JPH05253174A - Curving device - Google Patents

Abstract

PURPOSE:To increase the degree of freedom of curvilinear operations, to reduce the diameter of an insertion part and to prevent the thermal damage of a driving means for a thermal deforming member by locally subjecting only the arbitrary part in the entire part of a curving part to the curvilinear operation. CONSTITUTION:Heat insulating means which prevent the heat transfer from thermal deforming members 7 to control parts 8 disposed near the thermally deforming members 7 at the time of subjecting the curving pieces 2, 3 of the curving part 1 is accordance with the thermal deforming operation of the thermal deforming members 7 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bay bending apparatus for performing a bay bending operation on a bay bending portion provided in a manipulator such as an endoscope by a heat deformable member such as a shape memory alloy.

[0002]

2. Description of the Related Art Generally, a distal end of a flexible tube is used for an endoscope in which an insertion section formed by the flexible tube is inserted, for example, into a medical lumen or an industrial conduit such as a gas pipe. A bay-bent portion that can be bent and deformed is disposed in the portion.

A plurality of bay bending pieces arranged side by side along the axial direction of the insertion portion are rotatably connected to the bay bending portion via connecting pins to form a multi-joint structure. Further, a distal end of an operation wire, which is disposed inside the flexible tube so as to be movable in the axial direction, is fixed to the most advanced bay bending piece.

The proximal end portion of the operation wire extends toward the operation portion side of the endoscope near the hand. For example, a bay bending operation knob is provided on the outside and a wire pulling mechanism is provided on the inside of the operation unit. This wire pulling mechanism is equipped with a rotating body such as a pulley that rotates with the operation of the bay bending operation knob.

Further, the distal end portion of the operation wire is connected to this rotating body. Then, when the bay bending operation knob is operated, the rotating body of the pulling mechanism is rotationally driven, and the operation wire is axially pulled along with the rotation of the rotating body, and the bay bending portion is remotely operated from the hand side. It is configured.

[0006]

In the bay bending apparatus having the above-mentioned conventional structure, the tension from the operation wire pulled when the bay bending operation knob on the proximal side is operated causes all bay bending forming the multi-joint structure of the bay bending portion. It acts almost uniformly on the piece.

Therefore, at the time of the bay bending operation of the bay bending portion, all the joint portions between all the bay bending pieces are bent in the same direction at substantially the same angle, and the whole bay bending portion is deformed into a smooth bay bending shape. Therefore, it is not possible to locally perform a bay bending operation only on an arbitrary part of the entire bay bending portion, and there is a problem that the flexibility of the bay bending operation is small.

Further, by connecting an independent operation wire to each joint portion between a plurality of bay bending portions arranged in the bay bending portion, only an arbitrary part of the entire bay bending portion is locally localized. It is also conceivable to have a configuration in which a bay bending operation is performed. However, in this case, since the number of operation wires arranged in the insertion portion of the endoscope increases, there is a problem in reducing the diameter of the insertion portion.

Therefore, for example, a shape memory alloy wire is used as an actuator for bending the bay bending portion of the multi-joint structure, and this shape is provided for each joint portion between a plurality of bay bending pieces arranged in the bay bending portion. By individually mounting the memory alloy wires, the joint portions between the plurality of bay bending pieces arranged in the bay bending portion are independently bay bent by each shape memory alloy wire, and each shape memory alloy It may be possible to reduce the number of control wirings of the shape memory alloy wire by disposing the wire control circuit in the vicinity of each shape memory alloy wire.

In this case, the shape memory alloy wire has a shape of a predetermined length previously stored therein, and the shape of the wire is plastically deformed to a standard shape in which the length of the wire is extended from the memorized shape, and the shape of the wire bends. Is set. Then, when the shape memory alloy wire is not energized, the shape memory alloy wire is held in the reference shape, and due to the heat generated when the shape memory alloy wire is energized, the shape memory alloy wire is restored to the memory shape. With the contraction and deformation of the shape memory alloy wire, the joint between bay bending pieces is bent.

However, in the above structure, since the control circuit for each shape memory alloy wire is arranged in the vicinity of each shape memory alloy wire, the shape memory that occurs when the shape memory alloy wire is energized. The heat of the alloy wire may damage the control circuit of each shape memory alloy wire.

The present invention has been made in view of the above circumstances, and an object thereof is to make it possible to locally perform a bay bending operation on only an arbitrary part of the entire bay bending portion, and to provide a degree of freedom of the bay bending operation. (EN) Provided is a bayonet bending device capable of increasing the temperature of the insertion portion, reducing the diameter of the insertion portion, and preventing the driving means of the heat-deformable member such as the shape memory alloy wire from being damaged by heat. is there.

