JPH07328024A - Medical manipulator device - Google Patents

Abstract

PURPOSE:To provide a medical manipulator device capable of washing and sterilizing only insertion bodies such as an endoscope or a treating tool inserted into a living body and efficiently resolving the limitation of the operating range of the insertion bodies. CONSTITUTION:This medical manipulator device driven by remote control for the observation or treatment of a tissue portion in a living body is provided with a drivable manipulator main body 24a having multiple degrees of freedom and insertion bodies 20, 23 for observation or treatment formed on the manipulator main body 24a and insertable into the living body, and at least the insertion bodies 20, 23 are removably fitted to the manipulator main body 24a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical manipulator device for performing surgery using an endoscope or a treatment tool on behalf of an operator by driving it by remote control.

[0002]

2. Description of the Related Art An endoscopic surgical operation in which a body wall such as an abdominal wall is perforated and an endoscope or a treatment tool is percutaneously inserted into the body cavity through the hole to perform various treatments in the body cavity. Has been done from the past. Such an operation method is widely performed as a cholecystectomy operation or an operation for removing and removing a part of the lung as a minimally invasive operation that does not require a large incision.

In such endoscopic surgery,
It is important to accurately approach the target site in the body cavity with an endoscope or a treatment tool. Therefore, for example, in US Pat. No. 5,217,003 and Japanese Patent Laid-Open No. 4-146097, an operation using an endoscope and a treatment tool is performed by mounting the endoscope and the treatment tool and driving them by remote control. There is disclosed a medical manipulator device performed on behalf of a person.

In such a medical manipulator device, for example, an endoscope or a treatment tool is mounted on the distal end of an insertion portion to be inserted into the body cavity, and the insertion portion is bent by using a joint mechanism so that The endoscope and the treatment tool can be approached to the target site.

[0005]

However, in the conventional medical manipulator device, since the endoscope and the treatment instrument provided at the tip of the insertion portion are integrated with the insertion portion, the endoscope is generally used. It is not possible to clean and sterilize the treatment tools only. Therefore, when cleaning and sterilizing the endoscope and the treatment tool, extremely labor-intensive work such as cleaning and disinfecting the entire medical manipulator device must be performed.

On the other hand, when the medical manipulator device equipped with a treatment tool and the medical manipulator device equipped with an endoscope are used at the same time during operation, as the operation progresses,
The operating ranges of both of these medical manipulator devices may interfere with each other. As a result, the operating range of the endoscope and treatment instrument is restricted, and the degree of freedom in observation and treatment is reduced,
The operability will deteriorate. In this case, since the endoscope and the treatment tool are integrated with the insertion portion, it is not possible to change the positional relationship between the endoscope and the treatment tool on the spot by exchanging the endoscope and the treatment tool. Therefore, in order to avoid this interference, after once removing the insertion portion of each manipulator device from the body cavity, set each manipulator device in a desired arrangement state that does not interfere with each other, again, each insertion portion of the manipulator device. It needs to be reinserted into the body cavity. This is a very complicated work, which reduces the work efficiency during the operation and puts a great burden on the patient.

The present invention has been made in view of the above circumstances, and an object thereof is to enable cleaning and sterilization of only an inserted body such as an endoscope or a treatment instrument to be inserted into a living body, and It is an object of the present invention to provide a medical manipulator device capable of efficiently and easily eliminating the restriction on the operating range of the insert.

[0008]

In order to solve the above-mentioned problems, the present invention has a plurality of degrees of freedom in a medical manipulator device for observing or treating a tissue part in a living body driven by remote control. And a manipulator main body that can be driven, and an insert for observation or treatment that is provided in the main body of the manipulator and can be inserted into a living body, and at least the insert is detachable from the main body of the manipulator. .

[0009]

In the above structure, at least the insert is detachable from the manipulator body, so that the insert can be separated from the manipulator body and sterilized. Further, if not only the insert body but also other components can be attached and detached, these components can be stored or sterilized in a separated small size, which facilitates handling.

Further, when the operating ranges of the medical manipulator devices interfere with each other, the interference can be avoided by exchanging the inserts of each other. As a result, the degree of freedom in observation and treatment is increased, and the operability is improved.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of a surgical device including two medical manipulator devices according to the first embodiment of the present invention. As shown in the figure, this surgical device comprises a treatment side device 31 and an observation side device 33.

The treatment-side device 31 is an operation manipulator 1 as an operation input device operated by the operator 16.
And a treatment manipulator 3 as a medical manipulator device for performing an actual treatment, and a motor control for operating the treatment manipulator 3 based on the information of the position and posture of the operator 16 read by the operation manipulator 1. It is composed of a unit 2.
During operation, a treatment tool (insertion body) 20 that is attached to the distal end of the treatment manipulator 3 and is capable of bending is inserted into the abdominal cavity 14 of a patient whose insertion portion 20b is fixed on the operating table 12 via a trocar 30. be introduced. In this case, the trocar 30 is inserted in a perforation made in the abdominal wall of the patient. The manipulator 1 for operation and the manipulator 3 for treatment are each attached to a bedside rail 1 attached to an operating table 12 via a fixing means 15 provided on the hand side.
3 is detachably supported at any position (see FIG. 2).

The observation side device 33 is a motor control unit for controlling the operation of the observation manipulator 4 based on signals from the observation manipulator operating means 5, the observation manipulator 4 as a medical manipulator device, and the operating means 5. 6 and 6. During operation, the 3D scope (insertion body) 23 that is attached to the distal end of the observation manipulator 4 and is capable of bending operation has an insertion portion 23b.
Is introduced through the trocar 30 into the abdominal cavity 14 of the patient fixed on the operating table 12. Observation manipulator 4
Is the operating table 1 via the fixing means 15 provided on the hand side.
It is detachably supported at an arbitrary position of the bedside rail 13 attached to 2 (see FIG. 2). As the manipulator operation means 5 for observation, a joystick, 3D
A mouse, a 3D digitizer, a manipulator, or the like can be used.

The 3D scope 23 has a pair of image pickup devices (not shown) and can obtain image information of the inside of the body. The image information obtained by the image sensor is a pair of CCUs.
After passing through 7a and 7b, the images are sent to the image processing devices 8a and 8b, and the two displays 10a on the monitor 11 or the HMD (head mounted display) 10 are displayed.
It is displayed as a stereoscopic image on the top. Further, a light source device 9 is connected to the observation manipulator 4 so that illumination light can be sent to the observation site.

