is coaxially connected to the hollow rotation shaft 40. The first transmission belt 44 surrounds the first transmission wheel 42 and the second transmission wheel 43 to rotate the first transmission wheel 42 and the second transmission wheel 43 in synchronism.

With the structure described above, when the first drive shaft 35 of the first power source 30 rotates the first transmission wheel 42, the first transmission wheel 42 causes the first transmission belt 44 to rotate the second transmission wheel 43 and at the same time. The hollow rotary shaft 40 is rotated together with the second transmission wheel 43.

As shown in FIGS. 3 and 5, the second base 50 is located below the first base 20, and has a fourth plate-shaped support portion 51, a fifth plate-shaped support portion 52, and a disk portion 53. The fourth plate-shaped support portion 51 is located at the tip of the second base 50. The fifth plate-shaped support portion 52 is located below the fourth plate-shaped support portion 51. The disk portion 53 is located at the end of the second base 50.
As shown in FIGS. 3 and 6, the fourth plate-shaped support portion 51 of the second base 50 is coaxially connected to the bottom portion of the hollow rotary shaft 40, so that the second base 50 is driven by the hollow rotary shaft 40. , And can rotate toward the first base 20 about the first axial direction A1. The first axial direction A1 is parallel to the first drive shaft 35 of the first power source 30. The rotation angle of the second base 50 is detected by the first angle sensor 91.
As shown in FIG. 2, the first angle sensor 91 is attached to the third plate-shaped support portion 25 of the second arm 22 of the first base 20 and electrically connected to the controller 90. Can be transmitted for judgment.

The second power source 60 and the first power source 30 are arranged on the same side of the first base 20. The second power source 60 has a second motor 61, a second speed reducer 63, and a second drive shaft 65. The second motor 61 is attached to the first plate-shaped support portion 23 of the second arm 22 of the first base 20, and has a first output shaft 62. The first reduction gear 63 is attached to the second plate-shaped support portion 24 of the second arm 22 of the first base 20 and has a second transmission shaft 64.
As shown in FIGS. 3 and 6, the second output shaft 62 of the second motor 61 is connected to the second reduction gear 63. The second transmission shaft 64 of the second reduction gear 63 is coaxially connected to the second drive shaft 65. Since the second drive shaft 65 is located coaxially with the first axial direction A1 and penetrates the hollow rotary shaft 40, the second drive shaft 65 is driven by the second motor 61 and rotates toward the hollow rotary shaft 40. can do.

The third base 70 has a shaft 71. The shaft portion 71 of the third base 70 is inserted into the disk portion 53 of the second base 50, and is connected to the second drive shaft 65 of the second power source 60 by the second transmission mechanism 75. More specifically, as shown in FIGS. 4 and 6, the second transmission mechanism 75 has a third transmission wheel 76, a fourth transmission wheel 77, and a second transmission belt 78.
The third transmission wheel 76 is mounted on the fifth plate-shaped support portion 52 of the second base 50 and is coaxially connected to the second drive shaft 65 of the second power source 60. The fourth transmission wheel 77 is mounted on the back surface of the disc portion 53 of the second base 50 and is coaxially connected to the shaft portion 71 of the third base 70. The second transmission belt 78 connects the third transmission wheel 76 and the fourth transmission wheel 77 to rotate the third transmission wheel 76 and the fourth transmission wheel 77 in synchronization.

With the structure described above, when the second drive shaft 65 of the second power source 60 rotates the third transmission wheel 76, the third transmission wheel 76 causes the second transmission belt 78 to rotate the fourth transmission wheel 77. The third base 70 is driven by the fourth transmission wheel 77 and rotates toward the second base 50 about the second axial direction A2 that is perpendicular to the first axial direction A1. On the other hand, the rotation angle of the third base 70 is detected by the second angle sensor 92.
As shown in FIGS. 2 and 3, the second angle sensor 92 is mounted on the disc portion 53 of the second base 50 and electrically connected to the controller 90, and therefore the controller 90 transmits the detection result to make a judgment. be able to.