[0013]

SUMMARY OF THE INVENTION According to the present invention, a plurality of bay bending elements are connected to each other so as to be bay-bendable, and a bay bending portion is thermally deformed due to a temperature change. A heat-deformable member for bending and operating the bay-bending element, drive means for the heat-deformable member arranged in the vicinity of the heat-deformable member, and heat transfer from the heat-deformable member to the drive means. It is provided with a heat insulating means for preventing.

[0014]

[Function] The plurality of bay bending elements in the bay bending portion are respectively bent by the heat deforming member, and the heat generated in the heat deforming member when the bay bending element of the bay bending portion is bent by the heat deforming member The heat insulating means prevents heat transfer to the driving means of the deformable member.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows, for example, in a medical lumen,
Alternatively, it shows the main configuration of the bay bending portion 1 of a multi-degree-of-freedom manipulator used as an articulated manipulator inserted into an industrial conduit such as a gas pipe.

The proximal end side of this multi-degree-of-freedom manipulator is connected to the operating section on the proximal side. Further, in the bay bending portion 1 of this multi-degree-of-freedom manipulator, a plurality of metal-made substantially cylindrical bay bending pieces 2 and 3 are alternately arranged in parallel along the axial direction. In this case, one of the bay bending pieces 2 is set to have a length dimension larger than that of the other bay bending piece 3. A jacket tube (not shown) made of an elastic material is attached to the outer peripheral surfaces of the bay bending pieces 3.

Further, a pair of front projections 4a, 4a oppositely arranged at the front end of each bay bending piece 2 and a pair of rear projections 4b, 4b oppositely arranged at the rear end thereof are projected. ing. Similarly, a pair of front protrusions 5a, 5a oppositely disposed at the front end of each bending piece 3 and a pair of rear protrusions 5b, 5b oppositely disposed at the rear end thereof are provided so as to project.

Between the rear projections 5b, 5b of the bending piece 3 and the front projections 4a, 4a of the rearward bending piece 2 adjacent thereto, and between the rear projections 4b, 4b of the bending piece 2 rearward. The bending pieces 3 are rotatably connected to the front protrusions 5a, 5a via connecting pins 6, respectively, to form a multi-joint structure.

Further, a pair of SMA control circuits (driving means) 8 for controlling the operation of a later-described thermal deformation member 7 formed by a bidirectional shape memory alloy (SMA) coil in each bay bending piece 3. , 8, a pair of SMAs in each bay bending piece 2
Power posts 9, 9 are provided respectively. In this case, the pair of SMA control circuits 8 and 8 and the pair of SMA power supply posts 9 and 9 are displaced by 90 ° in the circumferential direction of each bay bending piece 3 and 2 with respect to the mounting position of the pair of connecting pins 6 and 6. It is located in.

Further, the thermal deformation members 7 ...
3 forms an actuator for performing a bayonet bending operation. In this case, each heat-deformable member 7 has a first shape that is maintained in a standard coil length state when not heated, and a second shape that is contracted so that the coil length is shorter than the standard coil length. The shape and the shape are stored in advance.

Further, one end of the heat deformable member 7 is provided at each bay bending piece 2
Is connected to the SMA power supply post 9 and the other end is connected to the SMA control circuit 8 of the bay bending piece 3 adjacent to the bay bending piece 2.

When all the heat-deformable members 7 are held in the first shape when not heated, all the bay bending pieces 2 and 3 of the bay bending portion 1 are held in a substantially linear reference shape. It Further, when any one of the heat deformable members 7 is electrically heated, the heated heat deformable member 7 is deformed into the second shape at the time of heating, and the contraction operation of the heat deformable member 7 at that time causes a change in its position. The bay bending pieces 2 and 3 are adapted to be locally bent.

A pair of lead wires 10 and 14 are arranged in the bay bending portion 1 as shown in FIG. The base ends of these lead wires 10 and 14 are connected to a control device (not shown) provided on the hand side of the multi-degree-of-freedom manipulator. One end of each thermal deformation member 7 is connected to one lead wire 10 via the SMA power supply post 9.

