JP7345008B2 - Methods for translating manipulator arms, robotic systems and surgical instruments used in surgical systems - Google Patents

Description

The present invention relates to a manipulator arm used in a surgical system , a robotic system, and a method for translating a surgical instrument .

A master-slave type system is known that includes a plurality of manipulator arms and performs a surgical operation by moving the plurality of manipulator arms based on operations by a practitioner (for example, see Patent Documents 1 and 2). In such systems, a surgical instrument is attached to the distal end of each manipulator arm, and a translation mechanism is provided for linearly moving the attached surgical instrument.

As a translation mechanism for linearly moving a surgical instrument attached to the tip of a manipulator arm, a manipulator is known in which a base link, an idler link, and a carriage link are provided to extend and contract (see Patent Document 3 below). The translation mechanism described in Patent Document 3 has three links in which the movement direction of the second link with respect to the first link and the movement direction of the third link with respect to the second link are set as the three links. It allows links to be expanded and contracted.

Special table 2017-515524 publication Special table 2017-513550 publication US Patent No. 8182470

However, conventional translation mechanisms leave room for improvement in the linear movement speed of surgical instruments.

The present invention has been made to solve the above-mentioned problems, and provides a manipulator arm , a robot system, and a surgical system for use in a surgical operation system that can quickly move a surgical instrument in a straight line with a simple configuration. The purpose of the present invention is to provide a method for translating an instrument for use in a computer .

A manipulator arm for a surgical operation system according to one aspect of the present invention includes an arm main body having a plurality of link parts and a plurality of joints, and a translation mechanism provided at a distal end of the arm main body, The translation mechanism includes a proximal unit connected to the distal end of the arm body, a distal unit including an instrument holding portion to which a surgical instrument is attached, and the proximal unit and the distal unit. a connecting unit that connects the surgical instrument, the instrument holding section includes a first motor and a speed reducer that reduces the output of the first motor to drive the surgical instrument with increased torque , and the connecting unit includes: an interlocking mechanism configured to move the proximal unit and the distal unit so that the positions of the proximal unit and the distal unit in the longitudinal direction of the connecting unit change relative to each other; , and a second motor for driving the interlocking mechanism. The proximal end unit is connected to the connecting unit through a first sliding mechanism so as to be relatively movable in the longitudinal direction of the connecting unit, and the distal end unit is connected to the connecting unit through a second sliding mechanism so as to be relatively movable in the longitudinal direction. is connected to the connection unit so as to be movable relative to the connection unit, and when the proximal unit moves in the first longitudinal direction with respect to the connection unit, the distal unit is connected to the connection unit with respect to the connection unit. It may be configured to move in a second direction opposite to the first direction.

The instrument holding section may include an encoder that detects a rotation angle of the first motor.

The instrument holding section may include a plurality of the first motors, a plurality of the speed reducers, and a plurality of the encoders.

The proximal end unit may be connected to the distal end of the arm main body via a bending joint .

The connecting unit includes an interlocking mechanism, and the interlocking mechanism connects the proximal unit and the distal unit so that the positions of the proximal unit and the distal unit in the longitudinal direction change relative to each other. It may be configured to move.

The relative position change speed of the distal side unit with respect to the base end side unit may be twice the relative position change speed of the connection unit with respect to the base end side unit.

The connection unit may include a second motor for driving the interlocking mechanism.

The manipulator arm may have seven or more degrees of freedom. The arm body portion may have seven degrees of freedom.

A robot system according to another aspect of the present invention includes a manipulator arm having the above configuration, an operating device that receives input of an instruction to move the manipulator arm, and a control device that moves the manipulator arm in accordance with the instruction. Be prepared.

A method for translating a surgical instrument according to another aspect of the present invention is a method for translating a surgical instrument in a manipulator arm used in a surgical operation system, wherein the manipulator arm has a plurality of link parts and a plurality of joints. and a translation mechanism provided at the distal end of the arm main body, the translation mechanism including a proximal unit connected to the distal end of the arm main body, and a surgical instrument. a distal side unit having an attached instrument holding section; and a connecting unit connecting the proximal end unit and the distal side unit, the instrument holding section having a first motor and an output of the first motor. and a speed reducer for driving the surgical instrument with increased torque by decelerating the speed, and the connecting unit is configured such that the positions of the proximal unit and the distal unit relative to each other in the longitudinal direction of the connecting unit change. an interlocking mechanism configured to move the proximal end unit and the distal end unit, and a second motor for driving the interlocking mechanism, and the translation method includes: In conjunction with moving the side unit in a first longitudinal direction of the connection unit, the distal end unit is moved in a second direction opposite to the first direction.

The relative position change speed of the distal side unit with respect to the base end side unit may be twice the relative position change speed of the connection unit with respect to the base end side unit.

The manipulator arm may have seven or more degrees of freedom.

The above objects, other objects, features, and advantages of the present invention will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

The present invention has the advantage that a surgical instrument can be quickly moved in a straight line with a simple configuration.

FIG. 1 is a schematic diagram showing the overall configuration of a surgical system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the overall configuration of the manipulator arm in the surgical operation system shown in FIG. 1. FIG. 3 is a side view schematically illustrating the fourth link shown in FIG. 2. FIG. 4 is a block diagram showing a schematic configuration of a control system for the manipulator arm of the surgical operation system shown in FIG. 1. FIG. 5 is a schematic diagram showing the internal structure of the coupling unit of the translation mechanism in this embodiment. FIG. 6 is a schematic diagram showing the internal structure of the connection unit of the translation mechanism in this embodiment. FIG. 7 is a perspective view showing the electrical wiring circuit in the extended state shown in FIG. 6.

Embodiments of the present invention will be described below with reference to the drawings. Note that the present invention is not limited to this embodiment. Further, in the following description, the same or corresponding elements are given the same reference numerals throughout all the figures, and redundant explanation thereof will be omitted.

FIG. 1 is a schematic diagram showing the overall configuration of a surgical system to which a translation mechanism according to an embodiment of the present invention is applied. The surgical operation system 100 is a system in which a practitioner such as a doctor performs endoscopic surgery on a patient P using the patient-side system 1, such as robot-assisted surgery or robot remote surgery. Note that, in FIG. 1, the size ratio of the positioner 7 and the plurality of manipulator arms 3 is shown in a ratio different from the actual size.

The surgical operation system 100 includes a patient-side system 1 and an operating device 2 for operating the patient-side system 1 (see FIG. 4, which will be described later). The operating device 2 is placed apart from the patient-side system 1, and the patient-side system 1 is remotely controlled by the operating device 2 during treatment. The practitioner inputs an operation to be performed by the patient-side system 1 into the operating device 2, and the operating device 2 transmits the operation command to the patient-side system 1. Then, the patient-side system 1 receives the operation command transmitted from the operating device 2, and operates the surgical instrument 40 and the like having a long shaft, which the patient-side system 1 is equipped with, based on this operation command.

The operating device 2 constitutes an interface between the surgical operation system 100 and the practitioner, and is a device for operating the patient-side system 1. The operating device 2 is installed next to the operating table 111 in the operating room, apart from the operating table 111, or outside the operating room. Although not shown, the operating device 2 includes an operating input unit such as an operating manipulator arm and an operating pedal for inputting operation commands by a practitioner, and an endoscope assembly (not shown) that is attached to the patient-side system 1 as a surgical instrument 40. (not shown). The practitioner inputs an operation command to the operating device 2 by operating the operation input unit while visually checking the affected area (treatment area 110) on the monitor. The operation command input to the operating device 2 is transmitted to a control unit 600 of the patient-side system 1, which will be described later, by wire or wirelessly.

