WO2020115879A1 - Retaining device - Google Patents

Retaining device Download PDF

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Publication number
WO2020115879A1
WO2020115879A1 PCT/JP2018/044990 JP2018044990W WO2020115879A1 WO 2020115879 A1 WO2020115879 A1 WO 2020115879A1 JP 2018044990 W JP2018044990 W JP 2018044990W WO 2020115879 A1 WO2020115879 A1 WO 2020115879A1
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WO
WIPO (PCT)
Prior art keywords
arm
joint
disc
brake
parallel
Prior art date
Application number
PCT/JP2018/044990
Other languages
French (fr)
Japanese (ja)
Inventor
雅史 原口
Original Assignee
オリンパス株式会社
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 オリンパス株式会社 filed Critical オリンパス株式会社
Priority to PCT/JP2018/044990 priority Critical patent/WO2020115879A1/en
Publication of WO2020115879A1 publication Critical patent/WO2020115879A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Definitions

  • the present invention relates to a holding device including a braking mechanism that fixes a medical device at an arbitrary position.
  • a holding device that holds a medical device such as an endoscope during surgery and can move the held medical device to an arbitrary position
  • the holding device has a mechanism (for example, an articulated mechanism) that movably holds the medical device.
  • the holding device does not have a drive system such as a motor, the operator manually changes the position of the medical device or the like.
  • the operator may need to support the medical device so that the medical device does not move, for example, when the medical device receives an external force.
  • prevention of camera shake of an operator holding a holding device and reduction of fatigue are problems.
  • a holding device is used that has a braking mechanism that fixes the held medical device at an arbitrary position.
  • the medical device holding device described in Patent Document 1 includes a counterweight as a braking mechanism.
  • a holding device having a counterweight maintains a balance (counterbalance) between the holding medical device and the counterweight, and fixes the medical device at an arbitrary position even when the operator releases the holding device. can do.
  • the medical stand described in Patent Document 2 includes an electromagnetic brake as a braking mechanism in addition to the counterweight, and fixes the held medical device at an arbitrary position.
  • a medical stand has a braking mechanism using an electromagnetic brake that makes it easy to fix medical equipment at any position.
  • Patent Document 2 realizes the braking function by the electromagnetic brake, the entire device becomes large and the manufacturing cost of the device becomes high.
  • an object of the present invention is to provide a holding mechanism including a braking mechanism that can easily fix a medical device at an arbitrary position.
  • a holding device is a holding device for holding a medical device, wherein a first arm extending from a distal end to a proximal end is elongated, and a first arm arranged in parallel with the first arm.
  • a first joint operably connected, a second joint connecting the first arm and the second arm, and a third joint rotatably connecting the first parallel arm and the second parallel arm.
  • a parallel link having a fourth joint that rotatably connects the first parallel arm and the second arm, and a first rotation attached to the first arm and rotating with respect to the first joint.
  • the first rotating member may be a first disc attached to the first arm.
  • the holding device according to the second aspect further includes a second disc attached to the second parallel arm, and a second brake that presses the second disc. Good. ..
  • each of the first joint, the second joint, the third joint, and the fourth joint has a rotation axis.
  • the first disc and the second disc may be parallel to each other and may be arranged at a position where they overlap with each other when viewed from the direction of the rotation axis of the first joint.
  • the first brake and the second brake include an elastic member, a main body, a first brake pad, and a second brake pad.
  • a brake pad, the elastic member is accommodated in the internal space of the main body in a contracted state, and a tip portion of the elastic member is in contact with the first brake pad.
  • a base end portion is in contact with a base end portion in the internal space of the main body, a tip end portion in the internal space of the main body is in contact with the second brake pad, and the first brake pad and the first brake pad.
  • the two brake pads may sandwich either of the corresponding first disc and second disc from both sides in the plate thickness direction.
  • the main body may have an adjusting portion that adjusts the length in the expansion/contraction direction that accommodates the elastic member in the internal space. Good.
  • the adjusting portion may be configured by a screw that is screwed onto the inner surface of the internal space of the main body.
  • the screw has an inner screw that engages with an inner side surface of the internal space, and the inner screw has a tip of the screw. It may be possible to project from.
  • the first pressing member has a driving range driven by the first arm and a non-driving range different from the driving range.
  • the pressing force applied to one rotation member may be different, and the pressing force of the first pressing member in the non-driving range may be larger than the pressing force of the first pressing member in the driving range.
  • the second brake has the second range in a drive range driven by the second arm and a non-drive range different from the drive range.
  • the pressing force on the disc may be different, and the pressing force of the second brake in the non-driving range may be larger than the pressing force of the second brake in the driving range.
  • the first pressing member is provided on a base that rotatably supports the first arm by the first joint. May be.
  • the holding mechanism including the braking mechanism of the present invention it is possible to easily fix the medical device at an arbitrary position.
  • FIG. 1 is a diagram showing an overall configuration of a holding device 100 according to this embodiment.
  • the holding device 100 includes a base 1, an arm 2, and a braking mechanism 3.
  • the base 1 As shown in FIG. 1, the base 1 is installed on the floor via rollers 11 and rotatably supports the arm 2.
  • the base 1 has a lock mechanism 12.
  • the lock mechanism 12 When the lock mechanism 12 is disabled, the base 1 can rotate the roller 11 to move on the floor.
  • the lock mechanism 12 When the lock mechanism 12 is activated, the base 1 cannot rotate the roller 11 to move on the floor.
  • the operator By enabling the lock mechanism 12 of the base 1, the operator can fix the position of the base 1 so that the position of the base 1 does not move even when the arm 2 is manually moved. ..
  • FIG. 2 is an internal structural diagram of the arm 2.
  • the arm 2 has a parallel link 20, a tip arm 29, and a counterweight 2A.
  • the parallel link 20 includes a first arm 21, a second arm 22, a first parallel arm 23, a second parallel arm 24, a first joint 25, a second joint 26, a third joint 27 and a fourth joint 27. And a joint 28.
  • the arm 2 is rotatably supported by the base 1 by the first joint 25.
  • the end of the arm 2 connected to the base 1 is called the “base end”, and the opposite end is called the “tip”.
  • the first arm 21 is rotatably supported by the base 1 at the base end by the first joint 25.
  • the first arm 21 is connected to the second arm 22 by a second joint 26 at the tip.
  • the second arm 22 is connected to the first arm 21 by the second joint 26, and is connected to the first parallel arm by the fourth joint 28.
  • the second arm 22 supports the tip arm 29 at the tip.
  • the first parallel arm 23 is arranged so as to be parallel to the first arm 21, and is connected to the second arm by the fourth joint 28 and the second parallel arm 24 by the third joint 27.
  • the second parallel arm 24 is arranged so as to be parallel to the second arm 22, and is connected to the first arm by the first joint 25 and the first parallel arm 23 by the third joint 27 at one end. ing.
  • a counterweight 2A is attached to the other end of the second parallel arm 24.
  • the rotation axes of the first joint 25, the second joint 26, the third joint 27, and the fourth joint 28 are parallel to each other. Therefore, the first arm 21 and the first parallel arm 23 are always arranged in parallel, and the second arm 22 and the second parallel arm 24 are always arranged in parallel.
  • FIG. 3 shows the internal structure of the parallel link 20 rotated about the first joint 25.
  • FIG. 4 shows the internal structure of the parallel link 20 in which the second arm 22 rotates about the second joint 26 with respect to the first arm 21.
  • the first arm 21 and the first parallel arm 23 are arranged in parallel
  • the second arm 22 and the second parallel arm 24 are arranged in parallel.
  • the tip arm 29 has a holding portion 2a at its tip capable of holding a medical device.
  • the holding portion 2a can hold a medical device such as an endoscope having an imaging function or a treatment tool having a gripping mechanism.
  • the medical device is held by the holding portion 2a so as to be rotatable in the horizontal direction and the vertical direction about the holding portion 2a. The operator can rotate the medical device so that the medical device faces the intended direction.
  • the tip arm 29 is connected to the second arm 22 at the base end.
  • the counterweight 2A is a weight attached to the other end of the second parallel arm 24.
  • the counterweight 2A maintains a balance (counterbalance) with the medical device held in the holding portion 2a, and the medical device can be fixed at an arbitrary position even when the operator releases the holding device. it can.
  • FIG. 5 is a perspective view of the braking mechanism 3.
  • the braking mechanism 3 has a first braking mechanism 4 and a second braking mechanism 5.
  • the first braking mechanism 4 brakes the rotation of the first arm 21 around the first joint 25 with respect to the base 1.
  • the second braking mechanism 5 brakes the rotation of the second parallel arm 24 with respect to the base 1 about the first joint 25, so that the second arm 22 rotates with respect to the first arm 21. To do.
  • the first braking mechanism 4 is a disc braking mechanism having a first disc 41 attached to the first arm 21 and a first brake 42 attached to the base 1.
  • the first disc 41 is a plate-shaped member having a first disc first surface 41a and a first disc second surface 41b on both sides.
  • the first disc 41 is attached to the first arm 21, and rotates together with the first arm 21 about the first joint 25 as a rotation center.
  • the first disc 41 is attached to the first arm 21 so that the plate thickness direction thereof coincides with the direction of the rotation axis of the first joint 25.
  • the vertical direction is the Y-axis direction
  • the direction of the rotation axis of the first joint 25 is the Z-axis direction
  • the direction perpendicular to the Y-axis direction and the Z-axis direction is the X-axis direction.
  • the first disc 41 has a substantially fan-like shape whose center is located at the first joint 25 when viewed in the plate thickness direction (Z-axis direction).
  • FIG. 6 is a sectional view of the first brake 42.
  • the first brake (first braking member) 42 has a first brake pad 43, a second brake pad 44, a spring (elastic member) 46, and a case 47 that houses the spring 46.
  • the first brake 42 sandwiches the first disc first surface 41a and the first disc second surface 41b of the first disc 41 from both sides, and brakes the rotation of the first arm 21 to which the first disc 41 is attached. ..
  • the first brake pad 43 and the second brake pad 44 sandwich the first disc 41 from both sides in the plate thickness direction (Z axis direction).
  • the first brake pad 43 makes surface contact with the first disc first surface 41a of the first disc 41, and brakes the rotation of the first disc 41 by a frictional force.
  • the second brake pad 44 makes surface contact with the first disc second surface 41b of the first disc 41, and brakes the rotation of the first disc 41 by a frictional force.
  • the spring (elastic member) 46 is accommodated in the internal space S of the case 47 in a contracted state, and biases the first brake pad 43 and the second brake pad 44 by its own restoring force.
  • the direction in which the spring 46 expands and contracts is the longitudinal direction of the case 47.
