WO2019146094A1

WO2019146094A1 - Operation input device for treatment tool and treatment tool system

Info

Publication number: WO2019146094A1
Application number: PCT/JP2018/002644
Authority: WO
Inventors: 紀明山中
Original assignee: オリンパス株式会社
Priority date: 2018-01-29
Filing date: 2018-01-29
Publication date: 2019-08-01

Abstract

An operation input device (2) for a treatment tool includes: a frame (7) connected to a treatment tool or a master device which remotely operates the treatment tool; and a handle (8) having a grip (9) that is held by an operator's hand (H) and connecting the grip (9) to the frame (7) such that the grip (9) is pivotable about two pivot axes (P, Y) which mutually intersect with the grip. The two pivot axes (P, Y) substantially match two bend axes of the wrist (W) of the hand (H) that holds the grip (9) and are disposed in a twisting positional relationship with each other.

Description

Treatment tool operation input device and treatment tool system

The present invention relates to a treatment tool operation input device and a treatment tool system.

BACKGROUND Conventionally, there has been known an operation input device for operating a bending joint of a treatment tool by the movement of an operator's hand (see, for example, Patent Documents 1 to 3). The operation input devices of

Patent Documents

1 and 2 are attached to one arm of the operator, and can operate the yaw joint and the pitch joint of the treatment tool by bending the operator's wrist in two directions. The operation input device of Patent Document 3 has a handle with a biaxial gimbal structure in which one axis is parallel to the longitudinal axis of the treatment instrument and the other axis is orthogonal to the longitudinal axis of the treatment instrument, and the operator's finger of one hand The bending joint of the treatment tool can be manipulated by swinging the handle held by the handle around the other axis.

US Patent No. 8686702 International Publication No. 2016/168761 Patent No. 4014792

However, since the operation input devices of

Patent Documents

1 and 2 are wound around and attached to one arm of the operator, the other hand is required for attaching and detaching the operation input device, and the operation of attaching and detaching is complicated. is there.
The operation input device of Patent Document 3 is easy to attach and remove, but when the handle is swung by the movement of the wrist, the position of the handle held by the finger changes and the entire treatment tool moves. That is, there is a disadvantage that the posture determination operation of the treatment tool interferes with the positioning operation, and intuitive operation of the treatment tool is difficult.

The present invention has been made in view of the above-described circumstances, and can be easily attached and detached, and an operation input device for a treatment tool and a treatment tool system capable of intuitively performing a bending operation of the treatment tool Intended to provide.

In order to achieve the above object, the present invention provides the following means.
A first aspect of the present invention is a treatment tool operation input device for operating a treatment tool that is bendable in two directions crossing each other, the master device remotely operating the treatment tool or the treatment tool A handle connected to the frame, and a grip held by one hand of the operator, the handle being connected to the frame so as to be pivotable about two pivot axes in directions crossing each other. The operation input device for treatment tool according to claim 1, wherein the two rocking axes substantially coincide with the two bending axes of the wrist of the one hand holding the grip and are arranged in a mutually twisted positional relationship.

According to this aspect, swinging of the grip about the two swinging axes with respect to the frame is input as an operation instruction for bending of the treatment tool in two directions. Here, the two rocking axes are disposed at positions substantially coincident with the two bending axes (pitch axis and yaw axis) of the wrist of one hand holding the grip. Therefore, the operator swings the grip around one swinging axis by bending around the pitch axis of the wrist (that is, flexing to the thumb side or the small finger side) to flex the treatment tool in one direction. Operation instruction can be input. In addition, the operator swings the grip about the other swing axis by bending around the yaw axis of the wrist (that is, flexion to the palm side or the back side) to flex the treatment tool in the other direction. Operation instruction can be input.

In this case, the handle can be easily attached simply by gripping the handle with one hand, and the handle can be easily removed from the one hand simply by releasing the one hand from the handle. In addition, since the grip is pivotably connected to the frame, the grip can be pivoted while the position of the frame and the treatment tool or master device connected to the frame is kept constant. That is, the bending of the treatment tool can be operated independently of the position of the entire treatment tool, and the bending operation of the treatment tool can be performed intuitively.

