WO2020009155A1 - Medical manipulator system - Google Patents

Medical manipulator system Download PDF

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Publication number
WO2020009155A1
WO2020009155A1 PCT/JP2019/026482 JP2019026482W WO2020009155A1 WO 2020009155 A1 WO2020009155 A1 WO 2020009155A1 JP 2019026482 W JP2019026482 W JP 2019026482W WO 2020009155 A1 WO2020009155 A1 WO 2020009155A1
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WO
WIPO (PCT)
Prior art keywords
adapter
surgical
surgical tool
surgical instrument
tool
Prior art date
Application number
PCT/JP2019/026482
Other languages
French (fr)
Japanese (ja)
Inventor
広樹 新藤
大輔 原口
Original Assignee
リバーフィールド株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by リバーフィールド株式会社 filed Critical リバーフィールド株式会社
Publication of WO2020009155A1 publication Critical patent/WO2020009155A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • the present disclosure relates to a medical manipulator system.
  • the external force acting on a surgical tool (for example, robot forceps) is estimated with high accuracy and the robot is operated in an isolated place in order to improve safety and reduce the time required for a doctor to learn operation. It is desired to tell the surgeon.
  • a surgical tool for example, robot forceps
  • it is required to reduce mechanical rattling (in other words, mechanical gaps) in the surgical robot as much as possible.
  • mechanical rattling in other words, mechanical gaps
  • Patent Document 1 discloses a configuration in which when a surgical tool is mounted on a surgical manipulator, a disc and a tool disc in a mechanism for transmitting power to a mechanism provided at a distal end of the surgical tool are engaged by a spring reaction force. I have.
  • the medical manipulator system of the present disclosure includes an adapter having a power transmission unit configured to transmit power, and a surgical tool configured to be driven by the power transmitted from the power transmission unit.
  • the adapter is a relative position of the surgical tool with respect to the adapter, a first position at which the surgical tool is removably arranged on the adapter, the relative position different from the first position,
  • An adapter-side holding unit configured to hold the surgical tool so that the surgical tool is movable between a second position at which a driving force can be transmitted from the power transmission unit to the surgical tool;
  • the surgical tool is provided with a surgical tool side holding portion configured to engage with the adapter side holding portion and move the surgical tool from the first position to the second position.
  • the surgical tool when the surgical tool moves from the first position to the second position, the surgical tool is engaged with the power transmission unit so that power can be transmitted. Therefore, the gap between the components related to the engagement can be reduced as compared with the engagement method described in Patent Literature 1 using the spring reaction force. In other words, it is possible to suppress the influence of variations in resistance when the surgical tool and the power transmission unit are engaged.
  • the surgical instrument-side holding portion is configured to engage with the adapter-side holding portion, and the surgical tool-side guiding portion is moved relatively to the surgical tool.
  • a configured operation unit may be provided.
  • the adapter-side holding section may be provided with an adapter-side guide section configured to engage with the surgical instrument-side guide section.
  • the operating section holds the surgical instrument-side holding section with respect to the surgical instrument.
  • the surgical tool may be provided with a rod-shaped part extending from the surgical tool body provided with the surgical tool-side holding part, and the rod-shaped part is configured to be driven by transmitted power.
  • the treatment section may be arranged at the end.
  • the surgical instrument-side guide may be arranged so as to be relatively movable in a direction in which the rod-shaped portion extends with respect to the surgical instrument main body. Further, a moving direction of the surgical instrument from the first position to the second position may be a direction intersecting a direction in which the rod portion extends.
  • a conversion unit configured to convert the movement from the first position to the second position may be provided.
  • the surgical instrument-side guiding section is relatively movable in the direction in which the rod-shaped portion extends, and the relative movement is converted by the conversion section into movement of the surgical instrument from the first position to the second position. .
  • This enables more reliable engagement as compared with the engagement method using the spring reaction force.
  • each of a surface of the surgical instrument facing the adapter and a surface of the adapter facing the surgical tool are related to each other when the surgical tool moves from the first position to the second position.
  • a first engagement portion and a second engagement portion configured to suppress relative movement of the surgical instrument in a direction in which the rod portion extends with respect to the adapter may be provided.
  • the first engagement portion and the second engagement portion that are engaged by moving the surgical instrument from the first position to the second position are provided. This makes it easier to fix the surgical tool moved to the second position to the adapter than in a case where the first engagement portion and the second engagement portion are not provided.
  • the movement for engaging the surgical tool with the power transmission unit and the movement for fixing the surgical tool to the adapter are performed in conjunction by the same operation. Therefore, for example, it is easy to reduce the time required for the operation of replacing a surgical instrument. In addition, it becomes easier to improve the difficulty of replacing the surgical tool.
  • the engagement between the surgical tool and the power transmission unit and the fixing of the surgical tool to the adapter are simultaneously performed mechanically. Therefore, as compared with the case where these are not performed mechanically, the operator can easily detect the poor engagement or the poor fixing. In other words, for example, the need to provide an electrical detection system such as a sensor or switch can be reduced.
  • At least one of a surface of the surgical tool facing the adapter and a surface of the adapter facing the surgical tool is provided with the surgical tool in a direction moving from the second position to the first position.
  • An urging unit configured to urge may be provided.
  • Providing the urging portion makes it easier to remove the surgical instrument from the adapter than when no urging portion is provided. Further, since the surgical instrument can be easily removed, for example, the time required for the operation of replacing the surgical instrument can be easily reduced. In addition, it becomes easier to improve the difficulty of replacing the surgical tool.
  • the surgical tool and the power transmission unit when the surgical tool moves from the first position to the second position, the surgical tool and the power transmission unit can be engaged so that power can be transmitted. For this reason, there is an effect that it is possible to estimate the external force with high accuracy.
  • FIG. 2 is a partially enlarged view showing a configuration of a surgical instrument and an adapter of FIG. 1.
  • FIG. 4 is a partially enlarged view showing a state where the surgical tool is arranged at a first position.
  • FIG. 2 is a partially enlarged view showing the configuration of the surgical instrument in FIG. 1. It is a partial enlarged view showing a relative position of an operation part at the time of arranging a surgical instrument at a second position.
  • FIG. 4 is a partially enlarged view showing a state where the surgical tool is arranged at a first position.
  • FIG. 9 is a schematic diagram illustrating a state where the urging unit in FIG. 8 is compressed.
  • FIG. 9 is a schematic diagram showing a state where the urging unit in FIG. 8 is pushing up a surgical instrument from an adapter.
  • the medical manipulator system 1 is used in, for example, a master-slave surgical robot.
  • the medical manipulator system 1 mainly includes a power unit 10, an adapter 20, and a surgical tool 50.
  • the side on which the forceps 53 of the surgical tool 50 is provided is the front side
  • the side on which the surgical tool body 51 of the surgical tool 50 is provided is the rear side
  • the surgical tool 50 is disposed.
  • the side on which the power unit 10 is disposed is referred to as an upper side
  • the side on which the power unit 10 is disposed is referred to as a lower side. Note that these directions are merely examples, and, for example, the front and rear and / or the top and bottom may be reversed, the front and rear direction and the top and bottom direction may be interchanged, or these may be different names. .
  • the power unit 10 supplies power (driving force) for driving the surgical instrument 50.
  • the power section 10 mainly includes a power section main body 11, an actuator 12, and an actuator transmission section 13.
  • the power unit main body 11 is a housing that houses the actuator 12 and the actuator transmission unit 13 therein, and is configured such that the adapter 20 is detachably attached.
  • the power unit main body 11 forms an outer shape of a manipulator arm (not shown) of the medical manipulator system 1.
  • the actuator 12 is configured to generate power for driving the surgical instrument 50. In the first embodiment, for example, the actuator 12 generates a driving force by expanding and contracting in the front-rear direction.
  • the actuator 12 may be configured to be driven by supplying a working fluid, for example, or may be configured differently.
  • the actuator transmission unit 13 engages or engages with a power transmission unit 22 of the adapter 20, which will be described later, when the power unit 10 and the adapter 20 approach or separate along the vertical direction and the adapter 20 is attached to and detached from the power unit 10. Separate.
  • the actuator transmission unit 13 is arranged at a front end of the actuator 12 and has a columnar shape extending from the power unit 10 toward the surgical instrument 50 (upward).
  • a columnar projection (not shown) is provided at the upper end of the actuator transmission section 13 to protrude upward.
  • the projection is engaged with or separated from a power transmission unit 22 described later, and is configured to transmit the driving force generated by the actuator 12 to the power transmission unit 22.
  • the adapter 20 is configured to be detachable from the power unit 10 and to hold the surgical instrument 50 detachably. As shown in FIGS. 1 and 2, the adapter 20 mainly includes an adapter body 21, a power transmission unit 22, and an adapter-side holding unit 31.
  • the adapter body 21 is configured to be detachable from the power section main body 11, and is provided with an adapter-side holding section 31 for detachably holding the power transmission section 22 and the surgical instrument 50.
  • the power transmission unit 22 is configured to transmit the driving force transmitted from the power unit 10 to the surgical instrument 50, and is disposed inside the adapter main body 21 as shown in FIG.
  • the power transmission unit 22 is disposed so as to be relatively movable with respect to the adapter body 21 in the front-rear direction (the same direction as the direction in which the actuator 12 expands and contracts).
  • the above-described projection of the actuator transmission unit 13 is displaced in the vertical direction, so that the projection is engaged or disengaged.
  • An insertion hole (not shown) is provided.
  • the adapter-side holding section 31 holds the surgical tool 50 so that the surgical tool 50 can be moved between the first position and the second position.
  • the first position is a relative position of the surgical tool 50 with respect to the adapter 20, and is a position at which the surgical tool 50 is detachably mounted on the adapter 20.
  • the second position is a position where the driving force transmitted from the power unit 10 can be transmitted to the surgical instrument 50.
  • the adapter-side holding portion 31 is a pair of plate-shaped members extending from the surface (the upper surface in FIG. 2) of the adapter body 21 facing the surgical instrument 50 toward the surgical instrument 50.
  • the adapter-side holding portion 31 is provided at a position that sandwiches the surgical instrument 50 from the left and right (from the back side and the near side in FIG. 2).
  • a plurality of adapter-side guiding sections 32 are provided in the adapter-side holding section 31, and each adapter-side guiding section 32 has a first guiding section 33, a conversion section 34, and a second guiding section 35.
  • Each adapter-side guiding portion 32 is a long hole formed in the adapter-side holding portion 31 and is configured to engage with a set of surgical instrument-side holding portions 61 described later. Further, the first guide part 33, the conversion part 34, and the second guide part 35 are elongated through holes formed integrally.
  • the adapter-side holding section 31 may be provided with one adapter-side guide section 32.
  • the first guiding portion 33 forms a rear portion of the adapter-side guiding portion 32 and corresponds to the above-described first position.
  • the first guide portion 33 is a long hole formed linearly in the front-rear direction, and is formed at a position (upper position) farther from the adapter main body 21 than the second guide portion 35.
  • the conversion unit 34 constitutes a portion between the first guiding unit 33 and the second guiding unit 35, and controls the relative movement of one set of the surgical tool side holding unit 61 to the above-described first position and the second position in the surgical tool 50. It is configured to convert to relative movement between positions.
  • the rear end of the converter 34 communicates with the first guide 33, and the front end of the converter 34 communicates with the second guide 35.
  • the upper side of the conversion unit 34 has a shape that is inclined downward from the rear side to the front side.
  • the second guiding portion 35 forms a front portion of the adapter-side holding portion 31 and corresponds to the above-described second position.
  • the second guiding portion 35 is a long hole formed linearly in the front-rear direction, and is located at a position closer to the adapter body 21 than the first guiding portion 33 (a position below the first guiding portion 33). .