The other end of each thermal deformation member 7 is connected to the SMA control circuit 8. In the SMA control circuit 8, a pair of discrimination circuits 11, 11 and a pulse width modulation circuit (PW
M) 12, 12 and power MOS-FETs 13, 13
Are arranged. The connection end of each thermal deformation member 7 with the SMA control circuit 8 is connected to one power MOS-.
FET 13, pulse width modulation circuit 12 and discrimination circuit 11
Are sequentially connected to the other lead wire 14. In this case, in the discrimination circuit 11 of each bay bending piece 3, each bay bending piece 3
Corresponding to the position of (CH1, CH2-CH
n) is set.

When the manipulator operates, a multi-channel PPM (Pulse
The phase modulation signal is input to the discrimination circuit 11 of the SMA control circuit 8. This multi-channel PPM signal transmits a control signal proportional to the amount of bending by the SMA of the thermal deformation member 7 at an arbitrary joint position as a change in pulse position with respect to a clock pulse.

Further, this multi-channel PPM signal is S
The discrimination circuit 11 of the MA control circuit 8 identifies the signal corresponding to each channel with reference to the clock pulse. The output signal from the discrimination circuit 11 is input to the pulse width modulation circuit 12. This pulse width modulation circuit 1
In 2, the signal is converted into a PWM (Pulse Width Modulation) signal proportional to the change in the pulse position identified for each channel. Then, the PWM signal output from the pulse width modulation circuit 12 is supplied to the power MOS-FET 13, and the power MOS-F is controlled by the pulse width of the PWM signal.
The switching time of the ET 13 changes and the amount of heat generated by the SMA of the thermal deformation member 7 changes.

Therefore, in the above-mentioned structure, a plurality of bay bending pieces 2 of the bay bending portion 1 of the multi-degree-of-freedom manipulator are ...
Since 3 ... are respectively bent by the thermal deformation members 7 ..., only a part of the joint portion of the entire bay bending portion 1 can be locally bent. Therefore, the flexibility of the bay bending operation of the bay bending portion 1 can be increased, and the diameter of the insertion portion of the multi-degree-of-freedom manipulator can be reduced.

Further, an SMA control circuit 8 is arranged on the bay bending piece 3 having a smaller length dimension than the bay bending piece 2, and an SMA power supply post 9 is arranged on the bay bending piece 2 having a large length dimension, respectively, to control these SMAs. Since the thermal deformation member 7 is arranged between the circuit 8 and the SMA power supply post 9, most of the heat of the thermal deformation member 7 is generated when the heat deformation member 7 generates heat, and the bay bending piece 2 having a large length dimension is used.
The amount of heat transferred to the bay bending piece 3 side can be reduced by transferring heat to the side. Therefore, the responsiveness of the thermal deformation member 7 can be improved, and thermal damage to the SMA control circuit 8 can be prevented.

3 (A) to 3 (C) and FIG. 4 show an example of use of the bay bending portion 1 having the above construction. Figure 3
(A) shows a state in which the bay bend portion 1 having the above-mentioned configuration is used as a multi-degree-of-freedom manipulator of the microrobot 21 for coronary artery surgery via the thoracic cavity and inserted into the body. Figure 3
In (A), 22 is an endoscope provided separately from the microrobot 21.

In the microrobot 21, as shown in FIG. 3B, the insertion portion 23 having a flexible articulated structure is bent.
Is provided. For example, a micro gripper and a fixed leg are respectively provided at the tip of the insertion portion 23 so as to project. This fixing leg is provided with a fixing portion fixed to the inner wall of the cavity or the like by means of suction or the like at the tip of the leg portion.

Further, the endoscope 22 has a micro robot 2
Similar to the first embodiment, as shown in FIG. 3 (B), an insertion portion 24 having a multi-joint structure that bends flexibly is provided. An illumination window of the illumination optical system, an observation window of the observation optical system, a treatment instrument insertion channel, and the like are provided at the tip of the insertion portion 24. Then, a cutting treatment tool for cutting the blood vessel is inserted into the treatment tool insertion channel.

Next, the operation of the surgical microrobot 21 having the above configuration will be described. For example, when a coronary artery or the like is clogged in the treatment of myocardial infarction, the surgical microrobot 21 is used in a bypass operation in which the clogged part of the blood vessel is excised and the remaining parts are joined together.

At the time of such treatment, as shown in FIG. 3A, the insertion portion 23 of the microrobot 21 and the insertion portion 24 of the endoscope 22 are percutaneously inserted into the chest of the patient H, respectively. .. Then, while observing the inside of the body with the endoscope 22, the micro robot 21 reaches the target treatment target site.
The leading end of the insertion portion 23 is guided. In this case, the insertion portion 23 of the microrobot 21 and the insertion portion 2 of the endoscope 22
Since 4 has a multi-joint structure that bends flexibly, it can be surely guided to the back side of the heart I of the patient H, for example.