In the first aspect, the handle is connected to the grip so as to be pivotable about one of the pivot axes, and the other pivot axis in a direction orthogonal to the one pivot axis. An intermediate frame connected to the frame may be provided around the periphery.
By providing the intermediate frame in this manner, it becomes easy to design a handle in which the two swinging axes substantially coincide with the two bending axes of the wrist.

In the first aspect, the one swinging shaft may be disposed substantially horizontally and may be disposed closer to the finger of the one hand than the other swinging shaft.
By doing this, the movable range of the grip can be further reduced.

In the first aspect, a positioning unit may be provided which is provided on the grip and positions the one hand at a predetermined position with respect to the grip.
In this way, the one hand can be easily positioned relative to the grip so that the one hand is placed at a suitable position with respect to the grip.

In the first aspect, the frame has a connecting portion connected to the treatment tool, and the connecting portion is disposed on an extension of the axis of the forearm of the one hand gripping the grip. Good.
In this way, the treatment instrument can be intuitively rotated about the longitudinal axis by the rotation of the forearm about the axis.

In the first aspect, the frame has a connecting portion connected to the master device, and the connecting portion is disposed on an extension of an axis of a forearm of the one hand holding the grip. It may be connected to the master device rotatably around an extension of the forearm axis.
By doing this, it is possible to intuitively input a rotation instruction about the longitudinal axis of the treatment instrument by the rotation of the forearm about the axis.

In the first aspect, the entire grip may be exposed when the grip is viewed from the back side of the one hand holding the grip.
In this way, the operation of gripping the grip with one hand and the operation of releasing the one hand from the grip can be performed more easily without being disturbed by the other structure.

In the first aspect, the switching device may be provided with a switching unit that switches between the effectiveness and ineffectiveness of the bending operation of the treatment tool in the two directions based on the swinging of the grip around the two swinging axes. .
By excluding the bending operation of the treatment tool due to the swinging of the grip by the switching unit at the time other than the bending operation of the treatment tool, it is possible to prevent an unintended bending operation of the treatment tool.

According to a second aspect of the present invention, there is provided a treatment tool having two bending joints bendable in directions crossing each other, and the treatment input device for treatment tool according to any of the above, wherein It is a treatment instrument system in which the joint axes of the two flexion joints are arranged in a mutually twisted positional relationship.
In the second aspect, one of the joint axes may be disposed substantially horizontally and may be disposed distal to the other joint axis.

ADVANTAGE OF THE INVENTION According to this invention, it is easy to attach and detach, and has an effect which can perform bending operation of a treatment tool intuitively.

It is a block diagram of the front-end | tip part of the treatment tool of the treatment tool system which concerns on one Embodiment of this invention. It is a left side view of operation input device for treatment implements of a treatment implement system concerning one embodiment of the present invention. It is a top view of the operation input device for a treatment tool of FIG. 2A. It is a right view of the operation input device for a treatment tool of FIG. 2A. It is a figure which shows an example of the positioning part provided in a grip. It is a figure which shows the other example of the positioning part provided in a grip. It is a block diagram of the front-end | tip part of the modification of the treatment tool of FIG. It is a figure explaining an example of the angle change ratio between the rocking angle of grip (right step) and the rocking angle (left step) of the bending joint of a treatment tool. It is a figure explaining the other example of the angle change ratio between the rocking angle of grip (right step) and the rocking angle of bending joint (left step) of a treatment tool. It is a figure explaining the other example of the angle change ratio between the rocking angle of grip (right step) and the rocking angle of bending joint (left step) of a treatment tool. It is a figure explaining the other example of the angle change ratio between the rocking angle of grip (right step) and the rocking angle of bending joint (left step) of a treatment tool. It is a left view of the modification of the operation input device for a treatment tool of FIG. 2A. It is a top view of the operation input device for a treatment tool of FIG. 9A. It is a right view of the operation input device for a treatment tool of FIG. 9A. It is a left view of another modification of the operation input device for a treatment tool of FIG. 2A. It is a figure which shows the structural example of the switch part in the operation input device for manually operated treatment implement. It is a figure explaining the positional relationship of the pitch axis in the general 2 axis gimbal structure, and a yaw axis. It is a figure explaining the pitch axis and yaw axis which were mutually arrange | positioned in the positional relationship of a twist in 2 axis | shaft gimbal structure.