  • the surgical instrument 50 is configured to include a forceps (treatment unit) 53 driven by power transmitted from the power transmission unit 22.
  • a forceps treatment unit
  • various instruments used in a master-slave type surgical robot can be used other than the forceps.
  • the surgical tool 50 includes a surgical tool main body 51, a rod-shaped portion 52, a surgical tool-side transmitting section 55, at least one surgical tool-side holding section 61, and an operating section 65.
  • a surgical tool main body 51 As shown in FIGS. 1 and 4, the surgical tool 50 includes a surgical tool main body 51, a rod-shaped portion 52, a surgical tool-side transmitting section 55, at least one surgical tool-side holding section 61, and an operating section 65.
  • the first embodiment as an example, one set (more specifically, two) of the surgical tool-side holding portions 61 is provided.
  • the surgical tool main body 51 is a portion that is attached to and detached from the adapter 20, and is provided with a rod-shaped portion 52, a surgical tool-side transmitting portion 55, a set of surgical tool-side holding portions 61, and an operation portion 65.
  • the surgical tool main body 51 is formed in a quadrangular prism shape.
  • the rod portion 52 extends in a rod shape from the surgical instrument body 51 to the front side. Further, a forceps 53 driven by the transmitted power is disposed at an end of the rod portion 52. Inside the rod portion 52, a member such as a wire used for transmitting a driving force for opening and closing the forceps 53 is arranged inside the rod portion 52. The member such as the wire is disposed between the forceps 53 and the surgical instrument side transmission unit 55.
  • the surgical instrument side transmission unit 55 is configured to receive the driving force for driving the forceps 53 from the power transmission unit 22 and transmit the received driving force to the forceps 53.
  • the surgical-tool-side transmitting section 55 is arranged so as to protrude (toward the lower side) from the surface of the surgical-tool main body 51 facing the adapter 20 and to be movable in the front-rear direction.
  • the surgical-tool-side transmission unit 55 is configured to engage with or separate from the power transmission unit 22 by approaching or separating from the power transmission unit 22 in the up-down direction.
  • the surgical instrument side transmission unit 55 is configured to transmit the movement of the power transmission unit 22 in the front-back direction.
  • the upper end of the power transmission unit 22 in other words, the end facing the surgical instrument 50
  • the surgical instrument-side transmission portion 55 is formed in a concave shape, and engages or separates from the concave shape.
  • the surgical instrument-side transmission unit 55 is formed in a convex shape, and the power transmission unit 22 is formed in a concave shape.
  • the power transmission unit 22 and the surgical instrument side transmission unit 55 may be formed in other shapes, and the specific shapes of these parts are not limited.
  • One set of the surgical instrument side holding section 61 and the operation section 65 are formed integrally or are formed by combining a plurality of parts, and move the surgical instrument 50 from the first position to the second position. It is configured.
  • Each surgical-tool-side holding portion 61 is configured to be relatively movable in a direction in which the rod-shaped portion 52 extends with respect to the surgical-tool main body 51.
  • the surgical instrument side holding portions 61 are arranged on the left and right side surfaces of the surgical instrument body 51 (a surface on the near side and a surface on the far side with respect to the paper surface in FIG. 4).
  • Each surgical tool side holding portion 61 has a plate-like guide plate portion 62 and two cylindrical guide protrusions (surgical tool side guide portions) protruding from the front and rear ends of the guide plate portion 62, respectively. ) 63 are mainly provided.
  • One or three or more guide projections 63 may be provided on each surgical tool side holding unit 61. These guide protrusions 63 are configured to engage with the respective adapter-side guide portions 32 of the adapter-side holding portion 31 and to relatively move along the adapter-side guide portions 32 formed in a long hole shape.
  • the operation unit 65 is a lever used to move the set of surgical tool side holding units 61 in the front-rear direction relative to the surgical tool body 51.
  • the operation unit 65 is disposed on the upper side of the surgical tool main body 51, in other words, on the opposite side to the adapter 20.
  • the operation unit 65 is L-shaped as an example, but the shape of the operation unit 65 is not limited to this.
  • the surgical tool 50 is in a state in which one set of the surgical tool side holding portion 61 and the operation portion 65 are moved rearward with respect to the surgical tool body 51.
  • the surgical tool 50 in this state is arranged on the surface of the adapter 20 on which the adapter-side holding portion 31 is provided (see FIG. 3).
  • the surgical instrument 50 is arranged on the surface on which the adapter-side holding section 31 is provided.
  • the front end of the surgical tool main body 51 comes into contact with the stopper 25 provided at the front end of the adapter 20.
  • the relative position between the adapter 20 and the surgical tool body 51 in the front-rear direction is determined by the contact of the surgical tool body 51 with the stopper portion 25 in this manner.
  • the power transmitting portion 22 formed in a concave shape has a front portion protruding toward the surgical instrument 50 more than a rear portion. Therefore, the surgical-tool-side transmitting portion 55 of the surgical tool 50 passes through the rear portion and abuts on the front portion. Further, with the relative movement of the surgical instrument main body 51, the surgical instrument side transmission unit 55 presses the power transmission unit 22 forward.
  • each guide protrusion 63 of each surgical tool side holding portion 61 engages with the first guide portion 33 of the adapter side guide portion 32 when moving the surgical tool 50 forward while approaching the adapter 20.
  • the relative position in the vertical direction between the surgical instrument 50 and the adapter 20 is determined.
  • the relative position of the surgical tool 50 with respect to the adapter 20 at this time is the first position.
  • each guide protrusion 63 moves to the conversion portion 34 of the adapter-side guide portion 32.
  • each guiding protrusion 63 moves from the converting unit 34 to the second guiding unit 35. During this movement, each guiding projection 63 receives a downward force (a direction approaching the adapter 20) from the conversion unit 34, and the surgical tool body 51 approaches the adapter 20 by this force.
  • the relative position in the vertical direction between the surgical tool main body 51 and the adapter 20 is determined by the engagement between each guide projection 63 and each second guide 35.
  • the surgical instrument side transmission unit 55 and the power transmission unit 22 are engaged.
  • the relative position of the surgical tool 50 with respect to the adapter 20 at this time is the second position.
  • the driving force generated in the power transmission unit 22 can be transmitted to the surgical instrument side transmission unit 55.
  • the attachment of the surgical instrument 50 to the adapter 20 is completed.
  • each guide protrusion 63 moves from the second guide 35 to the converter 34. Thereafter, the surgical instrument main body 51 is moved rearward and upward relative to the adapter 20 to complete the removal of the surgical instrument 50 from the adapter 20.
  • the surgical tool 50 is moved to the first position by relatively moving one set of surgical tool side holding portions 61 of the surgical tool 50 arranged at the first position.
  • the surgical instrument 50 is engaged so that power is transmitted from the power transmission unit 22. Therefore, the gap between the components related to the engagement can be reduced as compared with the engagement method described in Patent Literature 1 using the spring reaction force. In other words, it is possible to reduce the influence of variation in resistance when the surgical tool 50 and the power transmission unit 22 are engaged, and it is easy to suppress incomplete engagement.
  • a small gap between the components related to the engagement makes it possible to estimate the external force with high accuracy. For example, when a sensor for estimating an external force is disposed at a predetermined position on the power transmission unit 22 side of the engaging portion, the external force transmitted from the surgical instrument 50 to the sensor is absorbed by the above-described gap. You. As the gap becomes smaller, a small external force is easily transmitted to the sensor.
  • a plurality of guide projections 63 of each surgical instrument side holding section 61 are engaged with each adapter side guide section 32 of the adapter side holding section 31, and a set of the surgical tool side holding section 61 is operated by the operating section 65.
  • the relative movement with respect to 50 facilitates easy engagement between surgical instrument 50 and power transmission unit 22.
  • One set of the surgical-tool-side holding portion 61 is relatively movable in the direction in which the rod-shaped portion 52 extends, and the relative movement is converted by the conversion portion 34 into movement from the first position to the second position. Reliable engagement is possible as compared with an engagement method using a spring reaction force.
  • FIGS. 6 and 7 a medical manipulator system according to a second embodiment will be described with reference to FIGS.
  • the basic configuration of the medical manipulator system of the second embodiment is the same as that of the first embodiment, but differs from the first embodiment in the configuration for maintaining the relative position between the adapter and the surgical instrument. ing. Therefore, in the second embodiment, the configuration for maintaining the relative position between the adapter and the surgical instrument will be described with reference to FIGS. 6 and 7, and the description of the other configurations will be omitted.
  • the medical manipulator system 101 mainly includes a power unit 10, an adapter 120, and a surgical instrument 150, as shown in FIG.
  • the adapter 120 mainly includes an adapter body 21, a power transmission unit 22, an adapter-side holding unit 31, and a second engagement unit 141.
  • the second engagement portion 141 is configured to engage with the first engagement portion 171 and is formed in a concave shape having an opening facing upward.
  • the second engagement portion 141 is provided on a surface of the adapter main body 21 facing the surgical tool main body 51 and located on a rear side of a region where the power transmission unit 22 slides.
  • the surgical tool 150 includes a surgical tool main body 51, a rod-shaped portion 52, a surgical tool-side transmission section 55, a set of surgical tool-side holding sections 61, and an operation section 65. , And a first engaging portion 171 are mainly provided.
  • the first engaging portion 171 is engaged with the second engaging portion 141 and is formed in a convex shape protruding downward.
  • the first engagement portion 171 is provided on a surface of the surgical instrument main body 51 facing the adapter main body 21 and on a surface located behind the region where the surgical instrument side transmission portion 55 slides.
  • the operation until the surgical instrument 150 is disposed at the first position (see FIG. 7) relative to the adapter 120 is the same as that of the first embodiment, and thus detailed description thereof will be omitted.
  • the surgical instrument 150 is located at the first position, the second engaging portion 141 of the adapter 120 and the first engaging portion 171 of the surgical instrument 150 are vertically opposed and spaced apart from each other. .
  • the first engagement portion 171 and the second engagement portion 141 that are engaged when the surgical instrument 150 moves from the first position to the second position are provided. For this reason, the surgical instrument 150 moved to the second position is more easily fixed to the adapter 120 than when the first engagement portion 171 and the second engagement portion 141 are not provided.
  • the movement for engaging the surgical tool 150 with the power transmission unit 22 and the movement for fixing the surgical tool 150 to the adapter 120 are performed in conjunction with the same operation. Therefore, for example, the time required for the operation of replacing the surgical instrument 150 can be easily reduced. In addition, the difficulty of replacing the surgical instrument 150 can be easily improved.
  • the engagement between the surgical tool 150 and the power transmission unit 22 and the fixing of the surgical tool 150 to the adapter 120 are simultaneously performed mechanically. Therefore, as compared with the case where these are not performed mechanically, the operator can easily detect the poor engagement or the poor fixing. In other words, the need to provide an electrical detection system such as a sensor or switch can be reduced.
  • the first engaging portion 171 has a convex shape
  • the second engaging portion 141 has a concave shape
  • the shapes of the first engagement portion 171 and the second engagement portion 141 are shapes that can suppress relative movement in the front-rear direction between the adapter 120 and the surgical instrument 150 at the second position (for example, a claw fitting). And the like, and the specific shape is not limited.
  • the basic configuration of the medical manipulator system of the third embodiment is the same as that of the second embodiment, but is different from the second embodiment in the configuration for relatively separating the adapter and the surgical instrument. . Therefore, in the third embodiment, a configuration in which the adapter and the surgical instrument are relatively separated from each other will be described with reference to FIGS. 8 to 10, and descriptions of other configurations will be omitted.
  • the medical manipulator system 201 of the third embodiment is mainly provided with a power unit 10, an adapter 220, and a surgical instrument 150, as shown in FIGS. 8 to 10,
  • the adapter 220 includes an adapter main body 21, a power transmission unit 22, an adapter-side holding unit 31, and at least one (for example, two) urging units 241. It is mainly provided.