  • the case 47 is a cylindrical case that houses the spring 46, and has an adjusting portion 48 that adjusts the urging force of the spring 46 at one end in the longitudinal direction.
  • the side where the adjusting portion 48 is located is referred to as the “base end side”, and the opposite side is referred to as the “tip end side”.
  • the case 47 has an opening 49 on the side surface on the tip side. As shown in FIG. 6, the plate thickness direction of the first disc 41 and the longitudinal direction of the case 47 are aligned and the first disc 41 is inserted through the opening 49. The first brake pad 43 and the second brake pad 44 sandwich the first disc 41 from both sides.
  • the first brake pad 43 has the surface opposite to the surface in surface contact with the first disk first surface 41a attached to the spring tip portion 46d that is the tip end side of the spring 46. ..
  • the second brake pad 44 has a surface opposite to the surface in surface contact with the first disc second surface 41b in the case tip portion 47d, which is the end portion on the tip side in the internal space S of the case 47. It is installed.
  • the spring base end portion 46p which is the end portion on the base end side of the spring 46, is in contact with the case base end portion 47p, which is the end portion on the base end side in the internal space S of the case 47.
  • the spring tip portion 46d presses the first brake pad 43 toward the tip side by the biasing force of the spring 46.
  • the spring base end portion 46p presses the case base end portion 47p toward the base end side by the biasing force of the spring 46.
  • the case tip 47 d presses the second brake pad 44 toward the base end side. That is, the restoring force of the spring 46 is converted by the case 47 into a force by which the first brake pad 43 and the second brake pad 44 press the first disc 41 from both sides.
  • the adjusting portion 48 is formed of a male screw, and by adjusting the screwing position with the female screw formed inside the case 47, the position of the case base end portion 47p in the longitudinal direction. Can be adjusted. By adjusting the position of the case base end portion 47p, the length of the spring 46 housed in the case 47 in the expansion/contraction direction can be adjusted, and the urging force of the spring 46 can be adjusted.
  • the first brake 42 is attached to the base 1, and the relative position with respect to the first joint 25 attached to the base 1 does not change. Further, the first brake 42 is arranged at a position to sandwich the arc portion of the first disc 41 having a substantially fan shape centered on the first joint 25 from the outside. Therefore, even when the first arm 21 rotates about the first joint 25 in the assumed use range, the first brake pad 43 and the second brake pad 44 sandwich at least a part of the first disc 41. It is placed in a position where it is possible. In the parallel link 20, by braking the rotation of the first disc 41 connected to the first arm 21 with respect to the first joint 25, it is possible to brake the rotation operation of a part of the parallel link 20. it can.
  • the second braking mechanism 5 is a disc braking mechanism having a second disc 51 attached to the second parallel arm 24 and a second brake 52 attached to the base 1.
  • the second disc 51 is a plate-shaped member having a second disc first surface 51a and a second disc second surface 51b on both sides.
  • the second disk 51 is attached to the second parallel arm 24 and rotates with the second parallel arm 24 about the first joint 25.
  • the second disc 51 is attached to the second parallel arm 24 so that the plate thickness direction thereof coincides with the direction of the rotation axis of the first joint 25, and is arranged parallel to the first disc 41.
  • the first disc 41 and the second disc 51 are arranged at a position where they overlap each other when viewed from the direction of the rotation axis of the first joint 25.
  • the second disc 51 has a substantially fan-like shape whose center is located at the first joint 25 when viewed in the plate thickness direction (Z-axis direction).
  • the second brake (second braking member) 52 has the same configuration as the first brake 42, except that the second disc 51 is sandwiched between the second disc 51 and the first disc 42.
  • the second brake 52 brakes the rotation of the second parallel arm 24 to which the second disc 51 is attached.
  • the second brake 52 brakes the rotation of the second parallel arm 24, thereby braking the rotation of the second arm 22 with respect to the first arm 21.
  • the rotation of the second disk 51 is braked, so that the rotation of the first parallel arm 23 with respect to the third joint is also braked, and further the rotation of the second arm 22 with respect to the second joint 26. Is braked.
  • FIG. 7 to 9 are side views for explaining the operation of the arm 2 and the braking mechanism 3.
  • the operator attaches the endoscope E to the holding portion 2a.
  • the endoscope E and the counterweight 2A held in the holding part 2a maintain a balance (counterbalance), and even when the operator releases the holding device, the endoscope E can be fixed at any position.
  • the endoscope E Since a part of the first disc 41 is sandwiched by the first brake 42, the rotation of the first arm 21 with respect to the base 1 is braked. Further, since a part of the second disk 51 is sandwiched by the second brake 52, the rotation of the second arm 22 with respect to the first arm 21 is braked. As a result, the holding portion 2a of the tip arm is held at the position where it is arranged. Even when the endoscope E receives an external force and the counter balance is not maintained, the braking torque of the braking mechanism 3 (the first braking mechanism 4 and the second braking mechanism 5) is larger than the moment generated by the received external force F. Is sufficiently large, and the endoscope E is preferably held in the position where it is arranged.
  • the first brake 42 is arranged at a position sandwiching the arc portion of the first disc 41 away from the first joint 25, which is the center of rotation of the first disc 41, from the outside, and therefore a large brake torque can be generated. it can.
  • the operator applies an external force of a predetermined amount or more to the holding portion 2a or a portion interlocking with the holding portion 2a to generate a moment that exceeds the brake torque by the braking mechanism 3, so that the endoscope E held in the holding portion 2a is moved. It can be moved to different positions. Since a force larger than a predetermined value is required to move the endoscope E to a different position, the unintended movement of the endoscope E is unlikely to occur. Further, since the initial moving speed when moving the endoscope E to a different position is limited, it is difficult for an operator to make an operation error.
  • FIG. 8 is a side view of the arm 2 and the braking mechanism 3 in which the holding portion 2a has been moved away from the base 1.
  • the first arm 21 rotates with respect to the base 1, and the position of the first disc 41 pressed by the first brake 42 is changed. Even after the holding portion 2a is moved, the opposing arms of the four arms forming the parallel link 20 are arranged in parallel.
  • FIG. 9 is a side view of the arm 2 and the braking mechanism 3 in which the holding portion 2a is moved downward.
  • the second arm 22 rotates with respect to the first arm 21, and the position of the second disc 51 pressed by the second brake 52 is changed. Even after the holding portion 2a is moved, the opposing arms of the four arms forming the parallel link 20 are arranged in parallel.
  • the holding mechanism of the tip arm is held by the braking mechanism 3 (first braking mechanism 4 and second braking mechanism 5). 2a is held at the arranged position. Even when the endoscope E receives an external force and the counter balance is not maintained, the braking torque by the braking mechanism 3 is sufficiently larger than the moment generated by the received external force F, and the endoscope E is arranged. Suitably held in position.
  • the holding device 100 of the present embodiment it is possible to easily fix the medical device at any position. Even when the medical device such as the endoscope E receives an external force and the counter balance is not maintained, the medical device is preferably held at the arranged position.
  • the first braking mechanism 4 and the second braking mechanism 5 that fix the medical device at an arbitrary position are collectively provided in the vicinity of the first joint 25, and are adjusted by the adjusting unit 48. It is easy to manage the braking mechanism 3 such as adjusting the urging force of the spring 46. Further, since the portions where the first braking mechanism 4 and the second braking mechanism 5 are located are located in the unclean area during the operation, it becomes possible for a nurse or the like to adjust the braking mechanism 3 and the like.
  • the first embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and includes design changes and the like within a range not departing from the gist of the present invention. .. Further, the constituent elements shown in the above-described first embodiment and the modifications described below can be appropriately combined and configured.
  • the first disc 41 and the second disc 51 are attached so as to rotate about the first joint 25, but the modes of the first disc and the second disc are not limited to this. Not limited.
  • the first disc is attached to the first parallel arm 23, the second disc is attached to the second parallel arm 24, and the first disc and the second disc are attached so as to rotate about the third joint 27. It may be.
  • FIGS. 10 and 11 A second embodiment of the present invention will be described with reference to FIGS. 10 and 11. In the following description, the same components as those already described will be assigned the same reference numerals and overlapping description will be omitted.
  • the holding device 100B according to the second embodiment is different from the holding device 100 according to the first embodiment in the configuration of the first brake and the second brake.
  • the holding device 100B according to the second embodiment includes a first brake 42B and a second brake 52B instead of the first brake 42 and the second brake 52, as compared with the holding device 100 according to the first embodiment. There is. Since the first brake 42B and the second brake 52B have the same configuration, only the first brake 42B will be described below.
  • FIG. 10 is a sectional view of the first brake 42B.
  • the first brake (first braking member) 42B includes a first brake pad 43, a second brake pad 44, a spring (elastic member) 46, and a case 47B that houses the spring 46.
  • the first brake 42 sandwiches the first disc first surface 41a and the first disc second surface 41b of the first disc 41 from both sides, and brakes the rotation of the first arm 21 to which the first disc 41 is attached. ..
  • the case 47B is a cylindrical case that houses the spring 46, and has an adjusting portion 48B that adjusts the biasing force of the spring 46 at one end in the longitudinal direction.
  • the spring base end portion 46p which is the end portion on the base end side of the spring 46, is in contact with the case base end portion 47Bp, which is the end portion on the base end side in the internal space S of the case 47.
  • the adjusting portion 48B has a male screw 48a, and the position in the longitudinal direction of the case base end portion 47Bp can be adjusted by adjusting the screwing position with the female screw formed on the inner surface of the case 47B.
  • the length of the spring 46 housed in the case 47 in the expansion/contraction direction can be adjusted to adjust the urging force of the spring 46.
  • the adjusting portion 48B has an inner screw 48b that is screwed into the inner surface of the internal space formed in the male screw 48a, and the inner screw 48b can project from the tip of the male screw 48a.
  • the male screw 48a and the inner screw 48b are in the same screw forward/backward direction, and the male screw 48a and the inner screw 48b are also in the same rotation axis.
  • FIG. 11 is a sectional view of the first brake 42B.
  • the adjusting portion 48B can adjust the position of the case base end portion 47Bp in the longitudinal direction by projecting the inner screw 48b from the tip of the male screw 48a.
  • the urging force of the spring 46 can be adjusted in two steps by the male screw 48a and the inner screw 48b.
  • the urging force of the spring 46 is adjusted by the male screw 48a.
  • the operator adjusts the inner screw 48b to strengthen the biasing force of the spring 46. It is possible to finely adjust the biasing force of the spring 46 by adjusting the inner screw 48b while maintaining the function of maintaining a constant biasing force of the spring 46 with the male screw 48a.