After the tip portion of the microrobot 21 is guided to the treatment target portion, the tip portion of the microrobot 21 is fixed to a position near the treatment target portion by the fixing legs. Subsequently, as shown in FIG. 3B, the coronary artery J is bypassed by the microgripper of the microrobot 21 and the cutting instrument inserted through the treatment instrument insertion channel of the endoscope 22.

Further, FIG. 3C shows that the bay bending portion 1 of the first embodiment is used as a multi-degree-of-freedom manipulator 25 which is orally inserted into the body.
Shows the state of being orally guided to the target treatment target site in the gallbladder M via the esophagus, stomach, duodenum L and the like. In the figure, K indicates the liver.

FIG. 4 shows a treatment tool for an industrial endoscope 31 inserted into an industrial conduit P such as a gas pipe.
This is an application of the bay bending portion 1 of the embodiment. An illumination device 32 and a pair of CCD cameras 33 for observation are provided on the distal end surface of the industrial endoscope 31, and three short-type multi-degree-of-freedom tubular manipulators 34a, 34b for working in piping are provided. The base end portions of 34c are fixed. These manipulators 34a, 34b, 34c
Is formed by the bay bend 1 of the first embodiment which is flexible.

Further, the first manipulator 34a is provided with an observing means such as an illuminating device and a CCD camera for observing at the tip portion of the first manipulator 34a.
Thus, a working unit magnifying endoscope system unit for forming a close and direct view of the repairing unit Q in the industrial pipeline P is formed.

Further, a micro gripper 35 formed by, for example, a basket type treatment section is provided at the tip of the second manipulator 34b. The micro gripper 35 forms a tool transfer section that holds the work tool such as the welding material 36 and approaches the repair section Q while gripping the work tool.

Further, the tip of the third manipulator 34c is provided with a laser light emitting portion and a grinder working portion. Then, the third manipulator 34c approaches the repair section Q in the industrial pipeline P,
A working portion is formed for performing repair work such as welding with laser light or grinding with a grinder.

Incidentally, the three manipulators 34a, 34
By changing the color of the outer peripheral surface of b, 34c, it becomes easy to identify the three manipulators 34a, 34b, 34c, or each manipulator 34a, 34b, 34c is formed with a protrusion having a unique shape for identification. The manipulators 34a, 3a
Each manipulator 3 can be easily
The functions of 4a, 34b, and 34c may be determined.

Further, FIGS. 5A and 5B show the second embodiment of the present invention.
FIG. The multi-degree-of-freedom manipulator of this embodiment is provided with a flexible tube 42 formed of a plastic material at the bay bending portion 41.

Hinge portions 45 are formed on the flexible tube 42 at a plurality of locations along the axial direction. In this case, the flexible tube 42 is formed with a pair of notches 43, 43 in the circumferential direction so as to face each other, and a pair of hinges 45, 45 are formed by the remaining portion between the notches 43, 43. Has been done. Then, the bay bending piece 4 of the bay bending portion 41 is formed by the portion between the front and rear hinge portions 45, 45 along the axial direction of the flexible tube 42.
4 are formed.

In addition, adjacent bay bending pieces 44, 44
A thermal deformation member 46 formed of a unidirectional SMA wire and a return spring 54 formed of a tension spring are arranged between them. In this case, the heat-deformable member 46 stores in advance a contracted shape at the time of heating for contracting so that the coil length becomes shorter than the reference length at the time of non-heating.

Further, as shown in FIG.
A concave portion 42a shown in (B) is formed. This recess 4
An SMA control circuit 49 for controlling the operation of the thermal deformation member 46 is mounted on the 2a via a heat insulating plate (heat insulating means) 50.

In this case, the SMA control circuit 49 uses one end of each bay bending piece 44 (for example, each bay bending piece 44 in FIG. 5A).
Is arranged at the edge portion on the left cutout 43 side). Then, one end of the thermal deformation member 46 is connected to the SMA control circuit 49.

The other end of the thermal deformation member 46 is extended to the other end side of each bay bending piece 44 (for example, the right cutout 43 side of each bay bending piece 44 in FIG. 5A). 5 (A), it is connected to the SMA power supply post 47 provided on the inner peripheral surface of the bay bending piece 44 adjacent to the right side.