  • Each urging portion 241 is provided on a surface of adapter body 21 facing surgical instrument body 51, which is located on each of the front side and the rear side of the area where power transmission unit 22 slides.
  • Each biasing portion 241 is mainly provided with a coil spring 242 and a contact portion 243.
  • the coil spring 242 can exert an elastic force that urges the surgical instrument 150 in a direction in which the surgical instrument 150 moves from the second position to the first position (in other words, a direction in which the surgical instrument body 51 moves away from the adapter body 21).
  • a coil spring 242 is provided in the urging portion 241.
  • another component capable of exerting an elastic force for urging the surgical instrument body 51 away from the adapter body 21 may be used instead of the coil spring 242.
  • the contact portion 243 is arranged at the end (upper end) of the coil spring 242 on the side of the surgical tool 150 so as to be able to contact the surgical tool main body 51.
  • the urging force of the coil spring 242 is transmitted to the surgical instrument body 51 via the contact portion 243.
  • the operation performed until the surgical instrument 150 is disposed at the first position (see FIG. 10) relative to the adapter 220 is the same as that of the first embodiment, and a detailed description thereof will be omitted.
  • the surgical instrument 150 is located at the first position, the surgical instrument body 51 and the contact portion 243 of the urging portion 241 contact each other. At this time, the coil spring 242 of the urging portion 241 is in an expanded state.
  • each guide protrusion 63 is moved from the conversion unit 34 to the second guide. Move to section 35.
  • the surgical instrument 150 moves from the second position to the first position. Since each of the guide protrusions 63 is located at the second guide 35, the coil spring 242 of each of the urging portions 241 is in a compressed state.
  • the surgical tool main body 51 moves in a direction (upward) away from the adapter main body 21 by the urging force of the coil spring 242 in each urging portion 241. Thereafter, the surgical instrument main body 51 is moved rearward and upward relative to the adapter 220, whereby the removal of the surgical instrument 150 from the adapter 220 is completed.
  • the surgical instrument 50 can be easily removed from the adapter 220 as compared with the case where the urging portion 241 is not provided.
  • the smooth removal of the surgical tool 50 facilitates, for example, shortening the time required for the operation of replacing the surgical tool 50.
  • the difficulty of replacing the surgical instrument 50 can be easily improved.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

This medical manipulator system is equipped with an adapter having a power transmission unit, and a surgical instrument. The adapter is provided with an adapter-side holding portion configured to hold the surgical instrument so that the surgical instrument can move between a first position where the surgical instrument can be attached and detached and a second position where driving force can be transmitted from the power transmission unit to the surgical instrument. The surgical instrument is provided with a surgical-instrument-side holding portion configured to engage with the adapter-side holding portion and to cause the surgical instrument to move from the first position to the second position.

Description

医療用マニピュレータシステムMedical manipulator system 関連出願の相互参照Cross-reference of related applications
　本国際出願は、２０１８年７月５日に日本国特許庁に出願された日本国特許出願第２０１８－１２８２５９号に基づく優先権を主張するものであり、日本国特許出願第２０１８－１２８２５９号の全内容を本国際出願に参照により援用する。 This international application claims the priority based on Japanese Patent Application No. 2018-128259 filed with the Japan Patent Office on July 5, 2018, and discloses the priority of Japanese Patent Application No. 2018-128259. The entire contents are incorporated by reference into this international application.
　本開示は、医療用マニピュレータシステムに関する。 The present disclosure relates to a medical manipulator system.
　マスタースレーブ型の手術ロボットにおいて、安全性向上や医師の操作習得時間の短縮のために、手術具（例えば、ロボット鉗子）に働く外力を高精度に推定し、隔離された場所でロボットを操作する術者に伝えることが要望されている。高精度な外力推定を行うため、手術ロボットにおける機構的ながたつき（換言すれば、機構的な隙間）を可能な限り小さくすることが求められる。特に、患者の体内で操作される手術具と、手術具に動力を供給する動力部との間の隙間は小さくすることが強く求められる。 In a master-slave type surgical robot, the external force acting on a surgical tool (for example, robot forceps) is estimated with high accuracy and the robot is operated in an isolated place in order to improve safety and reduce the time required for a doctor to learn operation. It is desired to tell the surgeon. In order to perform highly accurate external force estimation, it is required to reduce mechanical rattling (in other words, mechanical gaps) in the surgical robot as much as possible. In particular, it is strongly required to reduce a gap between a surgical tool operated in a patient's body and a power unit that supplies power to the surgical tool.
　一方、手術ロボットで手術を行う際には、手術中にロボット鉗子（手術具）を取り外し、別のロボット鉗子に取り換える作業が頻繁に発生し得る。その際、ロボット鉗子の清潔性を確保するため、アダプタを介してロボット鉗子を装着する構成が知られている。また、このようなアダプタを介して、ロボット鉗子に動力を伝達する技術が提案されている（例えば、特許文献１参照。）。特許文献１においては、手術マニピュレータに手術具を装着する際、手術具先端に設けられた機構に動力を伝達する機構におけるディスクと器具ディスクとを、バネ反力により係合させる構成が記載されている。 On the other hand, when performing an operation using a surgical robot, it is often necessary to remove the robot forceps (surgical tool) during the operation and replace it with another robot forceps. At that time, a configuration is known in which the robot forceps is mounted via an adapter in order to ensure the cleanliness of the robot forceps. Further, a technique for transmitting power to a robot forceps through such an adapter has been proposed (for example, see Patent Document 1). Patent Document 1 discloses a configuration in which when a surgical tool is mounted on a surgical manipulator, a disc and a tool disc in a mechanism for transmitting power to a mechanism provided at a distal end of the surgical tool are engaged by a spring reaction force. I have.
特許第５８０７９７４号公報Japanese Patent No. 5807974
　特許文献１に記載の構成では、バネ反力を利用した係合が行われる。このようなバネ反力を利用する場合、意図的に隙間を設ける必要があり、隙間の発生を抑えることが難しい。そのため、精度の高い外力推定が難しいという問題があった。 構成 In the configuration described in Patent Literature 1, engagement using a spring reaction force is performed. When such a spring reaction force is used, it is necessary to intentionally provide a gap, and it is difficult to suppress the generation of the gap. Therefore, there is a problem that it is difficult to estimate a highly accurate external force.
　本開示の一局面では、精度の高い外力推定を可能な医療用マニピュレータシステムを提供することが望ましい。 で は In one aspect of the present disclosure, it is desirable to provide a medical manipulator system capable of highly accurate external force estimation.
　本開示の医療用マニピュレータシステムは、動力を伝達するよう構成された動力伝達部を有するアダプタと、前記動力伝達部から伝達される動力によって駆動されるよう構成された手術具と、を備える。前記アダプタには、前記アダプタに対する前記手術具の相対位置であって、前記手術具が前記アダプタに着脱可能に配置される第１位置と、前記第１位置とは異なる前記相対位置であって、前記動力伝達部から前記手術具へ駆動力が伝達可能となる第２位置との間で、前記手術具が移動可能となるように、前記手術具を保持するよう構成されたアダプタ側保持部が設けられる。また、前記手術具には、前記アダプタ側保持部と係合するとともに、前記手術具を前記第１位置から前記第２位置へ移動させるよう構成された手術具側保持部が設けられている。 The medical manipulator system of the present disclosure includes an adapter having a power transmission unit configured to transmit power, and a surgical tool configured to be driven by the power transmitted from the power transmission unit. The adapter is a relative position of the surgical tool with respect to the adapter, a first position at which the surgical tool is removably arranged on the adapter, the relative position different from the first position, An adapter-side holding unit configured to hold the surgical tool so that the surgical tool is movable between a second position at which a driving force can be transmitted from the power transmission unit to the surgical tool; Provided. The surgical tool is provided with a surgical tool side holding portion configured to engage with the adapter side holding portion and move the surgical tool from the first position to the second position.
　上記医療用マニピュレータシステムによれば、手術具が第１位置から第２位置に移動すると、手術具は、動力の伝達が可能となるように動力伝達部に係合される。そのため、バネ反力を利用する特許文献１に記載の係合方法と比較して、係合に関連する構成間の隙間を小さくすることができる。言い換えると、手術具と動力伝達部との係合を行う際の抵抗のバラツキの影響を抑制できる。 According to the medical manipulator system, when the surgical tool moves from the first position to the second position, the surgical tool is engaged with the power transmission unit so that power can be transmitted. Therefore, the gap between the components related to the engagement can be reduced as compared with the engagement method described in Patent Literature 1 using the spring reaction force. In other words, it is possible to suppress the influence of variations in resistance when the surgical tool and the power transmission unit are engaged.
　そして、係合に関連する構成間の隙間が小さくなることにより、高精度な外力の推定が可能となる。例えば、係合を行う部位よりも動力伝達部側の所定の場所に、外力の推定を行うセンサが配置されている場合、手術具からセンサに伝達される外力は、上述の隙間に吸収される。この隙間が小さくなるに伴い、小さな外力がセンサに伝達されやすくなる。 {Circle around (4)} Since the gap between the components related to the engagement is reduced, it is possible to estimate the external force with high accuracy. For example, when a sensor for estimating an external force is disposed at a predetermined position on the power transmission unit side from a portion to be engaged, the external force transmitted from the surgical instrument to the sensor is absorbed in the gap described above. . As the gap becomes smaller, a small external force is easily transmitted to the sensor.
　また、前記手術具側保持部には、前記アダプタ側保持部と係合するよう構成された手術具側誘導部と、前記手術具側誘導部を前記手術具に対して相対的に移動させるよう構成された操作部と、が設けられていても良い。また、前記アダプタ側保持部には、前記手術具側誘導部と係合するよう構成されたアダプタ側誘導部が設けられていても良い。 The surgical instrument-side holding portion is configured to engage with the adapter-side holding portion, and the surgical tool-side guiding portion is moved relatively to the surgical tool. A configured operation unit may be provided. Further, the adapter-side holding section may be provided with an adapter-side guide section configured to engage with the surgical instrument-side guide section.
　上記構成によれば、手術具側保持部の手術具側誘導部と、アダプタ側保持部のアダプタ側誘導部とを係合させた後、操作部により手術具側保持部を手術具に対して相対移動させることで、簡易的に、手術具と動力伝達部とを係合させることができる。 According to the above configuration, after the surgical instrument-side guiding section of the surgical instrument-side holding section is engaged with the adapter-side guiding section of the adapter-side holding section, the operating section holds the surgical instrument-side holding section with respect to the surgical instrument. By performing the relative movement, the surgical instrument and the power transmission unit can be easily engaged.
　また、前記手術具には、前記手術具側保持部が設けられた手術具本体から延びる棒状部が設けられても良く、前記棒状部には、伝達された動力によって駆動されるよう構成された処置部が端部に配置されても良い。また、前記手術具側誘導部は、前記手術具本体に対して前記棒状部が延びる方向へ相対移動可能に配置されても良い。また、前記手術具における前記第１位置から前記第２位置への移動方向は、前記棒状部が延びる方向に対して交差する方向であっても良い。そして、前記手術具側誘導部および前記アダプタ側誘導部の少なくとも一方には、前記手術具が前記第１位置に配置された際における前記手術具側誘導部の前記相対移動を、前記手術具における前記第１位置から前記第２位置への移動に変換するよう構成された変換部が設けられていても良い。 Further, the surgical tool may be provided with a rod-shaped part extending from the surgical tool body provided with the surgical tool-side holding part, and the rod-shaped part is configured to be driven by transmitted power. The treatment section may be arranged at the end. The surgical instrument-side guide may be arranged so as to be relatively movable in a direction in which the rod-shaped portion extends with respect to the surgical instrument main body. Further, a moving direction of the surgical instrument from the first position to the second position may be a direction intersecting a direction in which the rod portion extends. Then, at least one of the surgical instrument-side guiding section and the adapter-side guiding section, the relative movement of the surgical instrument-side guiding section when the surgical instrument is disposed at the first position, A conversion unit configured to convert the movement from the first position to the second position may be provided.
