WO2014104086A1

WO2014104086A1 - Surgical robot and medical instrument thereof

Info

Publication number: WO2014104086A1
Application number: PCT/JP2013/084645
Authority: WO
Inventors: 掃部　雅幸; 健治野口
Original assignee: 川崎重工業株式会社
Priority date: 2012-12-25
Filing date: 2013-12-25
Publication date: 2014-07-03

Abstract

In this surgical robot, even in the case that drive power to a medical instrument is lost during surgery, the medical instrument can be easily withdrawn from the body of the patient. The medical instrument (4), which is driven by drive power transmitted from the drive source (2) of the surgical robot (1) via a drive power transmission mechanism (3), is provided with: a mobile section (5) that is driven in a manner so as to protrude in a direction perpendicular to the lengthwise axial line (L) of the drive power transmission mechanism (3); and a mobilization means (6) that, when drive power is lost, is for enabling the movement of the mobile section (5) in the direction approaching the lengthwise axial line (L) of the drive power transmission mechanism (3).

Description

Surgical robot and its medical instrument

The present invention relates to a surgical robot and a medical instrument attached to the surgical robot.

The surgical robot is a mechanical device for assisting surgery, and by using the surgical robot, the size of incising the human body during the surgery can be reduced, and a minimally invasive surgery can be performed on the patient.

As shown in FIG. 9, the surgical robot 90 generally transmits a drive source 91 such as a motor or an air cylinder, a medical instrument 92 driven by the drive source 91, and the power of the drive source 91 to the medical instrument 92. A driving force transmission mechanism 93 for this purpose.

The driving force transmission mechanism 93 has, for example, an elongated shaft portion 94 that encloses a driving rod, a wire, and the like, and a medical instrument 92 is attached to the tip of the shaft portion 94.

The medical instrument 92 used in the surgical robot 90 has a function of sandwiching or cutting the surgical site. In order to achieve these functions, a typical medical instrument for a surgical robot includes a movable portion 94 such as forceps (Patent Documents 1-4).

By the way, in an emergency where all the functions of the surgical robot 90 are lost during the operation, the surgical robot medical instrument 92 inserted into the patient P is once pulled out of the human body, and the operation is shifted to a human hand operation. It is necessary to deal with.

U.S. Pat. No. 7,824,401 U.S. Pat. No. 8,105,235 US Pat. No. 8,241,306 US Pat. No. 7,276,065

However, in the surgical robot medical instrument 92 including the movable part 94 such as forceps, the surgical robot 90 and the surgical robot medical instrument 92 stop in a state where the movable part 94 is opened due to the loss of the function of the surgical robot 90. There is.

In this way, with the movable part 94 of the medical instrument 92 of the surgical robot 90 opened, that is, with the distal end of the movable part 94 spaced apart from the axial direction L of the manipulator 93, the medical instrument 92 is pulled out from the human body. If it tries to do so, the movable part 94 of the expanded medical instrument 92 will be caught by the trocar etc. which were inserted in the patient P, and it will become difficult to pull out.

Therefore, the present invention has been made in view of the above-described problems of the prior art, and in a surgical robot, even when the driving force for the medical instrument is lost during surgery, the medical instrument is removed from the human body of the patient. It is an object of the present invention to provide a surgical robot and its medical instrument that can be easily pulled out.

In order to solve the above problems, the present invention provides a medical instrument that is driven by a driving force transmitted from a driving source of a surgical robot via a driving force transmission mechanism, and is orthogonal to the longitudinal axis of the driving force transmission mechanism. A movable part that is driven so as to protrude in a direction to move, and a mobilization means for allowing the movable part to move in a direction approaching the longitudinal axis of the driving force transmission mechanism when the driving force is lost, It is provided with.

Also preferably, the mobilization means includes a separation mechanism for separating the drive source from the medical device.

Also preferably, the separation mechanism has an attaching / detaching function for reconnecting the medical device separated from the drive source.

Also preferably, the separation mechanism has a function of separating the medical instrument from the driving force transmission mechanism.