Further, the concave portion 4 on the outer peripheral surface of each bay bending piece 44
A heat radiating plate 51 is arranged on the 2a adjacent to the heat insulating plate 50 of the SMA control circuit 49. An insulating coating 52 is mounted on the heat dissipation plate 51. The insulating coating 52 insulates the heat sink 51 from the heat deformable member 46 arranged above the heat sink 51.

Further, a pair of front and rear spring fixing pins 53, 53 are provided on the inner peripheral surface of each bay bending piece 44 on the side opposite to the heat deforming member 46, for example, at the lower end in FIG. 5 (A). There is. Then, the return spring 54 is the fixing pin 5 of the pair of bay bending pieces 44, 44 adjacent to each other on both sides of the notch portion 43.
It is built between 3,53.

Therefore, the bay bending angle of each bay bending piece 44 is determined by the balance of the forces of the thermal deformation member 46 and the return spring 54. Here, when all the thermal deformation members 46 are held in the reference shape when not heated, all the bay bending pieces 44 of the bay bending portion 41 are held in the substantially linear reference shape. When any one of the heat deforming members 46 is electrically heated, the heated heat deforming member 46 is deformed into the contracted shape at the time of heating, and the contraction operation of the heat deformable member 46 at that time causes the bay at that position. Bending piece 44
Is locally bent around the hinge portions 45, 45.

Therefore, in the structure described above, a plurality of bay bending pieces 44 of the bay bending portion 41 of the multi-degree-of-freedom manipulator are provided.
Since the heat-deformable members 46 are respectively bent in a bay shape, only a joint portion of an arbitrary part of the entire bay bending portion 41 can be locally bent. Therefore, the flexibility of the bay bending operation of the bay bending portion 41 can be increased, and the diameter of the insertion portion of the multi-degree-of-freedom manipulator can be reduced.

Further, the SMA control circuit 49 is mounted on the heat insulating plate 50.
Since the heat dissipating member 46 is provided with the heat dissipating member 46, the heat of the heat deforming member 46 is transferred to the heat dissipating plate 51 of the bay bending piece 44, and when the heat dissipating plate 51 dissipates the heat, the heat dissipating plate 5
It is possible to prevent heat transfer from 1 to the SMA control circuit 49. Therefore, the responsiveness of the thermal deformation member 46 can be improved, and thermal damage to the SMA control circuit 49 can be prevented.

The heat dissipating plate 51 may be provided with the guide groove 53 of the heat deformable member 46 shown in FIG. 6, and the heat deformable member 46 may be disposed in the guide groove 53. Further, the structure of the joint may be the same as that of the first embodiment.
Further, as the heat deformable member 46, a bimetal plate may be used instead of the SMA wire.

FIG. 7 shows a third embodiment of the present invention. In FIG. 7, reference numeral 61 denotes a bay bend of the multi-degree-of-freedom manipulator. A plurality of bay bending pieces 62 made of a heat insulating material such as ceramics are arranged in parallel in the bay bending portion 61 along the axial direction thereof.

Further, each bay bending piece 62 has a pair of front projections 62a, 62a opposed to each other at its front end, and a pair of rear projections 62b, 62b opposed to each other at its rear end. ing. The rear projections 62b of the bending pieces 62,
Front protrusions 62a, 6 of the rear bending piece 62 adjacent to 62b.
2a are rotatably connected to each other via connecting pins 63, and are formed in a multi-joint structure.

A pair of SMA control circuits 67, 67 and a pair of SMA power supply posts 65 are provided on the inner peripheral surface of each bay bending piece 62 to control the operation of the thermal deformation member 64 formed by a bidirectional SMA coil. , 65 are provided respectively. In this case, the pair of SMA control circuits 67, 67 and the pair of SMA power supply posts 65, 65 are displaced by 90 ° in the circumferential direction of each bay bending piece 62 with respect to the mounting position of the pair of connecting pins 63, 63. It is arranged.

The SMA control circuits 67, 67 are arranged substantially at the center of the inner peripheral surface of each bay bending piece 62, and the SMA power supply posts 65, 65 are arranged at the rear end positions of each bay bending piece 62.

Further, one end of the thermal deformation member 64 is connected to the SMA control circuit 67, and the other end is passed through a wire insertion hole 66 formed at the rear end of each bay bending piece 62 to the outer peripheral surface side of each bay bending piece 62. Then, it is folded back to the front and connected to the SMA power supply post 65 of the front bay bending piece 62 adjacent to the bay bending piece 62.