  • the pressing force on the first disc 41 may be adjusted by the first brake pad 43.
  • the pressing force of the first brake pad 43 on the first disc 41 can be adjusted by changing the thickness of the first disc 41 for each predetermined location.
  • the first arm 21 can be rotated about the first joint 25 according to the force of the operator, and the rotation of the first arm 21 can be stopped.
  • a range in which the first arm 21 is driven intraoperatively is referred to as a “driving range”
  • a range different from the driving range is referred to as a “non-driving range”.
  • the “non-driving range” is a range in which the first arm 21 operates when the first arm 21 is compactly housed during transportation or the like.
  • a difference may be provided in the pressing force of the first disc 41 by the first brake pad 43 depending on whether the first arm 21 operates in the drive range or the non-drive range.
  • the pressing force of the first brake pad 43 against the first disc 41 is set to be higher when the first arm 21 operates in the non-driving range than when it operates in the driving range. In this case, when the range in which the first arm 21 operates becomes the non-driving range during transportation or the like, it is difficult for the operator to rotate the first arm 21 about the first joint 25.
  • the second brake 52 may also adjust the pressing force of the second brake pad 53 against the second disc 51.
  • the pressing force of the second brake pad 53 against the second disc 51 can be adjusted by changing the thickness of the second disc 51 at each predetermined location.
  • a range in which the second arm 22 is driven intraoperatively is referred to as a “driving range”, and a range different from the driving range is referred to as a “non-driving range”.
  • the “non-driving range” is a range in which the second arm 22 operates when the second arm 22 is compactly housed during transportation or the like.
  • a difference in the pressing force of the second disc 51 by the second brake pad 53 may be provided depending on whether the second arm 22 operates in the drive range or in the non-drive range.
  • the pressing force of the second brake pad 53 against the second disk 51 is set to be higher when the second arm 22 operates in the non-driving range than when it operates in the driving range. In this case, when the range in which the second arm 22 operates is the non-driving range during transportation or the like, it is difficult for the operator to rotate the second arm 22 about the second joint 26.
  • the present invention can be applied to a holding device provided with an arm having a degree of freedom.

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

Abstract

This retaining device for retaining a medical device is provided with: a first rotating member which is provided with a parallel link having a first arm elongatedly extending from the distal end to the proximal end, a first parallel arm, a second arm, a second parallel arm, a first joint for rotatably connecting the first arm and the second parallel arm, a second joint for connecting the first arm and the second arm, a third joint for rotatably connecting the first parallel arm and the second parallel arm, and a fourth joint for rotatably connecting the first parallel arm and the second arm, and rotates the medical device with the first arm relative to the first joint so that the medical device rotates around the first joint; and a first pressing member for applying pressing force to the rotation to the first rotating member while sandwiching the rotating member.

Description

保持装置Holding device
　本発明は、医療機器を任意の位置に固定する制動機構を備えた保持装置に関する。 The present invention relates to a holding device including a braking mechanism that fixes a medical device at an arbitrary position.
　従来、手術において内視鏡等の医療機器を保持し、保持した医療機器を任意の位置に移動できる保持装置が用いられている。保持装置は、医療機器を移動可能に保持する機構（例えば多関節機構）を有している。保持装置がモータ等の駆動系を有さない場合、操作者は手動で医療機器等の位置を変更する。操作者は、例えば医療機器が外力を受ける場合等において、医療機器が移動しないように医療機器を支える必要がある場合がある。長時間にわたる手術においては、保持装置を保持する操作者の手振れ防止や疲労低減が課題となっている。 Conventionally, a holding device that holds a medical device such as an endoscope during surgery and can move the held medical device to an arbitrary position has been used. The holding device has a mechanism (for example, an articulated mechanism) that movably holds the medical device. When the holding device does not have a drive system such as a motor, the operator manually changes the position of the medical device or the like. The operator may need to support the medical device so that the medical device does not move, for example, when the medical device receives an external force. In a long-term operation, prevention of camera shake of an operator holding a holding device and reduction of fatigue are problems.
　保持した医療機器を任意の位置に固定する制動機構を備える保持装置が用いられている。例えば、特許文献１に記載の医療機器の保持装置は、制動機構として、カウンターウエイトを備える。カウンターウエイトを有する保持装置は、保持する医療機器とカウンターウエイトとがバランス（カウンターバランス）を維持し、操作者が保持装置から手を離した場合であっても、医療機器を任意の位置に固定することができる。 A holding device is used that has a braking mechanism that fixes the held medical device at an arbitrary position. For example, the medical device holding device described in Patent Document 1 includes a counterweight as a braking mechanism. A holding device having a counterweight maintains a balance (counterbalance) between the holding medical device and the counterweight, and fixes the medical device at an arbitrary position even when the operator releases the holding device. can do.
　特許文献２に記載の医療用スタンドは、カウンターウエイトに加え、電磁ブレーキを制動機構として備え、保持した医療機器を任意の位置に固定する。医療用スタンドは、カウンターウエイトによるバランスの維持に加え、電磁ブレーキによる制動機構により、医療機器を任意の位置に固定しやすい。 The medical stand described in Patent Document 2 includes an electromagnetic brake as a braking mechanism in addition to the counterweight, and fixes the held medical device at an arbitrary position. In addition to maintaining balance with a counterweight, a medical stand has a braking mechanism using an electromagnetic brake that makes it easy to fix medical equipment at any position.
特開平７－２４１３００号公報Japanese Patent Laid-Open No. 7-241300 特開２００５－０５２６７９号公報JP 2005-052679 A
　しがしながら、特許文献２に記載の医療用スタンドは、電磁ブレーキにより制動機能を実現しているため、装置全体が大型化し、装置の製造コストが高くなる。 However, since the medical stand described in Patent Document 2 realizes the braking function by the electromagnetic brake, the entire device becomes large and the manufacturing cost of the device becomes high.
　上記事情を踏まえ、本発明は、容易に医療機器を任意の位置に固定できる制動機構を備えた保持機構を提供することを目的とする。 In view of the above circumstances, an object of the present invention is to provide a holding mechanism including a braking mechanism that can easily fix a medical device at an arbitrary position.
　上記課題を解決するために、この発明は以下の手段を提案している。
　本発明の第一の態様に係る保持装置は、医療器具を保持する保持装置であって、先端から基端へ細長く延出する 第一アームと、前記第一アームと平行に配置された第一平行アームと、前記第一アームの前記先端側 に接続する第二アームと、前記第二アームと平行に配置された第二平行アームと、前記第一アームと前記第二平行アームとを回動可能に接続する第一関節と、前記第一アームと前記第二アームとを接続する第二関節と、前記第一平行アームと前記第二平行アームとを回動可能に接続する第三関節と、前記第一平行アームと前記第二アームとを回動可能に接続する第四関節と、を有する平行リンクと　前記第一アームに取り付けられて、前記第一関節に対して回転する第一回転部材 と、前記第一回転部材の回転に対して前記第一回転部材を挟み込むようにして押圧力を付加する第一押圧部材と、を備える。 In order to solve the above problems, the present invention proposes the following means.
A holding device according to a first aspect of the present invention is a holding device for holding a medical device, wherein a first arm extending from a distal end to a proximal end is elongated, and a first arm arranged in parallel with the first arm. A parallel arm, a second arm connected to the tip side of the first arm, a second parallel arm arranged in parallel with the second arm, and the first arm and the second parallel arm being rotated. A first joint operably connected, a second joint connecting the first arm and the second arm, and a third joint rotatably connecting the first parallel arm and the second parallel arm. A parallel link having a fourth joint that rotatably connects the first parallel arm and the second arm, and a first rotation attached to the first arm and rotating with respect to the first joint. A member; and a first pressing member that applies a pressing force so as to sandwich the first rotating member with respect to the rotation of the first rotating member.
　本発明の第二の態様によれば、第一の態様に係る保持装置において、前記第一回転部材は前記第一アームに取り付けられた第一ディスクであってもよい。 According to the second aspect of the present invention, in the holding device according to the first aspect, the first rotating member may be a first disc attached to the first arm.
　本発明の第三の態様によれば、第二の態様に係る保持装置において、前記第二平行アームに取り付けられた第二ディスクと、前記第二ディスクを押圧する第二ブレーキとをさらに備えてもよい。　 According to a third aspect of the present invention, the holding device according to the second aspect further includes a second disc attached to the second parallel arm, and a second brake that presses the second disc. Good. ‥
　本発明の第四の態様によれば、第三の態様に係る保持装置において、前記第一関節と、前記第二関節と、前記第三関節と、前記第四関節と、は各回転軸が平行であり、前記第一関節の回転軸の方向から見て、前記第一ディスクと前記第二ディスクとは重なる位置に配置されてもよい。 According to a fourth aspect of the present invention, in the holding device according to the third aspect, each of the first joint, the second joint, the third joint, and the fourth joint has a rotation axis. The first disc and the second disc may be parallel to each other and may be arranged at a position where they overlap with each other when viewed from the direction of the rotation axis of the first joint.
　本発明の第五の態様によれば、第三または第四の態様に係る保持装置において、　前記第一ブレーキおよび前記第二ブレーキは、弾性部材と、本体と、第一ブレーキパッドと、第二ブレーキパッドと、を有し、前記弾性部材は、前記本体の内部空間に縮んだ状態で収容されており、前記弾性部材の先端部は、前記第一ブレーキパッドに接しており、　前記弾性部材の基端部は、前記本体の前記内部空間における基端部に接しており、前記前記本体の前記内部空間における先端部は、前記第二ブレーキパッドに接しており、前記第一ブレーキパッドと前記第二ブレーキパッドとは、対応する前記第一ディスクと前記第二ディスクのいずれかを、板厚方向の両面から挟み込んでもよい。 According to a fifth aspect of the present invention, in the holding device according to the third or fourth aspect, the first brake and the second brake include an elastic member, a main body, a first brake pad, and a second brake pad. A brake pad, the elastic member is accommodated in the internal space of the main body in a contracted state, and a tip portion of the elastic member is in contact with the first brake pad. A base end portion is in contact with a base end portion in the internal space of the main body, a tip end portion in the internal space of the main body is in contact with the second brake pad, and the first brake pad and the first brake pad. The two brake pads may sandwich either of the corresponding first disc and second disc from both sides in the plate thickness direction.
　本発明の第六の態様によれば、第五の態様に係る保持装置において、前記本体は、前記内部空間における前記弾性部材を収容する伸縮方向の長さを調整する調整部を有してもよい。 According to a sixth aspect of the present invention, in the holding device according to the fifth aspect, the main body may have an adjusting portion that adjusts the length in the expansion/contraction direction that accommodates the elastic member in the internal space. Good.
