WO2010126127A1 - Medical manipulator - Google Patents

Abstract

A manipulator (10) used as a medical manipulator comprises: a drive section (30) which has drive shafts (115, 116) driven by motors (100, 102); and a working section (16) which is provided with pulleys (158a, 158b) driven and rotated by the drive shafts (115, 116) and also with a tip operation section (12) operated by the rotation of the pulleys (158a, 158b), the working section (16) being capable of being mounted to and removed from the drive section (30). The drive shafts (115, 116) have engaging protrusions (137, 138) tilted relative to the axis direction. The pulleys (158a, 158b) have engaging recesses (176a, 176b) which are tilted relative to the axis direction and are engageable with the engaging protrusions (137, 138). The engaging protrusions (137, 138) and the engaging recesses (176a, 176b) are engaged with each other with the drive section (30) and the working section (16) mounted to each other and transmits the rotation of the drive shafts (115, 116) to the pulleys (158a, 158b).

Description

Medical manipulator

The present invention relates to a medical manipulator that includes a drive unit and a working unit including a distal end working unit that is operated by the drive unit, and the drive unit and the work unit are configured to be detachable.

In laparoscopic surgery, a small hole is made in the patient's abdomen, etc., and an endoscope, manipulator (or forceps), etc. are inserted, and the surgeon performs the operation while viewing the endoscope image on the monitor. Yes. Since such laparoscopic surgery does not require laparotomy, the burden on the patient is small, and the number of days until postoperative recovery and discharge is greatly reduced, and therefore, the application field is expected to expand.

On the other hand, manipulators used in laparoscopic surgery are desired to be capable of quick and appropriate procedures depending on the position and size of the affected area, and various techniques such as excision of the affected area, suturing and ligation are required. Done. In relation to this, there has been proposed a manipulator that has a high degree of freedom in operation and can be easily operated (see, for example, Japanese Patent Application Laid-Open No. 2008-104854).

A manipulator described in Japanese Patent Application Laid-Open No. 2008-104854 is configured such that a working unit having a tip operating unit and a driving unit having a motor and a handle are detachable. As a result, a manipulator having various tip operation portions corresponding to the procedure can be easily configured by appropriately replacing the working portion provided with various tip operation portions such as scissors and grippers with respect to the drive portion. . In this manipulator, when the drive unit and the working unit are mounted, the cruciform projections and recesses formed at the tips of the drive shaft and the driven shaft are engaged with each other, whereby the rotational driving force of the motor is transmitted to the drive unit. Can be transmitted to the working unit to operate the tip working unit. In addition, this manipulator is provided with a lock member that can fix the rotational position of the motor. When the drive unit and the working unit are attached and detached, the motor is returned to the original position in advance so that the motor is always kept at the predetermined original position. Therefore, the control can be easily started from the origin position at the next mounting.

In the manipulator according to the above-described conventional configuration, it is necessary to always return the motor to the origin position when attaching and detaching, otherwise the drive unit and the working unit cannot be attached and detached. However, for example, when exchanging the working unit during surgery, a configuration in which the driving unit and the working unit can be attached and detached more quickly and more easily regardless of the current phase of the working unit and the driving unit is desired. Yes.

The present invention has been made in connection with such a conventional technique, and a drive unit having a drive shaft and a working unit having a driven shaft and a tip operation unit can be more quickly and easily attached and detached. An object is to provide a medical manipulator.

A medical manipulator according to the present invention includes a drive unit having a drive shaft rotated by an actuator, a driven shaft driven to rotate by the drive shaft, a tip operating unit operated by rotation of the driven shaft, and the tip And a working portion detachably attached to the drive portion, the drive shaft having a drive side joint surface inclined with respect to the axial direction, and the driven shaft being The drive side joint surface is inclined with respect to the axial direction and engageable with the drive side joint surface, and the drive unit and the working unit are mounted on the drive side joint surface and the driven side joint surface. The rotation of the drive shaft can be transmitted to the driven shaft.

According to such a configuration, the drive side joint surface is provided on the drive shaft on the drive unit side, and the driven side joint surface is engageable with the drive side joint surface on the driven shaft on the working unit side that is detachable from the drive unit. And the drive side joint surface and the driven side joint surface are smoothly engaged regardless of the initial phase when the drive shaft and the driven shaft are connected. be able to. Therefore, the drive unit and the working unit can be quickly and easily attached and detached without special consideration of the initial phases of the drive side joint surface and the driven side joint surface.

In this case, when the drive-side joint surface and the driven-side joint surface are engaged, if one of the drive shaft and the driven shaft can be forcibly rotated by the other, the initial phase of each other is shifted Even so, it becomes possible to more smoothly engage the driving side joining surface and the driven side joining surface.

In addition, when the phase detection means for detecting the phase of the driven shaft is provided, it is possible to accurately set the origin of the working unit (driven shaft).

In this case, the phase detection means may include a detected member that operates as the driven shaft rotates and a detection sensor that detects the operation of the detected member.

In addition, the detected member and the detection sensor are provided in the driving unit, and the peripheral surface of the driven shaft is provided with a cam surface whose axial position in the circumferential direction is changed, and the detected member is The front end of the driving unit and the working unit are in contact with the cam surface, and the driving unit and the working unit are configured to be capable of moving forward and backward with a change in the axial position of the cam surface due to rotation of the driven shaft. In this case, the phase of the driven shaft can be easily detected.

The detected member is provided in the working unit and is rotatable with the rotation of the driven shaft, and the detection sensor is provided in the driving unit, and the driving unit and the working unit are mounted. It is good also as a structure arrange | positioned so that the said to-be-detected member can be detected in the state.

The phase detection means rotates the driven shaft by contacting the contact member provided along the radial direction of the driven shaft and the corresponding contact member when the contact member rotates together with the driven shaft. It is good also as a structure which has the control part which prescribes | regulates a range in the normal rotation direction and the reverse rotation direction from the origin in each less than 180 degrees, and the detection part which detects contact | abutting with the said contact member and the said control part.

Furthermore, after the drive unit and the working unit are mounted, an origin search unit that performs an origin search operation for setting the origin by rotating the driven shaft based on the detection of the phase detection unit, Accurate origin detection is possible.

The drive unit may be provided with a drive shaft phase sensor that detects the rotational position of the drive shaft.

In this case, a controller connected to the drive unit is provided, and the working unit has a contact member provided along a radial direction of the driven shaft, and the contact member rotates together with the driven shaft. A regulating portion that regulates the rotation range of the driven shaft in a range of less than 180 degrees in the forward rotation direction and the reverse rotation direction from the origin by contacting with the contact member, and the controller includes the drive side joint surface When the driven-side joint surface is engaged, the drive shaft is moved to the safety region where the driven shaft can be prevented from forcibly rotating beyond the restriction by the restriction portion. Effective execution of an excessive load on the driven shaft or the like by receiving a forcible force that rotates the driven shaft beyond the restricting portion by executing a safety attaching / detaching operation that is rotated in advance based on the detection of the sensor. Can be avoided.

The safety attaching / detaching operation is performed when the working unit is detached from the driving unit, when the controller is connected to the driving unit, and when a master switch provided in the driving unit is turned off. It may be executed at least at any timing.

In addition, the working unit includes a contact member provided along a radial direction of the driven shaft, and a contact member that contacts the corresponding contact member when the contact member rotates together with the driven shaft. And a regulating part that regulates the rotation range from the origin in a forward rotation direction and a reverse rotation direction within a range of less than 180 °, and when removing the working part from the driving part, or the working part from the driving part In a removable state, the driven shaft is moved to a safe area where the driven shaft can be prevented from being forcedly rotated beyond the regulation by the regulating portion when the drive unit and the working unit are mounted next time. Even with the configuration having the safety area guiding means for guiding, it is possible to effectively avoid the occurrence of an excessive load on the driven shaft or the like.

Furthermore, the safety area guiding means may include a buffer member provided on an end surface with which the abutting member of the restricting portion abuts, or an advancing / retreating member that advances / retreats from the end surface.

Still further, the working unit has a contact member provided along a radial direction of the driven shaft, and the driven shaft comes into contact with the corresponding contact member when the contact member rotates together with the driven shaft. And a regulating portion that regulates the rotation range from the origin in a range of less than 180 ° in the forward rotation direction and the reverse rotation direction, respectively, and when the drive unit and the working unit are mounted, the driven shaft is forcibly It is good also as a structure which has a safe area | region guidance means which guide | induces the said driven shaft to the safe area | region which can avoid rotating exceeding the regulation by the said control part.

In this case, the safety area guiding means is provided in the drive unit, and moves when the drive unit and the working unit are mounted to advance between the regulating unit and the contact member. It can also be set as the structure containing a member.

In addition, when one of the driving side joining surface and the driven side joining surface has a tapered taper shape and the other has a tapered shape corresponding to the tapered taper shape, the engagement of both the joining surfaces is achieved. It can be performed more smoothly.

In this case, a plurality of projecting portions projecting in the radial direction are provided at equal intervals in the circumferential direction on the drive-side joint surface or the driven-side joint surface having the tapered shape, and the tapered tapered follower is provided. A plurality of grooves corresponding to the protrusions may be provided on the side joint surface or the drive side joint surface.

Also, the driving side joining surface and the driven side joining surface may be tooth surfaces that mesh with each other.

Furthermore, it is preferable to provide an attachment / detachment sensor for detecting the attachment / detachment state of the drive unit and the working unit because the attachment / detachment state can be reliably detected.

It is a perspective view of the manipulator concerning this embodiment. FIG. 6 is a partially omitted perspective view of an operation unit. It is a partially-omission perspective view of a working part. FIG. 5 is a partially omitted perspective view of a composite input unit and its peripheral part. It is a front view of a composite input part. It is a partially omitted exploded side view of the operation unit and the working unit. FIG. 5 is a partially omitted perspective view of the drive unit and its peripheral part in a state where the operation unit and the working unit are mounted. FIG. 6 is a partially omitted plan view of the drive unit and its peripheral part in a state where the operation unit and the working unit are mounted. FIG. 3 is a partially omitted cross-sectional side view of a drive unit and its peripheral part. FIG. 4 is a partially omitted cross-sectional front view of a drive unit and its peripheral part. It is a partially omitted plan view of a working unit. FIG. 12 is a partially omitted cross-sectional side view taken along line XII-XII in FIG. 11. It is a cross-sectional perspective view of a pulley box. 14A is a partially omitted bottom view for explaining the allowable rotation range of the pulley, and FIG. 14B is a partially omitted bottom view showing a state in which the pulley is rotated from the state shown in FIG. 14A. FIG. 13 is a cross-sectional view taken along line XV-XV in FIG. It is a partially omitted cross-sectional perspective view of the trigger lever. FIG. 17A is a partially omitted cross-sectional side view of the trigger lever, and FIG. 17B is a partially omitted cross-sectional side view in a state where the release lever is operated from the state shown in FIG. 17A. It is a partial omission cross-sectional side view of a trigger lever attaching part and its peripheral part. It is a partially omitted side view for explaining the imaging direction of the barcode by the camera. 20A is a partially omitted bottom view of the operation unit, and FIG. 20B is a partially omitted plan view of the working unit. FIG. 10 is a partially omitted plan view showing a modified example of a structure for restricting an allowable rotation range of a pulley. FIG. 22A is a partially omitted perspective view showing a state before engagement of the engaging convex portion and the engaging concave portion, and FIG. 22B is a partially omitted view showing a state where the engaging convex portion and the engaging concave portion are engaged. It is a perspective view. FIG. 23A is an explanatory diagram showing a state in which the initial phases of the engaging convex portion and the engaging concave portion are shifted during engagement, and FIG. 23B is an explanatory diagram showing a state in which the engaging convex portion and the engaging concave portion are engaged. FIG. FIG. 24A is an explanatory diagram showing a state before engagement in which the engaging concave portion is at a predetermined origin and the phase of the engaging convex portion is slightly in the forward rotation direction, and FIG. 24B is related to the state shown in FIG. 24A. It is explanatory drawing which shows the state by which the joint convex part and the engagement recessed part were engaged. FIG. 25A is an explanatory view showing a state before engagement in which the engagement convex portion is at a predetermined origin and the phase of the engagement concave portion is slightly in the reverse rotation direction, and FIG. 25B is engaged from the state shown in FIG. 25A. It is explanatory drawing which shows the state by which the convex part and the engagement recessed part were engaged. It is a perspective view which shows the modification of the engagement structure of a drive shaft and a pulley. It is a perspective view which shows the other modification of the engagement structure of a drive shaft and a pulley. It is explanatory drawing which expanded the cam surface 360 degree | times in the circumferential direction, and showed the Y direction position of the upper surface. FIG. 29A is an explanatory diagram illustrating the structure on the operation unit 14 side for carrying out the first modification of the origin search operation, and FIG. 29B is a diagram on the working unit 16 side corresponding to the operation unit 14 shown in FIG. 29A. It is explanatory drawing which illustrated the structure. FIG. 30A is an explanatory side view of the engagement structure of the engagement convex portion and the engagement concave portion shown in FIGS. 29A and 29B. FIG. 30B shows the engagement convex portion and the engagement concave portion from the state shown in FIG. 30A. It is side surface explanatory drawing in the state which engaged. FIG. 31A is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are in an initial phase in the method according to the second modification of the origin search operation, and FIG. It is explanatory drawing which shows the state which rotated and contact | abutted the contact part to one stopper, FIG. 31C makes a contact part contact the other stopper by rotating a motor reversely from the state shown to FIG. 31B. FIG. 31D is an explanatory diagram showing a state in which the motor is set as the origin from the state shown in FIG. 31C. FIG. 32A is an explanatory diagram for explaining the first safety attaching / detaching operation, and FIG. 32B is an explanatory diagram showing a state in which the engaging convex portion and the engaging concave portion are engaged from the state shown in FIG. 32A. . FIG. 33A is an explanatory view for explaining the first safety attaching / detaching operation, and FIG. 33B is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are engaged from the state shown in FIG. 33A. . FIG. 34A is an explanatory diagram for explaining the first safety attaching / detaching operation, and FIG. 34B is an explanatory diagram showing a state in which the engaging convex portion and the engaging concave portion are engaged from the state shown in FIG. 34A. . FIG. 35A is an explanatory diagram for explaining the first safety attaching / detaching operation, and FIG. 35B is an explanatory diagram showing a state in which the engaging convex portion and the engaging concave portion are about to be engaged from the state shown in FIG. 35A. It is. It is explanatory drawing which shows the safe area | region and danger area | region in the state whose operation range of an engagement recessed part is 240 degrees. It is explanatory drawing which shows the safe area | region and danger area | region in the state whose operation range of an engagement recessed part is 210 degrees. FIG. 38A is an explanatory diagram for explaining the second safety attaching / detaching operation, and FIG. 38B is an explanatory diagram showing a state in which the motor is rotated from the state shown in FIG. 38A to bring the contact portion into contact with the rubber member. FIG. 38C is an explanatory view showing a state in which the engaging convex portion and the engaging concave portion are removed from the state shown in FIG. 38B and the contact portion is rotated into the safety region by the repulsive action of the rubber member. It is. FIG. 39A is an explanatory diagram for explaining a modified example of the second safety attaching / detaching operation, and FIG. 39B shows a state in which the motor is rotated from the state shown in FIG. FIG. 39C is an explanatory view showing a state in which the engagement convex portion and the engagement concave portion are removed from the state shown in FIG. 39B and the contact portion is rotated into the safety region by the advance / retreat member. is there. FIG. 40A is an explanatory side view for explaining the third safety attaching / detaching operation, and FIG. 40B shows a state in which the moving member is advanced between the contact portion and the stopper from the state shown in FIG. 40A. It is explanatory drawing. FIG. 41A is an explanatory view for explaining the third safety attaching / detaching operation shown in FIG. 40A, and FIG. 41B is a state where the moving member is moved between the contact portion and the stopper from the state shown in FIG. 41A. It is explanatory drawing which shows a state. It is a flowchart which shows an example of operation | movement of the manipulator which concerns on this embodiment. It is a model side view of a front-end | tip operation | movement part when fully pulling a trigger lever. It is a model side view of a front-end | tip operation | movement part when a trigger lever is pushed out. It is a schematic structure figure of a tip operation part. It is a section side view of a tip operation part. It is a section top view of a tip operation part. It is a section side view in the state where the gripper was closed in the tip operation part. It is a disassembled perspective view of a front-end | tip operation | movement part. It is a schematic structure figure which shows a part of end effector drive mechanism. It is a model side view of an end effector drive mechanism when not operating a trigger lever. It is a schematic cross-sectional top view of the connection location of the edge part of a passive wire. It is a schematic cross section side view of the connection location of the edge part of a passive wire. It is a partial cross section top view of the 2nd end effector drive mechanism when a trigger lever is pushed out. When a trigger lever is fully pulled, it is a partial cross section top view of a 2nd end effector drive mechanism. It is a partial cross section side view of the 2nd end effector drive mechanism when a trigger lever is pushed out. It is a schematic structure figure of the tip operation part concerning a modification. FIG. 3 is a schematic perspective view of a surgical robot system in which a base part to which a working part can be attached and detached is connected to a tip of a robot arm.

Hereinafter, preferred embodiments of the medical manipulator according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the manipulator (medical manipulator) 10 according to the present embodiment grips a predetermined part of a living body or a curved needle or the like on a distal end working unit 12 provided at the distal end of a connecting shaft 18. It is a medical instrument for performing treatment, and is usually called a grasping forceps or a needle driver (needle holder).

In the following description, the width direction in FIG. 1 is defined as the X direction, the height direction is defined as the Y direction, and the extending direction of the connecting shaft 18 is defined as the Z direction. Further, when viewed from the front end side, the right side is defined as the X1 direction, the left side as the X2 direction, the upward direction as the Y1 direction, the downward direction as the Y2 direction, the forward direction as the Z1 direction, and the backward direction as the Z2 direction. Further, unless otherwise specified, the description of these directions is based on the case where the manipulator 10 is in a neutral posture. These directions are for convenience of explanation, and it is needless to say that the manipulator 10 can be used in any direction (for example, upside down).

The manipulator 10 includes an operation unit (base unit) 14 that is manually held and operated, and a work unit 16 that is detachable from the operation unit 14, and a controller 514 that is detachable from the operation unit 14 via a connector 520. It is comprised as a manipulator system which has. The operation unit 14 is provided with a drive unit (actuator unit) 30 that electrically drives the working unit 16 side. The separated operation unit 14 is shown in FIG. 2, and the separated operation unit 16 is shown in FIG.

The controller 514 is a control unit that comprehensively controls the manipulator 10, and is connected to the cable 61 extending from the lower end of the grip handle (handle) 26 via the connector 520. A part or all of the functions of the controller 514 can be integrally mounted on the operation unit 14, for example.

The controller 514 includes, for example, a first port 515a, a second port 515b, and a third port 515c, and can control three manipulators 10 independently at the same time. Reference numeral 516 in FIG. 1 is a power switch of the controller 514.