Also preferably, the separation mechanism has a function of separating the driving force transmission mechanism in the middle thereof.

Also preferably, the separation mechanism has a function of separating at least a portion of the driving force transmission mechanism that affects the back drivability of the medical device.

Here, “back drivability of a medical instrument” refers to a mechanism (such as a drive source or a driving force transmission mechanism) connected to the drive source side of the movable part when an external force is applied to the movable part of the medical instrument. This refers to the ease of movement of moving parts against the reaction force.

Preferably, the movable portion includes an elongated member having a distal end portion and a proximal end portion, the driving force is transmitted to the proximal end portion of the elongated member, and the mobilization means includes the elongated member of the elongated member. The reduction ratio in the rotation operation of the elongated member is set so that the external force applied to the distal end portion is increased at the proximal end portion of the elongated member.

Preferably, the mobilization unit applies a biasing force to the movable part in a direction in which a protrusion amount of the movable part in a direction orthogonal to the longitudinal axis of the driving force transmission mechanism is reduced. It has a function.

Preferably, the mobilization means is in a direction perpendicular to the longitudinal axis of the driving force transmission mechanism with respect to an operation end of the driving force transmission mechanism that contacts the movable portion and transmits the driving force. A function of applying a biasing force in a direction in which the protruding amount of the movable portion decreases.

Preferably, the movable portion constitutes a forceps including a pair of elongated members, and the bias force is substantially applied to the human body even when the forceps clamps a part of the human body by the bias force. The size is set so that there is no significant influence.

Further preferably, it further includes manual drive means for manually driving the movable part that is movable in the direction approaching the longitudinal axis of the drive force transmission mechanism by the mobilization means.

Also preferably, the manual driving means exposes the power transmission member inside the driving force transmission mechanism to the outside so that it can be operated manually.

Also preferably, the manual drive means has an operation display unit for displaying an operation direction of the driving force transmitting member exposed to the outside.

In order to solve the above problems, a surgical robot according to the present invention includes any one of the above-described medical instruments for a surgical robot, the driving force transmission mechanism having the medical instrument mounted on a distal end portion thereof, and the driving force transmission mechanism. And the drive source for applying the drive force to the medical instrument.

According to the surgical robot and the medical instrument of the present invention, the medical instrument can be easily pulled out from the inside of the human body even when the driving force of the surgical robot is interrupted.

The schematic diagram which showed the surgical robot and its medical device by 1st embodiment of this invention. The schematic diagram which showed the state which isolate | separated the medical instrument from the surgical robot shown in FIG. The schematic diagram which showed the surgery robot and its medical device by 2nd embodiment of this invention. The schematic diagram which showed the surgical robot and its medical device by 3rd embodiment of this invention. The schematic diagram which showed the surgical robot and its medical device by 4th embodiment of this invention. The schematic diagram which showed the principal part of the surgical robot and its medical device by 5th embodiment of this invention. The schematic diagram which showed the principal part of the surgical robot and its medical device by 6th embodiment of this invention. The schematic diagram which showed the principal part of the surgical robot and its medical instrument by 7th embodiment of this invention. The schematic diagram which showed the conventional surgical robot and its medical instrument.

Hereinafter, a surgical robot and its medical instrument according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the surgical robot 1 according to the present embodiment includes a drive source 2 composed of a motor, an air cylinder, and the like, and a manipulator (drive force transmission mechanism) 3 to which the drive source 3 is connected. .

The manipulator 3 has an elongated shaft portion 3A that encloses a drive rod, a wire, and the like at its distal end, and a medical instrument 4 such as forceps is attached to the shaft portion 3A. The driving force is transmitted to the medical instrument 4 via the manipulator 3 including the shaft portion 3A.

The medical instrument 4 has a pair of movable parts 5 that are driven so as to protrude in a direction orthogonal to the longitudinal axis L of the manipulator 3. The pair of movable parts 5 swing like scissors when a driving force is transmitted from the driving source 2 via the manipulator 3.