　本発明の第七の態様によれば、第六の態様に係る保持装置において、前記調整部は、前記本体の前記内部空間の内側面と螺合するネジで構成されてよい。 According to the seventh aspect of the present invention, in the holding device according to the sixth aspect, the adjusting portion may be configured by a screw that is screwed onto the inner surface of the internal space of the main body.
　本発明の第八の態様によれば、第七の態様に係る保持装置において、前記ネジは、前記内部空間の内側面と螺合する内ネジを有し、前記内ネジは、前記ネジの先端から突出可能でもよい。 According to an eighth aspect of the present invention, in the holding device according to the seventh aspect, the screw has an inner screw that engages with an inner side surface of the internal space, and the inner screw has a tip of the screw. It may be possible to project from.
　本発明の第九の態様によれば、第一の態様に係る保持装置において、前記第一押圧部材は、前記第一アームが駆動する駆動範囲と前記駆動範囲と異なる非駆動範囲とで前記第一回転部材に対する押圧力が異なり、前記非駆動範囲における前記第一押圧部材の押圧力は、前記駆動範囲における前記第一押圧部材の押圧力よりも大きくてもよい。 According to a ninth aspect of the present invention, in the holding device according to the first aspect, the first pressing member has a driving range driven by the first arm and a non-driving range different from the driving range. The pressing force applied to one rotation member may be different, and the pressing force of the first pressing member in the non-driving range may be larger than the pressing force of the first pressing member in the driving range.
　本発明の第十の態様によれば、第三の態様に係る保持装置において、前記第二ブレーキは、前記第二アームが駆動する駆動範囲と前記駆動範囲と異なる非駆動範囲とで前記第二ディスクに対する押圧力が異なり、前記非駆動範囲における前記第二ブレーキの押圧力は、前記駆動範囲における前記第二ブレーキの押圧力よりも大きくてもよい。 According to a tenth aspect of the present invention, in the holding device according to the third aspect, the second brake has the second range in a drive range driven by the second arm and a non-drive range different from the drive range. The pressing force on the disc may be different, and the pressing force of the second brake in the non-driving range may be larger than the pressing force of the second brake in the driving range.
　本発明の第十一の態様によれば、第一の態様に係る保持装置において、前記第一押圧部材は、前記第一アームを前記第一関節により回動可能に支持するベースに設けられていてもよい。 According to an eleventh aspect of the present invention, in the holding device according to the first aspect, the first pressing member is provided on a base that rotatably supports the first arm by the first joint. May be.
　本発明の制動機構を備えた保持機構によれば、容易に医療機器を任意の位置に固定することが可能である。 According to the holding mechanism including the braking mechanism of the present invention, it is possible to easily fix the medical device at an arbitrary position.
本発明の第一実施形態に係る保持装置の全体構成を示す図である。It is a figure which shows the whole structure of the holding|maintenance apparatus which concerns on 1st embodiment of this invention. 同保持装置のアームの内部構造図である。It is an internal structure figure of the arm of the same holding device. 同アームの平行リンクの内部構造を示す図である。It is a figure which shows the internal structure of the parallel link of the same arm. 同アームの平行リンクの内部構造を示す図である。It is a figure which shows the internal structure of the parallel link of the same arm. 同保持装置の制動機構の斜視図である。It is a perspective view of a braking mechanism of the holding device. 同制動機構の第一ブレーキと第二ブレーキの断面図である。It is a sectional view of the first brake and the second brake of the braking mechanism. 同保持装置のアームおよび制動機構の動作を説明する側面図である。It is a side view explaining operation of an arm and a braking mechanism of the holding device. 同保持装置のアームおよび制動機構の動作を説明する側面図である。It is a side view explaining operation of an arm and a braking mechanism of the holding device. 同保持装置のアームおよび制動機構の動作を説明する側面図である。It is a side view explaining operation of an arm and a braking mechanism of the holding device. 本発明の第二実施形態に係る保持装置の第一ブレーキの断面図である。It is sectional drawing of the 1st brake of the holding|maintenance apparatus which concerns on 2nd embodiment of this invention. 同保持装置の第一ブレーキの断面図である。It is sectional drawing of the 1st brake of the same holding device.
（第一実施形態）
　本発明の第一実施形態について、図１から図５を参照して説明する。
　図１は、本実施形態に係る保持装置１００の全体構成を示す図である。保持装置１００は、ベース１と、アーム２と、制動機構３と、を備える。 (First embodiment)
A first embodiment of the present invention will be described with reference to FIGS. 1 to 5.
FIG. 1 is a diagram showing an overall configuration of a holding device 100 according to this embodiment. The holding device 100 includes a base 1, an arm 2, and a braking mechanism 3.
［ベース１］
　ベース１は、図１に示すように、ローラ１１を介して床上に設置されており、アーム２を回動可能に支持する。ベース１は、ロック機構１２を有している。ロック機構１２が無効化されているときは、ベース１はローラ１１を回転させて床上を移動することができる。ロック機構１２が有効化されているときは、ベース１はローラ１１を回転させて床上を移動することができない。術者は、ベース１のロック機構１２を有効化することで、アーム２を手動で移動させた場合であってもベース１の位置が動かないように、ベース１の位置を固定することができる。 [Base 1]
As shown in FIG. 1, the base 1 is installed on the floor via rollers 11 and rotatably supports the arm 2. The base 1 has a lock mechanism 12. When the lock mechanism 12 is disabled, the base 1 can rotate the roller 11 to move on the floor. When the lock mechanism 12 is activated, the base 1 cannot rotate the roller 11 to move on the floor. By enabling the lock mechanism 12 of the base 1, the operator can fix the position of the base 1 so that the position of the base 1 does not move even when the arm 2 is manually moved. ..
［アーム２］
　図２は、アーム２の内部構造図である。
　アーム２は、図２に示すように、平行リンク２０と、先端アーム２９と、カウンターウエイト２Ａを有する。平行リンク２０は、第一アーム２１と、第二アーム２２と、第一平行アーム２３と、第二平行アーム２４と、第一関節２５と、第二関節２６と、第三関節２７、第四関節２８と、を備えている。アーム２は、第一関節２５によりベース１に回動可能に支持されている。 [Arm 2]
FIG. 2 is an internal structural diagram of the arm 2.
As shown in FIG. 2, the arm 2 has a parallel link 20, a tip arm 29, and a counterweight 2A. The parallel link 20 includes a first arm 21, a second arm 22, a first parallel arm 23, a second parallel arm 24, a first joint 25, a second joint 26, a third joint 27 and a fourth joint 27. And a joint 28. The arm 2 is rotatably supported by the base 1 by the first joint 25.
　以降の説明において、ベース１に接続されているアーム２の端部を「基端」、反対側の端部を「先端」という。 In the following description, the end of the arm 2 connected to the base 1 is called the "base end", and the opposite end is called the "tip".
　第一アーム２１は、基端において第一関節２５によりベース１に回動可能に支持される。第一アーム２１は、先端において第二関節２６により第二アーム２２と接続されている。 The first arm 21 is rotatably supported by the base 1 at the base end by the first joint 25. The first arm 21 is connected to the second arm 22 by a second joint 26 at the tip.
　第二アーム２２は、第二関節２６により第一アーム２１と接続されており、第四関節２８により第一平行アームと接続されている。第二アーム２２は、先端において先端アーム２９を支持している。 The second arm 22 is connected to the first arm 21 by the second joint 26, and is connected to the first parallel arm by the fourth joint 28. The second arm 22 supports the tip arm 29 at the tip.
　第一平行アーム２３は、第一アーム２１と平行となるように配置されており、第四関節２８により第二アームと、第三関節２７により第二平行アーム２４と接続されている。 The first parallel arm 23 is arranged so as to be parallel to the first arm 21, and is connected to the second arm by the fourth joint 28 and the second parallel arm 24 by the third joint 27.
　第二平行アーム２４は、第二アーム２２と平行となるように配置されており、一方の端部において第一関節２５により第一アームと、第三関節２７により第一平行アーム２３と接続されている。第二平行アーム２４の他方の端部には、カウンターウエイト２Ａが取り付けられている。 The second parallel arm 24 is arranged so as to be parallel to the second arm 22, and is connected to the first arm by the first joint 25 and the first parallel arm 23 by the third joint 27 at one end. ing. A counterweight 2A is attached to the other end of the second parallel arm 24.
　第一関節２５と、第二関節２６と、第三関節２７と、第四関節２８とは、各回転軸が平行である。そのため、第一アーム２１と第一平行アーム２３とは常に平行に配置され、第二アーム２２と第二平行アーム２４とは常に平行に配置される。 The rotation axes of the first joint 25, the second joint 26, the third joint 27, and the fourth joint 28 are parallel to each other. Therefore, the first arm 21 and the first parallel arm 23 are always arranged in parallel, and the second arm 22 and the second parallel arm 24 are always arranged in parallel.
　図３は、第一関節２５を中心に回転した平行リンク２０の内部構造を示している。図４は、第二関節２６を中心に第二アーム２２が第一アーム２１に対して回転した平行リンク２０の内部構造を示している。いずれの場合も、第一アーム２１と第一平行アーム２３とは平行に配置され、第二アーム２２と第二平行アーム２４とは平行に配置される。 FIG. 3 shows the internal structure of the parallel link 20 rotated about the first joint 25. FIG. 4 shows the internal structure of the parallel link 20 in which the second arm 22 rotates about the second joint 26 with respect to the first arm 21. In any case, the first arm 21 and the first parallel arm 23 are arranged in parallel, and the second arm 22 and the second parallel arm 24 are arranged in parallel.
　先端アーム２９は、医療機器を保持可能な保持部２ａを先端に有する。保持部２ａは、撮像機能を有する内視鏡や把持機構等と有する処置具等の医療機器を保持することができる。医療機器は、保持部２ａを中心として水平方向および垂直方向に回動可能に保持部２ａに保持される。術者は、医療機器が意図する方向を向くように、医療機器を回転させることができる。先端アーム２９は基端において、第二アーム２２と接続されている。 The tip arm 29 has a holding portion 2a at its tip capable of holding a medical device. The holding portion 2a can hold a medical device such as an endoscope having an imaging function or a treatment tool having a gripping mechanism. The medical device is held by the holding portion 2a so as to be rotatable in the horizontal direction and the vertical direction about the holding portion 2a. The operator can rotate the medical device so that the medical device faces the intended direction. The tip arm 29 is connected to the second arm 22 at the base end.