The construction of the treatment manipulator 3 is shown in FIG. The manipulator 3 for treatment has the fixing means 15
A fixed shaft 19a which has a shaft and is attached to the bedside rail 13, and a first operating shaft 19b which is vertically movable (shown by A ₁ in the drawing) and rotatable (shown by A ₂ in the drawing).
An arm portion (manipulator main body) 1 including a second operation shaft 19c that can be expanded and contracted in the horizontal direction (indicated by A ₃ in the drawing).
9, a holder portion 24 detachably attached to the arm portion 19, and a treatment tool 20 detachably attached to the holder portion 24.

The holder portion 24 has a second operation shaft 19
It is attached to the arm section 19 via a free joint mechanism section 18 which is a joint section provided at the tip of c and having a plurality of degrees of freedom. Further, the holder part 24 has a built-in rotation mechanism for rotating the treatment tool 20 attached thereto.
This rotating mechanism allows the treatment instrument 20 to rotate as indicated by A ₄ in the drawing.

The treatment instrument 20 is inserted into the body and is bendable in the up-down direction (shown by A ₅ in the figure) and in the left-right direction (shown by A ₆ in the figure), and the tip of the insertion section 20b. Openable and closable gripping forceps 17 and an insertion portion 20
The grip portion 2 provided on the proximal side of b and having a built-in drive mechanism for performing the bending operation of the insertion portion 20b, the grasping forceps 17, and the opening / closing operation.
0a and 0a.

The structure of the observation manipulator 4 is shown in FIG. The observation manipulator 4 includes an arm portion 19 and a holder portion 24 that have the same structure as the treatment manipulator 3.
And a 3D scope 23 that is detachably attached to the holder portion 24.

The 3D scope 23 is inserted into the body and is bendable in the up-down direction (shown by A ₅ in the figure) and in the left-right direction (shown by A ₆ in the figure), and at the tip of the insert section 23b. The image pickup unit 22 is provided, and the holding unit 23a is provided near the insertion unit 23b and has a built-in bending mechanism that bends the insertion unit 23b.

Treatment tool 20 and 3D for the holder 24
A mechanism for attaching and detaching the scope 23 is shown in FIG. The holder portion 24 is provided with a flange-shaped first attachment portion 24a that is provided so as to project substantially perpendicularly to the longitudinal direction thereof.
The first attachment portion 24a is provided with an insertion hole 29 into which the treatment tool 20 and the insertion portions 20b and 23b of the 3D scope 23 can be inserted. In addition, a threaded portion 35 is provided on the outer peripheral surfaces of the insertion parts 20b and 23b of the treatment tool 20 and the 3D scope 23 on the root side. Therefore, if the connection nut 21 is screwed into the threaded portion 35 of the insertion portions 20b and 23b while the insertion portion 20b of the treatment instrument 20 or the insertion portion 23b of the 3D scope 23 is inserted into the insertion hole 29 of the holder portion 24, The treatment tool 20 and the 3D scope 23 can be attached to the holder portion 24, and the connection nut 2
If the screwing of 1 and the screw portion 35 is released, the treatment tool 20 and the 3D scope 23 can be easily removed from the holder portion 24.

A mechanism for attaching and detaching the holder portion 24 and the arm portion 19 is shown in FIG. As described above, the holder portion 24
Is attached to the arm portion 19 via the free joint mechanism portion 18 provided at the tip of the second operation shaft 19c. The detachable connection between the free joint mechanism portion 18 and the holder portion 24 can be easily performed by using a mounting nut 25 as shown in the drawing.

That is, the free joint mechanism portion 18 is provided at its tip with a protrusion 18a having a tip flange portion. On the other hand, a screw portion 28 is provided on the outer peripheral surface of the second mounting portion 24b of the holder portion 24. Therefore, if the mounting nut 25 is screwed into the screw portion 28 of the holder portion 24 while the mounting nut 25 is locked to the tip flange portion of the protruding portion 18a of the free joint mechanism portion 18, the holder portion 24
Can be attached to the arm portion 19, and the holder portion 24 can be easily removed from the arm portion 19 by unthreading the attachment nut 25 and the screw portion 28.

The projecting portion 18a is formed of an insulating member, and the inside of the holder portion 24 has a watertight structure. FIG. 7 shows a drive mechanism incorporated in the treatment instrument 20 and a rotation mechanism incorporated in the holder portion 24. In the illustrated state, the treatment tool 20 is attached to the holder portion 24 via the connection nut 21 as described above.

The rotation mechanism built in the holder portion 24 includes a motor 45, a speed reducer 46 connected to one end of a drive shaft of the motor 45, an encoder 50 connected to the other end of the drive shaft of the motor 45, and The first pulley 47 provided on the output shaft of the speed reducer 46 is arranged substantially in a straight line, and further, the second pulley 48 having a hollow shape is arranged on the first mounting portion 24 a of the holder portion 24. The belt 49 is engaged with the first pulley 47.

Therefore, the rotational force of the motor 45 is transmitted to the second pulley 48 via the belt 49, and the pulley 4
The treatment tool 20 fitted in the hollow hole of 8 is rotated integrally with the pulley 48.

As described above, the insertion portion 20 of the treatment instrument 20
Although b has a grasping forceps 17 at its tip, its configuration is
A long pipe 38 forming an insertion portion main body, and the pipe 38
Bending operation section 37 connected to the tip of the
And the grasping forceps 17 connected to the tip of the. The bending operation part 37 is formed by rotatably connecting a plurality of pieces. The bending operation part 37 includes two wires 3
9, 40 are connected. These two wires 39,
The reference numeral 40 is connected to a first linear motion actuator 41 incorporated in the grip portion 20a while being engaged with a pulley 61 provided in the grip portion 20a. Therefore, when the first linear motion actuator 41 is driven back and forth in the linear direction, the wires 39 and 40 are pushed and pulled to rotate the pieces of the bending operation unit 37, and the bending operation unit 37 is bent up and down. .
A free lock mechanism 53, which will be described later, is provided on the front end side of the linear motion actuator 21.

On the other hand, the rod 42 connected to the link mechanism for opening and closing the grasping forceps 17 is connected to the operation rod 44 via the flexible rod 43. The operation rod 44 is connected to the second linear motion actuator 51 incorporated in the grip portion 20a. Therefore, when the second linear motion actuator 51 is driven back and forth in the linear direction, the operation rod 44, the flexible rod 43, and the rod 42 are pushed and pulled, respectively, and the link mechanism operates. Thereby, the opening / closing operation of the grasping forceps 17 can be performed.

The flexible rod 43 is composed of an inner cable made of stainless steel stranded wire which is directly connected to the operating rod 44 and transmits a pushing and pulling force, and a stainless steel spring as an exterior member for restraining and protecting the inner cable. And a blade covered with this spring, and an outer casing made of ETFE for covering the blade.