The patient-side system 1 constitutes an interface between the surgical operation system 100 and the patient P. The patient-side system 1 is placed beside the operating table 111 on which the patient P lies in the operating room. The operating room is a sterile field.

The patient-side system 1 includes a positioner 7, an arm base (platform) 5 attached to the distal end of the positioner 7, and a plurality of patient-side manipulator arms (hereinafter simply referred to as "arm 3") detachably attached to the arm base 5. ). The positioner 7 extends from a predetermined base and connects the predetermined base and the arm base 5. In this embodiment, the positioner 7 is configured as a multi-axis robot, and can three-dimensionally move the position of the arm base 5 with respect to a movable cart 70 that is a predetermined base. Arm 3 and arm base 5 are covered with a sterile drape (not shown) to shield arm 3 and arm base 5 from the sterile field within the operating room.

The distal ends of the plurality of arms 3 are each configured as an instrument holding section 36 that can hold and drive a surgical instrument 40. An endoscope assembly (not shown) is held at the distal end of one of the arms 3. An instrument 42 is detachably held at the tip of the remaining arms 3 among the plurality of arms 3. Hereinafter, the arm 3 to which the endoscope assembly is attached may be referred to as a "camera arm," and the arm 3 to which the instrument 42 is attached may be referred to as an "instrument arm." The patient-side system 1 in this embodiment includes a total of four arms 3, one camera arm and three instrument arms.

In the patient-side system 1 described above, the arm base 5 has a function as a "hub" that serves as a base for the plurality of arms 3. In this embodiment, the positioner 7 and the arm base 5 constitute a manipulator arm support 10 that movably supports a plurality of arms 3. However, the positioner 7 does not have to be a multi-axis robot. For example, the positioner 7 may be a linear rail for supporting the arm base 5, a lifting device, or a bracket attached to a ceiling or wall. The predetermined base to which the positioner 7 is connected is not limited to a movable structure like the cart 70. For example, the predetermined base may be a wall, a floor, or a fixed object fixed thereto in an operating room.

In the patient-side system 1 described above, elements are connected in series from the positioner 7 to the endoscope assembly or each instrument 42. In this specification, in the above series of elements, the end on the side facing the positioner 7 (more specifically, the base 90 which is the connection part of the positioner 7 with the trolley 70) is referred to as the "base end", and the opposite end is referred to as the "base end". The side end will be referred to as the "tip".

Hereinafter, the cart 70, the positioner 7, the arm base 5, and the plurality of manipulator arms 3 will be described in detail.

As shown in FIG. 1, the truck 70 includes a truck body 71, front wheels 72, rear wheels 73, and a handle 74. The front wheel 72 and the rear wheel 73 are rotatably attached to the truck body 71, so that the truck body 71 is configured to be movable. The rear wheel 73 is configured to be rotatable around the rotation axis of a handle 74, and when the practitioner or treatment assistant O grasps the handle 74 and rotates it around the rotation axis, the cart body 71 can be rotated. It is possible to change the direction of travel.

The operation of the patient-side system 1 is controlled by a control unit 600. The control unit 600 is configured by, for example, a computer such as a microcontroller. Inside the trolley body 71, a control unit 600 and a storage unit 602 in which a control program used for operation control and various data are stored are stored. Further, the trolley body 71 is provided with an operation unit 604 for mainly setting and inputting the positions and postures (preparation postures to be described later) of the positioner 7, the arm base 5, and the plurality of arms 3 before the treatment. 604 is configured by, for example, a touch panel.

The positioner 7 includes a base 90 attached to the truck body 71, and a plurality of positioner link parts sequentially connected from the base 90 toward the tip. The positioner 7 constitutes a plurality of joints by sequentially connecting one positioner link part so as to rotate with respect to another positioner link part. The plurality of positioner link sections include a first link 91 to a sixth link 96. The plurality of joints include a first joint J71 to a seventh joint J77. Note that, although the plurality of joints in this embodiment are constituted by rotary joints having rotation axes, at least some of the joints may be constituted by translational joints.

More specifically, the proximal end of the first link 91 is connected to the distal end of the base 90 via a first joint J71 that is a torsion (roll) joint. A proximal end portion of a second link 92 is connected to a distal end portion of the first link 91 via a second joint J72 which is a bending (pitch) joint. A proximal end portion of a third link 93 is connected to a distal end portion of the second link 92 via a third joint J73, which is a bending joint. A proximal end portion of a fourth link 94 is connected to a distal end portion of the third link 93 via a fourth joint J74, which is a torsion joint. A proximal end portion of a fifth link 95 is connected to a distal end portion of the fourth link 94 via a fifth joint J75, which is a bending joint. A proximal end portion of a sixth link 96 is connected to a distal end portion of the fifth link 95 via a sixth joint J76, which is a torsion joint. The positioner attachment portion 51 of the arm base 5 is connected to the tip of the sixth link 96 via a seventh joint J77 which is a torsion joint. Thereby, the positioner 7 is configured as a multi-axis joint (7-axis joint) arm having multiple degrees of freedom (7 degrees of freedom).

As described above, the sixth link 96, which is the positioner link part attached to the positioner attachment part 51 of the arm base 5, includes the sixth joint J76, which is the proximal joint part, and the seventh joint J77, which is the distal joint part. Both are configured as torsion joints. Furthermore, in this embodiment, the rotation axis of the sixth joint J76 is inclined relative to the rotation axis of the seventh joint J77. More specifically, the rotation axis of the sixth joint J76 is inclined with respect to the longitudinal direction of the sixth link 96, and the rotation axis of the seventh joint J77 is perpendicular to the longitudinal direction of the sixth link 96. There is. The rotation axis of the sixth joint J76 and the rotation axis of the seventh joint J77 intersect at their respective extension lines. That is, the rotational surface of the sixth joint J76 is inclined with respect to the rotational surface of the seventh joint J77.

The arm base 5 includes an arm base main body 50, a positioner attachment part 51 that is attached to the upper part (base end side) of the arm base main body 50 and to which the distal end of the positioner 7 is attached, and a lower part (distal end side) of the arm base main body 50. and at least one arm attachment portion 52 to which the base end portions of the plurality of arms 3 are attached. The arm base 5 is configured to be relatively rotatable about the arm base rotation axis V77, which is the rotation axis of the seventh joint J77, with respect to the distal end portion (sixth link 96) of the positioner 7. In the present embodiment, a plurality of (four) arm attachment portions 52 are provided corresponding to a plurality of (four) arms 3. By fixing the bases 80 of the plurality of arms 3 to the plurality of arm attachment parts 52, the base end portions of the plurality of arms 3 (first link 81 to be described later) are the rotation axis of the first joint J31 to be described later. The arm base end portion is configured to be relatively rotatable around the rotation axis V31.