The controller 514 can be connected to a host computer 502 which is a usage history management unit via a communication unit such as a LAN. The host computer 502 records a usage history table in an internal recording means (not shown), and transmits / receives usage history data corresponding to the requested individual number to the controller 514 or a plurality of controllers connected by the LAN. And manage. The host computer 502 is not limited to a configuration independent of the controller 514, and the function may be provided in the controller 514.

Such a manipulator 10 and a system including the manipulator 10 can selectively adopt various configurations. For example, the working unit 16 applies various end effectors such as a gripper and scissors as the distal end working unit 12 to obtain a desired configuration. The action can be performed.

As shown in FIGS. 1 and 2, the operation unit 14 is configured in a substantially L shape extending in the Z1 direction and the Y2 direction, and a pair of upper covers 25a and 25b (substantially divided in the Z direction). Hereinafter, the drive unit 30 and the camera 224 (see FIG. 6) and the like are housed in the housing, and the portion extending in the Y2 direction on the base end side is also referred to as the “upper cover 25”. The grip handle 26 is configured to be gripped by a hand. The upper cover 25 may be formed of a resinous material, for example, and may have an integral configuration that cannot be divided.

The grip handle 26 has a length suitable for being manually gripped, and has the composite input portion 24 on the upper inclined surface 26a. The grip handle 26 extends in an approximately Y2 direction from an inclined surface 26a formed in a bent portion of the upper cover 25. Specifically, the grip handle 26 has an angle of about 75 ° (degrees) with respect to the axis of the connecting shaft 18. It extends to. By making such an angle, it has been confirmed that the operability when moving the entire manipulator 10 is enhanced and the operability of the composite input unit 24 is enhanced.

As shown in FIG. 1, a master switch (main switch) 34 is provided in the vicinity of the top of the operation unit 14 in the Y1 direction so as to be exposed from the upper cover 25. Is provided.

The working unit 16 includes a distal end working unit 12 for performing work, a long and hollow connecting shaft (shaft) 18 provided with the distal end working unit 12 at the tip, and a lower bracket to which the proximal end side of the connecting shaft 18 is fixed. 32 and a trigger lever 36 pivotally supported at the end of the lower bracket 32 in the Z2 direction. The working unit 16 has a pair of lower covers 37a and 37b (hereinafter, collectively referred to as “lower cover 37”) divided substantially symmetrically in the Z direction as a housing, and houses the lower bracket 32 therein. . The lower cover 37 may be formed of a resinous material, for example, and may have an integral configuration that cannot be divided.

Such a working unit 16 is fixed to the operation unit 14 by a pair of left and right attachment / detachment levers 400 and 400 provided in the operation unit 14 (drive unit 30), and from the operation unit 14 by an opening operation of the attachment / detachment lever 400. It is separable and can be easily replaced at the surgical site without using a special instrument. The upper surface (Y1 surface) of the lower bracket 32 is provided with a cleaning liquid injection port 39 used for cleaning the internal space in order to reuse the lower bracket 32.

As shown in FIG. 1, the distal end working unit 12 and the connecting shaft 18 are configured to have a small diameter, and can be inserted into a body cavity 22 from a cylindrical trocar 20 provided in a patient's abdomen or the like. By operating the (base part side input part) 24 and the trigger lever (working part side input part) 36, various procedures such as excision of the affected part, grasping, suturing and ligation can be performed in the body cavity 22.

The tip operation unit 12 that operates based on the operation of the composite input unit 24 and the trigger lever 36 can be operated in three axes. That is, a yaw axis operation that tilts with respect to the Y axis, a roll axis operation that rotates with respect to an axis pointing at the tip (Z axis in the neutral posture), and a gripper axis operation that can be opened and closed. In the case of this embodiment, the yaw axis and the roll axis are electrically driven based on the operation of the composite input unit 24, and the gripper axis is mechanically driven based on the operation of the trigger lever 36. Here, mechanical is a method of driving through wires, chains, timing belts, links, rods, gears, etc., and is mainly a method of driving through solid mechanical parts that are inelastic in the power transmission direction. is there. Wires, chains, and the like may have some inevitable elongation due to tension, but these are inelastic solid mechanical parts. A load limiter 212 (see FIG. 18), which will be described later, has almost no elastic deformation during normal operation and is substantially an inelastic part.

Hereinafter, each part of the manipulator 10 having the basic configuration as described above will be described in order.

First, the drive unit 30 constituting the operation unit 14 will be described with reference to FIGS. 6 to 10 with the upper cover 25 and the like removed (or seen through).

As shown in FIGS. 6 to 10, the driving unit 30 converts two motors (actuators) 100 and 102, an upper bracket 104 that supports the motors 100 and 102, and a rotation direction of the motors 100 and 102. And a gear mechanism unit 106 that transmits to the working unit 16 side. The motors 100 and 102 and the gear mechanism 106 are supported by the upper bracket 104 fixed to the inner surface of one upper cover 25b with two screws 103 and 103 (see FIG. 6).

As shown in FIG. 8, the motors 100 and 102 have a cylindrical shape with a diameter: length of about 1: 4, and are decelerated by the speed reducers 100a and 102a provided on the Z1 direction side, and the speed reducers 100a and 102a. Output shafts 100b and 102b (see FIG. 9) and angle sensors 100c and 102c provided on the Z2 direction side. The motors 100 and 102 are, for example, DC motors. The reduction gears 100a and 102a are, for example, planetary gear types, and the reduction ratio is about 1: 100 to 1: 300. For example, a rotary encoder is used as the angle sensors 100 c and 102 c, and the detected angle signal is supplied to the controller 514. The motor 100 and the motor 102 or the speed reducer 100a and the speed reducer 102a are not necessarily the same, and may be selected as appropriate.

As shown in FIG. 8, the motor 100 and the motor 102 are arranged symmetrically in the X direction with almost no gap. The Z2 direction ends of the motors 100 and 102 are substantially equal to the Z1 direction end of the grip handle 26 (see FIG. 6). As shown in FIG. 6, the cables 100 d and 102 d (including the connection lines of the angle sensors 100 c and 102 c) of the motors 100 and 102 respectively extend from the Z2 direction end side and are pulled into the grip handle 26. Yes.

The upper bracket 104 includes a first plate 108 that is an XY plane to which the motors 100 and 102 are fixed, a second plate 110 and a third plate 112 that extend in the Z1 direction from the upper and lower ends of the first plate 108, and a first plate. 108, and a fourth plate 114 that partitions the space surrounded by the second plate 110 and the third plate 112 into the X1 side and the X2 side, and is formed by cutting or welding molding. At the Z1 side end of the third plate 112, a block-shaped sensor support portion 109 protruding in the Y1 direction is formed. On the outer peripheral surfaces of the first plate 108 and the third plate 112 constituting the outer shape of the upper bracket 104 in a plan view (see FIG. 8), an O-ring 105 is fitted in a groove that makes a round (see FIG. 7). ).

As shown in FIG. 9, the first plate 108 has a height of about 1.5 times the outer diameter of the motors 100 and 102. The motors 100 and 102 are supported on the first plate 108 in parallel with the X direction by a plurality of screws 111 in directions extending in the Z2 direction, and the output shafts 100b and 102b pass through the holes 113 and are Z1. Projects to the direction side.

7 and 9, the second plate 110 protrudes from the upper end of the first plate 108 in the Z1 direction. The third plate 112 slightly protrudes in parallel with the second plate 110 and at the end in the Z1 direction, and the sensor support 109 is provided on the protruding portion. Three sides of the fourth plate 114 are connected to the first plate 108, the second plate 110, and the third plate 112, and form a YZ plane at the central portion in the X direction. The fourth plate 114 acts as a reinforcing plate, and the first plate 108, the second plate 110, and the third plate 112 are stabilized. The corners of the fourth plate 114 in the Z1 direction and the Y1 direction are formed to project to the Z1 side, and one of the screws 103 for fixing the upper bracket 104 to the inner surface of the upper cover 25b is disposed here (FIG. 6). And FIG. 9).

As shown in FIG. 10, the sensor support 109 includes a pair of holes 300 and 302 on the extension line (Z direction) of the motors 100 and 102, and a hole 304 located therebetween. A total of three through holes in the Y direction are arranged in the X direction.

Detection shafts (detection shafts) 310 and 312 that function as sensor dogs (detected members) of the working unit origin sensors (detection sensors) 306 and 308 are inserted into the holes 300 and 302, respectively. A detection shaft (detection shaft) 316 that functions as a sensor dog of the attachment / detachment sensor 314 is inserted through the hole 304. The working unit origin sensors 306, 308 and the attachment / detachment sensor 314 are substantially U-shaped in a plan view (see FIG. 8) opened in the Y direction, and can detect the detection shafts 310, 312, 316 inside the U-shape. . The working unit origin sensors 306 and 308 and the attachment / detachment sensor 314 are provided on a sensor substrate 317 fixed to the Z1 surface of the sensor support unit 109 along the XY plane (see FIGS. 6, 8, and 9).

As shown in FIG. 10, the detection shaft 316 of the attachment / detachment sensor 314 is a stepped rod-like member that extends in the Y direction and has a narrow Y1 side. The detection shaft 316 is urged toward the Y2 direction (downward) by a coil spring 318 externally fitted to the small diameter portion at the center in the height direction, and the E ring 320 is fitted near the end in the Y1 direction. Therefore, the hole 304 is prevented from coming off.

The upper part of the coil spring 318 is seated on a flange 304a having a reduced diameter formed at the end of the hole 304 in the Y1 direction, and the lower part is seated and held on a flange 316a formed substantially at the center of the detection shaft 316. The flange 316a constitutes one side wall of an annular groove into which the O-ring 320 is fitted.

Similarly, the detection shafts 310 and 312 of the working unit origin sensors 306 and 308 are also rod-like members with a step extending in the Y direction and having a thin Y1 side. The detection shafts 310 and 312 are urged toward the Y2 direction (downward) by coil springs 322 and 324 that are externally fitted to the narrow diameter portion on the Y1 side. The detection shafts 310 and 312 are formed by the E-rings 327 and 329 fitted near the Y1 direction end (upper end), and the support members 340 and 342 fixed to the Y2 direction end (lower end). The stopper 302 is prevented from coming off. The support members 340 and 342 are members that support small-diameter detection pins 344 and 346 extending in the Y direction on the Z2 side (see FIG. 9).

As shown in FIG. 9, the detection pins 344 and 346 are arranged on the Z2 side so as to be parallel to the detection shafts 310 and 312, and the upper ends of the detection pins 344 and 346 are formed on the Z side of the holes 300 and 302. Is supported by insertion. These detection pins 344 and 346 are slid with their front spherical surfaces 344a and 346a seated on cam surfaces 175 and 175 (see FIG. 22A) formed on the outer peripheral surfaces of the engagement recesses 176a and 176b on the working unit 16 side. It is possible to contact. The detection pins 344 and 346 advance and retreat in the Y direction in accordance with the change in the axial position (Y direction position) due to the rotation of the cam surface 175, and can advance and retract the detection shafts 310 and 312 in the Y direction.

The upper portions of the coil springs 322 and 324 are seated on flanges 300a and 302a formed with reduced diameters at the ends of the holes 300 and 302 in the Y1 direction, and the flanges 310a and 312a formed slightly below the center of the detection shafts 310 and 312. The lower part is seated and held. The flanges 310a and 312a constitute one side wall of an annular groove into which the O- rings 326 and 328 are fitted. Detection heads 310c and 312c corresponding to the working unit origin sensors 306 and 308 are provided at the ends (upper ends) of the detection shafts 310 and 312 in the Y1 direction.

As shown in FIGS. 7, 9, and 10, the gear mechanism unit 106 is a space surrounded by the first plate 108, the second plate 110, and the third plate 112, and the X direction with respect to the fourth plate 114. Are provided as symmetrical configurations. The gear mechanism unit 106 includes two drive shafts (drive shafts) 115 and 116, two drive bevel gears 117 and 118, and two driven bevel gears 119 and 120.

As shown in FIG. 9, the second plate 110 and the third plate 112 constituting the upper bracket 104 have shaft holes 126 and 128 corresponding to the drive shafts 115 and 116, respectively, in which bearings 122 and 124 are arranged. A pair is provided. The bearings 122 and 124 are positioned by a part of the outer ring abutting against the end surfaces of the second plate 110 and the third plate 112. A stop plate 130 for stopping the outer ring of the bearing 122 is fixed to the upper surface of the second plate 110 by a plurality of screws 129 (see FIGS. 7 and 8). The stop plate 130 is provided with a pair of holes 130a and 130a (see FIG. 9) through which the Y1 direction ends (upper ends) of the drive shafts 115 and 116 are inserted.

As shown in FIG. 9, the output shaft 100b (102b) of the motor 100 (102) extends through the hole 113 to the vicinity of the drive shaft 115 (116) in the Z direction, and the drive bevel gear 117 (118). Is fixed by a push screw 134. On the other hand, a driven bevel gear 119 (120) is fixed to the drive shaft 115 (116) by a push screw 136 (see FIG. 9). The drive bevel gear 117 (118) and the driven bevel gear 119 (120) mesh with each other, and the rotation of the output shaft 100b (102b) can be converted by 90 ° and transmitted to the drive shaft 115 (116).

7 to 10, the upper end side (Y1 side) of the drive shaft 115 (116) passes through the bearing 122 and protrudes from the hole 130a of the stop plate 130 by a predetermined amount. At the tip of the drive shaft 115 (116) protruding from the stop plate 130, a detection piece 333 (334) having a plurality of protruding pieces 333a (334a) protruding radially from the axis center at an equal phase in plan view (see FIG. 8). ) Is fixed. The detection piece 333 (334) rotates with the drive shaft 115 (116), and functions as a sensor dog of a substantially U-shaped motor phase sensor (drive shaft phase sensor) 331 (332) in a side view (see FIG. 9). The motor phase sensors 331 and 332 are provided on the Z1 side surface of the sensor substrate 335 erected on the upper surface of the second plate 110 constituting the upper bracket 104.

As shown in FIG. 9, the lower end side (Y2 side) of the drive shaft 115 (116) has a stepped shape below the portion pivotally supported by the bearing 124, and the O-ring 131 is sequentially fitted on the lower side. A flange 115a (116a), a corrugated portion 115b (116b) having a larger diameter than the flange 115a (116a) and having a corrugated cross section, and a tip of the corrugated portion 115b (116b). An engagement convex portion 137 (138) having a tapered shape is provided (see also FIG. 22A). The engagement convex portions 137 and 138 are linear portions 137a and 138a that are linear in the Y direction on the proximal end side, and taper portions 137b and 138b that are continuous from the distal end side of the linear portions 137a and 138a and have a tapered shape. It consists of and.

In the drive shaft 115 (116), the upper end of the central portion 115d (116d) is in contact with the inner ring of the bearing 122, and the upper end of the flange 115a (116b) continuous to the lower portion of the central portion 115d (116d) is the inner ring of the bearing 124. It is positioned by abutting (see FIG. 9). The drive shafts 115 and 116 are disposed on an extension line (Z direction) of the motors 100 and 102 in a plan view (see FIG. 8).

According to the gear mechanism portion 106 including the drive bevel gears 117 and 118, the driven bevel gears 119 and 120, and the drive shafts 115 and 116, the motors 100 and 102 have a larger diameter than the connection shaft 18. However, parallel arrangement becomes possible and the degree of freedom of motor arrangement increases. Further, the motor 100 and the motor 102 and the drive shaft 115 and the drive shaft 116 are provided at symmetrical positions with respect to the Y direction with respect to the connecting shaft 18, and thus have a good balance.

In the gear mechanism unit 106, the second plate 110 and the third plate 112 act as pivot support members that pivotally support the drive shafts 115 and 116 with the driven bevel gears 119 and 120 interposed therebetween, and the first plate 108 serves as the motors 100 and 102. The second plate 110 and the third plate 112 are connected to each other, and high rigidity is obtained while being simple, and the motors 100 and 102 and the drive shafts 115 and 116 can be stably provided. Can be held. Further, by providing the fourth plate 114 connecting the first plate 108, the second plate 110, and the third plate 112 between the drive shafts 115, 116, higher rigidity can be obtained.

Next, the lower bracket 32 constituting the working unit 16 will be described.

As shown in FIGS. 6 and 11, the lower bracket 32 is formed in a substantially rectangular shape (see FIG. 6) in side view extending in the Z direction, and the Z1 side constitutes a pulley box 32a having a box structure. The trigger lever attaching part 32b which consists of a pair of plate structure with which Z2 side of the box 32a was parallel is comprised. In the lower bracket 32, first, the pulley box 32a is detachably connected to the gear mechanism unit 106 of the drive unit 30 so that the rotation of the drive shafts 115 and 116 is transferred from the coupling shaft 18 to the distal end working unit 12. Secondly, the trigger lever 36 is pivotally supported by the trigger lever mounting portion 32b, and the operation of the trigger lever 36 is relayed from the connecting shaft 18 to the distal end working portion 12. 3 has a function of maintaining an airtight state in the connecting shaft 18.

First, the pulley box 32a will be described.

As shown in FIGS. 11 to 13, the pulley box 32a includes a hollow portion 152 that is open on both sides in the X direction, a shaft support portion 154 on the Z1 side of the hollow portion 152, a rod hole 156a on the Z2 side of the hollow portion 152, 156b, pulleys (driven shafts) 158a and 158b and wire guide portions 160a and 160b housed in the cavity 152. A pair of pin holes 161 and 161 symmetrical with respect to the Z direction are formed in the vicinity of the connecting portion between the pulley box 32a and the trigger lever mounting portion 32b. A pair of guide pins 163 and 163 projecting from the upper bracket 104 in the Y1 direction are inserted into the pin holes 161 and 161 when the working unit 16 and the operation unit 14 are attached and detached (see FIGS. 2 and 6).

The hollow portion 152 is a hole that communicates both sides of the pulley box 32a in the X direction, and is provided slightly closer to the Z2 direction of the pulley box 32a in a side view (see FIG. 12), and both ends in the Z direction are semicircular. ing. O- rings 164 and 164 surrounding the cavity 152 are provided on both sides in the X direction of the pulley box 32a (see FIGS. 6 and 13), and the O-ring 164 is formed by lower covers 37a and 37b attached from the outer surface. It is compressed moderately.

The shaft support portion 154 is a hole that communicates from the cavity portion 152 to the end surface in the Z1 direction of the pulley box 32a, and supports the proximal end side of the connecting shaft 18 that extends in the Z direction. A cylindrical coupler 165 is provided at the end of the connecting shaft 18 in the Z2 direction (see FIGS. 12 and 13), and the shaft support portion 154 supports the connecting shaft 18 via the coupler 165. Two O- rings 166 and 166 are provided between the coupler 165 and the connecting shaft 18, and an O-ring 168 is provided between the coupler 165 and the shaft support portion 154. The connecting shaft 18 is fixed by fastening a clamp member 170 from the Y1 side to a notch formed at the upper end of the pulley box 32a in the Z1 direction (see FIGS. 11 and 12).

As shown in FIGS. 12 and 13, the hollow portion 152 has two pairs of coaxial holes 172a, 172a (Y1 side) and 172b, 172b (Y2 side) aligned in the Y direction, bearings 174a, 174a and 174b, respectively. 174, and pulleys 158a and 158b are pivotally supported by the bearings 174a and 174b.