By the way, the first linear motion actuator 41 for pushing and pulling the wires 39 and 40 is the motor 5
4, an encoder 55 attached to the motor shaft of the motor 54, a feed screw 57 connected to the motor 54 via a coupling 56, and a slide screwed to the feed screw 57 and connected to the wires 39 and 40. And a mechanism 50. This detailed structure is shown in FIG.

As shown in FIG. 8, the slide mechanism 50 is
A nut 58 screwed and attached to the feed screw 57,
It comprises a nut housing 59 that supports the nut 58, and a slide shaft 64 that allows the nut housing 59 to slide along the feed screw 57. In this case, a linear bush 63 is provided in parallel with the feed screw 57 in order to prevent the nut housing 59 from rotating and support the nut housing 59. The slide mechanism 50 having such a configuration is arranged in a housing 60 that supports and fixes the feed screw 57, and a pulley 61 is rotatably fixed to the housing 60. Also, the bending operation unit 3
The end of one wire 39 connected to 7 is fixed to the nut housing 59 by the wire fixing tool 62, and the end of the other wire 40 is fixed to the nut housing 59 by the wire fixing tool 62 via the pulley 61. There is.

On the other hand, the second linear actuator 51 is
It has the same structure as the first linear motion actuator 41 except that it does not have a wire fixture 62 for fixing the wires 39 and 40 and a pulley 61, and the operation rod 44 is fixed to the nut housing 59. I have it.

FIG. 9 shows the first linear motion actuator 41.
The details of the free lock mechanism 53 provided on the tip side of the are shown. As shown, the free lock mechanism 53
Is formed on the tip of the housing 60. The compression spring 66 is wound around the outer periphery of the tip of the housing 60, the spring retainer 67 presses against the compression spring 66 while holding the compression spring 66, and the spring retainer 67 is connected to the spring retainer 67. Slide rod 6 which can be projected to the outside of the housing 60 through the insertion hole 60a.
9, a contact plate 65 fixed to the protruding end of the slide rod 69 and abutting against the first mounting portion 24a of the holder 24 by the urging force of the compression spring 66, and a regulation hole 68a for regulating the moving direction of the housing 60. And a restricting member 68 having.

In this structure, the contact plate 65 and the spring retainer 67, which are connected to each other via the slide rod 69, can be integrally moved to move back and forth in the axial direction of the treatment instrument 20. Further, the housing 60 can also move forward and backward in the axial direction of the treatment instrument 20 due to the interposition of the regulation member 68.

FIG. 10 shows a bending mechanism built in the 3D scope 23 and a rotating mechanism built in the holder portion 24. In the illustrated state, the 3D scope 23 is attached to the holder 24 via the connection nut 21 as described above.

Since the holder portion 24 and its rotating mechanism are the same as those described in detail with reference to FIG. 7, the same reference numerals are given and the description thereof will be omitted. In addition, the bending mechanism built in the grip portion 23 a of the 3D scope 23 includes the operation rod 44.
The drive mechanism is exactly the same as the drive mechanism of the treatment tool 20 described above except that there is no second linear motion actuator 51 for operating the above. However, its configuration will be briefly described below.

As described above, the insertion portion 23b of the 3D scope 23 has the image pickup portion 22 at its tip, but the construction is such that the elongated pipe 38 forming the insertion portion main body and the tip of the pipe 38 are connected. The bending operation unit 37 and the imaging unit 22 connected to the tip of the bending operation unit 37. The image pickup unit 22 has two CCDs including a CCD sensor and an optical system.
Cameras 81, 81 are provided. A cable 79 for transmitting signals from the CCD cameras 81, 81 is inserted through the inside of the bending operation section 37 and the pipe 38 and electrically connected to the CCU 7 shown in FIG.

The bending operation unit 37 is formed by rotatably connecting a plurality of pieces, and two wires 39 and 40 are connected to the bending operation unit 37. These two wires 39 and 40 are connected to a pulley 61 provided on the grip 23a.
It is connected to the linear motion actuator 41 built in the gripping portion 23a in a state of being engaged with. This linear motion actuator 41 is the first linear motion actuator 41 of the treatment instrument 20.
It has the same structure as. Therefore, when the first linear motion actuator 41 is driven back and forth in the linear direction, the wires 39 and 40 are pushed and pulled to rotate the pieces of the bending operation unit 37, and the bending operation unit 37 is bent up and down. . A free lock mechanism 53 having the same structure as described above is provided on the tip end side of the linear motion actuator 21. In other words, the configuration is substantially the same as that of the treatment tool 20 described above in which the grasping forceps 17 is replaced with the imaging unit 22. As an illustration thereof, the image pickup unit 22 is shown in FIG.

Next, the operation of the surgical operation apparatus including the medical manipulator devices 3 and 4 having the above-mentioned configuration will be described. Before the operation, the treatment manipulator 3 is in a state in which the treatment tool 20 and the holder portion 24 are separated from the arm portion 19, and the treatment tool 20 and the holder portion 24 are in a pre-sterilized state.

At the time of surgery, first, as shown in FIG. 2, the arm portion 19 is attached to the operating table 12 via the fixing means 15. Next, the holder portion 24 is attached to the free joint mechanism portion 18 of the arm portion 19. In this case, as shown in FIG.
While the mounting nut 25 is locked to the tip flange portion of the protruding portion 18 a of the free joint mechanism portion 18, the mounting nut 25
Is screwed into the screw portion 28 of the holder portion 24. Finally, as shown in FIG. 5, the connection nut 21 is screwed into the threaded portion 35 of the insertion portion 20b in a state where the insertion portion 20b of the treatment instrument 20 is inserted into the insertion hole 29 of the holder portion 24. The treatment tool 20 is attached to the holder 24.

Similarly, the observation manipulator 4 is also
Before the operation, the sterilized 3D scope 23 and the holder section 24 are separated from the arm section 19, and the arm section 19, the holder section 24, and the 3D scope 23 are sequentially attached to the operating table 12 during surgery.

The operator views the in-vivo image of the patient obtained by the observation manipulator 4 on the monitor 11 or the HMD 1.
The manipulator 1 for operation is operated while observing with 0. Thus, the treatment manipulator 3 performs the same operation as the operation master manipulator 1 while treating the affected area. That is, the manipulator 1 for operation
Reads the information on the position and orientation of the operator's 16 hand and sends this information to the motor control unit 2. Then, the motor control unit 2 operates the treatment manipulator 3 based on the information on the position and the posture. That is, the motor control unit 2 uses the information from the manipulator 1 for operation to set the arm 1
The operation shafts 19b and 19c of 9 and the rotation mechanism of the holder 24, and the bending mechanism of the treatment tool 20 are controlled to control the grasping forceps 17 to the position / posture input by the manipulator 1 for operation.