FIG. 2 is a schematic diagram showing the overall configuration of the manipulator arm in the surgical operation system shown in FIG. 1. FIG. 2 shows a schematic configuration of one arm 3 to which an instrument 42 is attached among the plurality of arms 3 included in the patient-side system 1. In this embodiment, the plurality of arms 3 included in the patient-side system 1 all have the same or similar configuration, but at least one of the plurality of arms 3 has a different configuration (for example, a different (e.g., having a degree of freedom). As shown in FIG. 2, the arm 3 includes an arm body 30 and a translation mechanism 35 connected to the tip of the arm body 30. The plurality of arms 3 are configured such that their distal ends are three-dimensionally movable relative to their base ends. An instrument holding section 36 capable of holding a surgical instrument 40 (instrument 42 or endoscope assembly) is provided at the distal end of the arm 3. The instrument holding section 36 is provided with four rotational drive sections that engage with four rotating bodies provided in the drive unit 45 of the surgical instrument 40, and each rotational drive section has a built-in motor M39. In this embodiment, the instrument holding section 36 is provided in the translation mechanism 35.

The instrument 42 includes a drive unit 45 provided at the base end, an end effector (treatment instrument) 44 provided at the distal end, and an elongated shaft 43 that connects the drive unit 45 and the end effector 44. have. A longitudinal direction Dt is defined in the instrument 42, and the drive unit 45, shaft 43, and end effector 44 are arranged along the longitudinal direction Dt. The drive unit 45 has four rotating bodies that engage with the four rotational drive parts of the instrument holding part 36, and transmits the rotation of each rotating body to the end effector 44 via an elongated element such as a cable or rod. It is configured as follows. The end effector 44 of the instrument 42 may be used for surgical instruments having operative joints, such as forceps, scissors, graspers, needle holders, micro dissectors, staple appliers, tackers, suction irrigation tools, snare wires, and clippers. pliers, etc.); and non-articulated surgical instruments (eg, cutting blades, cautery probes, irrigators, catheters, and suction orifices, etc.). As used herein and in the claims, "surgical instruments" include both the camera and the lights and instruments that make up the endoscope assembly.

When the arm 3 is an instrument arm, an instrument 42 is detachably held in the instrument holding part 36. The shaft 43 of the instrument 42 held by the instrument holder 36 extends along the longitudinal direction Dt. Further, when the arm 3 is a camera arm, an endoscope assembly is detachably held in the instrument holding part 36. Here, the instrument holder 36 provided on the camera arm has the same shape and structure as the instrument holder 36 provided on the instrument arm, but may have a different shape or structure.

The arm 3 is configured to be detachable from the arm base 5. Arm 3 is water, heat and chemical resistant for cleaning and sterilization processes. There are various methods for sterilizing the arm 3, and for example, high pressure steam sterilization, EOG sterilization, chemical sterilization using a disinfectant, etc. can be selectively used.

The arm body section 30 includes a base 80 that is detachably attached to the arm base 5, and a plurality of arm link sections sequentially connected from the base 80 toward the distal end. The arm 3 constitutes a plurality of joint parts by sequentially connecting one arm link part to another arm link part so as to rotate. The plurality of arm link sections include a first link 81 to a seventh link 87. The plurality of joints include a first joint J31 to a seventh joint J37. Note that, although the plurality of joints in this embodiment are constituted by rotary joints having rotation axes, at least some of the joints may be constituted by translational joints.

More specifically, the proximal end of the first link 81 is connected to the distal end of the base 80 via a first joint J31 that is a torsion (roll) joint. A proximal end portion of a second link 82 is connected to a distal end portion of the first link 81 via a second joint J32 which is a bending (pitch) joint. A proximal end portion of a third link 83 is connected to a distal end portion of the second link 82 via a third joint J33, which is a torsion joint. A proximal end portion of a fourth link 84 is connected to a distal end portion of the third link 83 via a fourth joint J34, which is a bending joint. A proximal end portion of a fifth link 85 is connected to a distal end portion of the fourth link 84 via a fifth joint J35, which is a torsion joint. A proximal end portion of a sixth link 86 is connected to a distal end portion of the fifth link 85 via a sixth joint J36, which is a bending joint. The base end of the translation mechanism 35 is connected to the distal end of the sixth link 86 via a seventh joint J37, which is a bending joint. As a result, the arm 3 is configured as a multi-axis joint (7-axis joint) arm having multiple degrees of freedom (7 degrees of freedom). Therefore, the overall posture of the arm 3 can be changed without changing the position and posture of the tip of the arm 3.

In this embodiment, the first link 81 has a shape bent between adjacent joints J31 and J32. In other words, the first link 81 is configured such that the rotation axis of the first joint J31 and the rotation axis of the second joint J32 do not intersect. That is, the first link 81 includes a first portion 81a extending in a predetermined first direction (rotational axis direction of the first joint J31) from the first joint J31 on the base end side, and a first portion 81a extending from the distal end of the first portion 81a in a predetermined first direction (direction of the rotation axis of the first joint J31). It has a second portion 81b that extends in a second direction intersecting the extending direction of the portion 81a (and a direction perpendicular to the second joint J32) and is connected to the second joint J32 on the distal side. The angle between the first direction and the second direction in the first link 81 is, for example, 120 degrees or more and 160 degrees or less (for example, 140 degrees). Note that the first portion 81a and the second portion 81b are smoothly connected. Thereby, even if some of the arm link parts have a bent shape, wires such as electrical wiring (not shown) can be easily passed through the plurality of arm link parts.

Furthermore, the fourth link 84 has a shape bent between adjacent joints J34 and J35. In other words, the fourth link 84 is configured such that the axis of rotation of the fourth joint J34 and the axis of rotation of the fifth joint J35 do not intersect. That is, the fourth link 84 has a first portion extending in a predetermined first direction (a direction perpendicular to both the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35) from the fourth joint J34 on the base end side. 84a, and a fifth joint J35 extending from the distal end of the first portion 84a in a second direction (rotational axis direction of the fifth joint J35) intersecting the extending direction of the first portion 84a and connected to the fifth joint J35 on the distal side. It has two parts 84b. The angle between the first direction and the second direction in the fourth link 84 is, for example, 70 degrees or more and 110 degrees or less (for example, 90 degrees). Note that the first portion 84a and the second portion 84b are smoothly connected.

In particular, the fourth link 84 is configured to have a shorter link length than the other joints. FIG. 3 is a side view schematically illustrating the fourth link 84 shown in FIG. 2. FIG. As shown in FIG. 3, for example, the fourth link 84 has a length L1 in the first direction between the rotation axis of the fourth joint J34 and the rotation axis of the fifth joint J35, and a radius R4 of the fourth joint J34. Alternatively, the radius R5 of the fifth joint J35 is configured to be 4 times or less, more preferably 3 times or less. Note that the radius R4 of the fourth joint J34 is defined as the distance between the rotation axis of the fourth joint J34 and the base end position of the fourth link 84 in the first direction. Furthermore, the radius R5 of the fifth joint J35 is defined as the distance between the rotation axis of the fifth joint J35 and the position of the tip of the fourth link 84 in the first direction. Further, the fourth link 84 is configured such that the length L1 is equal to or less than twice the sum of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35. More preferably, the length L1 is the sum of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35, whichever is shorter of the radius R4 of the fourth joint J34 and the radius R5 of the fifth joint J35. The length is shorter than the sum of radius R5.

The other links 82, 83, 85, 86 are formed in a straight line between adjacent joints. In other words, the other links 82, 83, 85, and 86 are configured such that the rotation axes of adjacent joints intersect with each other.