Hereinafter, a treatment tool operation input device 2 and a treatment tool system according to an embodiment of the present invention will be described with reference to the drawings.
The treatment tool system according to the present embodiment is a treatment tool 1 having two bending

joints

5 and 6 as shown in FIG. 1 and a treatment tool based on the operation by the operator as shown in FIGS. 2A to 2C. A treatment instrument operation input device (hereinafter referred to as "operation input device") 2 to which an operation instruction for 1 is input is provided.

The treatment instrument system is a manual operation type in which the treatment instrument 1 and the operation input device 2 are directly connected, and the operation force given to the operation input device 2 is transmitted to the treatment instrument 1 to drive the treatment instrument 1. Alternatively, the treatment tool system includes a slave device including the treatment tool 1 and a master device for remotely controlling the slave device, and a master slave method for remotely operating the treatment tool 1 using the operation input device 2 connected to the master device. It may be

As shown in FIG. 1, the treatment tool 1 is disposed between the long shaft 3, the end effector 4 for treating a living tissue, the shaft 3 and the end effector 4, and the end effector 4 is the tip of the shaft 3. And two bending

joints

5 and 6 connected to each other.
In FIG. 1, as an example of the end effector 4, a grip portion having a pair of openable and closable grip pieces is shown. Other types of end effector 4 may be employed.

The two

bending joints

5 and 6 can bend in mutually different directions. Specifically, one joint 5 is a pitch joint that can swing around a pitch axis (joint axis) P ′ orthogonal to the longitudinal axis of the shaft 3. The other joint 6 is a yaw joint that can swing around a yaw axis (joint axis) Y ′ orthogonal to the longitudinal axis of the shaft 3 and the pitch axis P ′. The pitch axis P 'and the yaw axis Y' are arranged in the longitudinal axis direction of the shaft 3 and are arranged in a mutually twisted positional relationship.

As shown in FIGS. 2A to 2C, the operation input device 2 includes a frame 7 connected to the treatment instrument 1 or the master device, and a handle 8 connected to the frame 7 and gripped and operated by the operator. There is.

The frame 7 is made of a straight columnar member. The distal end portion of the frame 7 is provided with a connection portion 7 a connected to a proximal end portion of the shaft 3 or an input device support (not shown) provided on the master device. The frame 7 is connected to the shaft 3 via the connecting portion 7 a such that the longitudinal axis of the frame 7 is located on the extension of the longitudinal axis of the shaft 3. Alternatively, the frame 7 is connected to the input device support via the connection 7 a such that the longitudinal axis of the frame 7 is substantially horizontal. The frame 7 may be detachable from the shaft 3 or the input device support, or may be integrally formed with the shaft 3 or the input device support.

The handle 8 is capable of swinging around the two swing axes P and Y corresponding to the two joint axes P 'and Y' of the treatment instrument 1 and the grip 9 gripped by the operator's one hand H And an intermediate frame 10 connected to the frame 7.

The grips 9 are arranged in the direction perpendicular to the base end of the frame 7 and the longitudinal axis of the frame 7. The middle frame 10 is disposed between the base end of the frame 7 and the grip 9, and the end on the grip 9 side of the middle frame 10 is swingably connected around the grip 9 and one swing axis P, An end of the intermediate frame 10 on the frame 7 side is connected swingably around the base end of the frame 7 and the other swing axis Y.

The swing axis P is a pitch axis extending in a direction perpendicular to the longitudinal axis of the frame 7 and disposed substantially horizontally. The swing axis Y is a yaw axis extending in a direction orthogonal to the longitudinal axis of the frame 7 and the pitch axis P. The pitch axis P is disposed on the tip side of the yaw axis Y (the finger side of the one hand H gripping the grip 9) in the direction along the longitudinal axis of the frame 7, and the pitch axis P and the yaw axis Y are mutually twisted It is arranged in a positional relationship.

The grip 9 is configured to be held by one hand H such that the palm and the back face in a substantially horizontal direction and the pitch axis of the wrist W is substantially horizontal. Further, in a state where the operator holds the grip 9 in one hand H, the pitch axis P with respect to the grip 9 and the yaw axis Y substantially match the pitch axis and the yaw axis of the wrist W of the one hand H respectively. The position of the yaw axis Y is designed. Thereby, the operator swings the grip 9 around the pitch axis P by bending around the pitch axis of his wrist W (bending to the thumb or little finger), and bending around the yaw axis of the wrist W (palm) The grip 9 can be rocked about the yaw axis Y by bending to the side or the back side.