　上記構成によれば、手術具側誘導部は棒状部が延びる方向へ相対移動可能であり、この相対移動が、変換部により、手術具の第１位置から第２位置への移動に変換される。これにより、バネ反力を利用した係合方法と比較して、確実な係合が可能となる。 According to the above configuration, the surgical instrument-side guiding section is relatively movable in the direction in which the rod-shaped portion extends, and the relative movement is converted by the conversion section into movement of the surgical instrument from the first position to the second position. . This enables more reliable engagement as compared with the engagement method using the spring reaction force.
　また、前記手術具における前記アダプタと対向する面、および、前記アダプタにおける前記手術具と対向する面のそれぞれには、前記手術具が前記第１位置から前記第２位置へ移動した際に互いに係合すると共に、前記手術具における前記アダプタに対する前記棒状部が延びる方向への相対移動を抑制するよう構成された第１係合部および第２係合部が設けられていても良い。 Further, each of a surface of the surgical instrument facing the adapter and a surface of the adapter facing the surgical tool are related to each other when the surgical tool moves from the first position to the second position. In addition, a first engagement portion and a second engagement portion configured to suppress relative movement of the surgical instrument in a direction in which the rod portion extends with respect to the adapter may be provided.
　上記構成によれば、手術具が第１位置から第２位置へ移動することにより係合される第１係合部および第２係合部が設けられる。これにより、第１係合部および第２係合部が設けられていない場合と比較して、第２位置へ移動された手術具をアダプタに固定しやすくなる。 According to the above configuration, the first engagement portion and the second engagement portion that are engaged by moving the surgical instrument from the first position to the second position are provided. This makes it easier to fix the surgical tool moved to the second position to the adapter than in a case where the first engagement portion and the second engagement portion are not provided.
　また、手術具と動力伝達部との係合を行う動きと、アダプタに手術具を固定させる動きとが、同一の操作によって連動して行われる。そのため、例えば、手術具を交換する作業に要する時間を短縮しやすくなる。また、手術具を交換する作業の困難性を改善しやすくなる。 動 き In addition, the movement for engaging the surgical tool with the power transmission unit and the movement for fixing the surgical tool to the adapter are performed in conjunction by the same operation. Therefore, for example, it is easy to reduce the time required for the operation of replacing a surgical instrument. In addition, it becomes easier to improve the difficulty of replacing the surgical tool.
　さらに、手術具と動力伝達部との係合と、アダプタへの手術具の固定とが、機構的に同時に行われる。そのため、これらが機構的に行われない場合と比較して、係合不良又は固定不良を操作者が検知しやすい。言い換えると、例えば、センサ又はスイッチなどの電気的な検出システムを設ける必要性を低下させることができる。 Furthermore, the engagement between the surgical tool and the power transmission unit and the fixing of the surgical tool to the adapter are simultaneously performed mechanically. Therefore, as compared with the case where these are not performed mechanically, the operator can easily detect the poor engagement or the poor fixing. In other words, for example, the need to provide an electrical detection system such as a sensor or switch can be reduced.
　また、前記手術具における前記アダプタと対向する面、および、前記アダプタにおける前記手術具と対向する面の少なくとも一方には、前記第２位置から前記第１位置へ移動する方向へ前記手術具を付勢するよう構成された付勢部が設けられていても良い。 Further, at least one of a surface of the surgical tool facing the adapter and a surface of the adapter facing the surgical tool is provided with the surgical tool in a direction moving from the second position to the first position. An urging unit configured to urge may be provided.
　付勢部を設けることにより、付勢部が設けられていない場合と比較して、アダプタから手術具を取り外しやすくなる。また、手術具の取り外しやすくなることにより、例えば、手術具を交換する作業に要する時間を短縮しやすくなる。また、手術具を交換する作業の困難性を改善しやすくなる。 設 け る Providing the urging portion makes it easier to remove the surgical instrument from the adapter than when no urging portion is provided. Further, since the surgical instrument can be easily removed, for example, the time required for the operation of replacing the surgical instrument can be easily reduced. In addition, it becomes easier to improve the difficulty of replacing the surgical tool.
　本開示の医療用マニピュレータシステムによれば、手術具が第１位置から第２位置に移動すると、手術具と動力伝達部とを動力の伝達が可能となるように係合させることができる。このため、高精度な外力の推定が可能になるという効果を奏する。 According to the medical manipulator system of the present disclosure, when the surgical tool moves from the first position to the second position, the surgical tool and the power transmission unit can be engaged so that power can be transmitted. For this reason, there is an effect that it is possible to estimate the external force with high accuracy.
第１の実施形態に係る医療用マニピュレータシステムの構成を示す模式図である。It is a mimetic diagram showing the composition of the medical manipulator system concerning a 1st embodiment. 図１の手術具およびアダプタの構成を示す部分拡大図である。FIG. 2 is a partially enlarged view showing a configuration of a surgical instrument and an adapter of FIG. 1. 手術具が第１位置に配置されている状態を示す部分拡大図である。FIG. 4 is a partially enlarged view showing a state where the surgical tool is arranged at a first position. 図１の手術具の構成を示す部分拡大図である。FIG. 2 is a partially enlarged view showing the configuration of the surgical instrument in FIG. 1. 手術具を第２位置に配置する際の操作部の相対位置を示す部分拡大図である。It is a partial enlarged view showing a relative position of an operation part at the time of arranging a surgical instrument at a second position. 第２の実施形態に係る医療用マニピュレータシステムの構成を示す模式図である。It is a mimetic diagram showing the composition of the medical manipulator system concerning a 2nd embodiment. 手術具が第１位置に配置されている状態を示す部分拡大図である。FIG. 4 is a partially enlarged view showing a state where the surgical tool is arranged at a first position. 第３の実施形態に係る医療用マニピュレータシステムの構成を示す模式図である。It is a mimetic diagram showing the composition of the medical manipulator system concerning a 3rd embodiment. 図８の付勢部が圧縮されている状態を示す模式図である。FIG. 9 is a schematic diagram illustrating a state where the urging unit in FIG. 8 is compressed. 図８の付勢部が手術具をアダプタから押し上げている状態を示す模式図である。FIG. 9 is a schematic diagram showing a state where the urging unit in FIG. 8 is pushing up a surgical instrument from an adapter.
　１，１０１，２０１…医療用マニピュレータシステム、２０，１２０，２２０…アダプタ、２２…動力伝達部、３１…アダプタ側保持部、３２…アダプタ側誘導部、３４…変換部、５０，１５０…手術具、５１…手術具本体、５２…棒状部、５３…鉗子（処置部）、６１…手術具側保持部、６３…誘導突起部（手術具側誘導部）、６５…操作部、１７１…第１係合部、１４１…第２係合部、２４１…付勢部 1, 101, 201 ... medical manipulator system, 20, 120, 220 ... adapter, 22 ... power transmission section, 31 ... adapter side holding section, 32 ... adapter side guide section, 34 ... conversion section, 50, 150 ... surgical instrument Reference numeral 51 denotes a surgical tool main body, 52 denotes a rod-shaped portion, 53 denotes forceps (treatment section), 61 denotes a surgical tool side holding portion, 63 denotes a guide projection (a surgical tool side guide portion), 65 denotes an operation portion, and 171 denotes a first portion. Engaging part, 141: second engaging part, 241: urging part
　〔第１の実施形態〕
　以下、第１の実施形態にかかる医療用マニピュレータシステム１について、図１から図５を参照しながら説明する。第１の実施形態では、医療用マニピュレータシステム１は、一例として、マスタースレーブ型の手術ロボットに用いられる。医療用マニピュレータシステム１には、図１に示すように、動力部１０と、アダプタ２０と、手術具５０と、が主に設けられている。 [First Embodiment]
Hereinafter, the medical manipulator system 1 according to the first embodiment will be described with reference to FIGS. 1 to 5. In the first embodiment, the medical manipulator system 1 is used in, for example, a master-slave surgical robot. As shown in FIG. 1, the medical manipulator system 1 mainly includes a power unit 10, an adapter 20, and a surgical tool 50.
　第１の実施形態では、一例として、手術具５０の鉗子５３が設けられている側を前側、手術具５０の手術具本体５１が設けられている側を後側、手術具５０が配置されている側を上側、動力部１０が配置されている側を下側とする。なお、これらの方向は一例であり、例えば、前後及び／又は上下が逆であってもよいし、前後方向と上下方向とが入れ替わっていてもよいし、これらが別の名称であってもよい。 In the first embodiment, as an example, the side on which the forceps 53 of the surgical tool 50 is provided is the front side, the side on which the surgical tool body 51 of the surgical tool 50 is provided is the rear side, and the surgical tool 50 is disposed. The side on which the power unit 10 is disposed is referred to as an upper side, and the side on which the power unit 10 is disposed is referred to as a lower side. Note that these directions are merely examples, and, for example, the front and rear and / or the top and bottom may be reversed, the front and rear direction and the top and bottom direction may be interchanged, or these may be different names. .
　動力部１０は、手術具５０を駆動する動力（駆動力）を供給する。動力部１０には、図１および図２に示すように、動力部本体１１と、アクチュエータ１２と、アクチュエータ伝達部１３と、が主に設けられている。 The power unit 10 supplies power (driving force) for driving the surgical instrument 50. As shown in FIGS. 1 and 2, the power section 10 mainly includes a power section main body 11, an actuator 12, and an actuator transmission section 13.
　動力部本体１１は、内部にアクチュエータ１２およびアクチュエータ伝達部１３を収納する筺体であり、アダプタ２０が着脱可能に取り付けられるよう構成される。また、動力部本体１１は、医療用マニピュレータシステム１のマニピュレータアーム（図示せず。）の外形を形成する
　アクチュエータ１２は、手術具５０を駆動させる動力を発生させるよう構成される。第１の実施形態において、アクチュエータ１２は、一例として、前後方向に伸縮することにより駆動力を発生する。また、アクチュエータ１２は、例えば、作動流体の供給により駆動される構成であっても良いし、他の構成であっても良い。 The power unit main body 11 is a housing that houses the actuator 12 and the actuator transmission unit 13 therein, and is configured such that the adapter 20 is detachably attached. The power unit main body 11 forms an outer shape of a manipulator arm (not shown) of the medical manipulator system 1. The actuator 12 is configured to generate power for driving the surgical instrument 50. In the first embodiment, for example, the actuator 12 generates a driving force by expanding and contracting in the front-rear direction. The actuator 12 may be configured to be driven by supplying a working fluid, for example, or may be configured differently.
　アクチュエータ伝達部１３は、動力部１０およびアダプタ２０が上下方向に沿って接近又は離間してアダプタ２０が動力部１０に着脱される際に、後述するアダプタ２０の動力伝達部２２と、係合又は離間する。アクチュエータ伝達部１３は、アクチュエータ１２における前側の端部に配置され、動力部１０から手術具５０に向かって（上側に向かって）延びる柱状の形状を有する。 The actuator transmission unit 13 engages or engages with a power transmission unit 22 of the adapter 20, which will be described later, when the power unit 10 and the adapter 20 approach or separate along the vertical direction and the adapter 20 is attached to and detached from the power unit 10. Separate. The actuator transmission unit 13 is arranged at a front end of the actuator 12 and has a columnar shape extending from the power unit 10 toward the surgical instrument 50 (upward).