Each arm link portion is configured to have a smaller cross-sectional area perpendicular to the longitudinal direction than the arm link portion (or base 80) connected to the proximal end side of the arm link portion. Thereby, the arm 3 is configured to become gradually thinner from the base end toward the distal end. Further, in each of the joints J32, J34, and J36, which are bending joints, the distal ends of the arm link parts 81, 83, and 85 on the base end side are located on one side in the rotational axis direction with respect to the central part in the rotational axis direction of the joint. However, the proximal end portions of the arm link portions 82, 84, 86 on the distal end side are connected to the arm link portions 81, 83, 85 on the proximal end side on the other side in the rotational axis direction with respect to the center portion in the rotational axis direction of the joint portion. It is configured to be positioned so as to face the tip. That is, these joints J32, J34, and J36 are constructed by recessed joints.

In addition, the width of the joint in the rotational axis direction, that is, the outer end in the rotational axis direction of the distal end of the arm link parts 81, 83, 85 on the proximal end side, the arm link part 82 on the distal end side, The distance between the proximal end portions of 84 and 86 and the outer end in the direction of the rotational axis is in the longitudinal direction of the portion located closer to the proximal end than the distal end of the arm link portions 81, 83, and 85 on the proximal end side. shorter than the diameter (maximum dimension) of the orthogonal cross section.

In this way, each joint and the arm link section on the distal end side thereof are configured to be narrower than the arm link section on the proximal end side, so that the width becomes narrower as it approaches the treatment site 110 of the patient P. In the workspace, the movement range of each arm 3 (the range where it does not interfere with other arms 3) can be increased.

The outer shell of the arm body 30 is mainly made of a heat-resistant and chemical-resistant member such as stainless steel. Furthermore, openings such as inspection holes in the arm main body 30 are covered with resin covers. By forming the cover from a member such as resin, it is possible to reduce the weight of the portions that do not contribute to the strength of the arm 3. Thereby, even if the cover should fall or the arm 3 should collide with another arm 3 or the treatment assistant O, the impact can be reduced. Note that the outer shell of the arm body portion 30 itself may include a portion made of a resin member. Furthermore, a seal (not shown) for providing water resistance is provided at the connecting portion between the links. This seal has heat resistance compatible with high-pressure steam sterilization and chemical resistance against disinfectants. In addition, in the connection between links, the end of one link is inserted inside the end of the other link, and a seal is placed to fill the space between the ends of these links. By doing so, the seal is hidden from view. This prevents water, chemicals, and steam from entering between the seal and the link.

The translation mechanism 35 is provided at the tip of the arm body 30. The translation mechanism 35 moves the instrument 42 attached to the instrument holder 36 in the extending direction of the shaft 43 by translating the instrument holder 36 attached to the distal end of the translation mechanism 35 in the longitudinal direction Dt. This is a mechanism that causes translational movement.

The translation mechanism 35 includes a proximal unit 61 connected to the distal end of the arm body 30 (the distal end of the sixth link 86) via a seventh joint J37, which is a bending joint, and a distal unit 62. It has a connecting unit 63 that interlocks the proximal end unit 61 and the distal end unit 62, and an interlocking mechanism 60 (see FIG. 6 described later) provided in the connecting unit 63. The seventh joint J37 extends in a direction perpendicular to the longitudinal direction Dt. The connection unit 63 extends along the longitudinal direction Dt.

The translation mechanism 35 changes the relative position of the proximal unit 61 and the connecting unit 63 in the longitudinal direction Dt by the interlocking mechanism 60, and changes the relative position of the connecting unit 63 and the distal unit 62 in the longitudinal direction Dt. By changing, the position of the instrument 42 attached to the instrument holding portion 36 provided in the distal unit 62 relative to the proximal unit 61 in the longitudinal direction Dt can be changed. A more detailed configuration of the translation mechanism 35 will be described later.

FIG. 4 is a block diagram showing a schematic configuration of a control system for the manipulator arm of the surgical operation system shown in FIG. 1. The arm main body section 30 having the above configuration detects drive servo motors (denoted as SM in FIG. 4) M31 to M37 and rotation angles of the servo motors M31 to M37 corresponding to each joint J31 to J37 of the arm 3. encoders (denoted as EN in FIG. 4) E31 to E37, and reducers (not shown) that reduce the output of the servo motors M31 to M37 and increase the torque. Similarly, the positioner 7 includes drive servo motors M71 to M77, encoders E71 to E77 that detect rotation angles of the servo motors M71 to M77, and servo motors corresponding to the respective joints J71 to J77 of the positioner 7. A reducer (not shown) is provided to reduce the output of M71 to M77 and increase the torque.

In addition, in FIG. 4, among the joints J31 to J37 and J71 to J77, the control system for the first joint J31 and the seventh joint J37 of the arm 3 and the first joint J71 and the seventh joint J77 of the positioner 7 is representative. The control systems for the other joints J33 to J36 and J72 to J76 are omitted. Furthermore, the translation mechanism 35 includes a servo motor M38 for rotating a first pulley 65, which will be described later, for translation operation, and a servo motor M38 for rotating four rotating bodies provided in the drive unit 45 of the surgical instrument 40. A plurality of (for example, four) servo motors M39, encoders E38 and E39 that detect the rotation angles of the servo motors M38 and M39, and a reducer (not shown) that reduces the output of the servo motors M38 and M39 to increase the torque. ) is provided.

The encoders E31 to E39 and E71 to E77 are provided as an example of rotational position detection means for detecting the rotational position (rotation angle) of the servo motors M31 to M39 and M71 to M77. Rotational position detection means such as a resolver may be used instead of E77. Further, each of the above-mentioned elements of the drive system of the arm 3, the wiring therefor, and the control section are made of high-temperature resistant materials, and are provided with heat resistance for sterilization.

The control unit 600 includes an arm control unit 601 that controls movement of the plurality of arms 3 based on an operation command, and a positioner control unit 603 that controls movement of the positioner 7 based on the operation command. Servo control units C31 to C39 are electrically connected to the arm control unit 601, and servo motors M31 to M39 are electrically connected to the arm control unit 601 via an amplifier circuit (not shown) or the like. Similarly, servo control units C71 to C77 are electrically connected to the positioner control unit 603, and servo motors M31 to M39 are electrically connected to the positioner control unit 603 via an amplifier circuit (not shown) or the like.

In the above configuration, a position and orientation command for the tip of the arm 3 is input to the arm control unit 601 based on an operation command input to the operating device 2 during the treatment. Arm control section 601 generates a position command value for each servo motor M31 to M39 based on the position and orientation command, and outputs it to the corresponding servo control section C31 to C39. The servo control units C31 to C39 that have acquired this position command value generate and output a drive command value (torque command value) based on the rotation angle and position command value detected by the encoders E31 to E39. The amplifier circuit that has acquired this drive command value supplies a drive current corresponding to the drive command value to the servo motors M31 to M39. In this way, each of the servo motors M31 to M39 is servo-controlled so that the tip of the arm 3 reaches the position and orientation corresponding to the position and orientation command. Furthermore, a position and orientation command for the tip of the positioner 7 is input to the positioner control unit 603 based on an operation command input to the operation unit 604 before the treatment. The positioner control unit 603, like the arm control unit 601, controls the position and orientation of the positioner 7 based on position and orientation commands.

Further, the control unit 600 is provided with a storage unit 602 from which data can be read from the arm control unit 601, and surgical information is stored in advance. This surgical information includes combinations of multiple arms 3 used in the surgery.