The yaw axis Y preferably passes through the proximal end of the frame 7. Thereby, when the grip 9 is gripped by one hand H, as shown in FIG. 2B, the frame 7 is disposed right above the grip 9 and the one hand H, and the frame 7 is an axis of the forearm in plan view seen from the upper side. It is arranged along the extension line of.

The one hand H is optimized with respect to the grip 9 so that the operator can easily grip the grip 9 in one hand H so that the swing axes P and Y substantially coincide with the two bending axes of the wrist W A positioning portion for positioning at a predetermined position may be provided on the grip 9.
The positioning part is, for example, a concavo-convex structure suitable for attaching each part of one hand H, or a mark indicating a position where each part of one hand H should be arranged. FIG. 3A shows a depression 11 along the shape of the ball of the ball as an example of the concavo-convex structure. FIG. 3B shows, as an example of a mark, a line 12 indicating the position where the ball of thumb is to be placed.

When the treatment instrument system is manually operated, the swing of the grip 9 around the swing axes P and Y is mechanically transmitted to the bending joints 5 and 6 through the frame 7 and the shaft 3, and the pitch axis of the grip 9 The pitch joint 5 is rocked by an angle equal to the rocking angle around P, and the yaw joint 6 is rocked by an angle equal to the rocking angle around the yaw axis Y of the grip 9.
For example, the grip 9 is mechanically connected to the bending joints 5 and 6 by an elongated power transmission member (for example, a wire) passing through the shaft 3, the frame 7 and the inside of the intermediate frame 10. Swinging around the swinging axes P and Y of the grip 9 applies a driving force in the longitudinal direction to the power transmission member, and the driving force is transmitted from the power transmission member to the bending joints 5 and 6, thereby causing the bending

joints

5 and 6. Is supposed to bend.

When the treatment instrument system is a master-slave system, the swing angle of the grip 9 around the swing axes P, Y is electrically transmitted to the input device support of the master device through the frame 7, and the master device The pitch joint 5 and the yaw joint 6 are each rocked by an angle equal to the rocking angle around the pitch axis P of 9 and the yaw axis Y.
For example, the handle 8 is provided with an encoder (not shown) for detecting the swing angle of the grip 9 around the yaw axis Y and the swing angle around the pitch axis P, and from the encoder to the frame 7 and the input device support A signal indicating the swing angle of the grip 9 is input to the master device via the same.

Next, the operation of the operation input device 2 and the treatment instrument system according to the present embodiment will be described.
In order to operate the bending joints 5 and 6 of the treatment tool 1 using the operation input device 2, the operator holds the grip 9 with one hand H such that the pitch axis of the wrist W is substantially horizontal.

When it is desired to cause the end effector 4 to swing in the pitch direction, the operator bends the wrist W of one hand H upward or downward around the pitch axis of the wrist W to frame the grip 9 and the frame 7. Rocking about the pitch axis P with respect to the shaft 3 or the input device support connected thereto. The swinging operation of the grip 9 about the pitch axis P is mechanically or electrically transmitted from the operation input device 2 to the treatment tool 1, and the treatment tool 1 is rotated by an angle equal to the swing angle of the grip 9 about the pitch axis P. The pitch joint 5 swings. Thereby, the end effector 4 can be swung in the pitch direction.

When it is desired to swing the end effector 4 in the yaw direction, the operator bends the wrist W of one hand H in the left or right direction around the yaw axis of the wrist W to make the grip 9 a frame 7 and a frame 7 Rocking about the yaw axis Y with respect to the shaft 3 or the input device support connected thereto. The swing operation of the grip 9 about the yaw axis Y is mechanically or electrically transmitted from the operation input device 2 to the treatment tool 1, and the treatment tool 1 is rotated by an angle equal to the swing angle of the grip 9 about the yaw axis Y. The yaw joint 6 swings. Thereby, the end effector 4 can be rocked in the yaw direction.

As described above, according to the present embodiment, the two swinging axes P and Y of the grip 9 are disposed so as to substantially coincide with the two bending axes of the wrist W. Operating instructions for the pitch joint 5 and the yaw joint 6 are respectively input by bending. Further, since the grip 9 is swingably connected about the swing axes P and Y with respect to the frame 7 fixed to the treatment instrument 1 or the master device, the position of the frame 7 regardless of the swing of the grip 9 Is held constant, and the swing of the grip 9 does not change the position of the entire treatment instrument 1. This has the advantage that the operator can intuitively manipulate the two bending

joints

5 and 6 of the treatment instrument 1 by bending the wrist W in two directions.