When all the heat-deformable members 64 are held in the first shape when not heated, all the bay bending pieces 62 of the bay bending portion 61 are held in a substantially linear reference shape. .. Further, when any one of the heat deformable members 62 is electrically heated, the heated heat deformable member 62 is deformed into the second shape at the time of heating, and the contraction operation of the heat deformable member 62 at that time causes the change of the position. The bay bending piece 62 is adapted to be locally bent. Therefore, in the configuration described above, the plurality of bay bending pieces 62 of the bay bending portion 61 of the multi-degree-of-freedom manipulator are individually bent by the thermal deformation members 62. It is possible to locally perform a bayonet bending operation only on an arbitrary part of the joint part. Therefore, the flexibility of the bay bending operation of the bay bending portion 61 can be increased, and the diameter of the insertion portion of the multi-degree-of-freedom manipulator can be reduced.

Further, since the SMA control circuit 67 is arranged on the inner peripheral surface of each bay bending piece 62 formed of a heat insulating material, and the heat deformation member 64 is arranged on the outer peripheral surface of each bay bending piece 62,
It is possible to prevent the heat of the thermal deformation member 64 from being transferred to the SMA control circuit 67 via the bay bending piece 62 when the thermal deformation member 64 is electrically heated. Therefore, the thermal deformation member 6
4 can be improved in responsiveness, and thermal damage to the SMA control circuit 67 can be prevented.

In the above embodiment, the SMA control circuit 6 is provided on the inner peripheral surface of each bay bending piece 62 formed of a heat insulating material.
7 shows the structure in which the thermal deformation members 64 are arranged on the outer peripheral surface, respectively, but the thermal deformation member 64 is arranged on the inner peripheral surface of each bay bending piece 62 and the SMA control circuit 67 is arranged on the outer peripheral surface. You can

8A and 8B show the fourth embodiment of the present invention.
FIG. This inserts the thermal deformation member 7 of the first embodiment into the heat transfer tube 71, and
A ring-shaped heat dissipation plate 72 is arranged on the inner peripheral surface of each bay bending piece 2, and the heat transfer tube 71 of the heat deformable member 7 is attached to the heat dissipation plate 72.
Is fixed. Therefore, in this case, the heat dissipation rate of the heat deformable member 7 can be increased, so that the responsiveness of the heat deformable member 7 can be further improved.

9 to 13 show the fifth embodiment of the present invention. FIG. 9 shows a main structure of the bay bending portion 81 of the multi-degree-of-freedom manipulator. A plurality of substantially cylindrical bay bending pieces 82 are arranged in parallel in the bay bending portion 81 along the axial direction thereof. Furthermore, front and rear bay bending pieces 8
A pair of left and right thermal deformation members 83, 83 formed of a bidirectional SMA plate for bending the bay bending piece 82 are arranged between the two 82.

Further, as shown in FIG. 10, each bay bending piece 82 is provided with an upper constituent member 82a and a lower constituent member 82b formed of a heat insulating material and having a substantially semicircular cross section. The upper constituent member 82a and the lower constituent member 82b are the flexible printed circuit (F
PC) 86.

In this case, notches 84 are formed on both side surfaces of the upper component 82a. An SMA control circuit 85 that controls the operation of the thermal deformation member 83 is provided in each cutout portion 84.

Further, on the flexible printed board 86, a pair of left and right thermal deformation members 83, 83 between the bay bending pieces 82, 82 forming the bay bending portion 81 and the SMA control circuits 85, 85 are integrally arranged. Has been done.

In this case, the SMA control circuits 85, 85 are mounted on the flexible printed board 86 by means such as bonding, and the thermal deformation members 83, 83 are fixed by means such as soldering. further,
On the flexible printed board 86, the thermal deformation member 8
3, the power supply line V ₁ , the power supply line V ₂ of the SMA control circuit 85, the ground line G, and the signal line S are respectively wired, and the electric wiring between each thermal deformation member 83 and the SMA control circuit 85 forms a circuit. Has been done.

Further, mounting legs 87 of the SMA control circuit 85 are provided on both sides of the flexible printed circuit board 86 in a protruding manner. Then, the SMA control circuit 85 on the mounting leg portion 87 is formed by the upper constituent member 82a of each bay bending piece 82.
Are adhered to the notches 84 on both sides of the.

Further, the heat-deformable member 83 is held in a substantially linear reference shape as shown by the solid line in FIG. 13 in the intermediate temperature state, and is bent upward as shown by the chain line in the figure in the high temperature state. In the shape and the low temperature state, it is adapted to be deformed into a downward curved shape as shown by a chain double-dashed line in the figure.