During the operation, depending on the field of view and operation of the operator 16, the observation manipulator 4 and the treatment manipulator 3 may interfere with each other, or a sufficient operating range may not be obtained at the position of each arm 19. is there. In such a case, the attachment / detachment structure of the present embodiment, that is, the detachable structure of the treatment instrument 20 or the 3D scope with respect to the holder portion 24 is useful. That is, in such a case, by removing the treatment tool 20 and the 3D scope 23 from the respective holder portions 24 and exchanging the attachment positions thereof, by exchanging the respective arm portions 19, the interference and the movement range can be reduced. Can solve the problem. Such a detaching operation is performed by the manipulator 3 for treatment.
And the respective arm 19 parts of the observation manipulator 4 have the same main body structure and detachable structure, and can be exchanged with each other.

After the operation, the holder 24, the treatment tool 20 and the 3D scope 23 are removed from the arm 19,
Sterilization is performed on the holder portion 24, the treatment tool 20, and the 3D scope 23. Although it is possible to sterilize the arm portion 19, it is preferable that the arm portion 19 is covered with a sterilizing cloth and only the sterilizing cloth is discarded.

Next, in order to facilitate understanding, the operation of the treatment manipulator 3 and the observation manipulator 4 will be described separately. First, the manipulator 3 for treatment
The operation of will be described. As described above, the treatment tool 20 is removed from the holder portion 24 and sterilized before use. The treatment tool 20 is kept watertight by an O-ring in order to enable sterilization with a chemical solution. After the treatment manipulator 3 is installed near the operation portion, the insertion portion 20b of the treatment instrument 20 is attached to the holder portion 24.
The trocar 30 is inserted into the trocar 30 while being inserted into the insertion hole 29. After that, the treatment tool 20 is fixed to the holder portion 24 by the connection nut 21.

As shown in FIG. 7, the holder portion 24 is transmitted to the pulley 48 via the pulley 47 and the belt 49 while the rotation of the motor 45 is reduced by the reduction gear 46. As a result, the entire treatment instrument 20 attached to the connection nut 21 rotates as the pulley 48 rotates.

The treatment tool 20 is a grasping forceps 1 for grasping an object.
The opening / closing drive of No. 7 and the bending drive of the bending operation unit 37 are performed by the linear actuators 41 and 51. The free lock mechanism 53 operates by tightening the connection nut 21 and attaching the treatment tool 20 to the holder portion 24. In this state, the driving force of the linear motion actuator 41 causes the bending motion portion 37 to move.
It is in a locked state that is directly transmitted to. Further, when the connection nut 21 is loosened, the bending operation portion 37 is in a free state in which it is freely bent by an external force.

Next, the operation of the free lock mechanism 53 will be described. Insert the insertion portion 20b of the treatment instrument 20 into the holder portion 24
When the connection nut 21 is screwed into the threaded portion 35 of the insertion portion 20b in a state of being inserted into the insertion hole 29 of FIG.
5, the contact plate 65, the slide rod 69, and the spring retainer 67 move toward the hand side (right side in the figure) as the connection nut 21 is tightened. Since the compression spring 66 is compressed as the spring retainer 67 moves to the right, the compression force causes the housing 60 of the linear actuator 41 to slide on the restriction member 68 and move to the right. However, the housing 60 includes the pulley 61 and the nut housing 5.
Since it is restrained by the wires 39 and 40 via 9, the compression force of the compression spring 66 acts as a force to increase the tension of the wires 39 and 40. In this state, the wires 39, 4
Since 0 is stretched by the urging force of the compression spring 66,
All of the driving force of the linear actuator 41 is the wire 39,
It is possible to surely transmit the bending motion part 37 to the bending part 40 and bend the bending motion part 37 against the external force. This state is the locked state, and the linear motion actuator 41 causes the bending motion unit 37 to move.
Can be locked in a desired curved state.

As shown in FIG. 9B, the holder portion 24
In the state where the connection nut 21 that connects the treatment instrument 20 and the treatment tool 20 is loosened, the tension of the wires 39 and 40 is weak because the compression force of the compression spring 66 is low. Therefore, the bending operation unit 37 can be easily bent by an external force. Further, in this state, the driving force of the linear motion actuator 41 is also absorbed by the compression spring 66, so that a strong operating force is not applied to the bending operation section 37. This state is the free state.

According to this structure, the connection nut 21
The compression force of the compression spring 66 is changed according to the tightening amount of
The tension of the wires 39, 40 can be changed. That is, the tension of the wires 39, 40 can be adjusted by the connection nut 21.

In the above-mentioned locked state, the linear motion actuator 41 drives the bending operation section 37 as follows. As described above, bending by the bending operation unit 37 is performed by differentially pushing and pulling the wires 39 and 40. The differential drive of the wires 39, 40 is realized by the linear actuator 41 shown in FIG. The feed screw 57 is rotated by the rotation of the motor 54,
The rotation of the nut housing 59 moves the nut housing 59 together with the nut 58. When the nut 58 moves to the right side in the figure,
The wire 39 also moves to the right. On the other hand, wire 4
Since 0 passes through the pulley 61, it moves to the left.
As a result, the bending operation section 37 bends upward as shown. If the operation opposite to this is performed, the bending operation portion 37 can be bent downward.

When the linear motion actuator 51 is driven by the same operation as the linear motion actuator 41 and the nut housing 59 is driven left and right, the operating rod 44 advances and retracts, and the grasping forceps 17 is opened and closed.

Next, the operation of the observation manipulator 4 will be described. In addition, here, a case where the monitor 11 is not used and the HMD 10 is used will be described. First, the surgeon attaches the HMD 10 to his / her head. CC
The two left and right images obtained by the D camera 81 are transmitted to the display 10a of the HMD 10 by the cable 79. As a result, the operator can obtain a stereoscopic image from the two images. When the operator moves his / her head in a desired direction, the movement of the head is detected by the 3D digitizer 10b (observation manipulator operating means 5) (see FIG. 1). The motor control unit 6 is based on this detection signal,
The manipulator 4 for observation is operated. That is, the motor control unit 2 uses the information from the 3D digitizer 10b to move the operation axes 19b, 19 of the arm unit 19.
c and holder 24 rotation mechanism, and 3D scope 2
The operation of the bending mechanism 3 is controlled to control the image pickup unit 22 provided at the tip of the 3D scope 23 to be in a position corresponding to the position / posture of the head obtained by the 3D digitizer 10b. In this way, the operator can observe as if he were inside the body cavity.