Further, the grip 9 can be attached to and detached from the one hand H by an operation of gripping the grip 9 with the one hand H and an operation of only releasing the one hand H from the grip 9. Therefore, there is an advantage that replacement etc. of the treatment tool 1 to operate can be performed easily.

In the case of the operation input device of the conventional two-axis gimbal structure, two axes are designed to be disposed at the fingertip for the purpose of downsizing. Unlike such a conventional two-axis gimbal structure, the operation input device 2 of the present embodiment gives priority to the operability of the bending

joints

5 and 6 due to the movement of the wrist W, and the two swing axes P and Y are It is designed to be arranged to substantially coincide with the bending axis of the wrist W.

Also, a general two-axis gimbal structure is configured such that two axes intersect at the same origin, as shown in FIG. 12A. If, as shown in FIG. 12B, the pitch axis and the yaw axis of the gimbal structure are arranged mutually in a torsional positional relationship, the relationship between the position of the tip of the operation input device and the rocking angle does not match. There is a fluctuation in the swing angle around two axes with respect to the rotation around the elbow. However, in other words, the attitude is determined uniquely.
In the operation input device 2 of the present embodiment, it is desirable to uniquely determine the postures of the

joints

5 and 6 without making the posture the same by rotation around the axis of the shaft. Therefore, by arranging the two swinging axes P and Y of the handle 8 in the positional relationship of twisting with each other in accordance with the two bending axes of the wrist W, the operability of the swinging operation of the grip 9 by the bending of the wrist W To improve.

The entire grip 9 is exposed in a side view when the grip 9 is viewed in the direction along the pitch axis P from the back side of the one hand H gripping the grip 9 so that the grip 9 can be attached and removed more easily. Is preferred. Furthermore, it is preferable that the entire grip 9 be exposed in a rear view when the grip 9 is viewed from the proximal end side of the frame 7 in the direction along the longitudinal axis of the frame 7.
In this way, the attaching and detaching operation of the grip 9 can be performed without being disturbed by the surrounding structure.

In this embodiment, the arrangement order of the pitch joint 5 and the yaw joint 6 in the longitudinal axis direction of the treatment tool 1 and the arrangement order of the pitch axis P and the yaw axis Y in the longitudinal axis direction of the frame 7 of the operation input device 2 are shown in FIG. As shown in FIG. 1 and FIG. 2, they may be different from each other, but are preferably identical to each other.
For example, in the case where the pitch axis P is disposed on the distal end side and the yaw axis Y is disposed on the proximal end side, the pitch joint 5 is disposed on the distal end side as shown in FIG. Preferably, the yaw joint 6 is arranged.
Thus, the arrangement order of the pitch joint 5 and the yaw joint 6 of the treatment tool 1 and the arrangement order of the pitch axis P and the yaw axis Y of the operation input device 2 coincide with each other. Operation is possible.

In the present embodiment, the ratio (angle conversion ratio) of the rocking angles of the bending

joints

5 and 6 to the rocking angle of the grip 9 is 1, but instead, the angle conversion ratio is more than 1 It may be large or less than one. 5 to 8 show examples of the angle conversion ratio. In the left views of FIG. 5 to FIG. 8, dashed lines indicate swingable swing angle ranges of the bending

joints

5 and 6. Further, in FIGS. 5 to 8, the horizontal axis indicates a swing angle around the yaw axes Y and Y ′, and the vertical axis indicates a swing angle around the pitch axes P and P ′.

When the angle conversion ratio is other than 1, as shown in FIG. 5, the swing angle ratio with respect to the pitch axes P and P ′ (the swing angle of the pitch joint 5 with respect to the swing angle of the grip 9 around the pitch axis P) It is preferable that the ratio) and the swing angle ratio (the ratio of the swing angle of the yaw joint 6 to the swing angle of the grip 9 about the yaw axis Y) be equal to each other.
By doing this, both the pitch joint 5 and the yaw joint 6 can be operated more intuitively.