The pulleys 158a and 158b are coaxial with the drive shafts 115 and 116 (see FIGS. 6 and 7). Engagement projections 137 and 138 (see FIGS. 9 and 10) provided at the Y2 direction ends of the drive shafts 115 and 116 are engaged with the Y1 direction ends of the pulleys 158a and 158b protruding upward from the coaxial hole 172a. Engaging recesses 176a and 176b are provided (see FIGS. 11 and 12).

As shown in FIGS. 3 and 12, the engagement recesses 176 a and 176 b are upper ends as recesses each having a hexagonal cross-sectional shape and a tapered shape with which the engagement protrusions 137 and 138 are engaged (fitted). On the side, a linear portion 171 linear in the Y direction and a tapered portion 173 continuous from the lower end of the linear portion 171 are provided. As will be described later, the engagement convex portions 137 and 138 and the engagement concave portions 176a and 176b are, as will be described later, the pulleys 158a and 158b being driven and forcibly rotated, Engagement is possible even in the phase (see FIGS. 23A and 23B, etc.). By engaging these, the rotational driving force from the drive shafts 115 and 116 that are drive shafts is transmitted to the pulleys 158a and 158b that are driven shafts.

As shown in FIGS. 20B and 22A, in the vicinity of the upper ends of the pulleys 158a and 158b, an annular cam surface whose axial direction position (Y-direction position) in the circumferential direction is changed on the outer periphery of the engagement recesses 176a and 176b. 175, that is, the pulleys 158a and 158b also have a function as a camshaft.

The cam surface 175 has a Y2 side low surface 175a having a low Y-direction position around the axis, a Y1-side high surface 175b having a high Y-direction position, and a slant that smoothly connects the low surface 175a and the high surface 175b. It is comprised from the surface 175c and the wall part 175d used as the boundary of the low surface 175a and the high surface 175b. The cam surface 175 is a surface on which the detection pins 344 and 346 on the drive unit 30 side are seated when the operation unit 14 and the working unit 16 are mounted.

The distance between the axes of the pulley 158a and the pulley 158b is equal to the distance between the drive shaft 115 and the drive shaft 116 (see FIGS. 7 and 10), and the clearance between the pulley 158a and the pulley 158b is determined by the diameter of the connecting shaft 18. Is also large (see FIG. 13).

As shown in FIG. 12, the pulleys 158a and 158b are hermetically sealed with an O-ring 178a so as to be rotatable with respect to the coaxial hole 172a, and are sealed with an O-ring 178b so as to be rotatable with respect to the coaxial hole 172b. The pulleys 158a and 158b are prevented from coming off by E-rings 180 at the ends in the Y2 direction. In addition, a diameter adjusting member 182 is interposed at the center of the pulleys 158a and 158b, and by appropriately selecting the diameter adjusting member 182, the winding diameter of the wires 1052 and 1054 described later can be adjusted. (See FIGS. 12 and 13). The pulleys 158a and 158b may be integrated with the diameter adjusting member.

Engagement recesses 176a, 176b and cam surfaces 175, 175 provided at the upper ends of the pulleys 158a, 158b have a larger diameter than a portion located in the cavity 152, and are formed on the upper surface (Y1 direction surface) of the pulley box 32a. On the lower surface of the facing cam surface 175, circular arc cut portions 177 and 177 are formed by cutting a predetermined angle (for example, 270 °) of the outer periphery in the diameter reducing direction (center direction) (see FIG. 12). . Stoppers (regulators) 179a and 179a are inserted and arranged in the respective arc notches 177 and 177 (see FIGS. 11 and 12). The stopper 179a is a plate-like protrusion formed on the Z2 side of the stopper plate 179 that prevents the wire guide portions 160a and 160b from coming off at the ends in the Y1 direction.

Therefore, as shown in FIGS. 14A and 14B, the rotation range of the pulleys 158a and 158b is set so that the Z1 direction in the state shown in FIG. 177a and 177b are restricted to the range of normal rotation and reverse rotation until they contact the both side surfaces of the stopper 179a. That is, as shown in FIG. 14A, the rotation range of one pulley 158a is clockwise (less than 180 °) in the clockwise direction (below FIG. 14A is a bottom view). As indicated by an arrow + θ (for example, 90 °) and a counterclockwise rotation (in FIG. 14A, because it is a bottom view, clockwise) (less than 180 °) range (indicated by an arrow −θ in FIG. Is regulated. Similarly, the rotation range of the other pulley 158b also includes a clockwise forward rotation range (indicated by arrow + θ in FIG. 14A, for example, 135 °) and a counterclockwise reverse rotation range (arrow −θ in FIG. 14A). For example, 135 °). This reliably prevents the pulley 158a and the like from excessively rotating, causing the tip operating unit 12 driven by the wire 1052 and the like to excessively move and causing an excessive load such as tension on the wire 1052 and the like. can do.

The rotation range of the pulleys 158a and 158b may be restricted by other structures. For example, as shown in FIG. 21, the pulleys 158a and 158b (engaging recesses 176a and 176b) protrude in the outer diameter direction. The abutting portion (abutting member) 177c is provided, and abuts on the upper surface (Y1-direction surface) of the lower bracket 32 when the abutting portion 177c performs predetermined forward rotation and reverse rotation, and further rotates. A stopper 179b for regulating may be provided. These contact portions 177c and stoppers 179b are arc-shaped notches 177 (see FIGS. 12 and 14A) formed in the lower portions of the engagement recesses 176a and 176b as in the structure of the contact portions 177a and 177b and the stopper 179a. ).

As shown in FIGS. 12 and 13, the wire guide portion 160 a (160 b) includes an insertion shaft 184, two layers of cylindrical idlers 186 and 188 that are supported adjacent to the insertion shaft 184, and these cylindrical idlers 186. And positioning cylinders 190a and 190b for positioning 188.

The insertion shaft 184 extends in the Y direction, passes through the Y1 side through hole 194a with respect to the pulley box 32a, and is inserted into the bottomed hole 194b on the Y2 side, and the end of the through hole 194a in the Y1 direction is stopped. It is blocked by a plate 179. The insertion shaft 184 is sealed in the vicinity of the stop plate 179 by an O-ring 193. In the hollow portion 152, the insertion shaft 184 is provided with a positioning cylinder 190a, a cylindrical idler 186, a cylindrical idler 188, and a positioning cylinder 190b in this order from the Y1 side to the Y2 side. Cylindrical idlers 186 and 188 are independently rotatable pulleys.

As shown in FIG. 13, the gap S1 between the two cylindrical idlers 186 and 186 constituting the wire guide portions 160a and 160b (the same applies to the gap between the cylindrical idlers 188 and 188) is narrower than the inner diameter of the connecting shaft 18. , About 1/2 of the inner diameter. The cylindrical idlers 186 and 188 are rotatable, and grooves 186a and 188a in which the wires 1054 (1052) are disposed are provided on the peripheral surfaces thereof. The cylindrical idlers 186 and 188 do not necessarily have to be rotatable as long as appropriate lubricity is ensured.

By using such wire guide portions 160a and 160b, the connecting shaft 18 is sufficiently thin without depending on the diameters of the motors 100 and 102 and the distance S2 between the pulleys 158a and 158b (see FIG. 13). For example, it can be set to about 5 mm to 10 mm suitable for insertion into the trocar 20. Moreover, the freedom degree of arrangement | positioning of the motors 100 and 102 via the gear mechanism part 106 increases. The forward line and the return line of the wire 1054 (1052) move in opposite directions, but the two-layer cylindrical idlers 186 and 188 correspond to this, and each line can operate without friction.

As shown in FIG. 12, in the hollow portion 152 constituting the pulley box 32a, two rods 192a and 192b, which are rod-shaped or linear transmission members, are arranged in the Y direction and penetrate in the Z direction. Yes. The rods 192a and 192b are, for example, sufficiently strong and thin stainless steel pipes or solid rods, and the Z1 direction extends through the hollow portion 152 into the connecting shaft 18, and the Z2 direction passes through the rod holes 156a and 156b. Then, it extends to the trigger lever mounting portion 32b.

On the opening side (Z2 side) of the rod holes 156a and 156b, a rectangular plate-shaped rubber sheet 194 surrounding the periphery of the rod holes 156a and 156b, and a support plate 196 for closely supporting the rubber sheet 191 are provided. (See FIG. 12). The rods 192a and 192b are inserted through a pair of through holes provided in the rubber sheet 194 and the support plate 196, respectively, and the sliding contact surfaces penetrating the rubber sheet 194 are sealed. That is, the rubber sheet 194 comes into contact with the rods 192a and 192b without a gap, and hermetically seals the cavity 152 and the connecting shaft 18 so as to be movable back and forth in the Z direction.

Thus, the hollow portion 152 constituting the pulley box 32a is sealed with the rubber sheet 194 with respect to the rods 192a and 192b (see FIG. 12), and with the O-rings 178a and 178b with respect to the pulleys 158a and 158b. 12 (see FIG. 12), the wire guide portions 160a and 160b (insertion shaft 184) are sealed with an O-ring 193 (see FIG. 12), and the connecting shaft 18 is sealed with O-rings 166 and 168 (see FIG. 12). 12), the lower covers 37a and 37b are sealed by an O-ring 164 (see FIGS. 6 and 13), thereby being kept airtight. On the other hand, the outer peripheral surface of the connecting shaft 18 is airtightly supported by a trocar 20 (see FIG. 1).

Therefore, the gas supplied to the body cavity 22 does not leak out from the connection shaft 18 via the pulley box 32a. Furthermore, it is possible to suppress, as much as possible, a situation in which liquid such as blood enters the connecting shaft 18 and the pulley box 32a from the gap of the distal end working unit 12 due to the sealed air. The pulley box 32a and the operation unit 14 can be easily cleaned. In addition, it is good also as a structure which provides a partition part etc. in the inside of the connection shaft 18, and maintains an airtight state.

11 and 12, the clamp member 170 at the upper end in the Z1 direction of the pulley box 32a is provided with an electrode rod 197 standing in the Y1 direction. The electrode rod 197 is inserted into a Y-direction through hole 198 formed in the upper cover 25b, and an electrode plug 199 (see FIG. 1) is attached, so that a high voltage when using the manipulator 10 as an electric knife is increased. Applied. The electrode rod 197 is electrically connected to the one wire guide portion 160b by the conductive plate 195 (see FIG. 11), and thus, the wire rod 1052 that contacts the wire guide portion 160b moves toward the distal end working portion 12 side. High voltage can be transmitted.

As shown in FIG. 15, in the shaft support portion 154, the rods 192a and 192b are arranged in parallel in the Y direction inside the coupler 165 and the connecting shaft 18, and the reciprocating lines of the wires 1052 and 1054 are arranged close to each other in the Y direction. The wire 1052 and the wire 1054 are arranged in parallel in the X direction and are arranged in a well-balanced manner.

Next, the trigger lever mounting portion 32b constituting the lower bracket 32 and the trigger lever 36 pivotally supported by the trigger lever mounting portion 32b will be described.

As shown in FIGS. 1, 6 and 18, the trigger lever mounting portion 32 b has a trigger shaft 35 extending between a pair of support plates 201, 201 extending in parallel with the Z2 direction from the end surface of the pulley box 32 a in the Z2 direction. Thus, the trigger lever 36 is pivotally supported.

First, the trigger lever 36 will be described.

As shown in FIGS. 16 and 18, the trigger lever 36 includes an arm part 200 that is pivotally supported by the trigger shaft 35, a ring part 202 provided on the Y <b> 2 side of the arm part 200, and Y <b> 2 of the ring part 202. A substantially arcuate finger hooking protrusion 204a, 204b provided on the side, a ratchet pawl 206 housed in an internal space 203 formed from the ring portion 202 to the finger hooking protrusion 204a, 204b, and swinging the ratchet pawl 206 And a lever 208 to be operated. The ring part 202 is mainly suitable for inserting an index finger (or middle finger), and the finger hooking protrusions 204a and 204b are mainly suitable for hanging the middle finger (or ring finger).

The ratchet claw 206 is supported by the swing shaft 207 on the Z1 side, and a claw portion 206a formed by a recess 206b and directed upward is provided on the Z2 side. Is biased in the Y2 direction by the coil spring 209. As a result, the claw portion 206a is urged upward, and the recess 206b abuts against the stopper pin (stopper member) 211 across the internal space 203 in the X direction, thereby further swinging upward. It is regulated.

Therefore, when the trigger lever 36 is largely displaced (turned) in the Z2 direction with the trigger shaft 35 as a fulcrum, the claw portion 206a of the ratchet claw 206 is engaged in a substantially U shape in plan view protruding from the grip handle 26 in the Z1 direction. It contacts the mating ring (engagement portion) 27 (see FIGS. 2, 6, and 16). Next, the engaging ring 27 is slidably contacted with the Z2 side inclined surface of the claw 206a, and the claw 206a is slightly swung downward against the urging force of the coil spring 209. When the engagement ring 27 completely gets over the claw 206a, the ratchet claw 206 is returned to a position where it comes into contact with the stopper pin 211 by the urging force of the coil spring 209, and at the same time, the engagement ring 27 is moved to the claw 206a ( Engages with the recess 206b) (see FIG. 17A). As a result, the position of the trigger lever 36 can be held, and the end effector 1300 (see FIG. 1) can be locked in the closed state. The engagement ring 27 may be provided in multiple stages, for example, and in this case, the lock position or gripping force of the trigger lever 36 can be adjusted according to the gripping target.

The lever 208 is a substantially L-shaped member partially exposed from the internal space 203 in the Z1 direction (see FIG. 16). The lever 208 is supported at one end in the internal space 203 by the swing shaft 213 and is normally pressed by the Z1 direction end of the ratchet pawl 206 urged in the Y2 direction by the coil spring 209, as shown in FIG. 17A. It is held in such an initial posture.

Therefore, as shown in FIG. 17B, when the operation end 208b exposed to the outside of the lever 208 is pushed down in the Y2 direction, the lever 208 swings around the swing shaft 213 and is formed on one end side in the internal space 203. The pressed surface 208a swings the ratchet pawl 206 against the elastic force of the coil spring 209, and the ratchet pawl 206 can be fixed as shown in FIG. 17B. As a result, as shown in FIG. 17B, the claw portion 206a (recessed portion 206b) and the engagement ring 27 can be used without being engaged. In addition, when the engagement is released while the engagement between the claw portion 206a and the engagement ring 27 is generated, when the engagement is released, the central recess (release) of the ratchet claw 206 partially protruding below the ring portion 202 is provided. Part) 206c can be released by pushing it downward with a finger (see ratchet claw 206 shown by a one-dot chain line in FIG. 17A).

As shown in FIG. 16, an inclined surface 203a that is inclined upward is formed in the upper portion of the internal space 203 of the trigger lever 36, and a concave portion 203b that is dug deeper than other portions is formed. ing. Thereby, the engagement ring 27 on the grip handle 26 side can be smoothly engaged with the ratchet pawl 206 from the recess 203b.

Further, even when the operation portion 14 and the working portion 16 are separated while the ratchet pawl 206 is engaged with the engagement ring 27, the ratchet pawl 206 is swung upward by the stopper pin 211. Since the inclined surface 203a and the recessed portion 203b act as escape portions for the engagement ring 27, the engagement ring 27 can be easily moved along the inclined surface 203a as shown by the broken arrow in FIG. 17A. Can be removed. For this reason, the engagement state between the engagement ring 27 and the ratchet pawl 206 is firmly maintained, and it is possible to effectively avoid the generation of an excessive force on the engagement ring 27 and the trigger lever 36.

Although not shown, an engagement ring having a structure corresponding to the engagement ring 27 is provided on the ratchet claw 206 side instead of the claw portion 206a and the concave portion 206b, while a structure corresponding to the claw portion 206a (and the concave portion 206b). You may provide a nail | claw part in the grip handle 26 side. Also in this case, the same effect as described above is obtained by engaging the claw portion on the grip handle 26 side from the Y1 side to the Y2 side with the engagement ring on the ratchet claw 206 side. Can be obtained.

Next, the trigger lever mounting portion 32b will be described.

As shown in FIGS. 11 and 18, the trigger lever mounting portion 32b extends from the Z2 direction end surface of the pulley box 32a and supports a pair of support plates 201 and 201 that pivotally support the trigger lever 36 near the end of the Z2 direction. A load limiter 212 and a trigger wire 214 provided between the plates 201 and 201 are provided. The center between the support plates 201 and 201 is substantially coaxial with the connecting shaft 18. The support plate 201 may be, for example, a cylindrical shape other than a pair of parallel plate members, and may be any shape that can support the trigger shaft 35, the load limiter 212, and the like.

The load limiter 212 has a cylindrical shape and includes an outer cylinder 212a, an inner rod 212b, and a coil spring 212c. The inner rod 212b at the end in the Z1 direction is pivotally supported by the end of the rod 192a, and the end at the end in the Z2 direction. An outer cylinder 212 a is pivotally supported on a shaft 200 a in the arm portion 200. A shaft 205 that pivotally connects the inner rod 212b and the rod 192a is supported in a slidable manner in an elongated hole 215 provided in the support plate 201 (see FIG. 19). Thereby, irrespective of the angle of the rod 192a and the inner rod 212b, the rod 192a can be moved straight in the Z direction. The coil spring 212c is moderately hard and is interposed between the outer cylinder 212a and the inner rod 212b in a preloaded state. Therefore, the load limiter 212 normally connects the rod 192a and the trigger lever 36 as a substantial rigid body, but when an excessively large load is applied, that is, the end effector 1300 pinches something or the like. When a load greater than the preload is applied, the coil spring 212c is further compressed and the inner rod 212b extends. Thus, even if the trigger lever 36 is pulled too strongly, the force is limited by the load limiter 212, and the end effector 1300 (see FIG. 1) and its drive mechanism or gripping object can be protected. .

Note that the maximum load of the load limiter 212 is set so that the driving mechanism such as the trigger wire 214 is less than the allowable strength even when the trigger lever 36 is pulled most forward when the end effector 1300 is fully opened. It is desirable that

As shown in FIG. 18, the trigger wire 214 is connected (for example, crimped) to the end of the rod 192b at the end in the Z1 direction, and the end in the Z2 direction is pivotally supported by the shaft 200b in the arm unit 200 via the pin 214a. . The trigger wire 214 is guided by a pulley 216, and a portion closer to the Z1 side than the pulley 216 is substantially coaxial with the rod 192b.

The shaft 200a is disposed on the Y2 side of the trigger shaft 35, the shaft 200b is disposed on the Y1 side of the trigger shaft 35, and the shafts 200a and 200b are substantially equidistant from the trigger shaft 35. Therefore, by operating the trigger lever 36, the shaft 200a and the shaft 200b are displaced in the opposite directions by substantially the same distance, and accordingly, the rod 192a and the rod 192b are moved in the opposite directions (Z1 direction and Z2 direction). Displace. As described above, the trigger shaft 35, the rods 192a and 192b, the shafts 200a and 200b, the load limiter 212, the trigger wire 214, and the like serve as an operation transmission unit that mechanically transmits the input operation to the trigger lever 36 to the distal end operation unit 12. It is composed. Of course, the operation transmission unit may include other components or any of the components may be omitted. In short, a configuration in which the transmission member such as the rods 192a and 192b can be advanced and retracted by an input operation to the trigger lever 36. If it is.