The medical instrument 4 and the manipulator 3 are connected by a detachable separation mechanism (mobilization means) 6, which can be separated by a one-touch operation such as pressing a button. The separation mechanism 6 constitutes a mobilization means for enabling the pair of movable parts 5 to move in a direction approaching the longitudinal axis L of the manipulator 3 when the driving force from the drive source 2 is lost. .

As described above, the “mobilization means” in the present invention, when the driving force from the driving source of the surgical robot is lost, moves the movable portion of the surgical robot medical instrument to the longitudinal axis of the driving force transmission mechanism, that is, the medical for the surgical robot. It is a means for enabling movement in a direction approaching the direction of pulling out the instrument from the human body.

In the surgical robot 1 and the medical instrument 4 according to the present embodiment, for example, in an emergency where all the functions of the surgical robot 1 are lost during the surgery, as shown in FIG. Is used to separate the medical device 4 from the tip of the manipulator 3.

Thus, by separating the medical instrument 4 from the drive source 2 by the separation mechanism 6, the back drivability of the medical instrument 4 is enhanced. That is, the drive rod / wire of the manipulator 3 is disconnected from the medical instrument 4 so that the movable part 5 can easily move when an external force is applied to the movable part 5 of the medical instrument 4.

Therefore, when the driving force from the driving source 2 of the surgical robot 1 is lost, the pair of movable parts 5 of the medical instrument 4 inside the human body is moved in the axial direction of the manipulator 3 (the pulling direction of the medical instrument 4) L. Even when the medical device 4 is pulled out from the inside of the human body, the pair of movable parts 5 easily move in the axial direction L of the manipulator 3 even when the medical instrument 4 is pulled out from the inside of the human body. For this reason, the medical instrument 4 can be easily pulled out from the human body.

As described above, according to the surgical robot 1 and the medical instrument 4 according to the present embodiment, the medical instrument 4 can be easily pulled out from the inside of the human body even when the driving force of the surgical robot 1 is interrupted. Can do.

Next, a surgical robot and its medical instrument according to a second embodiment of the present invention will be described with reference to FIG.

The surgical robot 1A and its medical instrument 4 according to this embodiment are obtained by changing the configuration of the separation mechanism 6 in the first embodiment shown in FIG. That is, in the present embodiment, a separation mechanism (mobilization means) 6A is provided at a position near the medical instrument 4 in the middle of the manipulator (driving force transmission mechanism) 3.

The separation mechanism 6A according to the present embodiment also has an attachment / detachment function that can be separated by a one-touch operation such as pressing a button, similarly to the separation mechanism 6 in the first embodiment shown in FIG.

In the surgical robot 1A and the medical instrument 4 according to the present embodiment, as in the first embodiment, for example, in an emergency where all the functions of the surgical robot 1A are lost during surgery, as shown in FIG. In addition, the medical instrument 4 can be separated from the drive source 2 by using the attaching / detaching function of the separation mechanism 6A.

Thus, by separating the medical instrument 4 from the drive source 2, the back drivability of the medical instrument 4 is enhanced. That is, most of the drive rod / wire and the like of the manipulator 3 are separated from the medical instrument 4, so that the movable part 5 can easily move when an external force is applied to the movable part 5 of the medical instrument 4.

In particular, in the present embodiment, since the separation mechanism 6A is placed in the middle of the manipulator 3, the back drivability of the movable portion 5 of the medical instrument 4 can be maintained with the medical instrument 4 attached to the tip of the manipulator 3. Can be increased.

In addition, since the separation mechanism 6A is arranged in the middle of the manipulator 3 on the side close to the medical instrument 4, there is a portion (driving rod / wire, etc.) that gives movement resistance to the movable part 5 of the medical instrument 4 after the separation. The back drivability can be increased sufficiently.

Next, a surgical robot and its medical instrument according to a third embodiment of the present invention will be described with reference to FIG.

The surgical robot 1B and the medical instrument 4 according to this embodiment are obtained by changing the configuration of the separation mechanism 6 in the first embodiment shown in FIG. That is, in the present embodiment, a separation mechanism (mobilization means) 6B is provided in the middle of the manipulator (driving force transmission mechanism) 3.