The storage unit 602 also stores information such as the length along the longitudinal direction Dt of the surgical instrument (endoscope assembly or each instrument) held at the distal end of the arm 3. Thereby, the arm control unit 601 can grasp the position of the distal end of the surgical instrument held at the distal end of the arm 3 based on the position and orientation command for the distal end of the arm 3.

The translation mechanism 35 in this embodiment will be described in more detail below. 5 and 6 are schematic diagrams showing the internal structure of the coupling unit of the translation mechanism in this embodiment. FIG. 5 shows the contracted state and FIG. 6 shows the extended state.

The connection unit 63 includes a first wall portion 631 to which the proximal unit 61 is attached so as to be slidable in the longitudinal direction Dt, and a second wall portion 632 to which the distal end unit 62 is attached to be slidable in the longitudinal direction Dt. It has . The proximal end unit 61 and the first wall portion 631 are connected to be movable relative to each other in the longitudinal direction Dt by the first sliding mechanism 141. Similarly, the second wall portion 632 and the distal end unit 62 are connected to be movable relative to each other in the longitudinal direction Dt by the second sliding mechanism 142.

The interlocking mechanism 60 includes a first pulley 65 that is a driving pulley, a second pulley 66 that is a driven pulley, and an endless belt that is wound around the first pulley 65 and the second pulley 66. A certain belt member 67 is provided. In this embodiment, the first pulley 65 is located on the proximal end side of the instrument 42 with respect to the longitudinal direction Dt, and the second pulley 66 is located on the distal end side thereof.

The proximal end unit 61 is located at a predetermined position of the belt member 67 on the first surface SP1 side of the plane SP with respect to the plane SP including the rotation axis 65s of the first pulley 65 and the rotation axis 66s of the second pulley 66. 1 attachment position 67a. Furthermore, the distal end unit 62 is attached to the second attachment position 67b of the belt member 67 so as to move relative to the connection unit 63 in a direction opposite to the moving direction of the proximal end unit 61. The second attachment position 67b is located on the second surface SP2 side of the plane SP of the belt member 67, which is opposite to the first surface SP1.

At this time, the first attachment position 67a and the second attachment position 67b are such that the closer the first attachment position 67a is to one of the first pulley 65 and the second pulley 66, the closer the second attachment position 67b is to the second attachment position 67b. It is configured to be located close to the other of the first pulley 65 and the second pulley 66. That is, when the distal end unit 62 is located closest to one of the first pulley 65 and the second pulley 66, the proximal unit 61 is located closest to the other of the first pulley 65 and the second pulley 66. Located at the closest location. For example, in the contracted state shown in FIG. 5, the first attachment position 67a is located close to the second pulley 66, and the second attachment position 67b is located close to the first pulley 65. In the extended state shown in FIG. 6, the first attachment position 67a is located close to the first pulley 65, and the second attachment position 67b is located close to the second pulley 66.

Assuming that the direction from the first pulley 65 to the second pulley 66 is the first direction, the first attachment position 67a of the belt member 67 moves in the first direction as the first pulley 65 rotates clockwise. 2 pulley 66, the second attachment position 67b moves in the second direction opposite to the first direction and approaches the first pulley 65 (when going from the state of FIG. 6 to the state of FIG. 5), and As the first pulley 65 rotates counterclockwise, the first attachment position 67a of the belt member 67 moves in the second direction and approaches the first pulley 65, and the second attachment position 67b moves in the first direction. and approaches the second pulley 66 (when going from the state of FIG. 5 to the state of FIG. 6). As a result, the proximal unit 61 moves from a position close to the second pulley 66 to a position close to the first pulley 65, and the distal unit 62 moves from a position close to the first pulley 65 to a position close to the second pulley 65. Move to a position close to .

That is, by moving the distance between the first pulley 65 and the second pulley 66 by the proximal unit 61 or the distal unit 62 with respect to the connection unit 63, the distal unit 62 moves relative to the proximal unit 61. The position will be moved approximately twice the distance between the first pulley 65 and the second pulley 66. In this way, the interlocking mechanism 60 in this embodiment functions as a double speed mechanism that doubles the relative position change of the distal unit 62 with respect to the proximal unit 61 due to a change in the relative position of the connecting unit 63 with respect to the proximal unit 61. configured.

According to the above configuration, the movement direction of the distal side unit 62 with respect to the connection unit 63 is controlled by the connection unit 63 including the belt member 67 that is passed around the first pulley 65 and the second pulley 66. They are connected in a direction opposite to the direction of movement relative to the unit 63. Thereby, the surgical instrument 40 can be quickly moved linearly with a simple configuration.

The translation mechanism 35 in this embodiment further includes an electrical wiring circuit 121 that is provided within the connection unit 63 and enables electrical connection between the proximal end unit 61 and the distal end unit 62.

The electrical wiring circuit 121 includes a first flexible printed wiring section 122, a second flexible printed wiring section 123, and a connection wiring section 124. A seventh joint J37 between the sixth link 86 and the proximal unit 61 of the translation mechanism 35 is provided with a through hole 61a in the center for passing a cable wiring (not shown). Electrical wiring (cable wiring, etc.) wired inside the arm 3 is introduced into the base end unit 61 through the through hole 61a. The base end of the first flexible printed wiring section 122 is connected to the cable wiring introduced into the base end unit 61 through the through hole 61a. As a result, electric power and control signals from the electric wiring routed through the truck 70, the positioner 7, the arm base 5, and the arm 3 are supplied to the electric wiring circuit 121 of the translation mechanism 35.

The distal unit 62 includes a motor for driving the surgical instrument 40. More specifically, the distal end unit 62 includes four servo motors M39 for rotating the four rotating bodies provided in the drive unit 45 of the surgical instrument 40 described above. This eliminates the need to drive the shaft in the distal end unit 62 for driving the surgical instrument 40 with a cable or the like, and the structure of the translation mechanism 35 can be simplified.

The second flexible printed wiring section 123 is electrically connected to the tip side unit 62 in order to drive each of the above-mentioned servo motors M39. As a result, power and control signals from the electrical wiring wired through the arm 3 and the like are supplied to the distal end unit 62 via the electrical wiring circuit 121 of the translation mechanism 35.

The first flexible printed wiring section 122 is fixed to the proximal unit 61 at a first fixing position 122a, which is the same position as the first attachment position 67a of the proximal unit 61 in the moving direction of the belt member 67. Assuming that the direction from the first pulley 65 to the second pulley 66 is the first direction, the first flexible printed wiring section 122 extends in the first direction from the first fixed position 122a, and has an arcuate shape while maintaining restoring force along the way. (first bent portion C1), reversed in a second direction opposite to the first direction, and attached to the connecting unit 63 at the second fixed position 122b between the first pulley 65 and the second pulley 66. Fixed.

The second flexible printed wiring section 123 is fixed to the distal end unit 62 at a third fixing position 123a, which is the same position as the second attachment position 67b of the distal end unit 62 in the moving direction of the belt member 67. The second flexible printed wiring section 123 extends in the first direction from the third fixed position 123a, is bent back into an arc shape while maintaining restoring force along the way (second bent back section C2), and is reversed in the second direction. , is fixed to the connection unit 63 at a fourth fixed position 123b between the first pulley 65 and the second pulley 66.