　アクチュエータ伝達部１３における上側の端部には、上側に突出する柱状の突起（図示せず）が設けられている。当該突起は、後述する動力伝達部２２と係合又は離間し、アクチュエータ１２で発生させた駆動力を動力伝達部２２に伝達するよう構成されている。 柱 A columnar projection (not shown) is provided at the upper end of the actuator transmission section 13 to protrude upward. The projection is engaged with or separated from a power transmission unit 22 described later, and is configured to transmit the driving force generated by the actuator 12 to the power transmission unit 22.
　アダプタ２０は、動力部１０に対して着脱可能であるとともに、手術具５０を着脱可能に保持するよう構成されている。アダプタ２０には、図１および図２に示すように、アダプタ本体２１と、動力伝達部２２と、アダプタ側保持部３１と、が主に設けられている。 The adapter 20 is configured to be detachable from the power unit 10 and to hold the surgical instrument 50 detachably. As shown in FIGS. 1 and 2, the adapter 20 mainly includes an adapter body 21, a power transmission unit 22, and an adapter-side holding unit 31.
　アダプタ本体２１は、動力部本体１１に対して着脱されるよう構成されており、動力伝達部２２及び手術具５０を着脱可能に保持するアダプタ側保持部３１が設けられている。 The adapter body 21 is configured to be detachable from the power section main body 11, and is provided with an adapter-side holding section 31 for detachably holding the power transmission section 22 and the surgical instrument 50.
　動力伝達部２２は、動力部１０から伝達された駆動力を、手術具５０に伝達するよう構成されており、図２に示すように、アダプタ本体２１の内部に配置される。第１の実施形態では、動力伝達部２２は、アダプタ本体２１に対して前後方向（アクチュエータ１２が伸縮する方向と同じ方向）へ相対移動可能に配置されている。動力伝達部２２における下側の端部（言い換えると、動力部１０と対向する端部）には、上述したアクチュエータ伝達部１３の突起が上下方向に変位することで、該突起が係合又は離間するよう構成された挿入孔（図示せず）が設けられている。 The power transmission unit 22 is configured to transmit the driving force transmitted from the power unit 10 to the surgical instrument 50, and is disposed inside the adapter main body 21 as shown in FIG. In the first embodiment, the power transmission unit 22 is disposed so as to be relatively movable with respect to the adapter body 21 in the front-rear direction (the same direction as the direction in which the actuator 12 expands and contracts). At the lower end of the power transmission unit 22 (in other words, at the end facing the power unit 10), the above-described projection of the actuator transmission unit 13 is displaced in the vertical direction, so that the projection is engaged or disengaged. An insertion hole (not shown) is provided.
　アダプタ側保持部３１は、手術具５０が第１位置と第２位置との間で移動可能となるように、手術具５０を保持する。ここで、第１位置とは、アダプタ２０に対する手術具５０の相対位置であって、手術具５０がアダプタ２０に着脱可能に配置される位置である。第２位置は、動力部１０から伝達された駆動力を手術具５０へ伝達可能となる位置である。 The adapter-side holding section 31 holds the surgical tool 50 so that the surgical tool 50 can be moved between the first position and the second position. Here, the first position is a relative position of the surgical tool 50 with respect to the adapter 20, and is a position at which the surgical tool 50 is detachably mounted on the adapter 20. The second position is a position where the driving force transmitted from the power unit 10 can be transmitted to the surgical instrument 50.
　アダプタ側保持部３１は、アダプタ本体２１における手術具５０と対向する面（図２の上側の面）から手術具５０に向かって延びる一対の板状の部材である。アダプタ側保持部３１は、左右から（図２の紙面における奥側および手前側から）手術具５０を挟む位置に設けられている。 The adapter-side holding portion 31 is a pair of plate-shaped members extending from the surface (the upper surface in FIG. 2) of the adapter body 21 facing the surgical instrument 50 toward the surgical instrument 50. The adapter-side holding portion 31 is provided at a position that sandwiches the surgical instrument 50 from the left and right (from the back side and the near side in FIG. 2).
　アダプタ側保持部３１には、複数のアダプタ側誘導部３２が設けられており、各アダプタ側誘導部３２は、第１誘導部３３、変換部３４、および、第２誘導部３５を有する。各アダプタ側誘導部３２は、アダプタ側保持部３１に形成され長孔状の貫通孔であり、後述する１組の手術具側保持部６１と係合するよう構成される。また、第１誘導部３３、変換部３４、および第２誘導部３５は、一体に形成された長孔状の貫通孔である。なお、アダプタ側保持部３１には、１つのアダプタ側誘導部３２が設けられていても良い。 A plurality of adapter-side guiding sections 32 are provided in the adapter-side holding section 31, and each adapter-side guiding section 32 has a first guiding section 33, a conversion section 34, and a second guiding section 35. Each adapter-side guiding portion 32 is a long hole formed in the adapter-side holding portion 31 and is configured to engage with a set of surgical instrument-side holding portions 61 described later. Further, the first guide part 33, the conversion part 34, and the second guide part 35 are elongated through holes formed integrally. The adapter-side holding section 31 may be provided with one adapter-side guide section 32.
　第１誘導部３３は、アダプタ側誘導部３２における後側の部分を構成し、上述の第１位置に対応する。第１誘導部３３は、前後方向に直線状に形成された長孔であり、第２誘導部３５と比較してアダプタ本体２１から離れた位置（上側の位置）に形成されている。 The first guiding portion 33 forms a rear portion of the adapter-side guiding portion 32 and corresponds to the above-described first position. The first guide portion 33 is a long hole formed linearly in the front-rear direction, and is formed at a position (upper position) farther from the adapter main body 21 than the second guide portion 35.
　変換部３４は、第１誘導部３３および第２誘導部３５の間の部分を構成し、１組の手術具側保持部６１の相対移動を、手術具５０における上述の第１位置および第２位置の間の相対移動に変換するよう構成される。変換部３４の後側の端部は、第１誘導部３３と連通し、変換部３４の前側の端部は、第２誘導部３５と連通している。変換部３４における上側の辺は、後側から前側に向かうに従い下側に向かうように傾斜する形状を有している。 The conversion unit 34 constitutes a portion between the first guiding unit 33 and the second guiding unit 35, and controls the relative movement of one set of the surgical tool side holding unit 61 to the above-described first position and the second position in the surgical tool 50. It is configured to convert to relative movement between positions. The rear end of the converter 34 communicates with the first guide 33, and the front end of the converter 34 communicates with the second guide 35. The upper side of the conversion unit 34 has a shape that is inclined downward from the rear side to the front side.
　第２誘導部３５は、アダプタ側保持部３１における前側の部分を構成し、上述の第２位置に対応する。第２誘導部３５は、前後方向に直線状に形成された長孔であり、第１誘導部３３と比較してアダプタ本体２１に近い位置（第１誘導部３３の下側の位置）にある。 The second guiding portion 35 forms a front portion of the adapter-side holding portion 31 and corresponds to the above-described second position. The second guiding portion 35 is a long hole formed linearly in the front-rear direction, and is located at a position closer to the adapter body 21 than the first guiding portion 33 (a position below the first guiding portion 33). .
　手術具５０は、動力伝達部２２から伝達される動力によって駆動される鉗子（処置部）５３が設けられるよう構成されている。なお、処置部としては、鉗子以外にも、例えば、マスタースレーブ型の手術ロボットに用いられる種々の器具が用いられ得る。 The surgical instrument 50 is configured to include a forceps (treatment unit) 53 driven by power transmitted from the power transmission unit 22. As the treatment section, for example, various instruments used in a master-slave type surgical robot can be used other than the forceps.
　手術具５０には、図１および図４に示すように、手術具本体５１と、棒状部５２と、手術具側伝達部５５と、少なくとも１つの手術具側保持部６１と、操作部６５と、が主に設けられている。なお、第１の実施形態では、一例として、手術具側保持部６１は、１組（より詳しくは、２つ）設けられている。 As shown in FIGS. 1 and 4, the surgical tool 50 includes a surgical tool main body 51, a rod-shaped portion 52, a surgical tool-side transmitting section 55, at least one surgical tool-side holding section 61, and an operating section 65. , Are mainly provided. In the first embodiment, as an example, one set (more specifically, two) of the surgical tool-side holding portions 61 is provided.
　手術具本体５１は、アダプタ２０に着脱される部分であって、棒状部５２、手術具側伝達部５５、１組の手術具側保持部６１および操作部６５が設けられる。第１の実施形態では、一例として、手術具本体５１は四角柱状に形成されている。 The surgical tool main body 51 is a portion that is attached to and detached from the adapter 20, and is provided with a rod-shaped portion 52, a surgical tool-side transmitting portion 55, a set of surgical tool-side holding portions 61, and an operation portion 65. In the first embodiment, as an example, the surgical tool main body 51 is formed in a quadrangular prism shape.
　棒状部５２は、手術具本体５１から前側へ棒状に延びる。また、棒状部５２の端部には、伝達された動力によって駆動される鉗子５３が配置される。棒状部５２の内部には、鉗子５３の開閉のための駆動力の伝達に用いられるワイヤなどの部材が配置されている。当該ワイヤなどの部材は、鉗子５３および手術具側伝達部５５の間にわたって配置されている。 The rod portion 52 extends in a rod shape from the surgical instrument body 51 to the front side. Further, a forceps 53 driven by the transmitted power is disposed at an end of the rod portion 52. Inside the rod portion 52, a member such as a wire used for transmitting a driving force for opening and closing the forceps 53 is arranged. The member such as the wire is disposed between the forceps 53 and the surgical instrument side transmission unit 55.
　手術具側伝達部５５は、動力伝達部２２から鉗子５３を駆動する駆動力の伝達を受け、受けた駆動力を鉗子５３に伝達するよう構成される。手術具側伝達部５５は、手術具本体５１におけるアダプタ２０と対向する面から、アダプタ２０に向かって（下側に向かって）突出して配置され、前後方向への移動が可能に配置される。 The surgical instrument side transmission unit 55 is configured to receive the driving force for driving the forceps 53 from the power transmission unit 22 and transmit the received driving force to the forceps 53. The surgical-tool-side transmitting section 55 is arranged so as to protrude (toward the lower side) from the surface of the surgical-tool main body 51 facing the adapter 20 and to be movable in the front-rear direction.
　また、手術具側伝達部５５は、上述の動力伝達部２２に対し上下方向に沿って接近又は離間することにより、動力伝達部２２と係合又は離間するよう構成されている。また、手術具側伝達部５５は、動力伝達部２２の前後方向への移動を伝達するよう構成されている。第１の実施形態では、一例として、動力伝達部２２における上側の端部（言い換えると、手術具５０と対向する端部）が、手術具側伝達部５５へ駆動力を伝達することが可能な凹形状に形成され、当該凹形状に手術具側伝達部５５が係合又は離間する。 The surgical-tool-side transmission unit 55 is configured to engage with or separate from the power transmission unit 22 by approaching or separating from the power transmission unit 22 in the up-down direction. In addition, the surgical instrument side transmission unit 55 is configured to transmit the movement of the power transmission unit 22 in the front-back direction. In the first embodiment, as an example, the upper end of the power transmission unit 22 (in other words, the end facing the surgical instrument 50) can transmit the driving force to the surgical instrument side transmission unit 55. The surgical instrument-side transmission portion 55 is formed in a concave shape, and engages or separates from the concave shape.
　なお、第１の実施形態では、一例として、手術具側伝達部５５が凸状に形成され、動力伝達部２２が凹状に形成されている。しかし、動力伝達部２２および手術具側伝達部５５は、他の形状に形成されていてもよく、これらの部位の具体的な形状は限定されない。 In the first embodiment, as an example, the surgical instrument-side transmission unit 55 is formed in a convex shape, and the power transmission unit 22 is formed in a concave shape. However, the power transmission unit 22 and the surgical instrument side transmission unit 55 may be formed in other shapes, and the specific shapes of these parts are not limited.