Furthermore, the separation mechanism 6B has a function of separating a portion of the manipulator 3 that affects at least the back drivability of the movable portion 5 of the medical instrument 4. Specifically, the separation mechanism 6 </ b> B includes a clutch provided in the middle of the driving rod (driving force transmission member) 7 inside the manipulator 3. The clutch 6 </ b> B is disposed on the side near the medical instrument 4 in the middle of the manipulator 3.

In the surgical robot 1B and the medical instrument 4 according to the present embodiment, for example, in an emergency where all the functions of the surgical robot 1B are lost during the operation, the clutch 6B is detached and driven as shown in FIG. Separate the medical device 4 from the source 2.

By separating the medical instrument 4 from the drive source 2 in this way, the back drivability of the movable part 5 of the medical instrument 4 is enhanced, and when an external force is applied to the movable part 5 of the medical instrument 4, the movable part 5 becomes easy to move.

In particular, in the present embodiment, the medical instrument 4 is separated from the drive source 2 by the clutch 6B provided inside the manipulator 3, so that the medical instrument 4 is attached to the tip of the manipulator 3 without completely separating the manipulator 3. The back drivability of the movable part 5 of the medical instrument 4 can be enhanced while the part is still attached to the part.

Further, since the clutch 6B is disposed in the middle of the manipulator 3 on the side close to the medical instrument 4, a portion for applying a movement resistance to the movable part 5 of the medical instrument 4 (drive rod / Back drivability can be sufficiently enhanced.

Also, the reconnection of the drive source 2 to the medical instrument 4 can be easily performed by operating the clutch 6B.

Next, a surgical robot and its medical instrument according to a fourth embodiment of the present invention will be described with reference to FIG.

The surgical robot 1C and the medical instrument 4 according to this embodiment are obtained by changing the configuration of the separation mechanism 6 in the first embodiment shown in FIG. That is, in the present embodiment, a separation mechanism 6 </ b> C is provided in the middle of the manipulator (driving force transmission mechanism) 3.

The separation mechanism 6C according to the present embodiment also has an attachment / detachment function that can be separated by a one-touch operation such as pressing a button, similarly to the separation mechanism 6 in the first embodiment shown in FIG.

Furthermore, in the present embodiment, the separation mechanism 6C separates the manipulator 3 from the middle thereof so that a part of the drive rod (power transmission member) 7 is exposed to the outside.

The exposed portion of the drive rod 7 can be manually driven to drive the movable part 5 of the medical instrument 4. At this time, as shown in FIG. 5, the exposed portion of the drive rod 7 may be driven using a separately prepared emergency instrument (manual drive means) 8.

Further, an operation display section 9 for displaying an operation direction for moving the movable section 5 in the axial direction L of the shaft section 3A is provided on the exposed portion of the drive rod 7 or its peripheral portion. The operator can easily recognize the direction in which the drive rod 7 should be driven by the operation display unit 9.

Next, a surgical robot and its medical instrument according to a fifth embodiment of the invention will be described with reference to FIG. In addition, this embodiment can be combined with each embodiment mentioned above suitably.

As shown in FIG. 6, the movable part 5 of the medical instrument 4 of the surgical robot 1D according to the present embodiment constitutes forceps and the like by a pair of elongated members 10 having a distal end part 10a and a proximal end part 10b. And it is comprised so that the driving force from the drive source 2 (refer FIG. 1) may be transmitted to the base end part 10b of the elongate member 10 from the drive rod 7 inside the manipulator 3. FIG.

In the mobilization means in the present embodiment, the reduction ratio in the rotation operation of the elongated member 10 is set so that the external force applied to the distal end portion 10a of the elongated member 10 is increased at the proximal end portion 10b of the elongated member 10. ing.

That is, the position of the rotation center 10c is set so that the distance from the rotation center 10c of the elongated member 10 to the distal end portion 10a is longer than the distance from the rotation center 10c to the proximal end portion 10b.