More specifically, the first flexible printed wiring section 122 extends from the first fixed position 122a in a direction approaching the second pulley 66, and the first bent portion C1 is on the second pulley 66 side (the side of the instrument 42). It is convex on the tip side (ie, the side on which the translation mechanism 35 extends). Similarly, the second flexible printed wiring portion 123 extends from the third fixed position 123a in a direction approaching the second pulley 66, and the second bent portion C2 is on the second pulley 66 side (the distal end side of the instrument 42), In other words, it is convex on the side on which the translation mechanism 35 extends. The second fixed position 122b is a position where the first flexible printed wiring section 122 is attached to the connection unit 63 on the first surface SP1 side of the plane SP. Further, the fourth fixed position 123b is a position where the second flexible printed wiring section 123 is attached to the connection unit 63 on the second surface SP2 side of the plane SP opposite to the first surface SP1. That is, the second fixed position 122b is a position opposite to the fourth fixed position 123b with respect to the plane SP.

The connecting wiring section 124 electrically connects the second fixed position 122b of the first flexible printed wiring section 122 and the fourth fixed position 123b of the second flexible printed wiring section 123. The connecting wiring section 124 is provided between the first pulley 65 and the second pulley 66. In the examples shown in FIGS. 5 and 6, it is located in the center between the first pulley 65 and the second pulley 66. A motor (servo motor) M38 (see FIG. 4) that drives the first pulley 65 is built into the connection unit 63. Although not shown, the connection wiring section 124 is electrically connected to a servo motor M38 (see FIG. 4), and the servo motor M38 operates using the electric power supplied by the electric wiring circuit 121 as a power source. It is controlled by a control signal transmitted through 121.

In the first flexible printed wiring section 122 and the second flexible printed wiring section 123, the bent parts C1 and C2, which are bent back with a restoring force in the extending direction (long axis direction Dt) of the belt member 67, are first attached. It is configured to change depending on the positional relationship between the position 67a and the second attachment position 67b. That is, the first bent portion C1 and the second bent portion C2 are configured such that their respective positions change according to a change in the positional relationship between the distal end unit 62 and the proximal end unit 61 due to the belt member 67. Ru.

In the first flexible printed wiring section 122 and the second flexible printed wiring section 123, the bent parts C1 and C2, which are bent back with restoring force, are located at a position close to the second pulley 66 and at a connecting wiring part. 124 (on the second pulley 66 side of the connecting wiring section 124).

For example, in the contracted state shown in FIG. The bent portion C1 is located close to the second pulley 66, and the second bent portion C2 is located close to the connection wiring portion 124. In addition, in the extended state shown in FIG. The bent portion C1 is located close to the connecting wiring portion 124, and the second bent portion C2 is located close to the second pulley 66.

According to the above configuration, when the proximal end unit 61 and the distal end unit 62 move relative to each other via the connection unit 63, the first bent portion C1 in the first flexible printed wiring portion 112 and the second flexible printed wiring portion The second bent portion C2 at 123 moves in the first direction or the second direction. Therefore, the volume inside the connection unit 63 required for electrical wiring can be minimized without interfering with the translational movement of the distal end unit 62 relative to the proximal end unit 61. Thereby, it is possible to arrange electric wiring inside the translation mechanism 35 while suppressing the increase in size.

The connection unit 63 has a first gap A1 between the first wall portion 631 and the belt member 67, in which the first flexible printed wiring portion 122 is accommodated. Furthermore, the connection unit 63 has a second gap A2 between the second wall portion 632 and the belt member 67, in which the second flexible printed wiring portion 123 is accommodated.

The first gap A1 is defined by an inner wall of the first wall portion 631 and a first guide member 131 arranged to face the inner wall of the first wall portion 631. Further, the second gap A2 is defined by an inner wall of the second wall portion 632 and a second guide member 132 arranged to face the inner wall of the second wall portion 632. The first guide member 131 and the second guide member 132 each extend in the direction in which the belt member 67 extends. The first gap A1 and the second gap A2 are partitioned by a pair of side walls (not shown) perpendicular to the first wall 631 and the second wall 632 in the direction of the rotation axes 65s and 66s of the pulleys 65 and 66. There is.

In the present embodiment, a third guide member 133 that extends in the direction in which the belt member 67 extends along the inner wall of the first wall portion 631 and a third guide member 133 that extends in the extending direction of the belt member 67 along the inner wall of the second wall portion 632 are further provided. It has a fourth guide member 134 extending in the current direction. The third guide member 133 is fixed to the inner wall of the first wall portion 631. The fourth guide member 134 is fixed to the inner wall of the second wall portion 632. Therefore, the first gap A1 is defined by the first guide member 131 and the third guide member 133. The second gap A2 is defined by a second guide member 132 and a fourth guide member 134.

With such a configuration, the first flexible printed wiring section 122 is disposed in the first gap A1 defined by the first guide member 131 and the third guide member 133, and At 133, the operation of the first flexible printed wiring section 122 is guided. Further, the second flexible printed wiring section 123 is arranged in the second gap A2 defined by the second guide member 132 and the fourth guide member 134, and the second flexible printed wiring section 123 The operation of the flexible printed wiring section 123 is guided. Thereby, smooth operation of each flexible printed wiring section 122, 123 can be ensured while reducing the volume of the wiring space in each flexible printed wiring section 122, 123.

The first guide member 131 is attached to the belt member 67 at a first attachment position 67a. Therefore, the first guide member 131 moves in the extending direction of the belt member 67 as the base end unit 61 moves. Further, the second guide member 132 is attached to the belt member 67 at a second attachment position 67b. Therefore, the second guide member 132 moves in the extending direction of the belt member 67 as the distal end unit 62 moves.

A portion of the first flexible printed wiring section 122 between the first fixed position 122a and the first bent portion C1 is located in a position in contact with or close to the first guide member 131. Therefore, this portion becomes a portion guided by the first guide member 131. As the proximal end unit 61 moves from a position close to the second pulley 66 to a position close to the first pulley 65 (changes from FIG. 5 to FIG. 6), the first flexible printed wiring section 122 moves toward the first guide member. The area that can be contacted with 131 increases. However, during such movement, the first guide member 131 moves together with the proximal unit 61, so the first flexible printed wiring section 122 does not rub against the first guide member 131. In other words, the first flexible printed wiring section 122 and the first guide member 131 will not be misaligned in the extending direction of the belt member 67 due to the movement of the base end side unit 61.

Similarly, a portion of the second flexible printed wiring section 123 between the third fixed position 123a and the second bent portion C2 is located in a position in contact with or close to the second guide member 132. Therefore, this portion becomes a portion guided by the second guide member 132. As the distal end unit 62 moves from a position close to the second pulley 66 to a position close to the first pulley 65 (changes from FIG. 6 to FIG. 5), the second flexible printed wiring section 123 moves toward the second guide member 132. The area that can be contacted increases. However, during such movement, the second guide member 132 moves together with the distal end unit 62, so the second flexible printed wiring section 123 does not rub against the second guide member 132. In other words, the second flexible printed wiring section 123 and the second guide member 132 do not become misaligned in the extending direction of the belt member 67 due to the movement of the distal end side unit 62.