As shown in FIGS. 3, 11, and 20 </ b> B, on the upper surface (Y1 direction surface) of the pair of support plates 201, 201 constituting the trigger lever mounting portion 32 b, both the support plates 201 are located near the pulley box 32 a. 201, a barcode plate 220 is fixed, and a barcode 222 is provided on the surface thereof.

The barcode 222 is, for example, a substantially square matrix shape, and is a two-dimensional barcode printed with white and black according to the grid, and the camera 224 provided on the operation unit 14 side passes through the mirror 226 and the photographing window 227. (See FIGS. 6 and 19).

Therefore, next, the barcode 222 and the camera 224 that images the barcode 222 will be described.

As shown in FIGS. 3, 11, and 20B, the barcode 222 is attached to the upper surface (Y1 direction surface) of the barcode plate 220 constituting the XZ plane, and is formed on the mating surface of the lower covers 37a and 37b. It is exposed to the upper part by the notch 230. The barcode 222 includes individual information, specifications, time stamp (manufacturing date, etc.), serial number, usage amount (usage count) upper limit, etc. of the working unit 16. The individual information held by the barcode 222 is given a different value so that it can be identified for each working unit. Further, since the barcode 222 is photographed through the mirror 226, it is a mirror image.

The barcode 222 is not limited to a single sheet, and may be composed of a plurality of sheets. When the barcode 222 is composed of two pieces, one piece shows individual information such as individual information, production date, serial number, etc., and the other piece shows common information for each type such as specifications and upper limit of usage amount. You may do it. The barcode 222 is not limited to two-dimensional data, and may be a one-dimensional shape. The color of the grid in the barcode 222 is not limited to white and black, but may be an infrared absorption color and an infrared reflection color, or information may be indicated by distinguishing three or more colors.

6 and 19, the camera 224 is disposed below the motors 100 and 102 constituting the operation unit 14, and is fixed to the inner surface of one upper cover 25b. A pair of LEDs 224a and 224a are provided on both sides in the X direction of the camera 224 (see also FIG. 7). The camera 224 is a camera for imaging the barcode 222, for example, having a CCD format or a CMOS format.

As shown in FIG. 19, the camera 224 is set in a direction (substantially Z1 direction) in which the imaging direction is bent by the mirror 226 that is a reflecting mirror and the barcode 222 can be imaged, that is, the bending direction (orthogonal direction). The bar code 222 that is the subject located at () can be imaged via the mirror 226. Similarly, the LED 224a is set in a direction (approximately Z1 direction) in which the optical axis is bent by the mirror 226 and the barcode 222 is illuminated. The LED 224a allows the camera 224 to recognize the barcode 222 more reliably. The LEDs 224a are provided at symmetrical positions with the camera 224 in between, and can illuminate the barcode 222 with good balance. The LEDs 224a may be provided above and below the camera 224, or three or more LEDs may be provided at equal intervals. If the LED 224a has a sufficient amount of light, it may be one.

A photographing window 227 that allows the upper cover 25 to pass through is provided in the Y2 direction of the mirror 226 (see FIG. 19). That is, in the operation unit 14, the camera 224, the LED 224a, and the mirror 226 are stored in the upper cover 25. (See FIGS. 2 and 6). Further, in a state where the working unit 16 is mounted on the operation unit 14, the barcode 222 is also disposed in the substantially closed space by the upper cover 25 and the lower cover 37, so that the barcode 222 and the camera are used when the manipulator 10 is used. The 224 can be prevented from being contaminated with blood or the like, and unnecessary disturbance light can be shielded to enable stable imaging with the LED 224a. In addition, since the relative position and orientation of the barcode 222 and the camera 224 are fixed, it is not necessary to specify the position and orientation of the barcode 222 on the camera 224 side, and a code for specifying them. Therefore, the amount of information that can be recorded on the barcode 222 is increased, or a space-saving arrangement is possible.

By providing such a barcode 222 in the working unit 16, the operation unit 14 and the controller 514 can recognize individual information of the working unit 16 using the camera 224, and the motor 100 constituting the manipulator 10, 102 and the like can be appropriately and accurately driven and controlled so as to correspond to the type of the working unit 16 (for example, gripper, scissors, electric knife).

Here, the attachment of the working unit 16 to the operation unit 14 can be quickly detected by the detachable sensor 314 and the detection shaft 316 (see FIG. 7 and the like). Therefore, in the controller 514, the detection of the attachment of the working unit 16 by the attachment / detachment sensor 314 can be used as a trigger signal for acquiring the individual signal from the barcode 222 by controlling the activation of the camera 224 and the LED 224a.

That is, the controller 514 obtains an individual signal from the barcode 222 by drivingly controlling the camera 224 and the LED 224a substantially simultaneously with the operation unit 16 being mounted on the operation unit 14. In the controller 514, it is only necessary to acquire the individual signal at least when the working unit 16 is attached to the operation unit 14, and the operation of the camera 224 and the LED 224a can be stopped at other times, thereby reducing the processing load. In addition, power saving can be achieved. Further, the bar code 222 does not need to be directly energized, the operation unit 14 and the work unit 16 have no electrical contacts, and there is no power storage unit such as a battery, so that the power consumption is further reduced. It is possible to more easily perform cleaning, sterilization, and the like of the working unit 16 removed from the apparatus.

Next, the master switch 34 and the composite input unit 24 on the operation unit 14 side will be described.

The master switch 34 (see FIGS. 1 and 6) is an input means for setting whether the operation state of the manipulator 10 is valid or invalid, and its operation is detected by an input detection unit (such as a toggle switch or a tact switch) 350. The detected signal is supplied to the controller 514. The LED 29 is an indicator that indicates the control state of the manipulator 10, has a size that can be easily recognized by the operator, and is sufficiently small and light enough that there is no hindrance to the operation. The LED 29 is provided at a position with good visibility at a substantially central portion on the top surface (Y1 direction surface) of the upper cover 25, and is arranged side by side with the master switch 34. For example, since the LED 29 is turned on in synchronization with the ON operation by the master switch 34, the operator can surely recognize the input state by the LED 29 while operating the master switch 34. The LED 29 can emit, for example, green and red, and can be turned on and off for each color.

As shown in FIGS. 6 and 7, the master switch 34 is disposed on a substrate 354 fixed to the inner surface of one upper cover 25 b via a support member 352, and a portion in the upper cover 25 is formed by the switch cover 356. Sealed from the outside.

The controller 514 (see FIG. 1) reads the input state of the master switch 34, and when it is turned on, performs an origin search operation described later to drive-control the manipulator 10 to a predetermined usable state. Thereby, the operation command of the operation unit 14 becomes valid, and a desired operation can be given to the distal end operation unit 12.

As shown in FIGS. 4 and 5, the composite input unit 24 has a symmetrical structure in the X1 direction and the X2 direction around the Z axis (Y axis), and is in the roll direction (axial rotation direction) with respect to the distal end working unit 12. ) And a yaw direction (left-right direction) rotation command. The upper surface of the grip handle 26 is an inclined surface 26a that rises in the Y1 direction toward the Z1 direction, and the composite input unit 24 is provided on the inclined surface 26a. The inclination angle of the inclined surface 26a is an angle at which the composite input unit 24 can be easily operated with the thumb or index finger when the grip handle 26 is gripped by hand, and is preferably about 20 ° to 35 ° with respect to the Z direction.

The composite input unit 24 is supported by the sensor holder 52 disposed on the inclined surface 26a, and is provided on the Z1 side (Y1 side) of the inclined surface 26a and on the Z2 side (Y2 side) thereof. The tilt operation unit 56 includes three switch operators 58a, 58b, and 58c disposed on the lower side surface of the tilt operation unit 56, respectively.

As shown in FIG. 5, a switch substrate 62 is provided in the sensor holder 52, and the switch substrate 62 is tilted with an input detection unit (tact switch) 66 a that detects an input operation to the rotation operation unit 54. An input detection unit (tact switch) 66b for detecting an input operation to the operation unit 56 and input detection units (tact switches) 66c to 66e for detecting an input operation to the switch operators 58a to 58c are provided. The composite input unit 24 drives the motors 100 and 102, the drive shafts 115 and 116, and the pulleys 158a and 158b, and moves the tip operation unit 12 in the roll direction and yaw through the wires 1052 and 1054 which are flexible members. Can be operated in the direction.

The switch operator 58b switches between valid / invalid of the rotation operation unit 54 and the tilt operation unit 56 and returns the yaw axis mechanism (pivot axis mechanism) to a predetermined initial position (once it is pressed once, it automatically moves to the initial position). , Stop) or move in the initial posture direction (moves in the initial posture direction only when pressed, and automatically stops when the initial posture is reached).

The switch operators 58a and 58c are preferably used as switches for returning the roll rotation mechanism to a predetermined initial posture or moving it in the initial posture direction. The switch operators 58a and 58c are arranged on the left and right as switches having exactly the same function, so that the operator can perform the same operation without any problem regardless of whether the operator grips the operation unit 14 with the right hand or the left hand. be able to. Specifically, the same operation with the thumb, for example, is possible in both the right-hand operation and the left-hand operation. Also, the roll rotation mechanism can be returned to a predetermined initial posture or moved in the initial posture direction without being aware of the current position of the roll rotation mechanism (positive region or negative region).

As shown in FIG. 5, the rotation operation unit 54 is configured to be rotatable about an axis (not shown) along the YZ direction, and a lever 72a extending in the X1 direction and the X2 direction, and both levers 72a. , 72a, and a manipulator 72c provided with notches 72b in three directions that swell appropriately in the X, Y, and Z directions. The left and right ends of the lever 72a have a semicircular shape with a number of anti-slip lines on the surface. The operation element 72c forms a continuous surface (a flat surface or a curved surface) with the upper covers 25a and 25b in the initial position (see FIG. 4), and has no useless protrusions or steps, which is preferable in appearance. In addition, the shape is easy to operate.

The rotation operation unit 54 has a function of rotating the notch 72b of the operation element 72c in the circumferential direction with a finger and operating the roll rotation mechanism. As described above, according to the rotation operation unit 54 having the finger rest on the outer peripheral surface, the rotation operation is performed around the axis along the YZ direction, and an intuitive operability of the roll rotation mechanism is obtained. It is done. In addition, since the finger-hanging portion is provided on the outer diameter side of the end portion of the tilt operation portion 56, it is easy to use the finger hook portion with the tilt operation portion 56.

As shown in FIG. 5, the tilting operation unit 56 is provided with a tilting plate 76 that can tilt around an axis 74 along the YZ direction. The shaft 74 is the center of the composite input unit 24 in the X direction. The tilt operation unit 56 has a function of operating a yaw shaft mechanism (pivot shaft mechanism) by performing a tilt operation by pushing the tilt plate 76 with a finger.

As described above, in the composite input unit 24, the rotation operation unit 54 is rotated in the circumferential direction, and the tilt operation unit 56 is tilted by being pushed. The correspondence between the mechanism and the yaw (pivot) shaft mechanism is easily understood, and a more intuitive operation is possible.

The sensor holder 52 also has a function of tightly contacting the upper cover 25 and sealing the periphery of the composite input unit 24, and prevents liquid or the like from entering the upper cover 25 from the periphery of the composite input unit 24. ing. Of course, a seal member separate from the sensor holder 52 may be provided.

As described above, in the upper cover 25 of the operation unit 14, the periphery of the composite input unit 24 is sealed by the sensor holder 52 (see FIGS. 4 and 6), and the periphery of the master switch 34 is sealed by the switch cover 356 (FIG. 6). Between the camera 224 and mirror 226 and the barcode 222 is sealed by the photographing window 227 (see FIGS. 6 and 19), and the bottom surface of the upper bracket 104 is surrounded by O- rings 105, 131, 320, 326, and 328. Sealed (see FIGS. 6, 9 and 10) and sealed by this. Accordingly, it is possible to prevent blood, a cleaning solution, and the like from entering the upper cover 25, and the operation unit 14 can be easily cleaned and sterilized even when separated from the working unit 16.

Next, a configuration for attaching and detaching the operation unit 14 (drive unit 30) and the working unit 16 will be described.

As shown in FIGS. 2 and 6, the drive unit 30 is housed in the upper cover 25, and the gear from the lower surface side (Y2 direction) of the upper cover 25 in a state where the operation unit 14 and the working unit 16 are separated. The bottom surface of the upper bracket 104 that supports the mechanism unit 106 and the like is exposed.

As shown in FIGS. 2 and 20A, from the bottom surface of the upper bracket 104 exposed from the upper cover 25, the engagement convex portions 137 and 138 provided at the tips of the drive shafts 115 and 116, and the respective working portion origins. Support members 340 and 342 and detection pins 344 and 346 fixed to the tips of detection shafts 310 and 312 corresponding to the sensors 306 and 308, respectively, and a detection shaft 316 of the detachable sensor 314 protrude in the Y2 direction. Further, a pair of guide pins 163 and 163 protrude in the Y2 direction from the bottom surface of the upper bracket 104. In the recesses 399 and 399 formed in the X1 direction surface of the upper cover 25a and the X2 direction surface of the upper cover 25b in the vicinity of each guide pin 163, the detachable levers 400 and 400 whose lower ends protrude from the upper cover 25 in the Y2 direction are provided. Each is provided.

The two guide pins 163 and 163 are provided at both ends in the X direction of the bottom Z2 direction end of the upper bracket 104 at positions opposed to the two pin holes 161 and 161 of the lower bracket 32 (FIG. 6, FIG. 20A and FIG. 20B).

As shown in FIGS. 1 and 2, the two attachment / detachment levers 400 and 400 are provided symmetrically on the left and right side surfaces (X1 and X2 side surfaces) of the upper cover 25 that covers the driving unit 30, and are rotated along the Z direction. By a pair of elastic members 400b and 400b provided on the upper portion (Y1 side) of the moving shaft 400a, the claw portion 400c formed on the inner side of the Y2 direction end is elastically biased in the direction toward the inner side of the upper cover 25. ing. The upper surface (Y1 side) of the detachable lever 400 is slightly depressed, and constitutes an operation surface 400d that is pressed by a finger to open the detachable lever 400 against the urging force of the elastic member 400b.

According to such a detachable lever 400, when the operation unit 14 is attached to the working unit 16, the claw portions 400 c are fixed in the recesses 401 formed on both side surfaces in the X direction of the lower cover 37. Engage with the stop 401a. Thereby, the operation part 14 and the working part 16 can be reliably connected and fixed. On the other hand, by pressing the two operation surfaces 400d and 400d inwardly at the same time with the operation unit 14 and the working unit 16 mounted, the engagement state between the claw portion 400c and the locking portion 401a is released. The operation unit 14 and the working unit 16 can be separated.

When the operating unit 14 and the working unit 16 are mounted, two guide pins 163 provided in parallel are fitted into the two pin holes 161 on the working unit 16 side, so that the drive unit 30 (the operating unit 14) is the working unit. 16 is reliably positioned and stably held. Of course, three or more guide pins may be used. The guide pin 163 can receive a moment acting in the XZ plane, and can reduce the force applied to the engaging portion, the pulley, the drive shaft, and the like.

Further, as shown in FIGS. 2, 3 and 6, when mounting, the lower cover is positioned against the positioning recess 406 formed near the base of the grip handle 26 on the bottom surface side (Y2 side) of the upper cover 25. The positioning convex part 408 formed at the Z2 direction end of 37 is engaged. Thereby, the operation part 14 and the working part 16 can be positioned more reliably, and the rigidity in the torsional direction and the like between the operation part 14 and the working part 16 after mounting can be increased.

As shown in FIG. 2, FIG. 20A and FIG. 22A, the engaging convex portion 137 (138) provided at the distal end (Y2 direction end) of the drive shaft 115 (116) is the linear portion 137a (138a) on the proximal end side. And a tapered portion 137b (138b) having a tapered shape which is tapered on the distal end side. A plurality of (six) projecting portions 402 projecting radially from the axial center at an equal phase are formed in a serrated shape on the outer peripheral surfaces of the linear portion 137a (138a) and the tapered portion 137b (138b). The protruding portion 402 is substantially semi-cylindrical, and extends in the Y direction at a portion corresponding to the straight portion 137a (137a), and extends in a direction inclined by a predetermined angle from the Y direction at a portion corresponding to the tapered portion 137b (138b). ing.

On the other hand, as shown in FIGS. 3, 20B and 22A, the engaging recess 176a (176b) provided at the tip (end in the Y1 direction) of the pulley 158a (158b) is the same as the engaging protrusion 137 (138). It corresponds to the shape, and is composed of a linear portion 171 on the upper end opening side and a tapered portion 173 having a tapered shape on the back side. The protrusions 402 can be inserted into the inner peripheral surfaces of the linear portion 171 and the taper portion 173, and a plurality of concave (six) groove portions 404 that are recessed in the same phase radially from the axis center are formed in a serration shape. Has been.

The engaging convex portions 137 and 138 and the engaging concave portions 176a and 176b are engaged with each other by fitting the protruding portions 402 into the groove portions 404 in a state where the operation portion 14 and the working portion 16 are mounted. (See FIGS. 22B and 23B). Thereby, the rotational driving force of the motors 100 and 102 can be reliably transmitted from the drive shafts 115 and 116 to the pulleys 158a and 158. At this time, the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are engaged with each other by the linear portion 137a (138a) and the linear portion 171. Compared with the case where it is formed, the rotational driving force of the drive shaft 115 (116) can be transmitted to the pulley 158a (158b) more reliably and stably. Of course, even if the straight portions 137a, 138a, and 171 are omitted and only the tapered portions 137b, 138b, and 173 are engaged, the rotational driving force can be sufficiently transmitted. Further, an engagement recess may be provided on the drive shaft 115 (116) side, and an engagement protrusion may be provided on the pulley 158a (158b) side.

Next, an engagement operation (coupling operation) between the engagement convex portion 137 (138) and the engagement concave portion 176a (176b) and an origin search operation performed following this engagement operation will be described. In this case, the engagement operation and the origin search operation of one engagement convex portion 137 and the engagement recess portion 176a are substantially the same as the engagement operation and the origin search operation of the other engagement projection portion 138 and the engagement recess portion 176b. is there. For this reason, below, the engagement operation and the origin search operation of one of the engagement protrusions 137 and the engagement recesses 176a will be representatively described.

First, the engagement operation will be described.

As can be understood from FIGS. 20A and 20B, when the engaging convex portion 137 and the engaging concave portion 176a are engaged with each other, the initial phases of the engaging convex portion 137 and the engaging concave portion 176a are matched. When the phases at the time of engagement are the same, the engagement convex portion 137 and the engagement concave portion 176a smoothly engage without causing interference or the like (see FIGS. 22B and 23B).