Since this observation manipulator 4 shares the holder portion 24 and the arm portion 19 with those of the treatment manipulator 3, the rotation mechanism of the holder portion 24, the bending operation portion 37 of the 3D scope 23, and the free lock mechanism. 53
Each of the above operates by the same operation as described above.

That is, the holder portion 24 has the pulley 47 in a state where the rotation of the motor 45 is reduced by the reduction gear 46.
Is transmitted to the pulley 48 via the belt 49. As a result, the entire 3D scope 23 attached to the connection nut 21 rotates as the pulley 48 rotates.

Further, with the insertion portion 23b of the 3D scope 23 inserted into the insertion hole 29 of the holder portion 24, the connection nut 21 is screwed into the threaded portion 35 of the insertion portion 23b, as shown in FIG. In this state, the pulley 48 of the holder portion 24 comes into contact with the contact plate 65, and as the connection nut 21 is tightened, the contact plate 65, the slide rod 69 and the spring retainer 67 move to the hand side (right side in the figure). The subsequent operation is as described above, and in the locked state, all the driving force of the linear motion actuator 41 is reliably transmitted to the wires 39, 40, and the bending operation section 37 is bent against the external force to achieve a desired bending. It can be locked in a state.

Further, as shown in FIG. 9B, a connecting nut 21 for connecting the holder portion 24 and the 3D scope 23.
In the state in which is loosened, the compression force of the compression spring 66 is low, and thus the tension of the wires 39 and 40 is weak. Therefore, the bending operation unit 37 can be easily bent by an external force.

As described above, in the medical manipulator devices 3 and 4 of this embodiment, the holder portion 24 is the arm portion 1.
Since the structure is separable from the free joint mechanism 18 of 9, the holder 24 can be separated from the arm 19 and sterilized. Further, since the treatment tool 20 and the 3D scope 23 are detachably attached to the holder portion 24, only the treatment tool 20 and the 3D scope 23 are removed from the arm portion 19 side, and the treatment tool 20 and the 3D scope 23 are removed. It becomes easy to sterilize the part in contact with the living body. In this way, the holder 24, the treatment tool 20 and the 3D scope 2 that become a large structure when integrated with the arm 19 are provided.
By being able to remove 3 and 3 from the arm portion 19, these respective members can be stored or sterilized in a separated and small state, and thus the handling becomes easy. Further, even when the 3D scope 23 becomes cloudy or dirty and becomes difficult to see, the 3D scope 23 can be quickly removed, washed, and observed again, so that work efficiency during surgery is improved.

Further, the protruding portion 18a of the free joint mechanism portion 18 in the arm portion 19 is formed of an insulating member, and the insulating member electrically insulates the free joint mechanism portion 18 from the holder portion 24. The electric current generated by the electric knife does not flow toward the arm portion 19.

At the tip of the treatment tool 20, grasping forceps,
Although various types of treatment instruments such as peeling forceps, needle holders, scissors forceps, and electric scalpels can be provided, by exchanging the treatment instrument 20 together, the treatment instrument can be quickly replaced even during the operation. .

Furthermore, when the operating ranges of the treatment manipulator 3 and the observation manipulator 4 interfere with each other as the surgery progresses, the treatment manipulator 3 and the observation manipulator 4 have the same arm 19 structure. By replacing the treatment tool 20 and the 3D scope 23, interference can be avoided. As a result, the degree of freedom in observation and treatment is increased, and the operability is improved.

Further, in the medical manipulator devices 3 and 4 of the present embodiment, the attachment / detachment of the holder portion 24, the treatment instrument 20 and the 3D scope 23 is linked with the above-mentioned free lock mechanism 53. Therefore, when the treatment tool 20 or the 3D scope 23 is attached to the holder portion 24, the treatment tool 20 or the 3D scope 2 is automatically locked and the bending driving force is sufficiently transmitted to the bending operation portion 37.
When removing 3 from the body, the connection nut 21 must be removed. In that case, the locked state of the free lock mechanism 53 is released regardless of the intention of the operator, and becomes the free state. The bending operation portion 37 of the treatment tool 20 or the 3D scope 23 is easily deformed by an external force, and the treatment tool 2
The 0 or 3D scope 23 can be removed from the body without being caught by the trocar 30 or the like in a straight state by simply extracting it.

That is, even if the operator neglects to perform the free / locking operation, the bending operation is automatically released, so that the insertion portions 20b and 23b are not damaged by the trocar 30 at the time of removal. That is, the bending operation unit 37
It is possible to avoid a situation in which the insertion portions 20b and 23b are removed while the curved portion remains curved.

As described above, after the treatment tool 20 or the 3D scope 23 is mounted on the holder portion 24, the treatment tool 20 or the 3D scope 23 is removed from the body after setting the lock state again or after setting the free state. Since it is not necessary to perform various operations, it is possible to easily perform operations while ensuring safety and good operability.

Further, the free lock mechanism 53 changes the drive mechanism for driving the bending operation unit 37 from the bending operation unit 37 to the bending operation unit 37.
In addition to disconnecting and recovering the transmission to, the transmission rate can be changed by the tightening amount of the connection nut 21, so that in some emergency (bending angle information is lost due to an emergency stop, etc.). By changing the transmissibility to greatly reduce the driving force, the bending state of the bending operation section 37 can be easily changed by a weak external force.

FIG. 11 shows a second embodiment of the present invention. In this figure, a bending mechanism and a free lock mechanism which are common to the treatment instrument 20 and the CD scope 23 are shown. First mounting portion 2 of holder portion 24
The state in which the treatment tool 20 or the CD scope 23 is attached to 4a is illustrated. In this case, CD Scope 2
In FIG. 3, for simplicity, only the imaging unit 22 at the tip is shown.

In the above-mentioned first embodiment, the two wires 39 and 40 are attached to the bending operation section 37, and the linear motion actuator 41 drives the bending operation section 37 to bend vertically. It was On the other hand, in the present embodiment, the bending operation unit 37 has four wires 39, 40,
73 and 74 are attached, and the bending operation portion 37 can be driven to bend in four directions of up, down, left and right. In this case, the wires 39 and 40 drive the bending motion unit 37 to bend in the up-down direction, and the wires 73 and 74 drive the bending motion unit 37 to bend in the left-right direction.

This bending mechanism is provided with two first linear motion actuators 41 having the same structure as in the first embodiment. Then, the wires 39, 40 are pushed and pulled by the linear actuator 41 on one side, and the wires 73, 74 are
Is pushed and pulled by the other linear motion actuator 41. Each of the housings 60 of the two linear motion actuators 41 has a common spring retainer 6 via compression springs 66, 66.
Connected to 7. The spring retainer 67 is connected to the contact plate 65 via the slide rod 69. The rest of the configuration is the same as in the first embodiment.