As shown in FIGS. 7 and 8, the third base 70 further includes a pedestal 72 connected to the shaft portion 71, a storage groove 73 formed in the pedestal 72, and a plurality of fixing grooves 74 formed on the wall surface of the storage groove 73. Have.
The rotation mechanism 80 has a bearing 81, a cap 82, a tool fixing member 85, two push buttons 87 and two elastic members 88. The bearing 81 is stored in the storage groove 73. The cap 82 covers the storage groove 73 and has a front end hole portion 83 and two perforations 84. The tip hole portion 83 is connected to the storage groove 73 along the axial direction. The two perforations 84 are relatively connected to the storage groove 73 along the radial direction. The tool fixing member 85 is fastened to the cap 82 by a fixing unit 86 such as a screw. A work tool such as an endoscope is attached and fixed to the tool fixing member 85. The tip of the tool fixing member 85 projects into the tip hole portion 83, and the end of the tool fixing member 85 is fixed to the bearing 81 by the fitting ring 89. The two push buttons 87 are arranged in the cap 82, and each has a push portion 872 and a fixing portion 874. The pushing portion 872 is inserted into the perforation 84 of the cap 82. The fixing portion 874 corresponds to one fixing groove 74 of the third base 70.
As shown in FIG. 9, the push button 87 is installed in the first position P1 before the push portion 872 of the push button 87 receives an external force. The fixing portion 874 of the push button 87 is fitted into the fixing groove 74 of the third base 70. At this time, the rotation mechanism 80 cannot rotate toward the third base 70.
As shown in FIG. 10, when the push portion 872 of the push button 87 receives an external force, the push button 87 is set to the second position P2. The fixed portion 874 of the push button 87 deviates from the fixed groove 74. At this time, the rotation mechanism 80 can rotate toward the third base 70 about the third axial direction A3 perpendicular to the second axial direction A2. The two elastic members 88 are arranged between the tool fixing member 85 and the push button 87 to maintain the push button 87 in the first position P1 as shown in FIG.

To summarize the above, the three-axis motion device 10 according to the present invention allows the second base 50, the third base 70, and the turning mechanism 80 to rotate about different axial directions, respectively, so that the work tool can be operated according to the actual situation. Since the position is adjusted, it can be applied to a surgical robot compatible with minimally invasive ear and nose surgery.
Further, in the three-axis motion device 10 according to the present invention, since parts having a large volume (for example, the first power source 30 and the second power source 60) are put together on the same side, the surgical robot to which the present invention is applied is reduced in weight and size. Can be realized.

DESCRIPTION OF SYMBOLS 10 3 axis|shaft movement apparatus 12 Housing 14 Operation robot 20 1st base 21 1st arm 22 2nd arm 23 1st plate-shaped support part 24 2nd plate-shaped support part 25 3rd plate-shaped support part 30 1st power source 31 1st motor 32 1st output shaft 33 1st reduction gear 34 1st transmission shaft 35 1st drive shaft 40 hollow rotating shaft 41 1st transmission mechanism 42 1st transmission wheel 43 2nd transmission wheel 44 1st transmission belt 50 2nd Base 51 Fourth plate-shaped support portion 52 Fifth plate-shaped support portion 53 Disc portion 60 Second power source 61 Second motor 62 Second output shaft 63 Second reduction gear 64 Second transmission shaft 65 Second drive shaft 70 Third Base 71 Shaft 72 Pedestal 73 Storage groove 74 Fixing groove 75 Second transmission mechanism 76 Third transmission wheel 77 Fourth transmission wheel 78 Second transmission belt 80 Turning mechanism 81 Bearing 82 Cap 83 Tip hole 84 Perforation 85 Tool fixing member 86 Fixed unit 87 Push button 872 Push part 874 Fixed part 88 Elastic member 89 Fitting ring 90 Controller 91 First angle sensor 92 Second angle sensor A1 First axial direction A2 Second axial direction P1 First position P2 Second position θ Inclined angle

Claims (4)

A first base, a first power source, a hollow rotary shaft, a second base, a second power source, a third base and a rotation mechanism,
The first base has a first arm and a second arm, one ends of the first arm and the second arm are connected to each other, and the second arm is a first plate-shaped support portion arranged in order from the top. A second plate-shaped support portion and a third plate-shaped support portion,
The first power source has a first motor, a first speed reducer and a first drive shaft, the first motor is disposed on the first plate-shaped support portion, includes a first output shaft, One speed reducer is disposed on the second plate-shaped support portion, includes a first transmission shaft, the first output shaft is connected to the first reduction gear, the first transmission shaft is the first drive shaft and Connected coaxially,
The hollow rotary shaft may rotatably penetrate the third plate-shaped support portion, and may be coupled to and driven by the first drive shaft of the first power source to rotate in synchronization with the first drive shaft. You can
The second base can rotate toward the first base about the first axial direction by being connected to and driven by the hollow rotary shaft,
The second power source is disposed on the first base, has a second drive shaft, the second drive shaft rotatably penetrates the hollow rotary shaft,
The third base rotates toward the second base about a second axial direction perpendicular to the first axial direction by being connected to and driven by the second drive shaft of the second power source. Can
The turning mechanism is disposed on the third base and has a tool fixing member, and the tool fixing member rotates toward the third base about a third axial direction perpendicular to the second axial direction. Characterized by,
3-axis motion device. The three-axis motion device according to claim 1, wherein the first power source and the second power source are arranged on the same side of the first base. The triaxial motion device according to claim 1, wherein the second drive shaft and the first axial direction are coaxially positioned so as to correspond to each other. The included angle between the first arm and the second arm is 90 to 180 degrees, and the first power source and the second power source are arranged in the second arm. The three-axis motion device described.

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