On the other hand, as shown in FIG. 23A, when the engaging convex portion 137 and the engaging concave portion 176a are engaged with each other, the initial phases are shifted, that is, when the protruding portions 402 and the groove portions 404 are engaged. When the phase is shifted, each protrusion 402 and each groove 404 interfere with each other. Therefore, at the time of engagement, one of the drive shaft 115 and the pulley 158a is not rotatable, and the other is in a freely rotatable state, so that the other is forcibly rotated by one, The engaging convex portion 137 and the engaging concave portion 176a can be engaged regardless of the initial phase of each other. In the present embodiment, the drive shaft 115 is not rotatable and the pulley 158a is configured to be rotatable.

That is, as shown in FIG. 23A, when the engaging operation accompanying the mounting operation of the operation unit 14 and the working unit 16 is performed in a state where the initial phases of the protrusions 402 and the grooves 404 are shifted from each other, The tapered portion 137b at the distal end of the engaging convex portion 137 is inserted into the linear portion 171 at the upper end of the engaging concave portion 176a. Subsequently, when the engaging convex portion 137 enters the engaging concave portion 176a to a predetermined position in the Y2 direction, each protruding portion 402 is in a free state while contacting and slidingly contacting the convex portion between the groove portions 404. The joint recess 176a is forcibly rotated. Thereby, finally, the phase of the engaging recess 176a is forcibly matched with the phase of the engaging protrusion 137, and can be engaged with each other (see FIG. 23B).

Such engagement operation will be described more specifically with reference to FIGS. 24 to 25B.

24A and 24B are explanatory diagrams of the coupling operation in a state where the engagement concave portion 176a is at a predetermined origin (motor origin M0) and the phase of the engagement convex portion 137 is slightly in the forward rotation direction. 25A and 25B are explanatory diagrams of the coupling operation in a state where the engaging convex portion 137 is at a predetermined origin (motor origin M0) and the phase of the engaging concave portion 176a is slightly in the reverse direction. 24A and 24B, for easy understanding, the engaging convex portion 137 and the engaging concave portion 176a are expanded 360 ° in the circumferential direction (rotating direction), respectively, and the protruding portion 402 and the groove portion 404 are angled teeth facing each other. It is explanatory drawing typically shown in figure. In addition, in order to clarify the rotation range of the engagement recess 176a (pulley 158a), the contact portion 177a (177b) that rotates together with the engagement recess 176a is illustrated as a contact member protruding in the Y2 direction, and the rotation is performed. The stopper (pulley operation limit) 179a to be controlled is illustrated by a straight line with hatching. In other words, the rotation range is controlled by the contact between the contact portion 177c and the stopper 179b shown in the modification of FIG. This is illustrated as a similar structure, and the same applies to FIG. 25A and the like.

First, as shown in FIG. 24A, when the engaging convex portion 137 is advanced in the Y2 direction with the initial phases of the engaging convex portion 137 and the engaging concave portion 176a being shifted, the tip top portions of the respective protruding portions 402 are moved. The groove 404 abuts against the middle of the slope. Therefore, when the protrusion 402 is further moved in the Y2 direction, the slope of the protrusion 402 and the slope of the groove 404 are in sliding contact with each other, and the engaging recess 176a in a free state is forced by the slope of the protrusion 402. (See the left arrow in FIG. 24B). Therefore, the engaging convex portion 137 and the engaging concave portion 176a are finally engaged in a state where the phases of the protruding portion 402 and the groove portion 404 coincide with each other (see FIG. 24B). As described above, the engaging convex portion 137 and the engaging concave portion 176a are rotated by rotating the engaging concave portion 176a on the rotatable side while maintaining the phase of the engaging convex portion 137 on the non-rotatable side. Engagement is possible regardless of the initial phase of each other, and the same applies to the examples shown in FIGS. 25A and 25B.

Therefore, when the operating unit 14 and the working unit 16 are mounted, the claw portion 400c of the detachable lever 400 is engaged with the locking unit 401a (see FIGS. 1 to 3), and the mounting of the operating unit 14 and the working unit 16 is completed. Then, when the attachment / detachment sensor 314 detects that the detection shaft 316 is seated on the stop plate 179, the controller 514 also recognizes it. At the same time, the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) engage smoothly and quickly regardless of the initial phase of each other. That is, in the medical manipulator 10, the operating shaft 14 (116) and the pulley 158a are mounted at the same time that the operating portion 14 and the working portion 16 are mounted regardless of the state in which the operating portion 14 and the working portion 16 are attached or detached. (158b) can be linked.

As described above, the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) have a structure other than the engaging structure in which the protruding portion and the groove portion are fitted with a corrugated cross section and a tapered shape. Of course, the drive shaft 115 (116) and the pulley 158a (158b) can be detachably attached to each other, and any structure can be used as long as the rotational drive force can be transmitted.

FIG. 26 is a perspective view showing a modification of the engagement structure between the drive shaft 115 (116) and the pulley 158a (158b). In this engagement structure, an engagement convex portion 600 having a tapered shape and a tapered shape is provided at the tip (end in the Y2 direction) of the drive shaft 115, and the engagement convex portion 600 is provided at the upper end (end in the Y1 direction) of the pulley 158a. A corresponding pyramid shape is formed by providing an engaging recess 602 having a taper shape which is narrow. Thereby, regardless of the initial phase at the time of engagement of the engaging convex part 600 and the engaging concave part 602, both can be engaged quickly and smoothly.

FIG. 27 is a perspective explanatory view showing another modified example of the engagement structure between the drive shaft 115 (116) and the pulley 158a (158b). In this engagement structure, an engagement convex portion 604 made of chevron-shaped annular teeth is provided at the front end (Y2 direction end) of the drive shaft 115, and a chevron-shaped annular shape facing the engagement convex portion 604 at the upper end (Y1 direction end) of the pulley 158a. An engagement recess 606 made of teeth is provided. Also in this case, both can be quickly and smoothly engaged regardless of the initial phase at the time of engagement of the engaging convex portion 604 and the engaging concave portion 606.

Thus, the drive shaft 115 (116) and the pulley 158a (158b) may be any one that can be attached to and detached from each other and can transmit the rotational driving force. That is, a joint surface (drive-side joint surface) that is inclined with respect to the axial direction of the drive shaft is provided at the tip of the drive shaft 115 that is the drive shaft, such as the engagement convex portions 137, 600, and 604. At the tip of a certain pulley 158a, a joint surface (driven side joint) that is inclined with respect to the axial direction of the driven shaft and can be engaged (joined) with the drive side joint surface, such as engagement recesses 176a, 602, and 606. By providing the (surface), it is possible to easily configure a structure in which both shafts can be attached and detached and the rotational driving force can be transmitted.

After the end of the engaging operation as described above, the controller 514 controls the distal end working unit 12 accurately and accurately, so that the distal end working unit 12 has a predetermined origin posture (see FIGS. 1, 46 and 48). The origin search operation for setting the rotation phases of the pulleys 158a and 158b and the drive shafts 115 and 116 for reciprocating the wires 1052 and 1054 and the motors 100 and 102 to the origin in order to set the motors 100 and 102 to a predetermined origin phase. Must be implemented.

Then, next, the origin search operation performed following the above engagement operation will be described. In the present embodiment, the origin search operation is driven and controlled under the control of the controller 514, that is, the controller 514 functions as an origin search unit.

As described above, when the operation unit 14 and the working unit 16 are mounted, the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are engaged. At this time, the detection pin 344 (346) connected via the support member 340 (342) to the detection shaft 310 (312) of the working unit origin sensor 306 (308) is in the Y2 direction by the coil spring 322 (324). Due to the urging force (see FIGS. 9, 10 and 22A), it is seated at any position on the cam surface 175 on the pulley 158a (158b) side (see FIG. 22).

FIG. 28 is an explanatory diagram showing the cam surface 175 developed 360 ° in the circumferential direction (rotation direction) and showing the position in the Y direction on the upper surface (side surface of Y2), and the relationship between the engaging convex portion 137 and the engaging concave portion 176a. A state in which the detection pin 344 is seated at a predetermined position (positions P1 and P2) of the cam surface 175 with the combined operation is shown. In the case of the present embodiment, the cam surface 175 is set to point in the Z1 direction with the intermediate point of the inclined surface 175c as the origin (motor origin M0) on the working unit 16 side.

In this case, the motor 100 is driven under the control of the controller 514, the pulley 158a is rotated via the drive shaft 115, and the pulley 158a is set to the motor origin M0, whereby the motor 100, the drive shaft 115, and the pulley 158a are set. Etc. are set to the origin phase, and the distal end working unit 12 assumes the origin posture.

First, the engaging convex portion 137 and the engaging concave portion 176a are engaged, the detection shaft 316 is pushed, and the attachment / detachment sensor 314 recognizes that the operation portion 14 and the working portion 16 are mounted. At this time, when the detection pin 344 is seated at the position P1 in FIG. 28, the detection pin 344 is seated on the lower surface 175a, so the output signal of the working unit origin sensor 306 does not change. However, since it can be recognized that the detachment sensor 314 is seated, it is recognized that the pulley 158a is located in the minus region with respect to the origin. Therefore, when the motor 100 is driven to rotate the pulley 158a in the forward rotation direction in FIG. 28, the detection pin 344 has its tip spherical surface 344a slidably contacted on the cam surface 175 under the elastic bias of the coil spring 322, Eventually, the position P0 is reached. The working unit origin sensor 306 detects that the detection pin 344 has reached the position P0, that is, the pulley 158a has been set to the origin phase. Thus, by setting the drive shaft 115 and the pulley 158a to a predetermined origin phase, the distal end working unit 12 can also be set to a predetermined origin posture.

Similarly, when the detection pin 344 is seated at the position P2 in FIG. 28, the detection shaft 316 is pushed, and the attachment / detachment sensor 314 recognizes that the operation unit 14 and the working unit 16 are mounted. At this time, since the detection pin 344 is seated on the high surface 175b, the output signal of the working unit origin sensor 306 changes and it is recognized that the pulley 158a is located in the plus region with respect to the origin. Therefore, when the motor 100 is driven to rotate the pulley 158a in the reverse rotation direction in FIG. 28, the detection pin 344 has its tip spherical surface 344a slidably contacted on the cam surface 175 under the elastic force of the coil spring 324, and eventually. The position P0 is reached. Thus, by setting the drive shaft 115 and the pulley 158a to a predetermined origin phase, the distal end working unit 12 can also be set to a predetermined origin posture.

In such an origin search operation, the working part origin sensor 306, the detection pin 344, the cam surface 175, and the like function as phase detection means for detecting the phase of the pulley 158a that is the driven shaft, thereby enabling quick origin search. It has become. As described above, the origin search operation can be performed by other methods (structures) besides the method based on the detection (phase detection) of the cam surface 175 by the working unit origin sensor 306 (308) as described above. It is.

Therefore, next, a modified example of the origin search operation will be described.

FIG. 29A to FIG. 30B are explanatory views illustrating a structure for carrying out a first modification of the origin search operation.

In this case, as phase detection means for detecting the phase (origin) of the pulley 158a (158b), instead of the working unit origin sensor 306, the detection pin 344 (346), the cam surface 175, etc., on the drive unit 30 side, A working part origin sensor 610 projecting from the bottom surface of the upper bracket 104 is provided (see FIG. 29A), and a sensing ring (to be detected) is formed on the working part 16 side, which is formed of an annular wall surface that surrounds a substantially half circumference of the engaging recess 176a (176b). Member) 612 is provided (see FIG. 29B). The detection ring 612 is connected to the engagement recess 176a (176b) by, for example, three bridges 614 and rotates together with the pulley 158a (158b). The detection ring 612 is arranged so that the end of the arc corresponds to the origin of the pulley 158a (158b), and the detection ring 612 is set so that the detection ring 612 exists only in a half-circle region of the operation region. Thus, if the presence or absence of the detection ring 612 is detected, the controller 514 can recognize whether the working unit 16 is in the plus region or the minus region with respect to the origin. Accordingly, by rotating in the reverse direction when in the plus region and rotating in the forward direction when in the minus region, the point at which the detection ring 612 is switched can be detected as the origin.

Specifically, as shown in FIGS. 30A and 30B, the working unit origin sensor 610 is substantially U-shaped in a side view substantially similar to the working unit origin sensor 306 and the like, and a detection ring 612 inside the U-shape. Can be detected. Thus, when the pulley 158a is rotated by the motor 100 in a state where the engagement convex portion 137 and the engagement concave portion 176a are engaged (see FIG. 30B), the detection ring 612 is also rotated accordingly, and each end portion is rotated. The origin can be detected as the point at which the output is switched when 612a passes the working unit origin sensor 610.

That is, the controller 514 recognizes the origin by the above-described method, returns the engagement convex portion 137 and the engagement concave portion 176a to the motor origin M0, and stops it. Thereby, the drive shaft 115 and the pulley 158a can be set to a predetermined origin phase, and the distal end working unit 12 can also be set to a predetermined origin posture. Since the mechanism has a symmetric structure in the forward rotation direction and the reverse rotation direction, the origin is calculated by detecting only the end 612a on one rotation side (forward rotation side or reverse rotation side), and the motor 100 is operated. Although it is possible to return to the origin position, it is desirable to perform detection in both rotation directions in order to perform a more accurate origin search.

According to such an origin search operation and its structure, the coil spring 322, the detection pin 344, the support member 340, the cam surface 175, etc. can be omitted, so that the number of parts can be reduced and the configuration of the manipulator 10 can be reduced. It can be further simplified.

31A to 31D are explanatory diagrams of a method according to a second modification of the origin search operation. 31A to 31D, in order to clarify the rotation range of the engagement recess 176a (pulley 158a), the contact portion 177a (177b) on the engagement recess 176a side is set to the outer diameter in substantially the same manner as in FIG. 24A and the like. A stopper (pulley operation limit) 179a that restricts the rotation is illustrated as a straight line with hatching, and the contact portion 177c and the stopper shown in the modification of FIG. It is illustrated as a structure similar to the restriction of the rotation range by contact with 179b.

First, as shown by a solid arrow in FIG. 31A, the origin search operation is started by rotating the engaging convex portion 137 and the engaging concave portion 176a in the normal rotation direction in the engaged state. At this time, for the motor 100 (102), the motor rotation speed is greater than a predetermined set speed (speed threshold), and the motor current value is smaller than the predetermined current value (current threshold).

When the origin search operation is started, the engagement convex portion 137 and the engagement concave portion 176a pass through the motor origin M0 and are further rotated in the forward rotation direction to come into contact with one stopper 179a serving as the forward rotation side operation end. The part 177a comes into contact (see FIG. 31B), the motor rotation speed becomes smaller than the speed threshold value, and the motor current value becomes larger than the current threshold value. That is, by detecting the current value and rotation speed of the motor 100 by the controller (detection unit) 514, first, in the forward rotation side region (normal region) of the engagement convex portion 137 and the engagement concave portion 176a. The operation limit can be detected, and the current phase can also be detected.

Therefore, since the mechanism is a symmetric system, it is possible to calculate the reverse side region (negative region), and the motor 100 can be returned to the origin position. However, in this example, more accurately and more reliably. In order to perform the origin search, detection in the reverse direction is performed.

That is, as indicated by the arrow in FIG. 31C, this time, the motor 100 is rotated in the reverse direction (at the time of this rotation, the motor rotation speed is larger than the speed threshold value and the motor current value is smaller than the current threshold value). Then, the abutting portion 177a abuts against the other stopper 179a serving as the reverse operation end (see FIG. 31C), the motor rotation speed becomes smaller than the speed threshold value, and the motor current value becomes larger than the current threshold value.

Therefore, the controller 514 can detect the operation limit in the reverse rotation side region (negative region) of the motor 100, and obtain the average value of the detected operation limit in the positive region and the operation limit in the negative region. The origin search is complete. Therefore, as shown in FIG. 31D, the engagement convex portion 137 and the engagement concave portion 176a are returned to the motor origin M0 and stopped, whereby the drive shaft 115 and the pulley 158a are set to a predetermined origin phase, and the tip operation portion 12 can also be set to a predetermined origin posture.

With respect to such an origin search operation and its structure, the manipulator 10 can reduce the number of parts by omitting the working unit origin sensor 306, the detection shaft 310, the coil spring 322, the detection pin 344, the support member 340, and the like. This configuration can be further simplified.

By the way, in the manipulator 10, the engagement convex portions 137, 138, 600, 604 and the engagement concave portions 176a, 176b, 602, 606 are engaged quickly and smoothly regardless of the initial phase at the time of engagement. Although it is configured to be able to be engaged, one (engagement recess) is forcibly rotated and the pulley 158a (158b) is rotated unless the initial phases coincide with each other. At this time, if the initial phase of the pulley 158a (158b) is in the vicinity of the operation limit (the limit point of the allowable rotation range), the forcing force that causes the pulley 158a (158b) to rotate beyond the operation limit when engaged. And the pulleys 158a (158b) and the abutting portions 177a, 177b and the stopper 179a that restrict the rotation of the pulleys 158a, 158b, and the stopper 179a may be overloaded, causing damage or malfunction.

Therefore, next, an operation (safety detachment operation) for preventing the pulley from forcibly rotating beyond its operation limit when the engagement convex portion and the engagement concave portion are engaged will be described.

First, regarding a safety attaching / detaching operation (first safety attaching / detaching operation) performed by appropriately driving and controlling the driving-side engaging protrusion 137 (138, 600, 604), referring to FIGS. 32A to 37, the engaging protrusion The engaging operation (coupling operation) between the portion 137 and the engaging recess 176a will be described as an example. FIGS. 32A to 37 are explanatory views of the engaging operation of the engaging convex portion 137 on the driving side and the engaging concave portion 176a on the driven side when the operation portion 14 and the working portion 16 are mounted. The operation is illustrated similarly to FIG. 24A and the like. In this case, in FIGS. 32A to 36, the engagement phase between the engagement convex portion 137 and the engagement concave portion 176a is a 60 ° phase, and the engagement is performed when the operation range of the engagement concave portion 176a is regulated to 240 °. FIG. 37 is an explanatory diagram illustrating the operation in the state where the operation range of the engagement recess 176a is restricted to 210 °.

As shown in FIGS. 32A and 33A, the driving-side engaging convex portion 137 (projecting portion 402) coincides with the phase M1, which is the phase of the forward rotation side operation limit (forward rotation side stopper 179a), and is driven. When the engagement recess 176a on the side is in the forward rotation side operation limit (or its vicinity), as shown in FIGS. 32B and 33B, the engagement recess 176a (pulley 158a) rotates beyond the operation limit. Smooth engagement is possible without receiving a forcing force.

As shown in FIG. 34A, the engaging convex portion 137 is in the phase M2 on the reverse side of 30 ° (the half phase of the engaging convex portion 137 having a 60 ° phase shape) from the forward rotation side operation limit, and the engaging concave portion 176a is Even in the forward rotation side operation limit, as shown in FIG. 34B, the engagement recess 176a (pulley 158a) is smoothly engaged without receiving the forcing force that rotates beyond the operation limit.