That is, also in the case of the structure of this embodiment, as in the first embodiment, the contact plate 65, the spring retainer 67, the compression spring 66 and the like are provided, and the holder portion 24 and the connection nut 21 are used to make free contact. The lock mechanism can be realized.

As described above, in the present embodiment, the bending operation section 37 can perform a two-degree-of-freedom bending operation, and further, the holder section 24 can perform a rotating operation. Therefore, if the control of the bending angle of the bending operation unit 37 and the rotation operation of the holder unit 24 are synchronized, the grasping forceps 17 or the imaging unit 22 can be rotated without changing its three-dimensional position / posture. .

Further, in the present embodiment, since the free-locking of the bending operation portion 37 having two degrees of freedom in up, down, left and right can be realized by using one mechanism 53, the structure is simplified and the number of parts is reduced. Can be planned. It is also possible to set the tension of the two wire sets 39, 40 and 73, 74 at the same time.

FIG. 12 shows a third embodiment of the present invention. This drawing shows a free lock mechanism which is a common mechanism in the treatment instrument 20 and the CD scope 23. Also in the case of the present embodiment, similarly to the first embodiment, the connecting nut 21 is tightened to the thread portion 35 of the treatment tool 20 or the 3D scope 23, and the treatment tool 20 or 3 is attached to the holder portion 24.
By mounting the D scope 23, the free lock mechanism 53 operates.

In order to apply a tension to the wire 39 connected to the bending operation section 37, the tensioner 87 having the two pulleys 86, 86 rotates about the support pin 88. 12
(A), the tensioner 87 is provided with a contact lever 90 that contacts the holder portion 24, and a leaf spring 89 that connects the contact lever 90 and the tensioner 87. The wire 39 has two pulleys 8 of the tensioner 87.
In the state of being engaged with 6,86, its end is fixed to one end of the chain 91 engaged with the sprocket 92. A wire 40 connected to the bending operation portion 37 is fixed to the other end of the chain 91 as shown in FIG.

The sprocket 92 is connected to the motor 54 via the helical gear 93 and the speed reducer 56. Therefore, when the motor 54 is driven, its driving force is
It is transmitted to the chain 91 via the reduction gear 56 and the helical gear 93 and the sprocket 92, and the wires 39 and 40 are pushed and pulled through the chain 91. The rest of the configuration is similar to that of the first embodiment.

FIG. 12A shows a locked state in which the connection nut 21 is completely tightened. Contact lever 9
When 0 is pressed against the mounting portion 24a of the holder portion 24, the contact lever 90 receives a pressing force from the mounting portion 24a. This pressing force is applied to the tensioner 87 via the leaf spring 88.
Act on. This causes the tensioner 87 to rotate clockwise around the support pin 88. Therefore, the pulley 8
A tension is applied to the wire 39 hooked on the wire 6, and the driving force of the motor 54 is in a locked state in which the bending force is sufficiently transmitted to the bending operation portion 37.

On the other hand, FIG. 12C shows the free state. As shown in the drawing, since the rotating force by the contact lever 90 is not applied to the tensioner 85, the wire 39 is loosened, and the bending operation portion 37 is easily bent by an external force.

As described above, the free
The lock mechanism is generated from the drive mechanism because the movable parts inside the grips 20a and 23a of the treatment tool 20 and the 3D scope 23 are only the tensioner 87, and all the drive mechanisms such as the motor 54 can be fixed. Vibration can be reduced.

FIG. 13 shows a fourth embodiment of the present invention. This drawing shows a free lock mechanism which is a common mechanism in the treatment instrument and the CD scope. Hereinafter, a treatment tool will be described as an example.

The free joint mechanism portion 18 of the arm portion 19 (see FIG.
Alternatively, the treatment tool 150 is detachably attached to a fixing portion 96 provided at the tip of (see FIG. 4). Treatment tool 15
The scissors forceps 99 is attached to the tip of the insertion part 150b
It is rotatably connected via 00. The tip of a rod 101 extending into the grip 150 a of the treatment instrument 150 is connected to the scissors forceps 99 via a pin 102.

In the grip portion 150a, the rod 101
The base end portion of is fixed to a nut housing 104 to which a ball screw nut 103 is attached. Further, the ball screw 105 is connected to the motor 107 via the electric clutch 106.
Is connected to the output shaft of the speed reducer 108 connected to.

A switch 109, which is electrically connected when the treatment tool 150 and the fixing portion 96 are connected, is provided at the attachment / detachment portion of the treatment tool 150 and the fixing portion 96. Switch 1
09 and the electric clutch 106 are connected in series to the power source.

In this structure, the treatment tool 150 and the fixing portion 96 are provided.
When and are connected, the switch 109 is electrically conducted, and the electric clutch 106 is connected. As a result, the rotational force of the motor 107 is reduced by the reduction gear 108 and the electric clutch 10.
6 is transmitted to the ball screw 105, and the ball screw 1
The rotation of 05 causes the nut housing 104 to which the ball screw nut 103 is attached to be left (or right) in the drawing.
Move to. As a result, the rod 101 also moves to the left (right), and the scissors forceps 99 pivots downward (upward). This is the locked state.

When the treatment tool 150 and the fixing portion 96 are separated, the electrical continuity of the switch 109 is cut off.
The electric clutch 106 is disengaged. As a result, the ball screw 105 can freely rotate. Therefore, when an external force is applied to the scissors forceps 99, the rod 101 and the nut housing 104 move, and the scissors forceps 99 can easily rotate.
This is the free state.

As described above, in the present embodiment, the free lock mechanism is realized by the electric clutch 106. Therefore, if the free lock mechanism can be controlled by the external control device, the fixed portion 96 is treated. Even when the tool 20 is not attached / detached, the free / lock state can be switched by turning ON / OFF the conduction of the power source.

The same applies when the CD scope is used. In this case, as additionally shown in the figure, the imaging unit 22 is rotatably connected to the tip of the insertion unit 150b.
In addition, according to the aspect described above, various configurations shown in the following sections can be obtained.

1. In a medical manipulator device driven by remote control for observing or treating a tissue part in a living body, a manipulator main body that can be driven with a plurality of degrees of freedom and a manipulator main body that is provided in the manipulator main body and can be inserted into a living body A medical manipulator device comprising an observation or treatment insert, and at least the insert is detachable from the manipulator body.

2. The medical manipulator device according to the first aspect, wherein the insert is a treatment tool for performing various treatments. 3. The medical manipulator device according to the first aspect, wherein the insert is an endoscope.

4. A surgical device comprising a plurality of medical manipulator devices according to item 1. 5. Item 5. The surgical device according to Item 4, comprising at least one medical manipulator device according to Item 2 and at least one medical manipulator device according to Item 3.