By setting the reduction ratio as described above, the force to be applied to the elongated member 10 of the medical instrument 4 can be reduced in order to passively operate the manipulator 3 side.

For example, as shown in FIG. 6, when the medical device 4 is pulled out from the inside of the human body, when the elongated member 10 is pressed against the trocar inserted into the patient P or the patient itself, the trocar or the like is applied to the elongated member 10. The applied force F1 is increased at a reduction ratio Y / X to become a force F2.

For this reason, the elongated member 10 of the medical instrument 4 can be easily moved against the movement resistance on the side of the manipulator 3 at the time of contact with the trocar or the like, thereby reducing the force on the trocar or the like.

Here, considering the pain resistance of the human body, the force F1 applied to the elongated member 10 from a trocar or the like may be 13 N or less.

Next, a surgical robot and its medical instrument according to a sixth embodiment of the present invention will be described with reference to FIG. In addition, this embodiment can be combined with each embodiment mentioned above suitably.

As shown in FIG. 7, the movable part 5 of the medical instrument 4 according to the present embodiment forms forceps and the like by a pair of elongated members 10 having a distal end part 10a and a proximal end part 10b. The driving force from the driving source 2 (see FIG. 1) is transmitted from the driving rod 7 inside the manipulator 3 to the proximal end portion 10b of the elongated member 10.

The mobilization means in the present embodiment applies a biasing force to the elongated member 10 of the medical instrument 4 in a direction in which the amount of protrusion in the direction perpendicular to the longitudinal axis L of the manipulator 3 is reduced, that is, in the direction in which the forceps are closed. It has a function to do. Specifically, a tension spring (moving means) 11 is provided that applies a tensile force in a direction in which the proximal end portions 10b of the pair of elongated members 10 are closed, that is, in a direction in which the forceps are closed.

As described above, by applying a biasing force in the direction of closing the forceps by the tension spring 11, when the driving force from the driving source 2 is lost, the protruding amount of the elongated member 10 of the medical instrument 4 is easily reduced. Can be made.

In the above, an example in which a tension spring is provided has been described.

As shown in FIG. 8, the movable part 5 of the medical instrument 4 according to the present embodiment forms forceps and the like by a pair of elongated members 10 having a distal end part 10a and a proximal end part 10b. The operation end 12 provided at the distal end portion of the drive rod 7 inside the manipulator 3 is configured to operate the approach and separation of the base end portions 10b of the pair of elongated members 10.

The mobilization means according to this embodiment can move the elongated member 10 of the medical instrument 4 with respect to the operation end 12 of the drive rod 7 in a direction in which the protrusion amount in the direction perpendicular to the longitudinal axis L of the manipulator 3 is reduced. It has a function of applying a bias force so that

Specifically, a compression spring 13 is provided to apply a biasing force in a direction to push back the operation end 12 of the drive rod 7. For this reason, even when the driving force from the driving source 2 is lost, it is possible to prevent the elongated member 10 of the medical instrument 4 from being locked due to the wedge effect by the operation end 12 of the driving rod 7.

Although an example in which a tension spring is provided has been described above, it may be pushed by a compression spring from the opposite direction.

As described above, according to various embodiments of the present invention, the medical instrument 4 can be easily pulled out from the inside of the human body even when the driving force of the surgical robot is interrupted.

In addition, the protrusion amount of the movable part 5 of the medical instrument 4 at the time of pulling out does not necessarily need to be 0, and the influence on the human body when the medical instrument 4 is pulled out may be within an allowable range.

In addition to the forceps, the medical instrument 4 includes a wide range of devices that are driven in a direction approaching the axis direction L and a direction away from the axis direction L, such as a stabilizer, an electrosurgical instrument, and a hook.

Further, the case where the movable portion 5 is rotationally driven at the tip of the shaft portion 3A has been described so far, but the present invention can be easily applied to the case where the movable portion 5 is driven straight. In other words, the movable part 5 that is linearly driven may be configured to move in the axial direction L.