On the other hand, as shown in FIG. 35A, when the engaging convex portion 137 is in the phase M3 exceeding the normal rotation side operation limit and the engaging concave portion 176a is in the normal rotation side operation limit as shown in FIG. The engaging recess 176a (pulley 158a) receives a forcing force that rotates beyond the operating limit. For this reason, an excessive load is generated on the pulley 158a, the contact portion 177a, the stopper 179a, and the like, which may cause damage or malfunction.

Therefore, as shown in FIG. 36 as the forward rotation operation limit side, the region Rs where the phase of the engagement convex portion 137 is between the phases M1 and M2 is a safe region (engagement convex portion indicated by a solid line) that can be safely attached and detached. 137), and the region Rd between the phases M1 and M3 is a danger region (see the engagement convex portion 137 indicated by a broken line) that may not be safely attached and detached, and these are the engagement convex portions 137. Are present at intervals of half phase (30 °) of the engagement phase (60 °). Similarly, as shown as the reverse operation limit side in FIG. 36, a region Rs in which the phase of the engagement convex portion 137 is between the phases M4 and M5 is a safe region (engagement convex portion indicated by a solid line) that can be safely attached and detached. 137), and the region Rd between the phases M5 and M6 is a danger region (see the engagement convex portion 137 indicated by a broken line) that may not be safely attached and detached, and these are the engagement convex portions 137. Are present at intervals of half phase (30 °) of the engagement phase (60 °).

However, as can be understood from FIG. 36, in this case, the safety region Rs and the dangerous region Rd on the forward operation limit side and the reverse operation limit side are completely in opposite phases. Even when the portion 137 is set to the safety region Rs on the forward rotation limit side, if the phase of the engagement recess 176a is on the reverse rotation limit side, there is a possibility that safe attachment / detachment cannot be performed. That is, with respect to the engaging convex portion 137 having a 60 ° phase shape, the operating range of the engaging concave portion 176a is defined to be 240 ° that is an integral multiple (four times) thereof. Since the region Rd has a completely opposite phase, it is difficult to always perform safe attachment / detachment only by the phase control on the engagement convex portion 137 side.

On the other hand, as shown in FIG. 37, when the engagement phase of the engagement convex portion 137 remains 60 ° and the operation range of the engagement concave portion 176a is set to 210 °, the forward operation limit side and the reverse operation The limited-side safety region Rs and the dangerous region Rd are completely in phase. Then, when the engagement convex portion 137 is set to the safety region Rs on the forward operation limit side, it is safe whether the phase of the engagement recess 176a is on either the forward operation limit side or the reverse operation limit side. Detachment is possible, and vice versa. That is, with respect to the engaging convex portion 137 having a 60 ° phase, the operating range of the engaging concave portion 176a is defined as an angle obtained by adding the half phase (30 °) to 180 ° which is an integral multiple (three times) thereof. In this case, the safety region Rs and the dangerous region Rd are completely in phase, so that the engaging projection 137 is phase-controlled and set to the safety region Rs, so that safe attachment and detachment is always performed. It is possible.

As described above, in the first safety attaching / detaching operation executed by controlling the driving-side engaging convex portion 137, the engaging phase shape of the engaging convex portion 137 and the engaging concave portion 176a, and the operation of the engaging concave portion 176a. In relation to the range, the safety region Rs on the forward rotation operation limit side and the reverse rotation operation limit side match or substantially match, and the engagement convex portion 137 is set to the safety region Rs when engaged, Safe attachment and detachment can always be performed.

In other words, when the engagement phase is m ° phase and the operation range of the engagement recess 176a is {m · n} ° (n is a natural number), for example, when the engagement phase is 60 ° phase When the operating range of the engaging recess 176a is 120 °, 180 °, 240 °, 300 °, etc., the safety region Rs and the dangerous region Rd on the forward rotation operation limit side and the reverse rotation operation limit side are in opposite phases, There is a possibility that the engaging convex portion 137 cannot always be set in the safety region Rs on both the forward rotation side and the reverse rotation side, and cannot be safely detached.

On the other hand, when the engagement phase is m ° phase and the operation range of the engagement recess 176a is {m · n + m / 2} ° (n is a natural number), for example, when the engagement phase is 60 ° phase When the operating range of the engaging recess 176a is 90 °, 150 °, 210 °, 270 °, 330 °, etc., the safety region Rs and the danger region Rd on the forward rotation limit side and the reverse rotation limit side are in phase. Thus, the engaging convex portion 137 can always be set in the safety region Rs on both the forward rotation side and the reverse rotation side, and can always be safely attached and detached.

This first safe attachment / detachment operation is performed under the control of the controller 514, for example, when the work unit 16 is detached from the operation unit 14, when the controller 514 is connected to the operation unit 14, and when the master switch 34 is turned off. At this time, the motor 100 (102) may be driven and controlled at at least one timing to set the engaging convex portion 137 to the safety region Rs, and the other engaging convex portions 138 and the like are substantially the same. is there. At this time, the phase control of the motor 100 (102) may be performed by detecting the protruding piece 333a (334a) of the detection piece 333 (334) by the motor phase sensor 331 (332). That is, when the protruding piece 333a is arranged in a phase shape (60 ° phase) corresponding to the engaging phase of the engaging convex portion 137, the protruding piece 333a passes through the motor phase sensor 331 and the output is switched. The phase of the motor 100 can be detected by the controller 514. Therefore, the phase shape of the protruding piece 333a can be changed as appropriate in accordance with the phase shape of the engaging convex portion 137.

As can be seen from FIG. 34B, when the engagement recess 176a is located at a position between the forward rotation side operation limit and the reverse rotation side operation limit at a half phase separation of the engagement phase, that is, the driven side engagement recess. 176a is between the phase on the reverse rotation side from the normal rotation side operation limit (phase M2) and the phase on the normal rotation side from the reverse rotation side operation limit (phase M2 ') (between M2 and M2'). In some cases, it can be safely attached and detached regardless of the phase of the engaging convex portion 137 on the drive side. This is because even if the engaging recess 176a is forcibly rotated by a half phase, it does not exceed the stopper 179a which is the operation limit.

Therefore, next, a safe attachment / detachment operation (second safety attachment / detachment operation) in which the driven-side engagement recess 176a (176b, 602, 606) is set between the phases M2 and M2 ′ as the safety region is shown in FIGS. This will be described with reference to 38C. 38A to 38C show the engaging convex portion 137 and the engaging concave portion 176a in the same manner as in FIG. 31A and the like.

As shown in FIG. 38A, in the second safe attaching / detaching operation, a rubber member (as a buffer member) is provided inside the stopper 179a that defines the forward and reverse operating range of the engaging recess 176a (pulley 158a) on the driven side. Elastic member) 620 is arranged. The rubber member 620 is made of a material that can be deformed (contracted) by a predetermined amount by contact with the contact portion 177a by the rotational torque of the motor 100.

In this case, the rubber member 620 is deformed to the operation limit of the operation range by being pressed by the contact portion 177a rotated by the motor 100 (see FIG. 38B). That is, the motor 100 crushes the rubber member 620 with the contact portion 177a until the operation limit of the operation range shown in FIG. 38A is reached without receiving a load that hinders the motor rated torque. (See FIG. 38B).

On the other hand, as shown in FIG. 38B, when the engagement protrusion 137 is removed from the engagement recess 176a in a state where the contact portion 177a compresses the rubber member 620 and is rotated near the operation limit, The joint recess 176a is free. Therefore, as shown in FIG. 38C, the engagement recess 176a (pulley 158a) is returned to the safe region by the repulsion (restoration) action of the elastic member 620. That is, the rubber member 620 functions as a safety region guiding means that always guides the driven-side engaging recess 176a into the safety region. Besides the rubber, for example, a buffer member such as a coil spring or urethane resin is used. Can be applied.

As described above, in the second safety attaching / detaching operation, when the operation unit 14 and the working unit 16 are detached, the phase of the driven side engaging concave portion 176a is independent of the phase of the driving side engaging convex portion 137. The safety region between the forward rotation side operation limit and the half-phase reverse rotation side and the reverse rotation side operation limit by the half-phase forward rotation side (between phases M2 and M2 'in FIG. 34B) must be present. Since it is set, safe attachment and detachment can always be performed.

FIG. 39A to FIG. 39C are explanatory views showing a modified example of the second safety attaching / detaching operation described above.

As shown in FIG. 39A, in this modified example, instead of the rubber member 620 which is the buffer member described above, the operation unit 14 and the working unit 16 protrude from the stopper 179a when being removed or in a removable state. An advancing / retracting member 622 is provided for guiding the engaging recess 176a in the vicinity of the operating limit of the operating range into the safety region. Accordingly, in this case as well, regardless of the phase of the engagement convex portion 137 on the driving side, the phase of the engagement concave portion 176a on the driven side is reversed from the phase on the reverse side by the half phase from the normal rotation side operation limit. It is always set in a safety region between the side operation limit and the half-phase forward rotation phase (between phases M2 and M2 ′ in FIG. 34B), and safe attachment / detachment can always be performed.

40A to 41B show a safety attaching / detaching operation in which a safety region guiding means for guiding the engaging recess 176a (pulley 158a) to the safety region when the operation unit 14 and the working unit 16 are mounted is provided on the drive unit 30 side (third It is explanatory drawing of safe attachment / detachment operation | movement.

As shown in FIG. 40A, in the third safety attaching / detaching operation, when the operating portion 14 and the working portion 16 are mounted, the engaging convex portion 137 and the engaging concave portion 176a are moved to the inside of the stopper 179a prior to the engagement. A moving wedge-shaped moving member 624 protrudes downward from the drive unit 30.

Therefore, as shown in FIGS. 40A and 41A, even when the engaging recess 176a is located near the operation limit outside the safety region when the operating portion 14 and the working portion 16 are mounted, the engaging protrusion Before the 137 and the engagement recess 176a engage with each other, the moving member 624 moves between the stopper 179a and the contact portion 177a, and as shown in FIGS. 40B and 41B, the engagement recess 176a is moved to the safety region. Guide to. Therefore, regardless of the phase of the driving-side engaging convex portion 137, the phase of the driven-side engaging concave portion 176a is from the above-described forward rotation side operation limit to the half-phase reverse rotation side phase and the reverse rotation side operation limit. It is always set in a safe region between the half phase and the phase on the forward rotation side (between phases M2 and M2 'in FIG. 34B), and safe attachment and detachment can always be performed.

Note that it is preferable to perform at least one of the first to third safety attaching / detaching operations because a smooth engaging operation between the engaging convex portion and the engaging concave portion can be performed. Depending on the type of the part 12 and the use of the manipulator 10, etc., in this case, the elements related to the safe attaching / detaching operation such as the motor phase sensor 331 are omitted, and the configuration of the manipulator 10 is simplified. It is also possible to plan.

Next, with reference to the flowchart of FIG. 42, regarding the starting operation (use preparation operation) in the manipulator 10 basically configured as described above and the mounting operation of the operation unit 14 and the working unit 16 related to the starting operation. I will explain. Hereinafter, the configuration using the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) will be described as an example, but the above-described engaging convex portion 600 and the like can be controlled and operated in substantially the same manner.

In step S1 of FIG. 42, in order to start the system including the manipulator 10, first, the operator turns on the power switch 516 (see FIG. 1) of the controller 514 to start the controller 514 and the peripheral system (step S2). ).

Next, in step S3, the operation unit 14 is attached to the controller 514. For example, the connector 520 at the tip of the cable 61 extending from the lower end of the grip handle 26 of the operation unit 14 is connected to the first port 515a of the controller 514 (see FIG. 1). At this timing, the phase control of the motors 100 and 102 by the first safety attaching / detaching operation described above can also be executed under the control of the controller 514 (see FIG. 37 and the like).

In step S4, the working unit 16 including the predetermined tip operating unit 12 is attached to the operation unit 14 connected to the controller 514. As described above, the mounting operation is performed so that the two guide pins 163 and 163 protruding from the operation unit 14 are fitted in the pin holes 161 and 161 of the working unit 16 and the operation unit 14 is positioned. While positioning so that the concave portion 406 engages with the positioning convex portion 408 of the working portion 16, the operation portion 14 and the working portion 16 are pressed and brought into close contact with each other (see FIGS. 6, 20A, and 20B). As a result, the claw portion 400c of the detachable lever 400 engages with the locking portion 401a (see FIGS. 1 to 3), and at the same time the mounting of the operation portion 14 and the working portion 16 is completed, the engaging convex portion 137 (138) ) And the engagement recess 176a (176b) are also completed. The completion of the mounting of the operation unit 14 and the working unit 16 is based on the fact that the attachment / detachment sensor 314 detects that the detection shaft 316 is seated on the stop plate 179 (see FIGS. 7, 23A and 23B). 514. Similarly, regarding the phase when the engaging convex portion 137 (138) and the engaging concave portion 176a (176b) are engaged, the seating position of the detection pin 344 (346) on the cam surface 175 is the working portion origin sensor 306 (308). ) (See FIG. 28), it is recognized by the controller 514. Here, when the structure for executing the third safety attaching / detaching operation is applied, the safety attaching / detaching operation is performed.

Therefore, in step S5, the controller 514 captures an image of the barcode 222 by controlling the driving of the camera 224 and the LED 224a based on the detection of the attachment / detachment sensor 314 in step S4 or based on other switch input (not shown) ( As shown in FIG. 19, the specification (the type of the distal end working unit 12), the number of times of use, the usage limit (upper limit), and the like are acquired from the barcode 222 as the individual information of the working unit 16. Further, the controller 514 can acquire individual information of the working unit 16 and appropriately control the motors 100 and 102 and the like according to the type of the working unit 16 according to the individual information.

In step S6, by turning on the master switch 34 (see FIG. 1) of the manipulator 10 to which the operation unit 14 and the work unit 16 are mounted, in step S7, it is built under the control of the controller 514 or in the operation unit 14. The above-described origin search operation is performed under the control of a control unit (not shown). As a result, the drive shaft 115 (116) and the pulley 158a (158b) are set to a predetermined origin phase, the tip operating unit 12 is also set to a predetermined origin posture, and preparation for use of the manipulator 10 is completed (step S8). . As described above, by performing the origin search operation, the origin position can be easily detected, and the operation start after the operation unit 14 and the working unit 16 are mounted can be more smoothly performed.

During the origin search operation in step S7, the LED 29 (see FIG. 1) arranged in parallel with the master switch 34 is controlled to blink in green, for example. Then, the operator can easily recognize that the origin search operation is being performed. Further, after the preparation for use is completed in step S8, the LED 29 is controlled so as to be lit in green, for example, to clearly indicate to the operator that the manipulator 10 is normally activated and is in a predetermined usable state. be able to. The LED 29 is not lit until the above steps S1 to S6. Of course, the LED 29 may be controlled to be turned on or blinking according to the processing state.

After the preparation for use is completed in step S8, that is, after the manipulator 10 is ready for use, the operator holds the grip handle 26 and operates the composite input unit 24 and the trigger lever 36 to operate the manipulator 10. Can be operated in accordance with a predetermined procedure.

In this state, when the master switch 34 is turned off, for example, due to a temporary interruption of the procedure (step S9), the LED 29 is turned off and the usable state of the manipulator 10 is stopped. At this timing, the phase control of the motors 100 and 102 by the first safety attaching / detaching operation can also be executed under the control of the controller 514 (see FIG. 37 and the like).

After that, when performing the procedure without removing the working unit 16 or the like, by turning on the master switch 34 again (step S10), the process returns to step S8, and the manipulator 10 becomes usable again. An operator can initiate or continue a predetermined procedure. At this time, unless the detachment of the working unit 16 from the operation unit 14 or the like is performed from step S9 to step S10, that is, after the master switch 34 is turned off, the step S7 is performed. The origin positions of the motors 100 and 102 and the distal end working unit 12 set in step S5 are not shifted, and after step S10, the process can quickly move to step S8.

On the other hand, after step S8, for example, when the work unit 16 and the operation unit 14 are removed in order to change the work unit 16 in response to another procedure (step S11 and step S12), step S4 and step S4, respectively. Returning to step S3, the control flow described above is performed thereafter. At this timing, the phase control of the motors 100 and 102 by the first safety attaching / detaching operation described above can also be executed under the control of the controller 514 (see FIG. 37 and the like). On the other hand, when the structure for executing the safety attachment / detachment operation according to the second and the modified examples is applied, the safety attachment / detachment operation is performed.

By the way, in the reading operation of the barcode 222 shown in step S5, for example, errors as indicated by E1 to E3 in FIG. 42 may occur. Although errors that occur in the manipulator 10 may naturally occur in relation to states other than the following errors E1 to E3 and error E4, errors E1 to E4 will be described below as examples.

Error E1 (abnormal barcode reading) occurs when the barcode 222 reading abnormality occurs in step S5, for example, when the barcode 222 cannot be accurately captured by the camera 224 or when the barcode 222 is This is the case other than the work unit 16 or the like to be controlled by the controller 514. In this case, in step S13, a work unit removal request for controlling the LED 29 to blink in red, for example, is performed. In addition to the LED 29 display, the work unit removal request displays an error E1 on the display unit (display) 517 (see FIG. 1) of the controller 514 and generates a warning sound or the like through a speaker (not shown). May be. When the operator removes the work unit 16 from the operation unit 14 in response to the work unit removal request, the red flashing by the LED 29 is turned off, and the process returns to step S4. Therefore, the operator reconfirms the working unit 16 and confirms the stain of the barcode 222 and the like.

Error E2 (use amount limit over) is a case where the attached work unit 16 has exceeded the use frequency limit due to the reading operation of the barcode 222 in step S5. This is because, for example, when the usage amount limit of the predetermined working unit 16 is 10 times, the working unit 16 is mounted even though the usage amount is already 10 times, or the cumulative usage time limit is 300. In terms of time, when the working unit 16 is mounted even though it has already been used for more than 300 hours, or the bending or rotating operation of the manipulator tip is used beyond the cumulative use angle limit. This is an error that is notified in the event of a failure. In this case, in substantially the same manner as in the case of the error E1, a work unit removal request for controlling the LED 29 to blink in red, for example, is performed in step S13. Of course, regarding the work unit removal request in this case, an error E2 may be displayed on the display unit 517 of the controller 514, and the warning sound or the like may be generated. When the operator removes the work unit 16 from the operation unit 14 in response to the work unit removal request, the red flashing by the LED 29 is turned off, and the process returns to step S4. Therefore, the operator performs work such as replacing the work unit 16 with a new work unit 16.

Error E3 (imaging module system abnormality) is a case where the camera 224 does not function normally in the reading operation of the barcode 222 in step S5. In this case, in step S14, an operation unit removal request for controlling the LED 29 to blink in red, for example, is performed. Also in this case, the error E3 may be displayed on the display unit 517 of the controller 514, and the warning sound or the like may be generated. When the operator removes the operation unit 14 from the work unit 16 in response to the operation unit removal request, the red blinking by the LED 29 is turned off, and the process returns to step S3. Therefore, the operator performs operations such as confirmation and replacement of the operation unit 14.