Further, a portion of the first flexible printed wiring section 122 between the first bent portion C1 and the second fixed position 122b is located in a position in contact with or close to the third guide member 133. Therefore, this portion becomes a portion guided by the third guide member 133. As the proximal end unit 61 moves from a position close to the first pulley 65 to a position close to the second pulley 66 (changes from FIG. 6 to FIG. 5), the first flexible printed wiring section 122 moves toward the third guide member. The area that can be contacted with 133 increases. However, in such movement, the second fixed position 122b fixed to the connecting unit 63 does not move (relatively moves together with the connecting unit 63 when viewed from the proximal end unit 61), so the first flexible printed wiring section 122 will not rub against the third guide member 133. In other words, the first flexible printed wiring section 122 and the third guide member 133 will not be misaligned in the extending direction of the belt member 67 due to the movement of the base end side unit 61.

Similarly, a portion of the second flexible printed wiring section 123 between the second bent portion C2 and the fourth fixed position 123b is located in contact with or close to the fourth guide member 134. Therefore, this portion becomes the portion guided by the fourth guide member 134. As the distal end unit 62 moves from a position close to the first pulley 65 to a position close to the second pulley 66 (changes from FIG. 5 to FIG. 6), the second flexible printed wiring section 123 moves toward the fourth guide member 134. The area that can be contacted increases. However, in such movement, the fourth fixed position 123b fixed to the connecting unit 63 does not move (it moves relatively together with the connecting unit 63 when viewed from the distal end side unit 62), so the second flexible printed wiring section 123 There is no rubbing against the fourth guide member 134. In other words, the second flexible printed wiring section 123 and the fourth guide member 134 will not be misaligned in the extending direction of the belt member 67 due to the movement of the distal end side unit 62.

In this way, these guide members 131 to 134 do not rub against the corresponding flexible printed wiring sections 122 and 123 when the proximal end unit 61 and the distal end unit 62 move relative to the connecting unit 63. Therefore, these guide members 131 to 134 can appropriately guide the flexible printed wiring parts 122 and 123 while preventing the flexible printed wiring parts 122 and 123 from being worn out due to rubbing against the guide members 131 to 134. can.

The length of the first guide member 131 is determined by the length of the proximal end ( It is determined based on the distance from the first fixed position 122a) to the apex of the first bent portion C1. Similarly, the length of the second guide member 132 is determined by the length of the second guide member 132 of the second flexible printed wiring section 123 at the position where the distal end unit 62 (second attachment position 67b) is closest to the first pulley 65 (FIG. 5). It is determined based on the distance from the vertex of the bent portion C2 to the tip (third fixed position 123a).

Further, the length of the third guide member 133 is determined by the length of the first flexible printed wiring section 122 at the position (FIG. 5) where the proximal unit 61 (first attachment position 67a) is closest to the second pulley 66. It is determined based on the distance from the vertex of the bent portion C1 to the tip (second fixed position 122b). Similarly, the length of the fourth guide member 134 is determined by the length of the proximal end of the second flexible printed wiring section 123 at the position where the distal end unit 62 (second attachment position 67b) is closest to the second pulley 66 (FIG. 6). (the fourth fixed position 123b) to the apex of the second bent portion C2.

FIG. 7 is a perspective view showing the electrical wiring circuit in the extended state shown in FIG. 6. Configurations other than the electric wiring circuit 121 (first flexible printed wiring section 122, second flexible printed wiring section 123, and connection wiring section 124) in the translation mechanism 35 are omitted from illustration. The first flexible printed wiring section 122, the second flexible printed wiring section 123, and the connecting wiring section 124 are constructed by bending one flexible printed wiring board at a second fixed position 122b and a fourth fixed position 123b. .

Therefore, the connection wiring section 124 extends along the side wall of the connection unit 63. The electrical wiring circuit 121 composed of one flexible printed wiring board is fixed to the connection unit 63 by the connection wiring portion 124 being locked to the connection unit 63.

Furthermore, the connection point 122c of the first flexible printed wiring section 122 to the proximal end unit 61 is located at the base end in the longitudinal direction of the first flexible printed wiring section 122 in the width direction of the first flexible printed wiring section 122. A portion extending laterally from the first fixed position 122a is bent. Similarly, the connection point 123c of the second flexible printed wiring section 123 to the distal end unit 62 is located at the third point in the width direction of the second flexible printed wiring section 123 at the distal end in the longitudinal direction of the second flexible printed wiring section 123. A portion extending laterally from the fixed position 123a is bent.

Flexible printed wiring boards, also called FPCs (Flexible Printed Circuits), are constructed by pasting wiring or circuits made of conductive metals such as copper onto a thin insulating base material (base film) such as polyimide. . Therefore, the flexible printed wiring board is thin and has a restoring force that tends to return to the flat surface when the flat flexible printed wiring board is bent back into an arc shape due to the flexibility of the base material. Therefore, the shape of each of the first flexible printed wiring section 122 and the second flexible printed wiring section 123 is uniquely determined based on the positional relationship between the fixed positions 122b, 123b and the attachment positions 67a, 67b.

According to the above configuration, the proximal end unit 61 and the distal end unit 62 are electrically connected inside the connection unit 63 in which the belt member 67 wound around the first pulley 65 and the second pulley 66 is accommodated. A first flexible printed wiring section 122, a connecting wiring section 124, and a second flexible printed wiring section 123 are provided as electrical wiring.

The first flexible printed wiring section 122 disposed between the proximal end unit 61 and the connection unit 63 is bent back into an arc shape while maintaining restoring force at the first bent back section C1. Further, the second flexible printed wiring section 123 disposed between the distal end side unit 62 and the connection unit 63 is bent back into an arc shape while maintaining restoring force at the second bending section C2.

As a result, when the connecting unit 63 moves relative to the proximal end unit 61 and the distal end unit 62 moves relative to the connecting unit 63, the first flexible printed wiring section 122 and the second flexible printed wiring section 123 (bending portions C1, C2) move along the extending direction (longitudinal direction Dt) of the belt member 67. Therefore, the volume inside the connection unit 63 required for electrical wiring can be minimized without interfering with the translational movement of the proximal end unit 61 and the distal end unit 62. Thereby, it is possible to arrange electric wiring inside the translation mechanism 35 while suppressing the increase in size.

Furthermore, according to the above configuration, the electric wiring inside the translation mechanism 35 is configured by one flexible printed wiring board, so that the configuration is simple and the volume required for the electric wiring can be further reduced.

In this embodiment, the first flexible printed wiring section 122 and the second flexible printed wiring section 123 are configured so that the lengths from the base end to the tip end via the bent parts C1 and C2 are equal to each other. There is. Further, the first flexible printed wiring section 122 and the second flexible printed wiring section 123 have lengths extending in the extending direction (longitudinal direction Dt) of the belt member 67 at the first attachment position 67a and the second attachment position 67b. are equal to each other regardless of their positional relationship.

More specifically, between the apex of the first bent portion C1 of the first flexible printed wiring portion 122 and the end farthest from the first bent portion C1 (first fixed position 122a or second fixed position 122b). distance LP1, and the apex of the second bent portion C2 of the second flexible printed wiring portion 123 and the end farthest from the second bent portion C1 (third fixed position 123a or fourth fixed position 123b). The distance LP2 between them is constant and equal regardless of the contracted state shown in FIG. 5, the extended state shown in FIG. 6, and the states therebetween.

At this time, the first length from the first fixed position 122a of the first flexible printed wiring part 122 to the first bent part C1 is the length from the fourth fixed position 123b of the second flexible printed wiring part 123 to the second bent part C1. equal to the second length up to C2. Furthermore, when the positional relationship between the first attachment position 67a and the second attachment position 67b changes due to the belt member 67, the first length and the second length each change while maintaining the same relationship.