Therefore, in the structure described above, a plurality of bay bending pieces 82 of the bay bending portion 81 of the multi-degree-of-freedom manipulator are provided.
.. are respectively bent by the thermal deformation members 83. Therefore, only a part of the joint portion of the entire bay bending portion 81 can be locally bent. Therefore, the flexibility of the bay bending operation of the bay bending portion 81 can be increased, and the diameter of the insertion portion of the multi-degree-of-freedom manipulator can be reduced.

Further, since the SMA control circuits 85 are disposed on both side surfaces of the upper constituent member 82a of each bay bending piece 82 formed of a heat insulating material, the heat of the heat deforming member 83 is not increased when the heat deforming member 83 is energized and heated. Can be prevented from being transferred to the SMA control circuit 85 via the bay bending piece 82.
Therefore, the responsiveness of the thermal deformation member 83 can be improved, and thermal damage to the SMA control circuit 85 can be prevented.

FIG. 14 shows another example of the structure of the multi-degree-of-freedom manipulator 91 fixed to the distal end portion of the industrial endoscope 31 inserted into the industrial conduit P as shown in FIG. Is. The lengths (l ₁ , l ₂ , l ₃ , l ₄ , l ₅ ) of the joints A to E of the multi-degree-of-freedom manipulator 91 are l ₁
<L ₂ <l ₃ <l ₄ <l ₅ are set respectively,
The length becomes shorter toward the tip.

Further, a grinder 93 is rotatably mounted on the tip end surface of the most advanced joint portion A via a rotary shaft 92. It should be noted that actuators are independently mounted on the joints A to E so that they can be bent independently.

When the multi-degree-of-freedom manipulator 91 is used, the joints D and E on the proximal side are bent downward and the remaining joints A, B and C are bent upward as shown by the arrow in FIG. ..

Here, a downward force F is applied to the bottom of the inner wall surface of the conduit P with the joint C as a fulcrum. At this time, the grinder 93 is applied to the upper surface of the inner wall surface of the conduit P, and the force f is applied to perform the polishing work.

Therefore, in the above-mentioned structure, since the grinder 93 can be stably supported by the joints A, B, and C with the joint C as the fulcrum, the grinding work by the grinder 93 can be stably performed. it can.

Further, when the multi-degree-of-freedom manipulator 91 is used, the joint part E on the proximal side is bent upward, and the remaining joint parts A, B, C, D are bent downward.
6, an upward force F is applied to the upper surface of the inner wall surface of the conduit P with the joint D as a fulcrum, as indicated by the dotted line.

In this state, the joints A, B, C are bent upward as indicated by the arrows in FIG. 16, so that the grinder 93 is connected to the joints A, B, C with the joint D as a fulcrum.
Can be applied to the bottom of the inner wall surface of the conduit P, and the force f can be applied to perform the polishing operation.

The multi-degree-of-freedom manipulator 91 can be applied not only to the grinding work by the grinder 93 but also to the endoscopic inspection work, the gripping / collecting work in which the tip of the manipulator 91 has a gripper, and the like. Furthermore, it goes without saying that various modifications can be made without departing from the scope of the present invention.

[0079]

According to the present invention, when the bay-bending element of the bay-bending portion is bent in accordance with the heat-deforming operation of the heat-deforming member, the driving means of the heat-deforming member is provided in the vicinity of the heat-deforming member. Since a heat insulating means is provided to prevent heat transfer from the heat-deformable member, it is possible to locally perform a bay bending operation only on an arbitrary part of the entire bay bending portion, and increase the flexibility of the bay bending operation. In addition, it is possible to reduce the diameter of the insertion portion, and in addition, it is possible to prevent heat damage to the driving means of the heat deformable member such as the shape memory alloy wire.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a main part showing a bay bending portion of a multi-degree-of-freedom manipulator according to a first embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a bay bend control device.

3A is a schematic configuration diagram showing a state in which a multi-degree-of-freedom manipulator of a surgical microrobot is inserted into the body, FIG. 3B is a schematic configuration diagram showing a state of bypass operation of a coronary artery of the heart, and FIG. FIG. 3 is a schematic configuration diagram showing a multi-degree-of-freedom manipulator inserted into the body.

FIG. 4 is a schematic configuration diagram of a multi-degree-of-freedom manipulator inserted in a gas pipeline.

FIG. 5 shows a second embodiment of the present invention (A)
Is a vertical cross-sectional view showing the main configuration of the bay bending device, and (B) is a cross-sectional view taken along line LL of (A).