Similarly, in the origin search operation shown in step S7, for example, an error shown by E4 in FIG. 42 may occur. Error E4 (operation system abnormality) occurs when an abnormality occurs during the origin search operation in step S7, for example, when an abnormality of the motors 100 and 102 is detected by the controller 514, or when the origin search is not completed within a predetermined time. Etc. In this case, in the same manner as in the case of the error E3, in step S14, an operation unit removal request for controlling the LED 29 to blink in red, for example, is performed. Also in this case, the error E3 may be displayed on the display unit 517 of the controller 514, and the warning sound or the like may be generated. When the operator removes the operation unit 14 from the work unit 16 in response to the operation unit removal request, the red blinking by the LED 29 is turned off, and the process returns to step S3. Therefore, the operator performs operations such as confirmation and replacement of the operation unit 14.

In each state including steps S1 to S14, for example, when the power switch 516 of the controller 514 or another main power switch (not shown) is turned off, or from a power plug (not shown) connected to the controller 514 or the like. When the power cord is disconnected, or when various failures or abnormalities occur in the controller 514, the manipulator 10 operates after a predetermined termination process (the LED 29 is controlled to flash, for example, red). End.

As described above, according to the manipulator 10 according to the present embodiment, the operation unit 14 including the drive unit 30 and the working unit 16 are detachable from each other, and the drive shafts 115 and 116 that are drive shafts are in the axial direction. The drive side joint surface is inclined with respect to the engagement convex portion 137 and the like, and the pulleys 158a and 158b which are driven shafts are inclined with respect to the axial direction and can be engaged with the engagement convex portion 137 and the like. An engaging recess 176a or the like is provided as a driven surface joining surface. Therefore, regardless of the initial phase at the time of engagement of the engagement convex portion 137, the engagement concave portion 176a, etc., both can be smoothly engaged, and the operation portion 14 (drive portion 30) and the working portion 16 can be more quickly engaged. And can be attached and detached easily.

In this case, one of the drive shaft 115 as a drive shaft and the pulley 158a as a driven shaft (in this embodiment, the drive shaft 115) is not rotatable, and the other (in this embodiment, the pulley 158a) is freely rotatable. By being in the (free) state, the other in the free state is forcibly rotated by one. For this reason, engagement convex part 137, engagement concave part 176a, etc. can be engaged more smoothly irrespective of the mutual initial phase.

As phase detection means for detecting the phases of the pulleys 158a and 158b which are driven shafts, detected members (detection pins 344 and 346, detection shafts 310 and 312, detection rings 612) and detection sensors (working part origin sensors 306 and 308, 610) and the configuration for detecting the motor rotation speed and motor current value of the motor 100 (102) can be used to smoothly set the origin on the working unit 16 side, and the distal end working unit 12 This makes it possible to perform accurate drive control.

Further, by performing the first to third safe attaching / detaching operations, the pulleys 158a (158b) are engaged when the engaging convex portions 137, 138, 600, 604 and the engaging concave portions 176a, 176b, 602, 606 are engaged. ), The pulley 158a (158b) receives a forcing force that rotates beyond the operation limit, and the pulley 158a (158b) and the contact that regulates the rotation thereof. It is possible to effectively avoid the occurrence of an excessive load on the portions 177a and 177b and the stopper 179a to cause damage or malfunction.

In the manipulator 10, the trigger lever 36, which is a mechanism for mechanically driving the distal end working unit 12, the trigger lever mounting portion 32 b, and rods 192 a and 192 b which are rod-shaped or linear transmission members are all on the working unit 16 side. Is provided. On the other hand, the drive unit 30 which is a mechanism unit for electrically driving the distal end working unit 12, the pulleys 158a, 158b, the wires 1052, 1054, etc. are provided so as to be separated from each other on the operation unit 14 side and the working unit 16 side. It has been. That is, the rotational driving force of the motors 100 and 102 constituting the electric drive unit can be separated relatively easily by the coupling structure between the engagement convex part 137 (138) and the engagement concave part 176a (176b). However, if the mechanical drive unit that directly transmits the operation of the trigger lever 36 by the rod 192a or the like constitutes a separation structure, the structure tends to be somewhat complicated. Therefore, in the manipulator 10, the trigger lever 36, the rod 192a, and the like constituting the mechanical drive unit are collectively arranged on the working unit 16 side, so that the detachable structure between the operation unit 14 and the working unit 16 is further simplified. Has been. In particular, the rods 192a and 192b are configured to transmit the input to the trigger lever 36 by advancing and retreating operations in the Z direction, that is, as rod-shaped or linear transmission members, so that they are not separated. The attachment / detachment structure is further simplified.

In this case, the claw portion 206a and the engagement ring 27 constituting the latch mechanism of the trigger lever 36 may be on the working portion 16 side (or the operating portion 14 side) and the operating portion 14 side (or the working portion 16 side), respectively. ). Thereby, even if it is a case where the latch mechanism which fixes the position to the trigger lever 36 is mounted, it can be set as the structure which can attach or detach the operation part 14 and the operation | work part 16 easily.

Next, a specific configuration of the distal end working unit 12 applied to the manipulator 10 configured as described above will be described by exemplifying a structure that employs an end effector 1300 that is a gripper. Of course, a structure other than a gripper, such as scissors or an electric knife, can be applied as the distal end working unit 12, and it can be easily attached to and detached from the operation unit 14 by configuring as the working unit 16 including the distal end working unit 12. Can be exchanged.

As shown in FIG. 43, the distal end working unit 12 includes a first end effector driving mechanism 1320a including a rod 192a, a passive wire 1252a, an idle pulley 1140a, a guide pulley 1142a, a passive pulley 1156a, and a second end corresponding thereto. An effector driving mechanism 1320b is provided. The first end effector drive mechanism 1320a and the second end effector drive mechanism 1320b have a basic configuration for opening and closing the end effector (gripper) 1300.

The components in the first end effector drive mechanism 1320a are identified by a and the components in the second end effector drive mechanism 1320b are identified by b. The components of the first end effector drive mechanism 1320a and the components of the second end effector drive mechanism 1320b that have the same function may be described typically only with respect to the first end effector drive mechanism 1320a so as not to become complicated. is there.

43 and 44, the first end effector driving mechanism 1320a and the second end effector driving mechanism 1320b are shown side by side on the paper for easy understanding. However, in the case of application to an actual manipulator 10, As shown in FIG. 45, the pulleys are arranged in parallel in the axial direction (that is, the Y direction) of each pulley, and idle pulleys (columnar members, transmission members) 1140a and 1140b and guide pulleys (columnar members, transmission members) 1142a and 1142b. The rotation axes may be arranged on the same axis. That is, the idle pulleys 1140a and 1140b can be pivotally supported on the shaft 1110 (see FIG. 45), and the guide pulleys 1142a and 1142b can be pivotally supported on the shaft 1112. By making the guide pulley 1142a and the guide pulley 1142b coaxial, the yaw axis operation mechanism is simplified.

As shown in FIGS. 46 to 49, the distal end working unit 12 includes a wire passive unit 1100, a composite mechanism unit 1102, and an end effector 1300, which are centered on the first rotation axis Oy in the Y direction. A first degree of freedom in which the portion ahead rotates in the yaw direction, a second degree of freedom in rotation in the roll direction around the second rotation axis Or, and an end effector at the tip about the third rotation axis Og The mechanism has a total of three degrees of freedom having a third degree of freedom for opening and closing 1300.

The first rotation axis Oy, which is a mechanism with a first degree of freedom, may be set so as to be rotatable in a non-parallel manner with an axis extending from the proximal end side to the distal end side of the connecting shaft 18. The second rotation axis Or, which is a mechanism with a second degree of freedom, is a mechanism that can rotate around the axis in the extending direction of the distal end portion (that is, the end effector 1300) in the distal end working unit 12, and the distal end portion is set to be rotatable. Good.

The mechanism with the first degree of freedom (yaw direction) is, for example, a tilting mechanism (or bending mechanism) having an operating range of ± 90 ° or more. The mechanism of the second degree of freedom (roll direction) is a rotating mechanism having an operating range of ± 180 ° or more, for example. The mechanism of the third degree of freedom (end effector 1300) is an opening / closing mechanism that can be opened, for example, 40 ° or more.

The end effector 1300 is a part that performs an actual work in the operation, and the first rotation axis Oy and the second rotation axis Or constitute a posture changing mechanism for changing the posture of the end effector 1300 so that the work can be easily performed. It is a posture axis. In general, a mechanism unit related to the third degree of freedom for opening and closing the end effector 1300 is also called a gripper (or a gripper shaft), and a mechanism unit related to the first degree of freedom rotating in the yaw direction is also called a yaw axis. The mechanism part according to the second degree of freedom that rotates in the direction is also called a roll shaft.

The wire passive portion 1100 is provided between the pair of tongue pieces 1058, and is a portion that converts the reciprocating motions of the wires 1052 and 1054 into rotational motions and transmits them to the composite mechanism portion 1102. The wire passive portion 1100 includes a shaft 1110 inserted into the shaft holes 1060a and 1060a and a shaft 1112 inserted into the shaft holes 1060b and 1060b. The shafts 1110 and 1112 are fixed to the shaft holes 1060a and 1060b, for example, by press fitting or welding. The axis | shaft 1112 is arrange | positioned on the axis | shaft of the 1st rotating shaft Oy (refer FIG.46 and FIG.49).

At both ends of the shaft 1112 in the Y direction, a gear body 1126 and a pulley 1130 that are symmetrical in the Y direction are provided. The gear body 1126 includes a cylindrical body 1132 and a gear 1134 provided concentrically on the top of the cylindrical body 1132. The pulley 1130 has substantially the same diameter and the same shape as the cylindrical body 1132. The gear 1134 meshes with a face gear 1165 of a gear body 1146 described later.

A part of the wires 1052 and 1054 is fixed and wound around the cylindrical body 1132 and the pulley 1130 by a predetermined fixing means. The angle at which the wires 1052 and 1054 are wound is, for example, 1.5 rotations (540 °). The pulley 1130 is integrally provided on the base end side of the main shaft member 1144. The main shaft member 1144 is supported by the shaft 1112 so as to be rotatable (tilted) about the first rotation axis Oy (yaw axis). Has been.

By rotating the wire 1054, the main shaft member 1144 provided integrally with the pulley 1130 rotates about the first rotation axis Oy, and the yaw operation is performed. By rotating the wire 1052 (see FIG. 46), the gear body 1126 rotates with respect to the shaft 1112 and the gear body 1146 rotates with the second rotation axis Or as a reference, and roll rotation operation is performed. When the gear body 1126 and the pulley 1130 are rotated, a combined operation of the yaw direction operation and the roll rotation operation is performed. As described above, the mechanism of the distal end working unit 12 is not limited to the type in which the wire 1052 drives the face gear 1165 via the gear 1134 while the wire 1054 directly drives the main shaft member 1144 to rotate. A differential mechanism corresponding to the configuration shown in FIG. 23 in Japanese Patent Laid-Open No. 2008-253463 may be used.

An idle pulley (cylindrical member, transmission member) 1140a is rotatably supported at a substantially central portion of the shaft 1110, and a guide pulley (cylindrical member, transmission member) 1142a is rotatable at a substantially central portion of the shaft 1112. It is pivotally supported. The idle pulley 1140a is provided to keep the winding angle of the passive wire (flexible member, transmission member) 1252a wound around the guide pulley 1142a constant at all times (approximately 180 ° on both sides). Instead of the idle pulley 1140a, the guide pulley 1142a may have one or more turns of the passive wire 1252a. The idle pulley 1140a and the guide pulley 1142a may be made of a material with a smooth surface or less friction in order to reduce slippage on the passive wire 1252a (see FIG. 51) and wear due to friction. The guide pulley 1142a is provided on the yaw axis Oy in the posture changing mechanism.

A main shaft member 1144 having a pulley 1130 is rotatably supported between the gear body 1126 and the guide pulley 1142a in the shaft 1112. The main shaft member 1144 has a cylindrical portion that protrudes toward the composite mechanism portion 1102. A square hole 1144 a is provided in the axial center portion of the main shaft member 1144. At the end in the Z2 direction of the main shaft member 1144, two auxiliary plates 1144b that hold the upper surface in the Y direction of the guide pulley 1142a and the lower surface in the Y direction of the guide pulley 1142b and have a hole through which the shaft 1112 passes are provided. . The auxiliary plate 1144b has a mountain shape that becomes wider in the Z1 direction and prevents intrusion of foreign matter such as yarn.

The composite mechanism unit 1102 is a composite mechanism unit including an opening / closing operation mechanism of the end effector 1300 and a posture changing mechanism that changes the posture of the end effector 1300.

The compound mechanism portion 1102 includes a gear body 1146 that is rotatably inserted into the circumferential surface of the cylindrical portion of the main shaft member 1144, a nut body 1148 provided at the tip of the main shaft member 1144, and an end portion in the Z2 direction in the hole 1144a. A square-shaped transmission member 1152 to be inserted, a passive pulley (cylindrical member, transmission member) 1156a rotatably supported by a pin 1154 with respect to the Z2 direction end of the transmission member 1152, and a passive plate (transmission member) ) 1158 and a cylindrical cover 1160.

A resin-made thrust bearing member 1144c is provided at a portion of the main shaft member 1144 that comes into contact with the gear body 1146. A thrust bearing member 1148a made of resin is provided on a portion of the nut body 1148 that contacts the gear body 1146. The thrust bearing members 1144c and 1148a are low-friction materials, and reduce the friction and torque of the contact portion and prevent the load from being directly applied to the face gear 1165. The thrust bearing members 1144c and 1148a are so-called sliding bearings, but may be provided with rolling bearings. Thereby, even when the end effector 1300 is strongly closed or opened, that is, even when the gear body 1146 strongly contacts the main shaft member 1144, the roll shaft operation can be performed smoothly.

The gear body 1146 has a stepped cylindrical shape, and includes a large diameter portion 1162 in the Z2 direction, a small diameter portion 1164 in the Z1 direction, and a face gear 1165 provided on the end surface of the large diameter portion 1162 in the Z2 direction. Face gear 1165 meshes with gear 1134. The gear body 1146 prevents the nut body 1148 from coming off from the main shaft member 1144. A screw is provided on the outer periphery of the large diameter portion 1162.

The passive plate 1158 has a concave portion 1166 in the Z2 direction, an engaging portion 1168 provided on the bottom surface of the concave portion 1166, axial ribs 1170 provided on both sides in the Y direction, and link holes 1172, respectively. The engaging portion 1168 has a shape that engages with a mushroom-like protrusion 1174 provided at the tip of the transmission member 1152. By this engagement, the passive plate 1158 and the transmission member 1152 can rotate relative to each other. The width of the passive plate 1158 is substantially equal to the inner diameter of the cover 1160.

The cover 1160 is sized to cover substantially the entire composite mechanism section 1102 and prevents foreign matter (biological tissue, medicine, thread, etc.) from entering the composite mechanism section 1102 and the end effector 1300. Two axial grooves 1175 in which the two ribs 1170 of the passive plate 1158 are fitted are provided on the inner surface of the cover 1160 so as to face each other. The passive plate 1158 is guided in the axial direction by fitting the rib 1170 into the groove 1175. Since the protrusion 1174 engages with the engaging portion 1168 of the passive plate 1158, the passive pulley 1156 a can advance and retreat in the axial direction together with the passive plate 1158 and the transmission member 1152 in the hole 1144 a, and the transmission member 1152 can be used as a reference. As a result, roll rotation is possible. The cover 1160 is fixed to the large diameter portion 1162 of the gear body 1146 by means such as screwing or press fitting.

The cover 1160 is coupled to the gear body 1146 on the base side (screwing, press-fitting, welding, etc.), and the cover 1160 and the end effector 1300 perform a roll axis operation as the gear body 1146 rotates.

The lever portion 1310 and the passive plate 1158 are connected by a gripper link 1220. That is, the pin 1222 is inserted into the hole 1220 a at one end of each gripper link 1220 together with the hole 1218, and the pin 1224 is inserted into the hole 1220 b at the other end together with the link hole 1172 of the passive plate 1158.

As shown in FIG. 50, the idle pulley 1140a includes two coaxially arranged first layer idle pulleys (first layer idle cylinders) 1232 and second layer idle pulleys (second layer idle cylinders) 1234 arranged in parallel. The guide pulley 1142a is composed of a coaxial first layer guide pulley (first layer guide column) 1236 and a second layer guide pulley (second layer guide column) 1238 arranged in parallel. It is configured.

As shown in FIG. 51, the end of the rod 192a in the Z1 direction is connected to both ends of a passive wire (flexible member) 1252a by a wire engaging portion 1250a.

52 and 53, in the wire engaging portion 1250a, a roller 1416 is provided at a tip portion 1414 of a rod 192a, and a passive wire 1252a is wound around the roller 1416. The roller 1416 is supported by a pin 1418 and is rotatable. As a result, the passive wire 1252a is appropriately advanced and retracted while being wound around the roller 1416, and when the rod 192a is pulled in the Z2 direction, the passive wire 1252a is pulled with a good balance in the X direction even when the yaw axis is not bent. be able to. The tip portion 1414 is screwed to the rod 192a. In this embodiment, the pair of tensions in the Y direction of the passive wire 1252a are uniform, and it is possible to extend the life of the passive wire 1252a, and it is possible to achieve a parallel pair of both the upper and lower Y directions.

50 and 51, the passive wire 1252a is an annular flexible member partially connected to the wire engaging portion 1250a, and a rope, a resin wire, a piano wire, a chain, or the like is used in addition to the wire. be able to. Here, the term “annular” is used in a broad sense, and the flexible member does not necessarily have to be applied over the entire length. The flexible member may be at least a portion that is wound around each pulley, and the straight portion is connected by a rigid body. Of course, it may be done.

The passive wire 1252a passes from the rod 192a of the driving member through the X1 direction (first side) of the idle pulley 1140a, toward the X2 direction (second side), and through the surface of the guide pulley 1142a in the X2 direction. It reaches the X2 direction surface of the passive pulley 1156a. The passive wire 1252a is further wound halfway around the Z1 direction surface of the passive pulley 1156a to reach the X1 direction surface, passes through the X1 direction surface of the guide pulley 1142a, passes through the X2 direction, and passes through the X2 direction of the idle pulley 1140a. It is arrange | positioned by the path | route which reaches the engaging part 1250a.

That is, the passive wire 1252a constitutes a circuit that has the wire engaging portion 1250a as a base point and an end point, passes through both sides of the idle pulley 1140a, is wound around the passive pulley 1156a, and the idle pulley 1140a and the guide pulley 1142a It intersects between the two to form an approximately 8-character shape. Thus, the wire engaging portion 1250a and the passive wire 1252a are mechanically connected to the trigger lever 36 via the rod 192a.

The idle pulley 1140a, the guide pulley 1142a, and the passive pulley 1156a have substantially the same diameter, and have an appropriately large diameter within a possible range in the layout so that the passive wire 1252a is not bent so much. The wire engaging portion 1250a is provided at a position moderately separated from the idle pulley 1140a so that the passive wire 1252a does not bend excessively, and both ends of the passive wire 1252a have an acute angle with the wire engaging portion 1250a as the top. Is forming. The gap between the idle pulley 1140a and the guide pulley 1142a is narrow, and for example, a gap substantially equal to the width of the passive wire 1252a is formed.