It should be noted that the configuration of the present invention is not necessarily indispensable when the degree of freedom of treatment is secured by a configuration or method other than the present invention.

1, 1A, 1B, 1C, 1D, 1E, 1F Surgical robot 2 Drive source 3 Manipulator (drive force transmission mechanism)
3A Shaft part 4 Medical instrument 5 Movable part 6, 6A, 6B, 6C Separation mechanism (mobilization means)
7 Drive rod (drive force transmission member)
8 Emergency equipment (manual drive means)
9 Operation display part 10 Elongated member (movable part)
10a Tip portion of the elongated member 10b Base end portion of the elongated member 10c Center of rotation of the elongated member 11 Tension spring (mobilization means)
12 Operation end of drive rod 13 Compression spring (moving means)
L Longitudinal axis of manipulator (driving force transmission mechanism) P Patient

Claims

In a medical instrument driven by a driving force transmitted from a driving source of a surgical robot via a driving force transmission mechanism,
A movable part that is driven to project in a direction perpendicular to the longitudinal axis of the driving force transmission mechanism;
A medical instrument for a surgical robot, comprising: movability means for enabling the movable portion to move in a direction approaching the longitudinal axis of the driving force transmission mechanism when the driving force is lost.
The medical instrument for a surgical robot according to claim 1, wherein the mobilization means includes a separation mechanism for separating the drive source from the medical instrument.
The medical instrument for a surgical robot according to claim 2, wherein the separation mechanism has an attaching / detaching function for reconnecting the medical instrument separated from the drive source.
The medical device for a surgical robot according to claim 2 or 3, wherein the separation mechanism has a function of separating the medical device from the driving force transmission mechanism.
The medical device for a surgical robot according to any one of claims 1 to 4, wherein the separation mechanism has a function of separating the driving force transmission mechanism in the middle thereof.
The medical for surgical robot according to any one of claims 1 to 5, wherein the separation mechanism has a function of separating at least a portion of the driving force transmission mechanism that affects back drivability of the medical instrument. Instruments.
The movable portion includes an elongated member having a distal end portion and a proximal end portion, and the driving force is transmitted to the proximal end portion of the elongated member,
The speed reduction ratio in the rotational operation of the elongate member is set so that the externalizing force applied to the distal end portion of the elongate member is increased at the proximal end portion of the elongate member. Item 7. A medical instrument for a surgical robot according to any one of Items 1 to 6.
The mobilization unit has a function of applying a biasing force to the movable part in a direction in which a protrusion amount of the movable part in a direction orthogonal to the longitudinal axis of the driving force transmission mechanism is reduced. Item 8. A medical instrument for a surgical robot according to any one of Items 1 to 7.
The mobilization means is configured to move the movable portion in a direction perpendicular to the longitudinal axis of the driving force transmission mechanism with respect to an operation end of the driving force transmission mechanism that contacts the movable portion and transmits the driving force. The medical instrument for a surgical robot according to any one of claims 1 to 8, which has a function of applying a bias force in a direction in which the protrusion amount decreases.
The movable part constitutes a forceps including a pair of elongated members,
The surgery according to claim 8 or 9, wherein the bias force is set to a magnitude that does not substantially affect the human body even when the forceps clamps a part of the human body by the bias force. Medical equipment for robots.
11. The apparatus according to claim 1, further comprising manual drive means for manually driving the movable portion that is movable in a direction approaching the longitudinal axis of the drive force transmission mechanism by the mobilization means. A medical instrument for the surgical robot according to one item.
The medical instrument for a surgical robot according to claim 11, wherein the manual drive means exposes a power transmission member inside the driving force transmission mechanism to the outside so that it can be operated manually.
The medical instrument for a surgical robot according to claim 11 or 12, wherein the manual driving means includes an operation display unit that displays an operation direction of the driving force transmission member exposed to the outside.
A medical instrument for the surgical robot according to any one of claims 1 to 13,
The driving force transmission mechanism in which the medical device is mounted on the tip;
A surgical robot comprising: the drive source that applies the drive force to the medical instrument via the drive force transmission mechanism.