FIG. 6 shows the case where the angle conversion ratio is 1.5, and FIG. 7 shows the case where the angle conversion ratio is 3. As shown in FIG. 6 and FIG. 7, the angle conversion ratio allows the rocking joints of the bending

joints

5 and 6 to rock so that at least one of the bending

joints

5 and 6 can rock to the maximum rocking angle. It is preferable to set based on the dynamic angle range and the swingable swing angle range of the grip 9.

6 and 7, the swing angle range of the grip 9 around the pitch axis P is ± 30 ° and the swing angle range of the yaw axis Y is ± 60 °. The swing angle range is ± 90 °. Therefore, the angle conversion ratio is preferably set to 1.5 or more and 3.0 or less.
By doing this, the movable range of at least one of the bending

joints

5 and 6 can be utilized to the maximum extent, and fine bending operations of the bending

joints

5 and 6 can also be controlled.

As shown in FIG. 8, the angle conversion ratio for the pitch axis P, P ′ and the angle conversion ratio for the yaw axis Y, Y ′ may be different from each other.
In this case, the angle conversion ratio with respect to the pitch axes P and P ′ is such that the pitch joint 5 swings to the maximum swing angle when swinging the grip 9 to the maximum swing angle around the pitch axis P The ratio is preferably set to the ratio of the maximum swing angle of the pitch joint 5 to the maximum swing angle around the pitch axis P of 9. Similarly, when the grip 9 is swung around the yaw axis Y to the maximum swing angle, the angle conversion ratio with respect to the yaw axes Y and Y ′ is such that the yaw joint 6 swings to the maximum swing angle It is preferable that the ratio is set to the ratio of the maximum swing angle of the yaw joint 6 to the maximum swing angle around the yaw axis 9 of 9.

In the example of FIG. 8, the maximum swing angle around the pitch axis P of the grip 9 is ± 30 °, and the maximum swing angle of the pitch joint 5 is ± 90 °. The ratio is set to 3.0. Further, since the maximum swing angle around the yaw axis Y of the grip 9 is ± 60 ° and the maximum swing angle of the yaw joint 6 is ± 90 °, the angle conversion ratio with respect to the yaw axes Y and Y ′ is 1. It is set to 5.
By doing so, the range of motion of the bending

joints

5 and 6 of the treatment tool 1 can be utilized to the maximum, and fine bending operations of the bending

joints

5 and 6 can also be controlled.

In the present embodiment, the frame 7 is linear, and the axis of the forearm of the one hand H holding the grip 9 is offset with respect to the shaft 3 or the input device support in the direction intersecting the longitudinal axis of the frame 7 Although arranged in the position, the frame 7 may be configured so that the shaft 3 or the input device support is arranged on the extension line A of the axis of the forearm instead. Specifically, as shown in FIGS. 9A to 9C, the connection portion 7a of the frame 7 may be disposed on an axis perpendicular to the pitch axis P and the yaw axis Y through the pitch axis P. In this case, the rotation of the entire operation input device 2 about the axis A is configured to be input as a rotation instruction about the longitudinal axis of the shaft 3 of the treatment instrument 1.

In this way, by rotating the forearm about the axis, the operation input device 2 can be rotated about the extension line A without moving other joints, and the rotation operation about the longitudinal axis of the shaft 3 can be intuitively Can be done.
In the case of the master-slave method, the connecting portion 7a is connected to the input device support rotatably around the extension line A, and the shaft 3 is rotated based on the rotation angle around the extension line A with respect to the input device support The master device may control the treatment instrument 1.

In the present embodiment, the operation input device 2 is provided with a switching unit 13 that switches between the effectiveness and ineffectiveness of the operation of the bending

joints

5 and 6 of the treatment tool 1 based on the swinging around the swinging axes P and Y of the grip 9. It may be The switching portion 13 is preferably provided on the grip 9 as shown in FIG. 10, and is provided at a position where it can be operated by any finger of the one hand H holding the grip 9 More preferable.

The switching unit 13 is, for example, a switch that can be switched between on and off. When the switch 13 is on, the operation of the bending

joints

5 and 6 by the grip 9 is in an effective state, and the bending joints 5 and 6 are rocked according to the rocking angle around the rocking axes P and Y of the grip 9. On the other hand, when the switch 13 is off, the operation of the bending

joints

5 and 6 by the grip 9 is invalid, and the bending joints 5 and 6 do not rock regardless of the rocking axes P and Y of the grip 9.