　１組の手術具側保持部６１および操作部６５は、一体に形成されているか、または、複数の部位を組み合わせて形成されており、手術具５０を第１位置から第２位置へ移動させるよう構成されている。各手術具側保持部６１は、手術具本体５１に対して棒状部５２が延びる方向へ相対移動可能に構成される。各手術具側保持部６１は、手術具本体５１の左右の側面（図４における紙面に対して手前側の面および奥側の面）に配置される。 One set of the surgical instrument side holding section 61 and the operation section 65 are formed integrally or are formed by combining a plurality of parts, and move the surgical instrument 50 from the first position to the second position. It is configured. Each surgical-tool-side holding portion 61 is configured to be relatively movable in a direction in which the rod-shaped portion 52 extends with respect to the surgical-tool main body 51. The surgical instrument side holding portions 61 are arranged on the left and right side surfaces of the surgical instrument body 51 (a surface on the near side and a surface on the far side with respect to the paper surface in FIG. 4).
　各手術具側保持部６１には、板状の誘導板部６２と、誘導板部６２における前側および後側の端部の各々から突出する円柱状の２つの誘導突起部（手術具側誘導部）６３と、が主に設けられている。なお、各手術具側保持部６１には、１つ、又は、３以上の誘導突起部６３が設けられていても良い。これらの誘導突起部６３は、アダプタ側保持部３１の各アダプタ側誘導部３２と係合すると共に、長孔状に形成されたアダプタ側誘導部３２に沿って相対移動するよう構成される。 Each surgical tool side holding portion 61 has a plate-like guide plate portion 62 and two cylindrical guide protrusions (surgical tool side guide portions) protruding from the front and rear ends of the guide plate portion 62, respectively. ) 63 are mainly provided. One or three or more guide projections 63 may be provided on each surgical tool side holding unit 61. These guide protrusions 63 are configured to engage with the respective adapter-side guide portions 32 of the adapter-side holding portion 31 and to relatively move along the adapter-side guide portions 32 formed in a long hole shape.
　操作部６５は、１組の手術具側保持部６１を手術具本体５１に対して相対的に前後方向へ移動させる際に用いられるレバーである。第１の実施形態では、一例として、操作部６５は、手術具本体５１の上側、言い換えると、アダプタ２０とは反対側に配置されている。また、操作部６５は、一例としてＬ字形状であるが、操作部６５の形状はこれに限定されない。 The operation unit 65 is a lever used to move the set of surgical tool side holding units 61 in the front-rear direction relative to the surgical tool body 51. In the first embodiment, as an example, the operation unit 65 is disposed on the upper side of the surgical tool main body 51, in other words, on the opposite side to the adapter 20. The operation unit 65 is L-shaped as an example, but the shape of the operation unit 65 is not limited to this.
　次に、上記の構成を有する医療用マニピュレータシステム１における、アダプタ２０への手術具５０の着脱動作について説明する。まず、アダプタ２０に手術具５０を取りつける際の動作について説明する。 Next, the operation of attaching and detaching the surgical instrument 50 to and from the adapter 20 in the medical manipulator system 1 having the above configuration will be described. First, the operation when attaching the surgical tool 50 to the adapter 20 will be described.
　まず、手術具５０は、図４に示すように、手術具本体５１に対して１組の手術具側保持部６１および操作部６５が後側に移動させられた状態とされる。この状態の手術具５０が、アダプタ２０のアダプタ側保持部３１が設けられた面に配置される（図３参照。）。 First, as shown in FIG. 4, the surgical tool 50 is in a state in which one set of the surgical tool side holding portion 61 and the operation portion 65 are moved rearward with respect to the surgical tool body 51. The surgical tool 50 in this state is arranged on the surface of the adapter 20 on which the adapter-side holding portion 31 is provided (see FIG. 3).
　例えば、アダプタ２０に対して、手術具５０を後上側から前下側に向かって移動させつつ、手術具５０が、アダプタ側保持部３１が設けられた面に配置させられる。このとき、手術具本体５１の前側の端部は、アダプタ２０の前側の端部に設けられたストッパ部２５と当接する。このように手術具本体５１がストッパ部２５と当接することにより、アダプタ２０と手術具本体５１との間の前後方向における相対的な位置が定められる。 For example, while moving the surgical instrument 50 from the rear upper side to the front lower side with respect to the adapter 20, the surgical instrument 50 is arranged on the surface on which the adapter-side holding section 31 is provided. At this time, the front end of the surgical tool main body 51 comes into contact with the stopper 25 provided at the front end of the adapter 20. The relative position between the adapter 20 and the surgical tool body 51 in the front-rear direction is determined by the contact of the surgical tool body 51 with the stopper portion 25 in this manner.
　さらに、凹形状に形成された動力伝達部２２は、前側の部分が、後側の部分よりも手術具５０側へ突出して形成されている。そのため、手術具５０の手術具側伝達部５５が、当該後側の部分を通りすぎて当該前側の部分に当接する。また、手術具本体５１の相対的な移動にともない、手術具側伝達部５５が、動力伝達部２２を前側へ押し付ける。 Furthermore, the power transmitting portion 22 formed in a concave shape has a front portion protruding toward the surgical instrument 50 more than a rear portion. Therefore, the surgical-tool-side transmitting portion 55 of the surgical tool 50 passes through the rear portion and abuts on the front portion. Further, with the relative movement of the surgical instrument main body 51, the surgical instrument side transmission unit 55 presses the power transmission unit 22 forward.
　また、各手術具側保持部６１の複数の誘導突起部６３は、それぞれ、手術具５０をアダプタ２０に接近させつつ前側に移動させる際に、アダプタ側誘導部３２の第１誘導部３３と係合される。各誘導突起部６３と各第１誘導部３３との係合により、手術具５０およびアダプタ２０との間の上下方向の相対的な位置が定められる。この際のアダプタ２０に対する手術具５０の相対的な位置が、第１位置となる。手術具本体５１がストッパ部２５と当接した段階で、各誘導突起部６３は、アダプタ側誘導部３２の変換部３４まで移動する。 Further, the plurality of guide protrusions 63 of each surgical tool side holding portion 61 engage with the first guide portion 33 of the adapter side guide portion 32 when moving the surgical tool 50 forward while approaching the adapter 20. Are combined. By the engagement of each guide projection 63 and each first guide 33, the relative position in the vertical direction between the surgical instrument 50 and the adapter 20 is determined. The relative position of the surgical tool 50 with respect to the adapter 20 at this time is the first position. When the surgical instrument body 51 comes into contact with the stopper portion 25, each guide protrusion 63 moves to the conversion portion 34 of the adapter-side guide portion 32.
　その後、図５に示すように、手術具本体５１に対して操作部６５を相対的に前側へ移動させる操作が行われる。この操作により、１組の手術具側保持部６１は、手術具本体５１に対して相対的に前側へ移動する。このとき、手術具本体５１はストッパ部２５に当接しているため、アダプタ２０に対する手術具本体５１の前後方向の相対位置は変化しない。 (5) Then, as shown in FIG. 5, an operation of relatively moving the operation unit 65 to the front side with respect to the surgical tool main body 51 is performed. As a result of this operation, one set of the surgical tool holding section 61 moves relatively to the front side with respect to the surgical tool body 51. At this time, since the surgical tool main body 51 is in contact with the stopper portion 25, the relative position of the surgical tool main body 51 with respect to the adapter 20 in the front-rear direction does not change.
　上述の操作部６５の操作により、各誘導突起部６３は、変換部３４から第２誘導部３５へと移動する。この移動の際に、各誘導突起部６３は、変換部３４から下向き（アダプタ２０に接近する向き）の力を受け、この力により、手術具本体５１は、アダプタ２０に接近する。 に よ り By the operation of the operation unit 65 described above, each guiding protrusion 63 moves from the converting unit 34 to the second guiding unit 35. During this movement, each guiding projection 63 receives a downward force (a direction approaching the adapter 20) from the conversion unit 34, and the surgical tool body 51 approaches the adapter 20 by this force.
　手術具本体５１とアダプタ２０との間の上下方向の相対位置は、各誘導突起部６３と各第２誘導部３５との係合により定められる。手術具本体５１とアダプタ２０との間の相対位置が、図２に示される位置になると、手術具側伝達部５５と動力伝達部２２とが係合する。この時のアダプタ２０に対する手術具５０の相対的な位置が、第２位置となる。これにより、動力伝達部２２において発生された駆動力が、手術具側伝達部５５へ伝達可能となる。以上により、アダプタ２０への手術具５０の取付けが完了する。 The relative position in the vertical direction between the surgical tool main body 51 and the adapter 20 is determined by the engagement between each guide projection 63 and each second guide 35. When the relative position between the surgical instrument body 51 and the adapter 20 reaches the position shown in FIG. 2, the surgical instrument side transmission unit 55 and the power transmission unit 22 are engaged. The relative position of the surgical tool 50 with respect to the adapter 20 at this time is the second position. Thus, the driving force generated in the power transmission unit 22 can be transmitted to the surgical instrument side transmission unit 55. As described above, the attachment of the surgical instrument 50 to the adapter 20 is completed.
　次いで、アダプタ２０から手術具５０を取り外す際の動作について説明する。アダプタ２０から手術具５０を取り外す場合には、操作部６５を手術具本体５１に対して後側へ相対移動させる操作が行われる。 Next, the operation when removing the surgical instrument 50 from the adapter 20 will be described. When removing the surgical tool 50 from the adapter 20, an operation of relatively moving the operation unit 65 rearward with respect to the surgical tool body 51 is performed.
　この操作により、各誘導突起部６３は、第２誘導部３５から変換部３４へ移動する。その後、手術具本体５１をアダプタ２０に対して後側かつ上側へ相対移動させることにより、アダプタ２０からの手術具５０の取り外しが完了する。 操作 By this operation, each guide protrusion 63 moves from the second guide 35 to the converter 34. Thereafter, the surgical instrument main body 51 is moved rearward and upward relative to the adapter 20 to complete the removal of the surgical instrument 50 from the adapter 20.
　上記の構成の医療用マニピュレータシステム１によれば、第１位置に配置された手術具５０における１組の手術具側保持部６１を、相対的に移動させることにより、手術具５０が第１位置から第２位置に移動し、手術具５０は、動力伝達部２２から動力が伝達されるように係合される。そのため、バネ反力を利用する特許文献１に記載の係合方法と比較して、係合に関連する構成間の隙間が小さくすることができる。言い換えると、手術具５０と動力伝達部２２との係合を行う際の抵抗のバラツキの影響を小さくすることができ、係合が不完全になることを抑制しやすくなる。 According to the medical manipulator system 1 having the above-described configuration, the surgical tool 50 is moved to the first position by relatively moving one set of surgical tool side holding portions 61 of the surgical tool 50 arranged at the first position. To the second position, and the surgical instrument 50 is engaged so that power is transmitted from the power transmission unit 22. Therefore, the gap between the components related to the engagement can be reduced as compared with the engagement method described in Patent Literature 1 using the spring reaction force. In other words, it is possible to reduce the influence of variation in resistance when the surgical tool 50 and the power transmission unit 22 are engaged, and it is easy to suppress incomplete engagement.
　係合に関連する構成間の隙間が小さくなることにより、高精度な外力の推定が可能となる。例えば、係合する部分よりも動力伝達部２２側の所定の場所に、外力の推定を行うセンサが配置されている場合、手術具５０からセンサに伝達される外力は、上述の隙間に吸収される。この隙間が小さくなるに伴い、小さな外力がセンサに伝達されやすくなる。 A small gap between the components related to the engagement makes it possible to estimate the external force with high accuracy. For example, when a sensor for estimating an external force is disposed at a predetermined position on the power transmission unit 22 side of the engaging portion, the external force transmitted from the surgical instrument 50 to the sensor is absorbed by the above-described gap. You. As the gap becomes smaller, a small external force is easily transmitted to the sensor.