The idle pulley 1140a, the guide pulley 1142a, and the passive pulley 1156a may be provided with small flanges on the upper surface and the lower surface to prevent the passive wire 1252a from coming off, or the side surfaces may be concave.

As is clear from FIG. 51, in the first end effector drive mechanism 1320a, the passive wire 1252a, the idle pulley 1140a, the guide pulley 1142a, and the passive pulley 1156a are arranged along the center line from the base end side to the tip end side. ing. The end effector 1300 is coupled to the passive pulley 1156a via the transmission member 1152 and the like.

In the first end effector drive mechanism 1320a configured as described above, when the rod 192a (see FIG. 51) is pulled in the Z2 direction, the first layer idle pulley 1232 and the second layer guide pulley 1238 are counterclockwise in plan view. The second layer idle pulley 1234 and the first layer guide pulley 1236 rotate clockwise. As described above, the idle pulley 1140a and the guide pulley 1142a are configured such that two pulleys are coaxially arranged in parallel, and thus can rotate in the reverse direction according to the movement of the passive wire 1252a that comes into contact, and the operation is smooth. is there.

As shown in FIGS. 46 to 49, the end effector 1300 is a so-called double-open type in which a pair of grippers 1302 operate. The end effector 1300 includes a gripper base 1304 that is integrally formed with the cover 1160, a pair of end effector members 1308 that operate based on pins 1196 provided on the gripper base 1304, and a pair of gripper links 1220. .

Each end effector member 1308 is L-shaped and has a gripper 1302 extending in the Z1 direction and a lever portion 1310 extending at approximately 35 ° with respect to the gripper 1302. A hole 1216 is provided in the L-shaped bent portion, and a hole 1218 is provided in the vicinity of the end of the lever portion 1310. By inserting the pin 1196 into the hole 1216, the pair of end effector members 1308 can swing around the third rotation axis Og.

Each end effector member 1308 is connected to the pin 1224 of the passive plate 1158 by one side gripper link 1220. In the passive plate 1158 of the end effector 1300, two link holes 1172 are provided at symmetrical positions in the Y direction of FIG. 47, and the pair of gripper links 1220 are arranged so as to intersect in a side view.

As shown in FIGS. 45 to 49, the second end effector driving mechanism 1320b basically has a folding pulley (columnar member, transmission member) 1350 with respect to the first end effector driving mechanism 1320a (see FIG. 51). Is added. The passive pulley 1156a and the passive pulley 1156b have a coaxial configuration.

The main shaft member 1144 is provided with a radial shaft hole 1354 into which the pin 1352 is inserted and fixed. The shaft hole 1354 passes through the cylindrical portion of the main shaft member 1144 via the hole 1144a.

The transmission member 1152 is provided with a long hole 1356 extending in the axial direction with a width through which the pin 1352 can be inserted. The transmission member 1152 is provided at a position slightly offset in the Y1 direction from the axis of the working unit 16, but only the protrusion 1174 at the tip may be disposed at the axis (see FIG. 51). Of course, the transmission member 1152 may be arranged at the center.

The pin 1154 passes through the transmission member 1152 and protrudes in the Y2 direction to pivotally support the passive pulley 1156b. The passive pulley 1156b has a width that allows the passive wire 1252b to be wound twice. The hole 1144a of the main shaft member 1144 has a height at which the passive pulleys 1156a and 1156b and the transmission member 1152 can be inserted (see FIGS. 46 and 49). Passive pulleys 1156a and 1156b are axially supported by pins 1154 in the hole 1144a and are independently rotatable.

As shown in FIGS. 45 and 46, the pin 1352 is inserted into the long hole 1356 and the center hole of the folding pulley 1350 from the Y1 direction toward the Y2 direction in the hole 1144a, and the transmission member 1152 and the passive pulley 1156a and 1156b can advance and retract in the axial direction. The folding pulley 1350 is pivotally supported by a pin 1352 and is rotatable, and its position is fixed. The folding pulley 1350 has a width that allows the passive wire 1252b to be wound twice. In addition, by forming the folding pulley 1350 into two layers, the folding pulley 1350 can be rotated in the opposite direction during the opening / closing operation, and friction between the passive wire 1252b and the pulley can be reduced.

As shown in FIGS. 54, 55 and 56, in the second end effector drive mechanism 1320b, a folding pulley 1350 is provided on the tip side of the passive pulley 1156b, and the passive wire 1252b includes the passive pulley 1156b and the folding pulley 1350. It is wrapped around. That is, the passive wire 1252b passes through the X1 direction of the idle pulley 1140b, the X2 direction, and the X2 direction of the guide pulley 1142b from the wire engaging portion 1250b (see FIGS. 43 to 45) of the rod 192b of the driving member. It reaches the X2 direction surface of the passive pulley 1156b. The passive wire 1252b extends in the Z1 direction as it is, reaches the surface in the X2 direction of the folding pulley 1350, is wound around the Z1 direction surface of the folding pulley 1350, and is folded in the Z2 direction.

The passive wire 1252b is wound around the Z2 direction surface of the passive pulley 1156b by half rotation, passes through the X2 side, reaches the folding pulley 1350 again, and is again wound around the Z1 direction surface of the folding pulley 1350 by half rotation and is folded back in the Z2 direction. . Thereafter, the passive wire 1252b extends from the X1 direction of the guide pulley 1142b to the X2 direction of the idle pulley 1140b and is connected to the wire engaging portion 1250b of the rod 192b. The wire engaging portion 1250a and the passive wire 1252b are mechanically connected to the trigger lever 36 via the rod 192b.

In order to facilitate understanding of the structure of the distal end working unit 12, a schematic diagram thereof is shown in FIG.

In the distal end working unit 12 configured as described above, as shown in FIG. 43, when the trigger lever 36 is sufficiently pulled manually, the rod 192a pulls the passive wire 1252a, and the passive pulley 1156a and the transmission member 1152 are moved in the Z2 direction. The end effector 1300 can be closed from the movement. That is, the end effector 1300 is closed by pulling transmission members such as the rod 192a, the passive wire 1252a, and the passive pulley 1156a.

In this case, with respect to the second end effector driving mechanism 1320b, the rod 192b is disposed so as to be pushed out, and therefore does not hinder the operation of the transmission member 1152.

Further, as shown in FIG. 44, when the trigger lever 36 is sufficiently pushed out manually, the transmission member 1152 and the passive pulley 1156a can move in the Z1 direction toward the tip side to open the end effector 1300.

The end effector 1300 is mechanically directly transmitted by the second end effector drive mechanism 1320b to push the trigger lever 36 manually, so that the end effector 1300 can be opened with an arbitrary strong force instead of a predetermined force such as an elastic body. it can. Therefore, it can be suitably used for a procedure in which the biological tissue is peeled off using the outer side surface of the end effector 1300 or the hole is expanded.

Further, when the object comes into contact with the outer surface of the end effector 1300, the passive wire 1252b, the rod 192b, and the trigger lever 36 do not move further in the Z1 direction, and the operator can move the outer surface of the end effector 1300 to the object. The contact and the hardness of the object can be perceived with the fingertip.

The tip motion unit 12 is capable of yaw axis operation and roll axis operation. Although not shown in the drawings, in the tip operation unit 12, when the yaw axis operation is performed, the composite mechanism unit 1102 and the end at the tip of the guide pulley 1142a and the guide pulley 1142b are centered on the shaft 1112 (see FIG. 45). The effector 1300 swings in the yaw direction. Since the distal end working unit 12 is a non-interference mechanism, the opening degree of the end effector 1300 does not change even if the yaw axis operation is performed. Conversely, even if the opening degree of the end effector 1300 is changed, the yaw axis does not change. It will not work. The same applies to the relationship between the end effector 1300 and the roll shaft.

Next, a distal end working portion 12a as a modification of the distal end working portion 12 is shown in FIG.

As shown in FIG. 57, the distal end working unit 12a is common to the distal end working unit 12 (see FIG. 44) in that it has a first end effector drive mechanism 1320a. The drive mechanism 1320b is omitted. Regarding the distal end working unit 12a, the same components as those of the distal end working unit 12 are denoted by the same reference numerals, and detailed description thereof is omitted.

The tip operating portion 12a is provided with a single-open type end effector 1300a instead of the double-open type end effector 1300. The end effector 1300a includes a fixed gripper 1202, a gripper 1212 that opens and closes around a pin 1196, and a spring 1305 that elastically biases the transmission member 1152 in the Z1 direction. The gripper 1212 is driven to open and close via the gripper link 1220 as the transmission member 1152 advances and retreats. That is, when the trigger lever 36 is pulled in the Z2 direction, the transmission member 1152 is also displaced in the Z2 direction by the first end effector drive mechanism 1320a, and the gripper 1212 rotates counterclockwise in FIG. To do. On the other hand, when the trigger lever 36 is opened, the transmission member 1152 is displaced in the Z1 direction by the bias of the spring 1305, and the end effector 1300 returns to the open state. The trigger lever 36 returns in the Z1 direction.

The present invention may be applied to a surgical robot system 700 as shown in FIG. 58, for example.

The surgical robot system 700 includes an articulated robot arm 702 and a console 704, and the same mechanism as the manipulator 10 is provided at the tip of the robot arm 702. Instead of the operation unit 14, a base 14 a that houses the drive unit 30 is fixed to the distal end 708 of the robot arm 702, and the working unit 16 is detachably attached to the base 14 a. The robot arm 702 may be any means that moves the working unit 16, and is not limited to a stationary type, but may be an autonomous moving type, for example. The console 704 can take a configuration such as a table type or a control panel type.

If the robot arm 702 has six or more independent joints (such as a rotation axis and a slide axis), the position and orientation of the working unit 16 can be arbitrarily set. A base portion 14 a constituting the manipulator 10 at the distal end is integrated with the distal end portion 708 of the robot arm 702. The manipulator 10 has an electric operation mechanism by a motor (actuator interlocked with an input unit operated manually) instead of the mechanical operation mechanism by the trigger lever 36, and the motor has two rods. 192a and 192b are driven.

The robot arm 702 may operate under the action of the console 704, and may be configured to perform automatic operation according to a program, operation following a joystick 706 provided on the console 704, and a combination of these operations. The console 704 includes the functions of the controller. The working unit 16 is provided with the distal end working unit 12.

The console 704 is provided with two joysticks 706 as operation command units and a monitor 710. Although not shown, two robot arms 702 can be individually operated by two joysticks 706. The two joysticks 706 are provided at positions that can be easily operated with both hands. On the monitor 710, information such as an image by a flexible endoscope is displayed.

The joystick 706 can move up and down, move left and right, twist, and tilt, and can move the robot arm 702 according to these operations. The joystick 706 may be a master arm. The communication means between the robot arm 702 and the console 704 may be wired, wireless, network, or a combination thereof.

The joystick 706 is provided with a trigger lever 36, and the motor can be driven by operating the trigger lever 36.

Of course, the present invention is not limited to the above-described embodiment, and various configurations and processes can be adopted without departing from the gist of the present invention.

Claims (19)

1. A drive unit (30) having a drive shaft (115, 116) rotated by an actuator (100, 102);
   The driven shafts (158a, 158b) driven to rotate by the drive shafts (115, 116), the tip operating unit (12) operated by the rotation of the driven shafts (158a, 158b), and the tip operating unit (12 A working part (16) having a shaft (18) provided at the tip, and detachable from the drive part (30);
   With
   The drive shafts (115, 116) have drive side joint surfaces (137, 138) inclined with respect to the axial direction,
   The driven shaft (158a, 158b) is inclined with respect to the axial direction and has a driven side joint surface (176a, 176b) engageable with the drive side joint surface (137, 138),
   The driving side joining surfaces (137, 138) and the driven side joining surfaces (176a, 176b) are engaged with each other in a state in which the driving unit (30) and the working unit (16) are mounted, and the driving A medical manipulator characterized in that the rotation of the shaft (115, 116) can be transmitted to the driven shaft (158a, 158b).
2. The medical manipulator according to claim 1, wherein
   When the drive side joining surface (137, 138) and the driven side joining surface (176a, 176b) are engaged, one of the drive shaft (115, 116) and the driven shaft (158a, 158b) is forced by the other. Medical manipulator characterized in that it can be rotated in a mechanical manner.
3. The medical manipulator according to claim 1 or 2,
   A medical manipulator comprising phase detection means for detecting the phase of the driven shaft (158a, 158b).
4. The medical manipulator according to claim 3, wherein
   The phase detection means includes detected members (310, 312, 344, 346, 612) that operate as the driven shaft rotates.
   Detection sensors (306, 308, 610) for detecting the operation of the detected members (310, 312, 612);
   A medical manipulator characterized by comprising:
5. The medical manipulator according to claim 4, wherein
   The detected members (310, 312, 344, 346) and the detection sensors (306, 308) are provided in the drive unit (30), while the peripheral surface of the driven shaft (158a, 158b) A cam surface (175) whose axial position in the direction has changed is provided,
   The detected members (344, 346) have their tips (344a, 346a) in contact with the cam surface (175) in a state where the drive unit (30) and the working unit (16) are mounted, A medical manipulator characterized in that the medical manipulator is configured to be able to advance and retreat in accordance with a change in the axial position of the cam surface (175) due to rotation of the driven shaft (158a, 158b).
6. The medical manipulator according to claim 4, wherein
   The detected member (612) is provided in the working unit (16), and is rotatable with the rotation of the driven shaft (158a, 158b),
   The detection sensor (610) is provided in the drive unit (30) and arranged to detect the detected member (612) in a state where the drive unit (30) and the working unit (16) are mounted. A medical manipulator characterized by being made.
7. The medical manipulator according to claim 3, wherein
   The phase detection means includes contact members (177a, 177b) provided along the radial direction of the driven shaft (158a, 158b);
   When the contact member (177a, 177b) rotates together with the driven shaft (158a, 158b), the rotation range of the driven shaft (158a, 158b) is set to the origin by contacting the corresponding contact member (177a, 177b). A regulating portion (179a) that regulates within a range of less than 180 ° in each of the forward direction and the reverse direction from
   A detection unit (514) for detecting contact between the contact members (177a, 177b) and the restriction unit (179a);
   A medical manipulator characterized by comprising:
8. The medical manipulator according to claim 3 or 4,
   After the drive unit (30) and the working unit (16) are mounted, an origin search operation is performed in which the driven shaft (158a, 158b) is rotated to set the origin based on the detection of the phase detection means. A medical manipulator comprising an origin search unit.
9. The medical manipulator according to claim 3 or 4,
   The medical manipulator, wherein the drive unit (30) includes drive shaft phase sensors (331, 332) for detecting a rotational position of the drive shafts (115, 116).
10. The medical manipulator according to claim 9, wherein
    A controller (514) connected to the drive unit (30);
    The working portion (16) includes a contact member (177a, 177b) provided along a radial direction of the driven shaft (158a, 158b), and the contact member (177a, 177b) includes the driven shaft (158a). 158b), the rotation range of the driven shaft (158a, 158b) is within a range of less than 180 ° from the origin in the forward rotation direction and the reverse rotation direction by contacting the corresponding contact members (177a, 177b). A regulating part (179a) to regulate,
    The controller (514) forces the driven shaft (158a, 158b) to move when the driving side joining surfaces (137, 138) and the driven side joining surfaces (176a, 176b) are engaged. Based on the detection of the drive shaft phase sensor (331, 332), the drive shaft (115, 116) is rotated in advance to a safe region where rotation beyond the restriction by the restriction portion (179a) can be avoided. A medical manipulator characterized by performing a safe attaching / detaching operation.
11. The medical manipulator according to claim 10, wherein
    The safety attaching / detaching operation is performed when the working unit (16) is detached from the driving unit (30), when the controller (514) is connected to the driving unit (30), and when the driving unit (30) is connected. A medical manipulator that is executed at least at one of the timings when the master switch (34) provided in is turned off.
12. The medical manipulator according to claim 3 or 4,
    The working portion (16) includes a contact member (177a, 177b) provided along a radial direction of the driven shaft (158a, 158b), and the contact member (177a, 177b) includes the driven shaft (158a). 158b), the rotation range of the driven shaft (158a, 158b) is within a range of less than 180 ° from the origin in the forward rotation direction and the reverse rotation direction by contacting the corresponding contact members (177a, 177b). A regulating part (179a) to regulate,
    When the working unit (16) is removed from the driving unit (30), or when the working unit (16) is removable from the driving unit (30), the next driving unit (30) The driven shafts (158a, 158a, 158a, 158a, 158a, 158a, 158a, 158b) A medical manipulator characterized by having a safety area guiding means for guiding 158b).
13. The medical manipulator according to claim 12,
    The safety region guiding means includes a buffer member (620) provided on an end surface with which the abutting members (177a, 177b) of the restricting portion (179a) abut or an advancing / retreating member (622) advancing / retreating from the end surface. A medical manipulator comprising:
14. The medical manipulator according to claim 3 or 4,
    The working portion (16) includes a contact member (177a, 177b) provided along a radial direction of the driven shaft (158a, 158b), and the contact member (177a, 177b) includes the driven shaft (158a). 158b), the rotation range of the driven shaft (158a, 158b) is within a range of less than 180 ° from the origin in the forward rotation direction and the reverse rotation direction by contacting the corresponding contact members (177a, 177b). A regulating part (179a) to regulate,
    When the drive unit (30) and the working unit (16) are mounted, it is possible to avoid that the driven shaft (158a, 158b) is forcibly rotated beyond the regulation by the regulation unit (179a). A medical manipulator having a safety region guiding means for guiding the driven shaft (158a, 158b) to a safety region.
15. The medical manipulator according to claim 14, wherein
    The safety area guiding means is provided in the drive unit (30), so that when the drive unit (30) and the working unit (16) are attached, the restriction unit (179a) and the contact portion are contacted. A medical manipulator comprising a moving member (624) that moves between the members (177a, 177b).
16. The medical manipulator according to any one of claims 1 to 15,
    One of the driving side joining surfaces (137, 138) and the driven side joining surfaces (176a, 176b) has a tapered shape, and the other has a tapered shape corresponding to the tapered shape. A medical manipulator characterized by
17. The medical manipulator according to claim 16, wherein
    A plurality of projecting portions (402) projecting in the radial direction are provided at equal intervals in the circumferential direction on the tapered tapered driving side joining surfaces (137, 138) or the driven side joining surfaces (176a, 176b). ,
    A plurality of grooves (404) corresponding to the protrusions (402) are provided in the tapered side driven side joining surfaces (176a, 176b) or the driving side joining surfaces (137, 138). A medical manipulator characterized by comprising:
18. The medical manipulator according to any one of claims 1 to 15,
    The drive-side joint surfaces (137, 138) and the driven-side joint surfaces (176a, 176b) are tooth surface shapes that mesh with each other, and a medical manipulator.
19. The medical manipulator according to any one of claims 1 to 18,
    A medical manipulator comprising an attachment / detachment sensor (314) for detecting attachment / detachment states of the drive unit (30) and the working unit (16).

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