According to this, the design of the first flexible printed wiring section 122 and the design of the second flexible printed wiring section 123 can be made similar. Further, since the operation of the first flexible printed wiring section 122 and the operation of the second flexible printed wiring section 123 are the same, the lifespan of both becomes almost the same, and the maintenance and management of the electrical wiring in the translation mechanism 35 is facilitated. Become.

As described above, the translation mechanism 35 in this embodiment can be configured to be suitable as a translation mechanism provided in the arm 3 applied to the surgical operation system 100.

From the above description, many modifications and other embodiments of the invention will be apparent to those skilled in the art. Accordingly, the above description is to be construed as illustrative only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Substantial changes may be made in the structural and/or functional details thereof without departing from the spirit of the invention.

Further, in the above embodiment, the first flexible printed wiring section 122 and the second flexible printed wiring section 123 of the electrical wiring circuit 121 have their respective bent portions C1 and C2 located on the distal end side of the instrument 42 (second pulley Although it is formed so as to be convex toward the proximal end side of the instrument 42 (the first pulley 65 side), it may be formed so as to be convex toward the proximal end side of the instrument 42 (the first pulley 65 side).

In addition, in the above embodiment, an example is shown in which the first flexible printed wiring section 122, the connecting wiring section 124, and the second flexible printed wiring section 123 that constitute the electrical wiring circuit 121 are constituted by one flexible printed wiring board. However, it is not limited to this. For example, the first flexible printed wiring section 122 and the second flexible printed wiring section 123 may be configured separately. At this time, the connection wiring section 124 may be configured with a flexible printed wiring board, or may be configured with other wiring structures (cable wiring, etc.).

Further, in the above embodiment, a configuration has been described in which guide members 131 to 134 for guiding flexible printed wiring sections 122 and 123 are provided in connection unit 63, but the present invention is not limited to this. For example, the first guide member 131 and the second guide member 132 may be provided, and the third guide member 133 and the fourth guide member 134 may not be provided. Alternatively, the guide members 131 to 134 may not be provided.

Further, in the above embodiment, a configuration in which the translation mechanism 35 includes one connection unit 63 has been described, but it may include a plurality of connection units 63. For example, two connection units may be provided between the proximal unit 61 and the distal unit 62. In this case, the two connection units each include an interlocking mechanism 60. The proximal end unit 61 and the second connecting unit are attached to the belt member 67 of the first connecting unit, and the first connecting unit and the distal side unit are attached to the belt member 67 of the second connecting unit. unit 62 is attached. The configuration of the electric wiring circuit 121 for both the first connection unit and the second connection unit can be configured in the same manner as the electric wiring circuit 121 of the connection unit 63 in the above embodiment.

Furthermore, the number (number of degrees of freedom) and shape of the plurality of joints (plurality of links) in the plurality of arms 3 and/or positioner 7 are not limited to the above embodiments, and various aspects may be adopted.

INDUSTRIAL APPLICATION This invention is useful for rapidly performing linear movement of a surgical instrument with a simple structure.

1 Patient side system 3 Arm (manipulator arm)
5 Arm base 7 Positioner 30 Arm main body 35 Translation mechanism 40 Surgical instrument 42 Instrument (surgical instrument)
60 interlocking mechanism 61 proximal unit 62 distal unit 63 connection unit 65 first pulley 66 second pulley 67 belt member 67a first attachment position 67b second attachment position 70 trolley 100 surgical operation system 121 electrical wiring circuit 122 first flexible Printed wiring section 122a First fixed position 122b Second fixed position 123 Second flexible printed wiring section 123a Third fixed position 123b Fourth fixed position 124 Connection wiring section 131 First guide member 132 Second guide member 631 First wall section 632 Second wall portion A1 First gap A2 Second gap C1 First bent portion C2 Second bent portion M38, M39 Motor

Claims (13)

A manipulator arm for use in a surgical system, the manipulator arm comprising:
an arm body with multiple links and multiple joints;
a translation mechanism provided at the tip of the arm main body,
The translation mechanism is
a proximal end unit connected to the distal end of the arm main body;
a distal unit having an instrument holder to which a surgical instrument is attached;
a connection unit that connects the proximal end unit and the distal end unit,
The instrument holder includes a first motor and a speed reducer that reduces the output of the first motor to drive the surgical instrument with increased torque ;
The connecting unit is configured to move the proximal unit and the distal unit so that the positions of the proximal unit and the distal unit in the longitudinal direction of the connecting unit change relative to each other. A manipulator arm , comprising: an interlocking mechanism; and a second motor for driving the interlocking mechanism . The proximal end unit is connected to the connection unit so as to be relatively movable in the longitudinal direction of the connection unit via a first sliding mechanism,
The distal end unit is connected to the connection unit so as to be relatively movable in the longitudinal direction via a second sliding mechanism,
When the proximal unit moves in the first longitudinal direction with respect to the connection unit, the distal unit moves in a second direction opposite to the first direction with respect to the connection unit. The manipulator arm of claim 1, wherein the manipulator arm is configured to. The manipulator arm according to claim 1 or 2 , wherein the instrument holding section includes an encoder that detects a rotation angle of the first motor. The manipulator arm according to claim 3 , wherein the instrument holding section includes a plurality of the first motors, a plurality of the speed reducers, and a plurality of the encoders. The manipulator arm according to any one of claims 1 to 4 , wherein the proximal end unit is connected to the distal end of the arm main body via a bending joint. The connection unit includes an interlocking mechanism,
The interlocking mechanism is configured to move the proximal unit and the distal unit so that the positions of the proximal unit and the distal unit in the longitudinal direction change relative to each other. A manipulator arm according to any one of claims 1 to 5 . The manipulator arm according to claim 6 , wherein a relative position change rate of the distal unit with respect to the proximal unit is twice a relative position change rate of the connecting unit with respect to the proximal unit. 8. The manipulator arm according to claim 1, wherein the manipulator arm has seven or more degrees of freedom. The manipulator arm according to any one of claims 1 to 8, wherein the arm body has seven degrees of freedom. A manipulator arm according to any one of claims 1 to 9,
an operating device that receives an input of an instruction to move the manipulator arm;
A robot system comprising: a control device that moves the manipulator arm according to the instruction. A method of translating a surgical instrument in a manipulator arm used in a surgical system, the method comprising:
The manipulator arm is
an arm body with multiple links and multiple joints;
a translation mechanism provided at the tip of the arm main body,
The translation mechanism is
a proximal end unit connected to the distal end of the arm main body;
a distal unit having an instrument holder to which a surgical instrument is attached;
a connection unit that connects the proximal end unit and the distal end unit,
The instrument holder includes a first motor and a speed reducer that reduces the output of the first motor to drive the surgical instrument with increased torque;
The connecting unit is configured to move the proximal unit and the distal unit so that the positions of the proximal unit and the distal unit in the longitudinal direction of the connecting unit change relative to each other. an interlocking mechanism, and a second motor for driving the interlocking mechanism,
The translation method is
A surgical instrument that moves the distal unit in a second direction opposite to the first direction in conjunction with moving the proximal unit in a first longitudinal direction of the connecting unit. translation method. 12. The translation method according to claim 11, wherein a relative position change rate of the distal unit with respect to the proximal unit is twice a relative position change rate of the connection unit with respect to the proximal unit. 13. The translation method according to claim 11 or 12, wherein the manipulator arm has seven or more degrees of freedom.

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