　各手術具側保持部６１の複数の誘導突起部６３と、アダプタ側保持部３１の各アダプタ側誘導部３２とを係合させ、操作部６５により１組の手術具側保持部６１を手術具５０に対して相対移動させることにより、手術具５０と動力伝達部２２との簡易な係合を行いやすくなる。 A plurality of guide projections 63 of each surgical instrument side holding section 61 are engaged with each adapter side guide section 32 of the adapter side holding section 31, and a set of the surgical tool side holding section 61 is operated by the operating section 65. The relative movement with respect to 50 facilitates easy engagement between surgical instrument 50 and power transmission unit 22.
　１組の手術具側保持部６１は、棒状部５２が延びる方向へ相対移動可能とされ、この相対移動が、変換部３４により第１位置から第２位置への移動に変換されることにより、バネ反力を利用した係合方法と比較して、確実な係合が可能となる。 One set of the surgical-tool-side holding portion 61 is relatively movable in the direction in which the rod-shaped portion 52 extends, and the relative movement is converted by the conversion portion 34 into movement from the first position to the second position. Reliable engagement is possible as compared with an engagement method using a spring reaction force.
　〔第２の実施形態〕
　次に、第２の実施形態に係る医療用マニピュレータシステムついて、図６および図７を参照して説明する。第２の実施形態の医療用マニピュレータシステムの基本構成は、第１の実施形態と同様であるが、第１の実施形態とは、アダプタと手術具との間の相対位置を保持する構成が異なっている。よって、第２の実施形態においては、図６および図７を用いて、アダプタと手術具との間の相対位置を保持する構成について説明し、その他の構成等の説明を省略する。 [Second embodiment]
Next, a medical manipulator system according to a second embodiment will be described with reference to FIGS. The basic configuration of the medical manipulator system of the second embodiment is the same as that of the first embodiment, but differs from the first embodiment in the configuration for maintaining the relative position between the adapter and the surgical instrument. ing. Therefore, in the second embodiment, the configuration for maintaining the relative position between the adapter and the surgical instrument will be described with reference to FIGS. 6 and 7, and the description of the other configurations will be omitted.
　第２の実施形態の医療用マニピュレータシステム１０１には、図６に示すように、動力部１０と、アダプタ１２０と、手術具１５０と、が主に設けられている。アダプタ１２０には、図６および図７に示すように、アダプタ本体２１と、動力伝達部２２と、アダプタ側保持部３１と、第２係合部１４１と、が主に設けられている。 The medical manipulator system 101 according to the second embodiment mainly includes a power unit 10, an adapter 120, and a surgical instrument 150, as shown in FIG. As shown in FIGS. 6 and 7, the adapter 120 mainly includes an adapter body 21, a power transmission unit 22, an adapter-side holding unit 31, and a second engagement unit 141.
　第２係合部１４１は、第１係合部１７１と係合するよう構成されており、上側に向かう開口を有する凹形状に形成されている。また、第２係合部１４１は、アダプタ本体２１における手術具本体５１と対向する面であって、動力伝達部２２がスライド移動する領域よりも後側に位置する面に設けられる。 The second engagement portion 141 is configured to engage with the first engagement portion 171 and is formed in a concave shape having an opening facing upward. The second engagement portion 141 is provided on a surface of the adapter main body 21 facing the surgical tool main body 51 and located on a rear side of a region where the power transmission unit 22 slides.
　手術具１５０には、図６および図７に示すように、手術具本体５１と、棒状部５２と、手術具側伝達部５５と、１組の手術具側保持部６１と、操作部６５と、第１係合部１７１と、が主に設けられている。 As shown in FIGS. 6 and 7, the surgical tool 150 includes a surgical tool main body 51, a rod-shaped portion 52, a surgical tool-side transmission section 55, a set of surgical tool-side holding sections 61, and an operation section 65. , And a first engaging portion 171 are mainly provided.
　第１係合部１７１は、第２係合部１４１と係合するものであって、下側に向かって突出する凸形状に形成されている。また、第１係合部１７１は、手術具本体５１におけるアダプタ本体２１と対向する面であって、手術具側伝達部５５がスライド移動する領域よりも後側に位置する面に設けられる。 The first engaging portion 171 is engaged with the second engaging portion 141 and is formed in a convex shape protruding downward. The first engagement portion 171 is provided on a surface of the surgical instrument main body 51 facing the adapter main body 21 and on a surface located behind the region where the surgical instrument side transmission portion 55 slides.
　上記の構成を有する医療用マニピュレータシステム１０１における、アダプタ１２０への手術具１５０の着脱動作について説明する。まず、アダプタ１２０に手術具１５０を取りつける際の動作について説明する。 The operation of attaching and detaching the surgical instrument 150 to and from the adapter 120 in the medical manipulator system 101 having the above configuration will be described. First, the operation when attaching the surgical instrument 150 to the adapter 120 will be described.
　アダプタ１２０に対して、手術具１５０が相対的な第１位置（図７参照。）に配置されるまでの動作は、第１の実施形態と同様であるため、その詳細な説明を省略する。手術具１５０が第１位置に配置されると、アダプタ１２０の第２係合部１４１と、手術具１５０の第１係合部１７１とは、上下方向に対向するとともに、離間して配置される。 The operation until the surgical instrument 150 is disposed at the first position (see FIG. 7) relative to the adapter 120 is the same as that of the first embodiment, and thus detailed description thereof will be omitted. When the surgical instrument 150 is located at the first position, the second engaging portion 141 of the adapter 120 and the first engaging portion 171 of the surgical instrument 150 are vertically opposed and spaced apart from each other. .
　その後、図６に示すように、手術具本体５１に対して操作部６５を相対的に前側へ移動させる操作が行われると、第１係合部１７１は第２係合部１４１に接近して、両者は係合する。第１係合部１７１および第２係合部１４１の係合により、アダプタ１２０と手術具１５０との間の前後方向への相対移動が抑制される。 Thereafter, as shown in FIG. 6, when an operation of moving the operation unit 65 relatively frontward with respect to the surgical tool main body 51 is performed, the first engagement portion 171 approaches the second engagement portion 141. , Both engage. By the engagement of the first engagement portion 171 and the second engagement portion 141, relative movement in the front-rear direction between the adapter 120 and the surgical instrument 150 is suppressed.
　次いで、アダプタ１２０から手術具１５０を取り外す際の動作について説明する。アダプタ１２０から手術具１５０を取り外す場合には、操作部６５を手術具本体５１に対して後側へ相対移動させる操作が行われる。 Next, the operation when removing the surgical instrument 150 from the adapter 120 will be described. When removing the surgical instrument 150 from the adapter 120, an operation of relatively moving the operation unit 65 rearward with respect to the surgical instrument body 51 is performed.
　この操作により、第１係合部１７１は第２係合部１４１から離間し、両者の係合は解かれる。その後、手術具本体５１をアダプタ１２０に対して後側かつ上側へ相対移動させることにより、アダプタ１２０からの手術具１５０の取り外しが完了する。 操作 By this operation, the first engagement portion 171 is separated from the second engagement portion 141, and the engagement between them is released. Thereafter, the surgical instrument main body 51 is moved rearward and upward relative to the adapter 120, whereby the removal of the surgical instrument 150 from the adapter 120 is completed.
　上記の構成によれば、手術具１５０が第１位置から第２位置へ移動することにより係合される第１係合部１７１および第２係合部１４１が設けられる。このため、第１係合部１７１および第２係合部１４１が設けられていない場合と比較して、第２位置へ移動された手術具１５０をアダプタ１２０に固定しやすくなる。 According to the above configuration, the first engagement portion 171 and the second engagement portion 141 that are engaged when the surgical instrument 150 moves from the first position to the second position are provided. For this reason, the surgical instrument 150 moved to the second position is more easily fixed to the adapter 120 than when the first engagement portion 171 and the second engagement portion 141 are not provided.
　また、手術具１５０と動力伝達部２２との係合を行う動きと、アダプタ１２０に手術具１５０を固定させる動きとが、同一の操作によって連動して行われる。そのため、例えば、手術具１５０を交換する作業に要する時間を短縮しやすくなる。また、手術具１５０を交換する作業の困難性を改善しやすくなる。 動 き In addition, the movement for engaging the surgical tool 150 with the power transmission unit 22 and the movement for fixing the surgical tool 150 to the adapter 120 are performed in conjunction with the same operation. Therefore, for example, the time required for the operation of replacing the surgical instrument 150 can be easily reduced. In addition, the difficulty of replacing the surgical instrument 150 can be easily improved.
　さらに、手術具１５０と動力伝達部２２との係合と、アダプタ１２０への手術具１５０の固定とが、機構的に同時に行われる。そのため、これらが機構的に行われない場合と比較して、係合不良又は固定不良を操作者が検知しやすい。言い換えると、センサ又はスイッチなどの電気的な検出システムを設ける必要性を、低下させることができる。 Furthermore, the engagement between the surgical tool 150 and the power transmission unit 22 and the fixing of the surgical tool 150 to the adapter 120 are simultaneously performed mechanically. Therefore, as compared with the case where these are not performed mechanically, the operator can easily detect the poor engagement or the poor fixing. In other words, the need to provide an electrical detection system such as a sensor or switch can be reduced.
　なお、第２の実施形態では、一例として、第１係合部１７１が凸形状を有し、第２係合部１４１が凹形状を有する。しかし、第１係合部１７１および第２係合部１４１の形状は、第２位置にあるアダプタ１２０と手術具１５０との間の前後方向の相対移動を抑制可能な形状（例えば、爪嵌合などの行うための形状）であればよく、具体的な形状は限定されない。 In the second embodiment, as an example, the first engaging portion 171 has a convex shape, and the second engaging portion 141 has a concave shape. However, the shapes of the first engagement portion 171 and the second engagement portion 141 are shapes that can suppress relative movement in the front-rear direction between the adapter 120 and the surgical instrument 150 at the second position (for example, a claw fitting). And the like, and the specific shape is not limited.
　〔第３の実施形態〕
　次に、第３の実施形態について図８から図１０を参照しながら説明する。 [Third embodiment]
Next, a third embodiment will be described with reference to FIGS.
　第３の実施形態の医療用マニピュレータシステムの基本構成は、第２の実施形態と同様であるが、第２の実施形態とは、アダプタと手術具とを相対的に離間させる構成が異なっている。よって、第３の実施形態においては、図８から図１０を用いて、アダプタと手術具とを相対的に離間させる構成について説明し、その他の構成等の説明を省略する。 The basic configuration of the medical manipulator system of the third embodiment is the same as that of the second embodiment, but is different from the second embodiment in the configuration for relatively separating the adapter and the surgical instrument. . Therefore, in the third embodiment, a configuration in which the adapter and the surgical instrument are relatively separated from each other will be described with reference to FIGS. 8 to 10, and descriptions of other configurations will be omitted.
　第３の実施形態の医療用マニピュレータシステム２０１には、図８から図１０に示すように、動力部１０と、アダプタ２２０と、手術具１５０と、が主に設けられている。アダプタ２２０には、図８から図１０に示すように、アダプタ本体２１と、動力伝達部２２と、アダプタ側保持部３１と、少なくとも１つの（一例として、２つの）付勢部２４１と、が主に設けられている。 医療 The medical manipulator system 201 of the third embodiment is mainly provided with a power unit 10, an adapter 220, and a surgical instrument 150, as shown in FIGS. 8 to 10, the adapter 220 includes an adapter main body 21, a power transmission unit 22, an adapter-side holding unit 31, and at least one (for example, two) urging units 241. It is mainly provided.