During operation of the treatment instrument 1, an operation of moving the entire treatment instrument 1 and positioning the end effector 4 is performed. By invalidating the operation on the bending joints 5 and 6 by the switching unit 13, it is possible to prevent the bending joints 5 and 6 from unintentionally swinging during the positioning operation of the end effector 4.
In the case of the master-slave operation input device 2, for example, a signal indicating whether the bending

joints

5 and 6 are enabled or disabled is transmitted from the switch 13 to the master device.

FIG. 11 shows an example of the configuration to switch between valid and invalid by the switch 13 in the manually operated operation input device 2.
An annular locking part 15 is disposed around the shaft 14 along the pitch axis P between the grip 9 and the intermediate frame 10. The lock component 15 is movable relative to the shaft 14 in the direction along the pitch axis P, but is not provided to rotate around the pitch axis P with respect to the shaft 14.

When the switch 13 is off, the lock component 15 is biased toward the intermediate frame 10 by the spring 16, and the intermediate frame 10 locks the rotation of the lock component 15 around the pitch axis P. Thereby, the swing of the grip 9 around the pitch axis P is limited.
When the switch 13 is on, the lock wire 15 connecting the switch 13 and the lock wire 15 pulls the lock wire 15 against the biasing force of the spring 16 toward the grip 9, thereby locking the middle frame 10. The locking of the grip 15 is released, and the swing of the grip 9 around the pitch axis P becomes possible.
Reference numeral 18 denotes a pulley on which a power transmission member (for example, a wire) connected to the pitch joint 5 is wound.

Reference Signs List 1 treatment tool 2 operation tool operation input device 3 shaft 4 end effector 5 flex joint, pitch joint 6 flex joint, yaw joint 7 frame 7a connection portion 8 handle 9 grip 10 middle frame 11 recess, uneven structure (positioning portion)
12 lines, mark (positioning part)
13 Switching part, switch P rocking axis, pitch axis Y rocking axis, yaw axis P 'joint axis, pitch axis Y' joint axis, yaw axis H hand W wrist

Claims

A treatment tool operation input device for operating a treatment tool which is bendable in two directions crossing each other,
A frame connected to the treatment device or a master device for remotely operating the treatment device;
A handle having a grip held by an operator's hand and connected to the frame so as to be pivotable about two pivot axes in directions crossing each other;
The treatment input device according to claim 1, wherein the two swinging axes substantially coincide with the two bending axes of the wrist of the one hand holding the grip, and are disposed in a mutually twisted positional relationship.
The handle is swingably connected to the grip around one of the swing axes, and is connected to the frame around the other swing axis in a direction orthogonal to the one swing axis. The operation input device for a treatment tool according to claim 1, comprising an intermediate frame.
The treatment input device according to claim 1 or 2, wherein the one swinging shaft is disposed substantially horizontally and closer to the finger of the one hand than the other swinging shaft.
The treatment tool operation input device according to any one of claims 1 to 3, further comprising a positioning unit provided on the grip and positioning the one hand at a predetermined position with respect to the grip.
The frame has a connection connected to the treatment tool,
The treatment input control input device according to any one of claims 1 to 4, wherein the connection portion is disposed on an extension of an axis of a forearm of the one hand gripping the grip.
The frame comprises a connection connected to the master device;
The connection device is disposed on an extension of the axis of the forearm of the one hand holding the grip, and is connected to the master device rotatably around an extension of the axis of the forearm. The treatment input device according to any one of 4).
The treatment input for operation according to any one of claims 1 to 6, wherein the entire grip is exposed when the grip is viewed from the back side of the one hand holding the grip.
The switch according to any one of claims 1 to 7, further comprising: a switching unit that switches between effective and invalidity of the operation of the bending in the two directions of the treatment tool based on the swinging of the grip around the two swinging axes. Treatment tool operation input device.
A treatment tool having two bending joints which can be bent in mutually intersecting directions;
A treatment tool operation input device according to any one of claims 1 to 8.
A treatment instrument system in which joint axes of the two bending joints of the treatment instrument are disposed in a mutually twisted positional relationship.
The treatment instrument system according to claim 9, wherein one of the joint axes is disposed substantially horizontally and is disposed distal to the other joint axis.