6. In the medical manipulator device according to the second paragraph and the medical manipulator device according to the third paragraph, the detachable structure of the insert body and the manipulator main body are the same, and the operation according to the fifth paragraph. apparatus.

7. The medical manipulator device according to the second aspect and the medical manipulator device according to the third aspect are capable of exchanging the insert bodies of each other.
The surgical device according to the paragraph.

8. 4. The insert body is detachably attached to the manipulator main body via a holder part having a rotation mechanism for rotating the insert body, in any one of the first to third aspects. The medical manipulator device or the surgical device according to any one of claims 4 to 7.

9. 9. The medical manipulator device or the surgical device according to claim 8, wherein the insert body and the holder portion are detachable. 10. 9. The medical manipulator device or surgical device according to item 8, wherein the holder portion is detachable from the manipulator body.

11. The manipulator body has at least one arm, and the manipulator main body is provided with at least one of an extension mechanism that extends and contracts in one direction and a rotation mechanism that rotates about an axis. Item 11. The medical manipulator device according to any one of items 10.

12. The medical manipulator device or the surgical device according to any one of items 1 to 11, wherein the insertion body and the manipulator main body are attached and detached by screwing screws together.

13. The medical manipulator device or the surgical device according to any one of items 1 to 11, wherein the insertion body and the manipulator body are attached and detached by a cam and a cam groove.

14. The medical manipulator device or the surgical device according to any one of items 1 to 11, wherein the insertion member and the manipulator body are attached and detached by a magnet.

15. At least one of the attachment / detachment portion of the insert body and the attachment / detachment portion of the manipulator body has a structure capable of repeating sterilization treatment. The medical manipulator device or surgical device according to item 1.

16. 16. The medical manipulator according to any one of items 1 to 15, wherein at least one of the attachment / detachment portion of the insert body and the attachment / detachment portion of the manipulator body has a watertight structure. Device or surgical device.

17. 10. The medical manipulator device or the surgical device according to claim 9, wherein the insertion body and the holder portion are attached and detached by screwing screws together.

18. 10. The medical manipulator device or the surgical device according to claim 9, wherein the insertion body and the holder portion are attached and detached by a cam and a cam groove.

19. The medical manipulator device or the surgical device according to claim 9, wherein the insertion member and the holder portion are attached and detached by a magnet. 20. Item 9 to Item 10 or Item 17, characterized in that at least one of the attachment / detachment portion of the insert body and the attachment / detachment portion of the holder portion has a structure capable of repeating sterilization treatment. Item 20. The medical manipulator device or surgical device according to any one of items 1 to 19.

21. At least one of the attachment / detachment portion of the insert body and the attachment / detachment portion of the holder portion has a watertight structure, and any one of items 9 to 10 or 17 to 20. The medical manipulator device or surgical device according to item 1.

22. 11. The medical manipulator device or the surgical device according to claim 10, wherein the holder part and the manipulator main body are attached and detached by screwing the screws together.

23. 11. The medical manipulator device or surgical device according to claim 10, wherein the holder part and the manipulator main body are attached and detached by a cam and a cam groove.

24. The medical manipulator device or the surgical device according to claim 10, wherein the holder part and the manipulator main body are attached and detached by a magnet.

25. Item 10 or Item 22 to Item 24, wherein at least one of the attachment / detachment portion of the holder portion and the attachment / detachment portion of the manipulator main body has a structure capable of repeating sterilization treatment. The medical manipulator device or the surgical device according to any one of items.

26. Item 26. At least one of the attachment / detachment portion of the holder portion and the attachment / detachment portion of the manipulator body has a watertight structure. Medical manipulator device or surgical device.

27. 10. The medical manipulator device or the surgical device according to claim 9, characterized in that a means for attaching and detaching the insert body and the holder part is provided on a rotating shaft that constitutes a rotating mechanism of the holder part.

28. Item 28. The insertion unit includes a treatment instrument, a bending operation unit, and a bending drive mechanism capable of bending-driving the bending operation unit, according to any one of items 1 to 27. Medical manipulator device or surgical device.

29. In a treatment tool operating device having a bending operation section driven by power and capable of operating an attached treatment tool, transmission force varying means for changing the transmission amount of a driving force for driving the bending operation section is provided. A treatment instrument operating device characterized by the above.

30. Item 32. The treatment tool operating device according to Item 29, wherein the bending operation section makes a bending operation. 31. Item 30. The treatment tool operating device according to Item 29, wherein the bending operation section is bent by a large number of joints.

32. Item 29 to Item 3, wherein the power for driving the bending operation unit is an electromagnetic motor.
Item 1. The treatment instrument operation device according to any one of items 1. 33. 32. The treatment tool operating device according to any one of items 29 to 31, wherein power for driving the bending operation unit is hydraulic pressure.

34. 34. The treatment instrument operating device according to any one of items 29 to 33, wherein the transmission force varying means can change the transmission amount in two ways. 35. Item 35. The treatment instrument operating device according to Item 34, wherein the transmission force varying means can interrupt the transmission of the driving force.

36. 36. The transmission force varying means has a wire connected to the bending operation section and a tension varying means for changing the tension of the wire, in any one of paragraphs 29 to 35. 5. The treatment instrument operating device according to.

37. The tension varying means includes a wire driving means for pushing and pulling the wire, an elastic body supporting the wire driving means, and a biasing force varying means for changing a biasing force of the elastic body. Characteristic third
The treatment instrument operating device according to item 6. 38. 38. The treatment tool operating device according to item 37, wherein the elastic body is a compression spring.

39. The tension varying means includes a pulley with which the wire can be engaged, and a pressing means for applying a tension to the wire by increasing the contact pressure between the wire and the pulley by pressing the pulley against the wire. Item 36. The treatment tool operating device according to Item 36.

40. Item 40. The treatment instrument operating device according to Item 39, wherein the pressing means is an elastic body whose urging force is changed. 41. 40. The elastic body is a spring
Item 5. The treatment instrument operating device according to the item.

42. The transmission force varying means includes a clutch for transmitting power and a control means for controlling connection of the clutch.
Item 5. The treatment instrument operation device according to any one of items 5.

43. A twenty-ninth aspect, wherein the transmission force varying means is interlocked with attachment / detachment with a part of the treatment instrument operating device.
Item 43. The treatment instrument operating device according to any one of items 42. 44. Item 44. The treatment instrument operation device according to Item 43, wherein the transmission force varying unit is interlocked with attachment / detachment of the treatment instrument and a holding unit that holds the treatment instrument.

45. 45. The treatment tool operating device according to item 44, wherein the holding means has a rotating means for rotating the treatment tool. 46. 46. The treatment tool operating device according to item 45, wherein the transmission force varying means is interlocked with attachment / detachment of the treatment tool and the rotating means.