FIG. 6 is a vertical cross-sectional view of a main part showing a modified example of the heat dissipation plate.

FIG. 7 is a vertical cross-sectional view of a main part showing a third embodiment of the present invention.

FIG. 8 shows a fourth embodiment of the present invention (A)
Is a vertical cross-sectional view showing the main configuration of the bay bending device, and (B) is a cross-sectional view taken along line MM of (A).

FIG. 9 is a side view of an essential part showing a fifth embodiment of the present invention.

FIG. 10 is a sectional view taken along line NN of FIG.

FIG. 11 is a plan view showing a flexible printed board.

FIG. 12 is an exploded perspective view of essential parts showing an assembled state of the bay bending portion.

FIG. 13 is a schematic configuration diagram for explaining the operation of the SMA.

FIG. 14 is a schematic configuration diagram of a multi-degree-of-freedom manipulator.

FIG. 15 is a schematic configuration diagram showing an operating state of the multi-degree-of-freedom manipulator.

FIG. 16 is a schematic configuration diagram showing another operation state of the multi-degree-of-freedom manipulator.

[Explanation of symbols]

1, 41, 61, 81 ... Bay bend, 2, 3, 44, 6
2, 82 ... Bay bending piece, 7, 46, 66, 83 ... Thermal deformation member, 8, 49, 67, 85 ... SMA control circuit (driving means), 50 ... Insulating plate (insulating means).

[Procedure amendment]

[Submission date] April 15, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0002

[Correction method] Change

[Correction content]

[0002]

2. Description of the Related Art Generally, an endoscope having a flexible tube as an insertion portion to be inserted into a body cavity or an industrial conduit such as a gas pipe is bent at the distal end of the flexible tube. A deformable bay bend is provided.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0015

[Correction method] Change

[Correction content]

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows a main configuration of a bay bending portion 1 of a multi-degree-of-freedom manipulator used as a multi-joint manipulator inserted into a body cavity or an industrial conduit such as a gas pipe.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction content]

The proximal end side of this multi-degree-of-freedom manipulator is connected to the operating section on the proximal side. Further, in the bay bending portion 1 of this multi-degree-of-freedom manipulator, a plurality of metal-made substantially cylindrical bay bending pieces 2 and 3 are alternately arranged in parallel along the axial direction. In this case, one of the bay bending pieces 2 is set to have a length dimension larger than that of the other bay bending piece 3. A jacket tube (not shown) made of an elastic material is attached to the outer peripheral surfaces of the bay bending pieces 2 and 3 .

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0038

[Correction method] Change

[Correction content]

Further, a micro gripper 35 formed by, for example, a grip grip treatment section is provided at the tip of the second manipulator 34b. The micro gripper 35 forms a tool transfer section that holds the work tool such as the welding material 36 and approaches the repair section Q while gripping the work tool.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0058

[Correction method] Change

[Correction content]

When all the heat-deformable members 64 are held in the first shape when not heated, all the bay bending pieces 62 of the bay bending portion 61 are held in a substantially linear reference shape. .. Further, when any one of the heat deformable members 62 is electrically heated, the heated heat deformable member 62 is deformed into the second shape at the time of heating, and the contraction operation of the heat deformable member 62 at that time causes the change of the position. The bay bending piece 62 is adapted to be locally bent. Therefore, in the configuration described above, the plurality of bay bending pieces 62 of the bay bending portion 61 of the multi-degree-of-freedom manipulator are individually bent by the thermal deformation members 64 , so that It is possible to locally perform a bayonet bending operation only on an arbitrary part of the joint part. Therefore, the flexibility of the bay bending operation of the bay bending portion 61 can be increased, and the diameter of the insertion portion of the multi-degree-of-freedom manipulator can be reduced.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Akio Nakata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Yasuhiro Ueda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Katsunori Sakiyama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Koichi Tatsumi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Koji Fujio 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Industry Co., Ltd. (72) Inventor Masaaki Hayashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus In Manabu Industrial Co., Ltd.

Claims (1)

[Claims] 1. A bay-bending portion in which a plurality of bay-bending elements are connected to each other so as to be bay-bentable, and heat-deforms with a temperature change, and the bay-bending element of the bay-bending portion is bay-bent with the thermal deformation operation. A heat-deformable member to be operated, and drive means for the heat-deformable member, which is arranged in the vicinity of the heat-deformable member;
A bay bending apparatus comprising: heat insulating means for preventing heat transfer from the heat deformable member to the driving means.