　カウンターウエイト２Ａは、第二平行アーム２４の他方の端部に取り付けられた錘である。カウンターウエイト２Ａは、保持部２ａにおいて保持する医療機器とバランス（カウンターバランス）を維持し、操作者が保持装置から手を離した場合であっても、医療機器を任意の位置に固定することができる。 The counterweight 2A is a weight attached to the other end of the second parallel arm 24. The counterweight 2A maintains a balance (counterbalance) with the medical device held in the holding portion 2a, and the medical device can be fixed at an arbitrary position even when the operator releases the holding device. it can.
［制動機構３］
　図５は、制動機構３の斜視図である。制動機構３は、第一制動機構４と、第二制動機構５と、を有する。第一制動機構４は、第一アーム２１の第一関節２５を中心としたベース１に対する回動を制動する。第二制動機構５は、第二平行アーム２４の第一関節２５を中心としたベース１に対する回動を制動することで、第二アーム２２が第一アーム２１に対して回動することを制動する。 [Braking mechanism 3]
FIG. 5 is a perspective view of the braking mechanism 3. The braking mechanism 3 has a first braking mechanism 4 and a second braking mechanism 5. The first braking mechanism 4 brakes the rotation of the first arm 21 around the first joint 25 with respect to the base 1. The second braking mechanism 5 brakes the rotation of the second parallel arm 24 with respect to the base 1 about the first joint 25, so that the second arm 22 rotates with respect to the first arm 21. To do.
［第一制動機構４］
　第一制動機構４は、第一アーム２１に取り付けられた第一ディスク４１と、ベース１に取り付けられた第一ブレーキ４２と、を有するディスクブレーキ機構である。 [First braking mechanism 4]
The first braking mechanism 4 is a disc braking mechanism having a first disc 41 attached to the first arm 21 and a first brake 42 attached to the base 1.
　第一ディスク４１は、第一ディスク第一面４１ａと第一ディスク第二面４１ｂとを両面に有する板状部材である。第一ディスク４１は、第一アーム２１に取り付けられており、第一関節２５を回動中心として第一アーム２１とともに回動する。第一ディスク４１は、板厚方向が第一関節２５の回転軸の方向と一致するように、第一アーム２１に取り付けられている。 The first disc 41 is a plate-shaped member having a first disc first surface 41a and a first disc second surface 41b on both sides. The first disc 41 is attached to the first arm 21, and rotates together with the first arm 21 about the first joint 25 as a rotation center. The first disc 41 is attached to the first arm 21 so that the plate thickness direction thereof coincides with the direction of the rotation axis of the first joint 25.
　以降の説明において、鉛直方向をＹ軸方向とし、第一関節２５の回転軸の方向をＺ軸方向とする。また、Ｙ軸方向とＺ軸方向とに垂直な方向をＸ軸方向とする。 In the following description, the vertical direction is the Y-axis direction, and the direction of the rotation axis of the first joint 25 is the Z-axis direction. Further, the direction perpendicular to the Y-axis direction and the Z-axis direction is the X-axis direction.
　第一ディスク４１は、図５に示すように、板厚方向（Ｚ軸方向）に見て、第一関節２５に中心が位置する略扇形形状を有している。 As shown in FIG. 5, the first disc 41 has a substantially fan-like shape whose center is located at the first joint 25 when viewed in the plate thickness direction (Z-axis direction).
　図６は、第一ブレーキ４２の断面図である。
　第一ブレーキ（第一制動部材）４２は、第一ブレーキパッド４３と、第二ブレーキパッド４４と、バネ（弾性部材）４６と、バネ４６を収容するケース４７と、を有している。第一ブレーキ４２は、第一ディスク４１の第一ディスク第一面４１ａと第一ディスク第二面４１ｂとを両面から挟み込み、第一ディスク４１が取り付けられた第一アーム２１の回動を制動する。 FIG. 6 is a sectional view of the first brake 42.
The first brake (first braking member) 42 has a first brake pad 43, a second brake pad 44, a spring (elastic member) 46, and a case 47 that houses the spring 46. The first brake 42 sandwiches the first disc first surface 41a and the first disc second surface 41b of the first disc 41 from both sides, and brakes the rotation of the first arm 21 to which the first disc 41 is attached. ..
　第一ブレーキパッド４３と第二ブレーキパッド４４とは、第一ディスク４１を板厚方向（Ｚ軸方向）の両面から挟み込んでいる。 The first brake pad 43 and the second brake pad 44 sandwich the first disc 41 from both sides in the plate thickness direction (Z axis direction).
　第一ブレーキパッド４３は、第一ディスク４１の第一ディスク第一面４１ａと面接触し、摩擦力により、第一ディスク４１の回動を制動する。 The first brake pad 43 makes surface contact with the first disc first surface 41a of the first disc 41, and brakes the rotation of the first disc 41 by a frictional force.
　第二ブレーキパッド４４は、第一ディスク４１の第一ディスク第二面４１ｂと面接触し、摩擦力により、第一ディスク４１の回動を制動する。 The second brake pad 44 makes surface contact with the first disc second surface 41b of the first disc 41, and brakes the rotation of the first disc 41 by a frictional force.
　バネ（弾性部材）４６は、ケース４７の内部空間Ｓに縮んだ状態で収容されており、自身の復元力によって、第一ブレーキパッド４３および第二ブレーキパッド４４を付勢する。バネ４６が伸縮する方向は、ケース４７の長手方向である。 The spring (elastic member) 46 is accommodated in the internal space S of the case 47 in a contracted state, and biases the first brake pad 43 and the second brake pad 44 by its own restoring force. The direction in which the spring 46 expands and contracts is the longitudinal direction of the case 47.
　ケース４７は、バネ４６を収容する円筒形状のケースであって、長手方向の一方の端部にバネ４６の付勢力を調整する調整部４８を有する。以降の説明において、ケース４７の長手方向において、調整部４８が位置する側を「基端側」、反対側を「先端側」と称す。 The case 47 is a cylindrical case that houses the spring 46, and has an adjusting portion 48 that adjusts the urging force of the spring 46 at one end in the longitudinal direction. In the following description, in the longitudinal direction of the case 47, the side where the adjusting portion 48 is located is referred to as the “base end side”, and the opposite side is referred to as the “tip end side”.
　ケース４７は、先端側の側面に開口４９を有する。図６に示すように、第一ディスク４１の板厚方向とケース４７の長手方向とを一致させ、開口４９から第一ディスク４１が挿入される。第一ブレーキパッド４３と第二ブレーキパッド４４は、第一ディスク４１を両面から挟み込んでいる。 The case 47 has an opening 49 on the side surface on the tip side. As shown in FIG. 6, the plate thickness direction of the first disc 41 and the longitudinal direction of the case 47 are aligned and the first disc 41 is inserted through the opening 49. The first brake pad 43 and the second brake pad 44 sandwich the first disc 41 from both sides.
　第一ブレーキパッド４３は、ケース４７内において、第一ディスク第一面４１ａと面接触している面の反対面が、バネ４６の先端側の端部であるバネ先端部４６ｄに取り付けられている。
　第二ブレーキパッド４４は、ケース４７内において、第一ディスク第二面４１ｂと面接触している面の反対面が、ケース４７の内部空間Ｓにおける先端側の端部であるケース先端部４７ｄに取り付けられている。 In the case 47, the first brake pad 43 has the surface opposite to the surface in surface contact with the first disk first surface 41a attached to the spring tip portion 46d that is the tip end side of the spring 46. ..
In the case 47, the second brake pad 44 has a surface opposite to the surface in surface contact with the first disc second surface 41b in the case tip portion 47d, which is the end portion on the tip side in the internal space S of the case 47. It is installed.
　バネ４６の基端側の端部であるバネ基端部４６ｐは、ケース４７の内部空間Ｓにおける基端側の端部であるケース基端部４７ｐに接している。 The spring base end portion 46p, which is the end portion on the base end side of the spring 46, is in contact with the case base end portion 47p, which is the end portion on the base end side in the internal space S of the case 47.
　バネ先端部４６ｄは、バネ４６の付勢力により、第一ブレーキパッド４３を先端側に押圧する。また、バネ基端部４６ｐは、バネ４６の付勢力により、ケース基端部４７ｐを基端側に押圧する。バネ４６によってケース４７が基端側に押圧された結果、ケース先端部４７ｄが第二ブレーキパッド４４を基端側に押圧する。すなわち、バネ４６の復元力は、ケース４７により、第一ブレーキパッド４３と第二ブレーキパッド４４とが第一ディスク４１を両面から押圧する力に変換される。 The spring tip portion 46d presses the first brake pad 43 toward the tip side by the biasing force of the spring 46. The spring base end portion 46p presses the case base end portion 47p toward the base end side by the biasing force of the spring 46. As a result of the case 46 being pressed toward the base end side by the spring 46, the case tip 47 d presses the second brake pad 44 toward the base end side. That is, the restoring force of the spring 46 is converted by the case 47 into a force by which the first brake pad 43 and the second brake pad 44 press the first disc 41 from both sides.
　調整部４８は、図６に示すように、雄ネジで構成されており、ケース４７内部に形成された雌ネジとの螺合位置を調整することで、ケース基端部４７ｐの長手方向における位置を調整できる。ケース基端部４７ｐの位置を調整することで、ケース４７に収容されたバネ４６の伸縮方向の長さを調整して、バネ４６の付勢力を調整することができる。 As shown in FIG. 6, the adjusting portion 48 is formed of a male screw, and by adjusting the screwing position with the female screw formed inside the case 47, the position of the case base end portion 47p in the longitudinal direction. Can be adjusted. By adjusting the position of the case base end portion 47p, the length of the spring 46 housed in the case 47 in the expansion/contraction direction can be adjusted, and the urging force of the spring 46 can be adjusted.
　第一ブレーキ４２は、ベース１に取り付けられており、ベース１に取り付けられている第一関節２５との相対位置は変化しない。また、第一ブレーキ４２は、第一関節２５を中心とする略扇型形状を有する第一ディスク４１の円弧部分を外側から挟み込む位置に配置されている。そのため、第一アーム２１が第一関節２５を中心として使用想定範囲において回動した場合であっても、第一ブレーキパッド４３と第二ブレーキパッド４４とが第一ディスク４１の少なくとも一部を挟み込むことが可能な位置に配置される。
平行リンク２０において、第一アーム２１に連結された第一ディスク４１が第一関節２５に対して回動することを制動することで、平行リンク２０の一部の回動動作を制動することができる。 The first brake 42 is attached to the base 1, and the relative position with respect to the first joint 25 attached to the base 1 does not change. Further, the first brake 42 is arranged at a position to sandwich the arc portion of the first disc 41 having a substantially fan shape centered on the first joint 25 from the outside. Therefore, even when the first arm 21 rotates about the first joint 25 in the assumed use range, the first brake pad 43 and the second brake pad 44 sandwich at least a part of the first disc 41. It is placed in a position where it is possible.