47. An in-body-cavity observing apparatus having a bending operation section driven by power and capable of operating an attached observation body, comprising transmission force varying means for changing an amount of transmission of a driving force for driving the bending operation section. An intracorporeal observation device characterized in that the force varying means is linked with attachment / detachment with a part of the intracorporeal observation device.

48. Item 48. The body cavity observation apparatus according to Item 47, wherein the bending operation section makes a bending operation. 49. Item 48. The in-body-cavity observation apparatus according to Item 47, wherein the bending operation section is bent by a large number of joints.

50. Item 47. The fourth item, wherein the power for driving the bending operation unit is an electromagnetic motor.
Item 10. The body cavity observation device according to any one of items 9. 51. Item 50. The body cavity observation apparatus according to any one of Items 47 to 49, wherein power for driving the bending operation unit is hydraulic pressure.

52. Item 52. The in-body-cavity observation device according to any one of Items 47 to 51, wherein the transmission force varying unit can change the transmission amount in two ways. 53. Item 53. The in-body-cavity observation apparatus according to Item 52, wherein the transmission force varying means can block transmission of driving force.

54. 54. The transmission force varying means has a wire connected to the bending operation section, and a tension varying means for changing the tension of the wire, in any one of paragraphs 47 to 53. The intracorporeal observation device according to [1].

55. The tension varying means includes a wire driving means for pushing and pulling the wire, an elastic body supporting the wire driving means, and a biasing force varying means for changing a biasing force of the elastic body. Characteristic fifth
The intracorporeal observation device according to item 4. 56. Item 55. The body cavity observation apparatus according to Item 55, wherein the elastic body is a compression spring.

57. The tension varying means includes a pulley with which the wire can be engaged, and a pressing means for applying a tension to the wire by increasing the contact pressure between the wire and the pulley by pressing the pulley against the wire. Item 54. The intracorporeal observation device according to Item 54.

58. Item 58. The intracorporeal observation device according to Item 57, wherein the pressing unit is an elastic body whose urging force is changed. 59. 58. The elastic body is a spring
Intracorporeal observation device according to item.

60. 47. The transmission force varying means has a clutch for transmitting power and control means for controlling connection of the clutch.
The intracorporeal observation device according to any one of 3 above.

61. Item 60. The in-body-cavity observation device according to any one of Items 47 to 60, wherein the transmission force varying unit is interlocked with attachment / detachment of the observation body and a holding unit that holds the observation body.

62. Item 62. The body cavity observation apparatus according to Item 61, wherein the holding unit has a rotating unit that rotates the observation body. 63. Item 62. The in-body-cavity observation apparatus according to Item 61, wherein the transmission force varying unit is linked with attachment / detachment of the observation body and the rotating unit.

[0131]

As described above, according to the medical manipulator device of the present invention, it is possible to clean and sterilize only an insert body such as an endoscope or a treatment instrument to be inserted into a living body, and It is possible to efficiently and easily remove the restriction on the operating range.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a surgical device including two medical manipulator devices according to a first embodiment of the present invention.

FIG. 2 is a schematic view showing a state in which an operation is performed using the operation device of FIG.

FIG. 3 is an overall view of a manipulator device including a treatment tool of the medical manipulator device of FIG. 1.

FIG. 4 is an overall view of a manipulator device including a 3D scope of the medical manipulator device of FIG. 1.

5 is a cross-sectional view showing a detachable structure of a treatment tool or a 3D scope with respect to a holder portion of the medical manipulator device of FIG.

6 is a cross-sectional view showing a structure for attaching and detaching the holder part and the arm part of the medical manipulator device of FIG.

7 is a perspective view showing an internal mechanism of a treatment tool and a holder portion of the medical manipulator device of FIG. 1. FIG.

8 is a side view of the bending mechanism of the treatment instrument of FIG. 7. FIG.

9 is a cross-sectional view showing details of a free lock mechanism of the treatment instrument of FIG.

10 is a perspective view showing an internal mechanism of a 3D scope and a holder unit of the medical manipulator device of FIG. 1. FIG.

FIG. 11 is a perspective view showing a bending mechanism of a medical manipulator device according to a second embodiment of the invention.

FIG. 12 is a perspective view showing a free lock mechanism of a medical manipulator device according to a third embodiment of the invention.

FIG. 13 is a perspective view showing a free lock mechanism of a medical manipulator device according to a fourth embodiment of the invention.

[Explanation of symbols]

3 ... Treatment manipulator (medical manipulator),
4 ... Observation manipulator (medical manipulator),
19 ... Arm part (manipulator main body), 20 ... Treatment tool (insert body), 23 ... 3D scope (insert body), 24 ... Holder part.

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[Procedure amendment]

[Submission date] November 1, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0065

[Correction method] Change

[Correction content]

FIG. 11 shows a second embodiment of the present invention. In this figure, a bending mechanism and a free lock mechanism which are common to the treatment tool 20 and the 3D scope 23 are shown. First mounting portion 2 of holder portion 24
The state where the treatment tool 20 or the 3D scope 23 is attached to 4a is illustrated. In this case, 3D Scope 2
In FIG. 3, for simplicity, only the imaging unit 22 at the tip is shown.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0071

[Correction method] Change

[Correction content]

FIG. 12 shows a third embodiment of the present invention. This drawing shows a free lock mechanism which is a common mechanism in the treatment instrument 20 and the 3D scope 23. Also in the case of the present embodiment, similarly to the first embodiment, the connecting nut 21 is tightened to the thread portion 35 of the treatment tool 20 or the 3D scope 23, and the treatment tool 20 or 3 is attached to the holder portion 24.
By mounting the D scope 23, the free lock mechanism 53 operates.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0077

[Correction method] Change

[Correction content]

FIG. 13 shows a fourth embodiment of the present invention. This figure shows a free lock mechanism which is a common mechanism in the treatment tool and the 3D scope . Hereinafter, a treatment tool will be described as an example.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0084

[Correction method] Change

[Correction content]

The same applies when a 3D scope is used. In this case, as additionally shown in the figure, the imaging unit 22 is rotatably connected to the tip of the insertion unit 150b.
In addition, according to the aspect described above, various configurations shown in the following sections can be obtained.

Claims (1)

[Claims] 1. A medical manipulator device driven by remote control for observing or treating an in-vivo tissue site, and a manipulator main body having a plurality of degrees of freedom and capable of being driven, and a manipulator main body provided on the manipulator main body. A medical manipulator device, comprising an observation or treatment insertable body insertable into the body, wherein at least the insertable body is detachable from the manipulator body.