　各付勢部２４１は、アダプタ本体２１における手術具本体５１と対向する面であって、動力伝達部２２がスライド移動する領域の前側および後側の各々に位置する面に設けられる。各付勢部２４１には、コイルばね２４２と、当接部２４３と、が主に設けられている。 Each urging portion 241 is provided on a surface of adapter body 21 facing surgical instrument body 51, which is located on each of the front side and the rear side of the area where power transmission unit 22 slides. Each biasing portion 241 is mainly provided with a coil spring 242 and a contact portion 243.
　コイルばね２４２は、手術具１５０が第２位置から第１位置へ移動する方向（言い換えると、手術具本体５１がアダプタ本体２１から離れる方向）へ付勢する弾性力を発揮可能である。第３の実施形態では、一例として、付勢部２４１にコイルばね２４２が設けられている。しかし、手術具本体５１がアダプタ本体２１から離れる方向へ付勢する弾性力を発揮可能な他の構成要素が、コイルばね２４２に替えて用いられても良い。 The coil spring 242 can exert an elastic force that urges the surgical instrument 150 in a direction in which the surgical instrument 150 moves from the second position to the first position (in other words, a direction in which the surgical instrument body 51 moves away from the adapter body 21). In the third embodiment, as an example, a coil spring 242 is provided in the urging portion 241. However, another component capable of exerting an elastic force for urging the surgical instrument body 51 away from the adapter body 21 may be used instead of the coil spring 242.
　当接部２４３は、手術具本体５１と当接可能に、コイルばね２４２における手術具１５０側の端部（上側の端部）に配置される。コイルばね２４２の付勢力は、当接部２４３を介して手術具本体５１に伝達される。 The contact portion 243 is arranged at the end (upper end) of the coil spring 242 on the side of the surgical tool 150 so as to be able to contact the surgical tool main body 51. The urging force of the coil spring 242 is transmitted to the surgical instrument body 51 via the contact portion 243.
　上記の構成を有する医療用マニピュレータシステム２０１における、アダプタ２２０への手術具１５０の着脱動作について説明する。まず、アダプタ２２０に手術具１５０を取りつける際の動作について説明する。 The operation of attaching and detaching the surgical instrument 150 to and from the adapter 220 in the medical manipulator system 201 having the above configuration will be described. First, the operation when attaching the surgical instrument 150 to the adapter 220 will be described.
　アダプタ２２０に対して、手術具１５０が相対的な第１位置（図１０参照。）に配置されるまでの動作は、第１の実施形態と同様であるため、その詳細な説明を省略する。手術具１５０が第１位置に配置されると、手術具本体５１と付勢部２４１の当接部２４３とが当接する。このとき、付勢部２４１のコイルばね２４２は、伸張した状態になっている。 The operation performed until the surgical instrument 150 is disposed at the first position (see FIG. 10) relative to the adapter 220 is the same as that of the first embodiment, and a detailed description thereof will be omitted. When the surgical instrument 150 is located at the first position, the surgical instrument body 51 and the contact portion 243 of the urging portion 241 contact each other. At this time, the coil spring 242 of the urging portion 241 is in an expanded state.
　その後、図８および図９に示すように、手術具本体５１に対して操作部６５を相対的に前側へ移動させる操作が行われると、各誘導突起部６３は、変換部３４から第２誘導部３５へと移動する。手術具１５０は、第２位置から第１位置へ移動する。各誘導突起部６３が第２誘導部３５に位置することにより、各付勢部２４１のコイルばね２４２は圧縮された状態になる。 Then, as shown in FIGS. 8 and 9, when an operation of moving the operation unit 65 relatively to the front side with respect to the surgical tool main body 51 is performed, each guide protrusion 63 is moved from the conversion unit 34 to the second guide. Move to section 35. The surgical instrument 150 moves from the second position to the first position. Since each of the guide protrusions 63 is located at the second guide 35, the coil spring 242 of each of the urging portions 241 is in a compressed state.
　次いで、アダプタ２２０から手術具１５０を取り外す際の動作について説明する。アダプタ２２０から手術具１５０を取り外す場合には、操作部６５を手術具本体５１に対して後側へ相対移動させる操作が行われる。各誘導突起部６３は、第２誘導部３５から変換部３４へと移動する。 Next, the operation when removing the surgical instrument 150 from the adapter 220 will be described. When removing the surgical tool 150 from the adapter 220, an operation of relatively moving the operation unit 65 rearward with respect to the surgical tool body 51 is performed. Each guide protrusion 63 moves from the second guide 35 to the converter 34.
　すると、手術具本体５１は、各付勢部２４１におけるコイルばね２４２の付勢力により、アダプタ本体２１から離間する方向（上側）へ移動する。その後、手術具本体５１をアダプタ２２０に対して後側かつ上側へ相対移動させることにより、アダプタ２２０からの手術具１５０の取り外しが完了する。 Then, the surgical tool main body 51 moves in a direction (upward) away from the adapter main body 21 by the urging force of the coil spring 242 in each urging portion 241. Thereafter, the surgical instrument main body 51 is moved rearward and upward relative to the adapter 220, whereby the removal of the surgical instrument 150 from the adapter 220 is completed.
　上記の構成によれば、付勢部２４１が設けられているため、付勢部２４１が設けられていない場合と比較して、アダプタ２２０から手術具５０を取り外しやすくなる。このように手術具５０の取り外しがスムーズになることにより、例えば、手術具５０を交換する作業に要する時間を短縮しやすくなる。また、手術具５０を交換する作業の困難性を改善しやすくなる。 According to the above configuration, since the urging portion 241 is provided, the surgical instrument 50 can be easily removed from the adapter 220 as compared with the case where the urging portion 241 is not provided. The smooth removal of the surgical tool 50 facilitates, for example, shortening the time required for the operation of replacing the surgical tool 50. In addition, the difficulty of replacing the surgical instrument 50 can be easily improved.
　なお、本開示の技術範囲は上記実施形態に限定されるものではなく、本開示の趣旨を逸脱しない範囲において種々の変更を加えることが可能である。例えば、本開示を上記の実施形態に適用したものに限られることなく、これらの実施形態を適宜組み合わせた実施形態に適用してもよく、特に限定するものではない。 The technical scope of the present disclosure is not limited to the above embodiment, and various changes can be made without departing from the spirit of the present disclosure. For example, the present disclosure is not limited to the one applied to the above embodiment, and may be applied to an embodiment in which these embodiments are appropriately combined, and is not particularly limited.

Claims (5)

  1. 　医療用マニピュレータシステムであって、
    　動力を伝達するよう構成された動力伝達部を有するアダプタと、
    　前記動力伝達部から伝達される動力によって駆動されるよう構成された手術具と、
    　を備え、
    　前記アダプタには、前記アダプタに対する前記手術具の相対位置であって、前記手術具が前記アダプタに着脱可能に配置される第１位置と、前記第１位置とは異なる前記相対位置であって、前記動力伝達部から前記手術具へ駆動力が伝達可能となる第２位置との間で、前記手術具が移動可能となるように、前記手術具を保持するよう構成されたアダプタ側保持部が設けられ、
    　前記手術具には、前記アダプタ側保持部と係合するとともに、前記手術具を前記第１位置から前記第２位置へ移動させるよう構成された手術具側保持部が設けられている
    　医療用マニピュレータシステム。     A medical manipulator system,
    An adapter having a power transmission unit configured to transmit power,
    A surgical instrument configured to be driven by power transmitted from the power transmission unit,
    With
    The adapter is a relative position of the surgical tool with respect to the adapter, a first position at which the surgical tool is removably arranged on the adapter, the relative position different from the first position, An adapter-side holding unit configured to hold the surgical tool so that the surgical tool is movable between a second position at which a driving force can be transmitted from the power transmission unit to the surgical tool; Provided,
    The surgical manipulator is provided with a surgical tool side holding portion configured to engage with the adapter side holding portion and move the surgical tool from the first position to the second position. system.
  2. 　前記手術具側保持部には、前記アダプタ側保持部と係合するよう構成された手術具側誘導部と、前記手術具側誘導部を前記手術具に対して相対的に移動させるよう構成された操作部と、が設けられ、
    　前記アダプタ側保持部には、前記手術具側誘導部と係合するよう構成されたアダプタ側誘導部が設けられている
    　請求項１記載の医療用マニピュレータシステム。     The surgical-tool-side holding unit is configured to move the surgical-tool-side guiding unit configured to engage with the adapter-side holding unit, and to move the surgical-tool-side guiding unit relative to the surgical tool. Operating unit, and
    The medical manipulator system according to claim 1, wherein the adapter-side holding section is provided with an adapter-side guiding section configured to engage with the surgical instrument-side guiding section.
  3. 　前記手術具には、前記手術具側保持部が設けられた手術具本体から延びる棒状部が設けられ、前記棒状部には、伝達された動力によって駆動されるよう構成された処置部が端部に配置され、
    　前記手術具側誘導部は、前記手術具本体に対して前記棒状部が延びる方向へ相対移動可能に配置され、
    　前記手術具における前記第１位置から前記第２位置への移動方向は、前記棒状部が延びる方向に対して交差する方向であって、
    　前記手術具側誘導部および前記アダプタ側誘導部の少なくとも一方には、前記手術具が前記第１位置に配置された際における前記手術具側誘導部の前記相対移動を、前記手術具における前記第１位置から前記第２位置への移動に変換するよう構成された変換部が設けられている
    　請求項２記載の医療用マニピュレータシステム。     The surgical tool is provided with a rod-shaped portion extending from the surgical tool body provided with the surgical tool-side holding portion, and the rod-shaped portion has a treatment portion configured to be driven by transmitted power at an end portion. Placed in
    The surgical instrument-side guiding portion is disposed so as to be relatively movable in a direction in which the rod-shaped portion extends with respect to the surgical instrument body,
    The moving direction of the surgical instrument from the first position to the second position is a direction intersecting a direction in which the rod-shaped portion extends,
    In at least one of the surgical instrument-side guide section and the adapter-side guide section, the relative movement of the surgical instrument-side guide section when the surgical instrument is arranged at the first position, The medical manipulator system according to claim 2, further comprising a conversion unit configured to convert the movement from the first position to the second position.
  4. 　前記手術具における前記アダプタと対向する面、および、前記アダプタにおける前記手術具と対向する面のそれぞれには、前記手術具が前記第１位置から前記第２位置へ移動した際に互いに係合すると共に、前記手術具における前記アダプタに対する前記棒状部が延びる方向への相対移動を抑制するよう構成された第１係合部および第２係合部が設けられている
    　請求項３記載の医療用マニピュレータシステム。     A surface of the surgical instrument facing the adapter and a surface of the adapter facing the surgical tool engage with each other when the surgical tool moves from the first position to the second position. 4. The medical manipulator according to claim 3, further comprising a first engagement portion and a second engagement portion configured to suppress relative movement of the surgical tool in a direction in which the rod-shaped portion extends with respect to the adapter. 5. system.
  5. 　前記手術具における前記アダプタと対向する面、および、前記アダプタにおける前記手術具と対向する面の少なくとも一方には、前記第２位置から前記第１位置へ移動する方向へ前記手術具を付勢するよう構成された付勢部が設けられている
    　請求項１から４のいずれか１項に記載の医療用マニピュレータシステム。     At least one of a surface of the surgical tool facing the adapter and a surface of the adapter facing the surgical tool biases the surgical tool in a direction moving from the second position to the first position. The medical manipulator system according to any one of claims 1 to 4, further comprising an urging unit configured as described above.
PCT/JP2019/026482 2018-07-05 2019-07-03 Medical manipulator system WO2020009155A1 (en)

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