In the parallel link 20, by braking the rotation of the first disc 41 connected to the first arm 21 with respect to the first joint 25, it is possible to brake the rotation operation of a part of the parallel link 20. it can.
［第二制動機構５］
　第二制動機構５は、第二平行アーム２４に取り付けられた第二ディスク５１と、ベース１に取り付けられた第二ブレーキ５２と、を有するディスクブレーキ機構である。 [Second braking mechanism 5]
The second braking mechanism 5 is a disc braking mechanism having a second disc 51 attached to the second parallel arm 24 and a second brake 52 attached to the base 1.
　第二ディスク５１は、第二ディスク第一面５１ａと第二ディスク第二面５１ｂとを両面に有する板状部材である。第二ディスク５１は、第二平行アーム２４に取り付けられており、第一関節２５を回動中心として第二平行アーム２４とともに回動する。第二ディスク５１は、板厚方向が第一関節２５の回転軸の方向と一致するように、第二平行アーム２４に取り付けられており、第一ディスク４１と平行に配置される。また、第一関節２５の回転軸の方向から見て、第一ディスク４１と第二ディスク５１とは重なる位置に配置される。 The second disc 51 is a plate-shaped member having a second disc first surface 51a and a second disc second surface 51b on both sides. The second disk 51 is attached to the second parallel arm 24 and rotates with the second parallel arm 24 about the first joint 25. The second disc 51 is attached to the second parallel arm 24 so that the plate thickness direction thereof coincides with the direction of the rotation axis of the first joint 25, and is arranged parallel to the first disc 41. The first disc 41 and the second disc 51 are arranged at a position where they overlap each other when viewed from the direction of the rotation axis of the first joint 25.
　第二ディスク５１は、図５に示すように、板厚方向（Ｚ軸方向）に見て、第一関節２５に中心が位置する略扇形形状を有している。 As shown in FIG. 5, the second disc 51 has a substantially fan-like shape whose center is located at the first joint 25 when viewed in the plate thickness direction (Z-axis direction).
　第二ブレーキ（第二制動部材）５２は、第一ディスク４１ではなく第二ディスク５１を挟み込んでいることを除いて、構成は第一ブレーキ４２と同じである。第二ブレーキ５２は、第二ディスク５１が取り付けられた第二平行アーム２４の回動を制動する。第二ブレーキ５２は、第二平行アーム２４が回動することを制動することで、第二アーム２２が第一アーム２１に対して回動することを制動する。
　平行リンク２０において、第二ディスク５１の回動が制動されることによって、さらに第一平行アーム２３の第三関節に対する回動も制動され、さらに第二関節２６に対する第二アーム２２の回動も制動される。
　第一ディスク４１の回動と第二ディスク５１の回動をともに制動すれば、第一アーム２１の第一関節に対する回動の制動とともに、第二関節２６に対する第二アーム２２の回動の制動も同時に行われて、平行リンク２０全体の回動が制動され、運搬時や一時的な移動時に平行リンク２０が回動しにくく取り扱いやすいというメリットがある。 The second brake (second braking member) 52 has the same configuration as the first brake 42, except that the second disc 51 is sandwiched between the second disc 51 and the first disc 42. The second brake 52 brakes the rotation of the second parallel arm 24 to which the second disc 51 is attached. The second brake 52 brakes the rotation of the second parallel arm 24, thereby braking the rotation of the second arm 22 with respect to the first arm 21.
In the parallel link 20, the rotation of the second disk 51 is braked, so that the rotation of the first parallel arm 23 with respect to the third joint is also braked, and further the rotation of the second arm 22 with respect to the second joint 26. Is braked.
If both the rotation of the first disk 41 and the rotation of the second disk 51 are braked, the rotation of the first arm 21 with respect to the first joint and the rotation of the second arm 22 with respect to the second joint 26 are braked. This also has the advantage that the rotation of the entire parallel link 20 is braked and the parallel link 20 is difficult to rotate during transportation or temporary movement and is easy to handle.
［保持装置１００の動作］
　次に、保持装置１００の保持対象が内視鏡Ｅである場合を例として、保持装置１００の動作について説明する。 [Operation of holding device 100]
Next, the operation of the holding device 100 will be described by taking the case where the holding target of the holding device 100 is the endoscope E as an example.
　図７から図９は、アーム２および制動機構３の動作を説明する側面図である。
　操作者は、内視鏡Ｅを保持部２ａに取り付ける。保持装置１００は、保持部２ａにおいて保持する内視鏡Ｅとカウンターウエイト２Ａとが、バランス（カウンターバランス）を維持し、操作者が保持装置から手を離した場合であっても、内視鏡Ｅを任意の位置に固定することができる。 7 to 9 are side views for explaining the operation of the arm 2 and the braking mechanism 3.
The operator attaches the endoscope E to the holding portion 2a. In the holding device 100, the endoscope E and the counterweight 2A held in the holding part 2a maintain a balance (counterbalance), and even when the operator releases the holding device, the endoscope E can be fixed at any position.
　第一ディスク４１の一部が第一ブレーキ４２に挟み込まれているため、第一アーム２１のベース１に対する回動は制動される。また、第二ディスク５１の一部が第二ブレーキ５２に挟み込まれているため、第二アーム２２の第一アーム２１に対する回動は制動される。その結果、先端アームの保持部２ａは配置された位置に保持される。内視鏡Ｅが外力を受け、カウンターバランスが維持されない場合であっても、受けた外力Ｆによる生じるモーメントに比べて、制動機構３（第一制動機構４および第二制動機構５）によるブレーキトルクが十分に大きく、内視鏡Ｅは配置された位置に好適に保持される。 Since a part of the first disc 41 is sandwiched by the first brake 42, the rotation of the first arm 21 with respect to the base 1 is braked. Further, since a part of the second disk 51 is sandwiched by the second brake 52, the rotation of the second arm 22 with respect to the first arm 21 is braked. As a result, the holding portion 2a of the tip arm is held at the position where it is arranged. Even when the endoscope E receives an external force and the counter balance is not maintained, the braking torque of the braking mechanism 3 (the first braking mechanism 4 and the second braking mechanism 5) is larger than the moment generated by the received external force F. Is sufficiently large, and the endoscope E is preferably held in the position where it is arranged.
　第一ブレーキ４２は、第一ディスク４１の回動中心である第一関節２５から離れた第一ディスク４１の円弧部分を外側から挟み込む位置に配置されているため、大きなブレーキトルクを生成することができる。第二ブレーキ５２も同様である。 The first brake 42 is arranged at a position sandwiching the arc portion of the first disc 41 away from the first joint 25, which is the center of rotation of the first disc 41, from the outside, and therefore a large brake torque can be generated. it can. The same applies to the second brake 52.
　操作者は、保持部２ａもしくは保持部２ａに連動する部分に所定以上の外力を加え、制動機構３によるブレーキトルクを超えるモーメントを発生させることで、保持部２ａに保持された内視鏡Ｅを異なる位置に移動させることができる。内視鏡Ｅを異なる位置に移動させるために所定以上の力が必要であるため、内視鏡Ｅの意図しない移動動作が発生しにくい。また、内視鏡Ｅを異なる位置に移動させる際の初動速度が制限されるため、操作者による操作ミスが発生しにくい。 The operator applies an external force of a predetermined amount or more to the holding portion 2a or a portion interlocking with the holding portion 2a to generate a moment that exceeds the brake torque by the braking mechanism 3, so that the endoscope E held in the holding portion 2a is moved. It can be moved to different positions. Since a force larger than a predetermined value is required to move the endoscope E to a different position, the unintended movement of the endoscope E is unlikely to occur. Further, since the initial moving speed when moving the endoscope E to a different position is limited, it is difficult for an operator to make an operation error.
　図８は、保持部２ａをベース１から遠ざける方向に移動させたアーム２および制動機構３の側面図である。第一アーム２１がベース１に対して回動し、第一ブレーキ４２が押圧する第一ディスク４１の位置が変更される。保持部２ａの移動後においても、平行リンク２０を構成する四本のアームにおいて対向するアームは平行に配置されている。 FIG. 8 is a side view of the arm 2 and the braking mechanism 3 in which the holding portion 2a has been moved away from the base 1. The first arm 21 rotates with respect to the base 1, and the position of the first disc 41 pressed by the first brake 42 is changed. Even after the holding portion 2a is moved, the opposing arms of the four arms forming the parallel link 20 are arranged in parallel.
　図９は、保持部２ａを下方向に移動させたアーム２および制動機構３の側面図である。第二アーム２２が第一アーム２１に対して回動し、第二ブレーキ５２が押圧する第二ディスク５１の位置が変更される。保持部２ａの移動後においても、平行リンク２０を構成する四本のアームにおいて対向するアームは平行に配置されている。 FIG. 9 is a side view of the arm 2 and the braking mechanism 3 in which the holding portion 2a is moved downward. The second arm 22 rotates with respect to the first arm 21, and the position of the second disc 51 pressed by the second brake 52 is changed. Even after the holding portion 2a is moved, the opposing arms of the four arms forming the parallel link 20 are arranged in parallel.
　図７から図９に示すように、保持部２ａを任意の位置に移動させた場合であっても、制動機構３（第一制動機構４および第二制動機構５）により、先端アームの保持部２ａは配置された位置に保持される。内視鏡Ｅが外力を受け、カウンターバランスが維持されない場合であっても、受けた外力Ｆによる生じるモーメントに比べて、制動機構３によるブレーキトルクが十分に大きく、内視鏡Ｅは配置された位置に好適に保持される。 As shown in FIGS. 7 to 9, even when the holding portion 2a is moved to an arbitrary position, the holding mechanism of the tip arm is held by the braking mechanism 3 (first braking mechanism 4 and second braking mechanism 5). 2a is held at the arranged position. Even when the endoscope E receives an external force and the counter balance is not maintained, the braking torque by the braking mechanism 3 is sufficiently larger than the moment generated by the received external force F, and the endoscope E is arranged. Suitably held in position.
　本実施形態の保持装置１００によれば、容易に医療機器を任意の位置に固定することが可能である。内視鏡Ｅ等の医療機器が外力を受け、カウンターバランスが維持されない場合であっても、医療機器は配置された位置に好適に保持される。 According to the holding device 100 of the present embodiment, it is possible to easily fix the medical device at any position. Even when the medical device such as the endoscope E receives an external force and the counter balance is not maintained, the medical device is preferably held at the arranged position.
　本実施形態の保持装置１００によれば、医療機器を任意の位置に固定する第一制動機構４と第二制動機構５が、第一関節２５付近にまとめて設けられており、調整部４８によるバネ４６の付勢力の調整などの制動機構３の管理が容易である。また、第一制動機構４と第二制動機構５とが位置する部分は、手術中における不潔域に位置してるため、看護師等が制動機構３の調整等を行うことが可能となる。 According to the holding device 100 of the present embodiment, the first braking mechanism 4 and the second braking mechanism 5 that fix the medical device at an arbitrary position are collectively provided in the vicinity of the first joint 25, and are adjusted by the adjusting unit 48. It is easy to manage the braking mechanism 3 such as adjusting the urging force of the spring 46. Further, since the portions where the first braking mechanism 4 and the second braking mechanism 5 are located are located in the unclean area during the operation, it becomes possible for a nurse or the like to adjust the braking mechanism 3 and the like.
　以上、本発明の第一実施形態について図面を参照して詳述したが、具体的な構成はこの実施形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。また、上述の第一実施形態および以下で示す変形例において示した構成要素は適宜に組み合わせて構成することが可能である。 As described above, the first embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and includes design changes and the like within a range not departing from the gist of the present invention. .. Further, the constituent elements shown in the above-described first embodiment and the modifications described below can be appropriately combined and configured.
（変形例１）
　例えば、上記実施形態では、第一ディスク４１および第二ディスク５１は、第一関節２５を回動中心として回動するように取り付けられていたが、第一ディスクおよび第二ディスクの態様はこれに限定されない。第一ディスクが第一平行アーム２３に取り付けられ、第二ディスクが第二平行アーム２４に取り付けられ、第一ディスクおよび第二ディスクは、第三関節２７を回動中心として回動するように取り付けられていてもよい。 (Modification 1)
For example, in the above-described embodiment, the first disc 41 and the second disc 51 are attached so as to rotate about the first joint 25, but the modes of the first disc and the second disc are not limited to this. Not limited. The first disc is attached to the first parallel arm 23, the second disc is attached to the second parallel arm 24, and the first disc and the second disc are attached so as to rotate about the third joint 27. It may be.
（第二実施形態）
　本発明の第二実施形態について、図１０および図１１を参照して説明する。以降の説明において、既に説明したものと共通する構成については、同一の符号を付して重複する説明を省略する。第二実施形態に係る保持装置１００Ｂは、第一実施形態に係る保持装置１００と比較して、第一ブレーキおよび第二ブレーキの構成が異なる。 (Second embodiment)
A second embodiment of the present invention will be described with reference to FIGS. 10 and 11. In the following description, the same components as those already described will be assigned the same reference numerals and overlapping description will be omitted. The holding device 100B according to the second embodiment is different from the holding device 100 according to the first embodiment in the configuration of the first brake and the second brake.
　第二実施形態に係る保持装置１００Ｂは、第一実施形態に係る保持装置１００と比較して、第一ブレーキ４２および第二ブレーキ５２の代わりに、第一ブレーキ４２Ｂおよび第二ブレーキ５２Ｂを備えている。第一ブレーキ４２Ｂと第二ブレーキ５２Ｂとは同じ構成であるため、以降において、第一ブレーキ４２Ｂのみを説明する。 The holding device 100B according to the second embodiment includes a first brake 42B and a second brake 52B instead of the first brake 42 and the second brake 52, as compared with the holding device 100 according to the first embodiment. There is. Since the first brake 42B and the second brake 52B have the same configuration, only the first brake 42B will be described below.
　図１０は、第一ブレーキ４２Ｂの断面図である。
　第一ブレーキ（第一制動部材）４２Ｂは、第一ブレーキパッド４３と、第二ブレーキパッド４４と、バネ（弾性部材）４６と、バネ４６を収容するケース４７Ｂと、を有している。第一ブレーキ４２は、第一ディスク４１の第一ディスク第一面４１ａと第一ディスク第二面４１ｂとを両面から挟み込み、第一ディスク４１が取り付けられた第一アーム２１の回動を制動する。 FIG. 10 is a sectional view of the first brake 42B.
The first brake (first braking member) 42B includes a first brake pad 43, a second brake pad 44, a spring (elastic member) 46, and a case 47B that houses the spring 46. The first brake 42 sandwiches the first disc first surface 41a and the first disc second surface 41b of the first disc 41 from both sides, and brakes the rotation of the first arm 21 to which the first disc 41 is attached. ..
　ケース４７Ｂは、バネ４６を収容する円筒形状のケースであって、長手方向の一方の端部にバネ４６の付勢力を調整する調整部４８Ｂを有する。 The case 47B is a cylindrical case that houses the spring 46, and has an adjusting portion 48B that adjusts the biasing force of the spring 46 at one end in the longitudinal direction.
　バネ４６の基端側の端部であるバネ基端部４６ｐは、ケース４７の内部空間Ｓにおける基端側の端部であるケース基端部４７Ｂｐに接している。 The spring base end portion 46p, which is the end portion on the base end side of the spring 46, is in contact with the case base end portion 47Bp, which is the end portion on the base end side in the internal space S of the case 47.
　調整部４８Ｂは、雄ネジ４８ａを有しており、ケース４７Ｂの内側面に形成された雌ネジとの螺合位置を調整することで、ケース基端部４７Ｂｐの長手方向における位置を調整できる。ケース基端部４７Ｂｐの位置を調整することで、ケース４７に収容されたバネ４６の伸縮方向の長さを調整して、バネ４６の付勢力を調整することができる。 The adjusting portion 48B has a male screw 48a, and the position in the longitudinal direction of the case base end portion 47Bp can be adjusted by adjusting the screwing position with the female screw formed on the inner surface of the case 47B. By adjusting the position of the case base end portion 47Bp, the length of the spring 46 housed in the case 47 in the expansion/contraction direction can be adjusted to adjust the urging force of the spring 46.
　調整部４８Ｂは、雄ネジ４８ａに形成された内部空間の内側面と螺合する内ネジ４８ｂを有し、内ネジ４８ｂは、雄ネジ４８ａの先端から突出可能である。雄ネジ４８ａと内ネジ４８ｂとはネジの進退方向が一致しており、雄ネジ４８ａと内ネジ４８ｂとは回転軸も一致している。 The adjusting portion 48B has an inner screw 48b that is screwed into the inner surface of the internal space formed in the male screw 48a, and the inner screw 48b can project from the tip of the male screw 48a. The male screw 48a and the inner screw 48b are in the same screw forward/backward direction, and the male screw 48a and the inner screw 48b are also in the same rotation axis.
　図１１は、第一ブレーキ４２Ｂの断面図である。
　調整部４８Ｂは、内ネジ４８ｂを雄ネジ４８ａの先端から突出させることで、ケース基端部４７Ｂｐの長手方向における位置を調整できる。 FIG. 11 is a sectional view of the first brake 42B.
The adjusting portion 48B can adjust the position of the case base end portion 47Bp in the longitudinal direction by projecting the inner screw 48b from the tip of the male screw 48a.
　本実施形態の保持装置１００Ｂによれば、雄ネジ４８ａと内ネジ４８ｂとにより、バネ４６の付勢力を2段階で調整することができる。例えば、製品出荷時は、雄ネジ４８ａによりバネ４６の付勢力を調整する。使用時において、操作者がバネ４６の付勢力を強化したい場合に、操作者が内ネジ４８ｂを調整してバネ４６の付勢力を強化する。雄ネジ４８ａにより一定のバネ４６の付勢力を維持できる機能を維持したうえで、内ネジ４８ｂを調整してバネ４６の付勢力を微調整することができる。 According to the holding device 100B of the present embodiment, the urging force of the spring 46 can be adjusted in two steps by the male screw 48a and the inner screw 48b. For example, when the product is shipped, the urging force of the spring 46 is adjusted by the male screw 48a. In use, when the operator wants to strengthen the biasing force of the spring 46, the operator adjusts the inner screw 48b to strengthen the biasing force of the spring 46. It is possible to finely adjust the biasing force of the spring 46 by adjusting the inner screw 48b while maintaining the function of maintaining a constant biasing force of the spring 46 with the male screw 48a.
　以上、本発明の第二実施形態について図面を参照して詳述したが、具体的な構成はこの実施形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。また、上述の第二実施形態、第一実施形態の変形例および以下に示す変形例において示した構成要素は適宜に組み合わせて構成することが可能である。 The second embodiment of the present invention has been described in detail above with reference to the drawings, but the specific configuration is not limited to this embodiment, and includes design changes and the like within the scope not departing from the gist of the present invention. .. Further, the constituent elements shown in the modified examples of the second embodiment and the first embodiment and the modified examples described below can be appropriately combined and configured.
（変形例２）
　例えば、第一ブレーキパッド４３によって第一ディスク４１に対する押圧力の調整をしてもよい。例えば第一ディスク４１の厚みを所定の場所ごとに変更することで第一ブレーキパッド４３による第一ディスク４１の押圧力を調整することができる。この押圧力の調整によって、操作者の力加減に応じて、第一関節２５を中心に第一アーム２１を回転させることができ、また、第一アーム２１の回転を停止させることもできる。
　ここで、第一アーム２１が術中に駆動される範囲を「駆動範囲」、駆動範囲と異なる範囲を「非駆動範囲」とする。「非駆動範囲」は、例えば運搬時等において第一アーム２１をコンパクトに収容する際において第一アーム２１が動作する範囲である。第一アーム２１が駆動範囲にて動作する場合と、非駆動範囲にて動作する場合とで、第一ブレーキパッド４３による第一ディスク４１の押圧力に差を設けてもよい。第一ディスク４１に対する第一ブレーキパッド４３による押圧力は、第一アーム２１が駆動範囲において動作する場合より非駆動範囲において動作する場合の方が高くなるように設定する。この場合、運搬時等において第一アーム２１が動作する範囲が非駆動範囲となった場合、操作者は第一関節２５を中心に第一アーム２１を回転させにくい。 (Modification 2)
For example, the pressing force on the first disc 41 may be adjusted by the first brake pad 43. For example, the pressing force of the first brake pad 43 on the first disc 41 can be adjusted by changing the thickness of the first disc 41 for each predetermined location. By adjusting the pressing force, the first arm 21 can be rotated about the first joint 25 according to the force of the operator, and the rotation of the first arm 21 can be stopped.
Here, a range in which the first arm 21 is driven intraoperatively is referred to as a “driving range”, and a range different from the driving range is referred to as a “non-driving range”. The “non-driving range” is a range in which the first arm 21 operates when the first arm 21 is compactly housed during transportation or the like. A difference may be provided in the pressing force of the first disc 41 by the first brake pad 43 depending on whether the first arm 21 operates in the drive range or the non-drive range. The pressing force of the first brake pad 43 against the first disc 41 is set to be higher when the first arm 21 operates in the non-driving range than when it operates in the driving range. In this case, when the range in which the first arm 21 operates becomes the non-driving range during transportation or the like, it is difficult for the operator to rotate the first arm 21 about the first joint 25.
（変形例３）
　また、第一ブレーキ４２と同様、第二ブレーキ５２においても第二ディスク５１に対する第二ブレーキパッド５３の押圧力の調整をしてもよい。例えば第二ディスク５１の厚みを所定の場所ごとに変更することで第二ブレーキパッド５３による第二ディスク５１の押圧力を調整することができる。
　ここで、第二アーム２２が術中に駆動される範囲を「駆動範囲」、駆動範囲と異なる範囲を「非駆動範囲」とする。「非駆動範囲」は、例えば運搬時等において第二アーム２２をコンパクトに収容する際において第二アーム２２が動作する範囲である。第二アーム２２が駆動範囲にて動作する場合と、非駆動範囲にて動作する場合とで、第二ブレーキパッド５３による第二ディスク５１の押圧力に差を設けてもよい。第二ディスク５１に対する第二ブレーキパッド５３による押圧力は、第二アーム２２が駆動範囲において動作する場合より非駆動範囲において動作する場合の方が高くなるように設定する。この場合、運搬時等において第二アーム２２が動作する範囲が非駆動範囲となった場合、操作者は第二関節２６を中心に第二アーム２２を回転させにくい。 (Modification 3)
Further, like the first brake 42, the second brake 52 may also adjust the pressing force of the second brake pad 53 against the second disc 51. For example, the pressing force of the second brake pad 53 against the second disc 51 can be adjusted by changing the thickness of the second disc 51 at each predetermined location.
Here, a range in which the second arm 22 is driven intraoperatively is referred to as a “driving range”, and a range different from the driving range is referred to as a “non-driving range”. The "non-driving range" is a range in which the second arm 22 operates when the second arm 22 is compactly housed during transportation or the like. A difference in the pressing force of the second disc 51 by the second brake pad 53 may be provided depending on whether the second arm 22 operates in the drive range or in the non-drive range. The pressing force of the second brake pad 53 against the second disk 51 is set to be higher when the second arm 22 operates in the non-driving range than when it operates in the driving range. In this case, when the range in which the second arm 22 operates is the non-driving range during transportation or the like, it is difficult for the operator to rotate the second arm 22 about the second joint 26.
　本発明は、自由度を有するアームを備えた保持装置に適用することができる。 The present invention can be applied to a holding device provided with an arm having a degree of freedom.
１００，１００Ｂ　保持装置
１　　　ベース
１１　　ローラ
１２　　ロック機構
２　　　アーム
２ａ　　保持部
２０　　平行リンク
２１　　第一アーム
２２　　第二アーム
２３　　第一平行アーム
２４　　第二平行アーム
２５　　第一関節
２６　　第二関節
２７　　第三関節
２８　　第四関節
２９　　先端アーム
２Ａ　　カウンターウエイト
３　　　制動機構
４　　　第一制動機構
４１　　第一ディスク
４１ａ　第一ディスク第一面
４１ｂ　第一ディスク第二面
４２，４２Ｂ　第一ブレーキ（第一制動部材）
４３　　第一ブレーキパッド
４４　　第二ブレーキパッド
４６　　バネ（弾性部材）
４６ｄ　バネ先端部
４６ｐ　バネ基端部
４７　　ケース
４７ｄ　ケース先端部
４７ｐ　ケース基端部
４８　　調整部
４９　　開口
５　　　第二制動機構
５１　　第二ディスク
５１ａ　第二ディスク第一面
５１ｂ　第二ディスク第二面
５２，５２Ｂ　第二ブレーキ（第二制動部材） 100,100B Holding device 1 Base 11 Roller 12 Lock mechanism 2 Arm 2a Holding part 20 Parallel link 21 First arm 22 Second arm 23 First parallel arm 24 Second parallel arm 25 First joint 26 Second joint 27 Third joint 28 4th joint 29 Tip arm 2A Counterweight 3 Braking mechanism 4 1st braking mechanism 41 1st disc 41a 1st disc 1st surface 41b 1st disc 2nd surface 42, 42B 1st brake (1st braking member)
43 first brake pad 44 second brake pad 46 spring (elastic member)
46d spring tip part 46p spring base end part 47 case 47d case tip part 47p case base end part 48 adjusting part 49 opening 5 second braking mechanism 51 second disc 51a second disc first face 51b second disc second face 52, 52B Second brake (second braking member)

Claims (11)

  1. 　医療器具を保持する保持装置において、
    　先端から基端へ細長く延出する第一アームと、前記第一アームと平行に配置された第一平行アームと、前記第一アームの前記先端側に接続する第二アームと、前記第二アームと平行に配置された第二平行アームと、前記第一アームと前記第二平行アームとを回動可能に接続する第一関節と、前記第一アームと前記第二アームとを接続する第二関節と、前記第一平行アームと前記第二平行アームとを回動可能に接続する第三関節と、前記第一平行アームと前記第二アームとを回動可能に接続する第四関節と、を有する平行リンクと、
    　前記第一アームに取り付けられて、前記第一関節に対して回転する第一回転部材と、
    　前記第一回転部材の回転に対して前記第一回転部材を挟み込むようにして押圧力を付加する第一押圧部材と、を備える
    　保持装置。     In a holding device for holding a medical device,
    A first arm extending from the tip to the base end in an elongated shape, a first parallel arm arranged in parallel with the first arm, a second arm connected to the tip side of the first arm, and the second arm. A second parallel arm arranged in parallel with the first arm, a first joint rotatably connecting the first arm and the second parallel arm, and a second joint connecting the first arm and the second arm. A joint, a third joint that rotatably connects the first parallel arm and the second parallel arm, and a fourth joint that rotatably connects the first parallel arm and the second arm, Parallel links with
    A first rotating member attached to the first arm and rotating with respect to the first joint;
    A first pressing member that applies a pressing force so as to sandwich the first rotating member with respect to the rotation of the first rotating member.
  2. 　前記第一回転部材は前記第一アームに取り付けられた第一ディスクであって、前記第一押圧部材は前記第一ディスクを押圧する第一ブレーキである、
    　請求項１に記載の保持装置。     The first rotating member is a first disc attached to the first arm, and the first pressing member is a first brake that presses the first disc,
    The holding device according to claim 1.
  3. 　前記第二平行アームに取り付けられた第二ディスクと、前記第二ディスクを押圧する第二ブレーキとをさらに備える請求項２に記載の保持装置。 The holding device according to claim 2, further comprising a second disc attached to the second parallel arm, and a second brake that presses the second disc.
  4. 　前記第一関節と、前記第二関節と、前記第三関節と、前記第四関節と、は各回転軸が平行であり、
    　前記第一関節の回転軸の方向から見て、前記第一ディスクと前記第二ディスクとは重なる位置に配置される、
    　請求項３に記載の保持装置。     The first joint, the second joint, the third joint, and the fourth joint have respective rotation axes parallel to each other,
    The first disc and the second disc are arranged at a position where they overlap each other when viewed from the direction of the rotation axis of the first joint.
    The holding device according to claim 3.
  5. 　前記第一ブレーキおよび前記第二ブレーキは、弾性部材と、本体と、第一ブレーキパッドと、第二ブレーキパッドと、を有し、
    　前記弾性部材は、前記本体の内部空間に縮んだ状態で収容されており、
    　前記弾性部材の先端部は、前記第一ブレーキパッドに接しており、
    　前記弾性部材の基端部は、前記本体の前記内部空間における基端部に接しており、
    　前記前記本体の前記内部空間における先端部は、前記第二ブレーキパッドに接しており、
    　前記第一ブレーキパッドと前記第二ブレーキパッドとは、対応する前記第一ディスクと前記第二ディスクのいずれかを、板厚方向の両面から挟み込む、
    　請求項３または請求項４に記載の保持装置。     The first brake and the second brake have an elastic member, a main body, a first brake pad, and a second brake pad,
    The elastic member is accommodated in the internal space of the main body in a contracted state,
    The tip of the elastic member is in contact with the first brake pad,
    The base end of the elastic member is in contact with the base end of the internal space of the main body,
    The tip of the main body in the internal space is in contact with the second brake pad,
    The first brake pad and the second brake pad sandwich one of the corresponding first disc and the second disc from both sides in the plate thickness direction,
    The holding device according to claim 3 or 4.
  6. 　前記本体は、前記内部空間における前記弾性部材を収容する伸縮方向の長さを調整する調整部を有する、
    　請求項５に記載の保持装置。     The main body has an adjusting portion that adjusts a length in an expansion and contraction direction that accommodates the elastic member in the internal space,
    The holding device according to claim 5.
  7. 　前記調整部は、前記本体の前記内部空間の内側面と螺合するネジで構成される、
    　請求項６に記載の保持装置。     The adjustment unit is configured by a screw that is screwed with an inner surface of the internal space of the main body,
    The holding device according to claim 6.
  8. 　前記ネジは、前記内部空間の内側面と螺合する内ネジを有し、
    　前記内ネジは、前記ネジの先端から突出可能である、
    　請求項７に記載の保持装置。     The screw has an inner screw that is screwed into an inner surface of the inner space,
    The inner screw can protrude from the tip of the screw,
    The holding device according to claim 7.
  9. 　前記第一押圧部材は、前記第一アームが駆動する駆動範囲と前記駆動範囲と異なる非駆動範囲とで前記第一回転部材に対する押圧力が異なり、前記非駆動範囲における前記第一押圧部材の押圧力は、前記駆動範囲における前記第一押圧部材の押圧力よりも大きい
    　請求項１に記載の保持装置。     The first pressing member has different pressing forces on the first rotating member between a driving range in which the first arm is driven and a non-driving range different from the driving range, and the pressing force of the first pressing member in the non-driving range is different. The holding device according to claim 1, wherein the pressure is larger than the pressing force of the first pressing member in the drive range.
  10. 　前記第二ブレーキは、前記第二アームが駆動する駆動範囲と前記駆動範囲と異なる非駆動範囲とで前記第二ディスクに対する押圧力が異なり、前記非駆動範囲における前記第二ブレーキの押圧力は、前記駆動範囲における前記第二ブレーキの押圧力よりも大きい
    　請求項３に記載の保持装置。     The second brake, the pressing force on the second disk is different in the drive range in which the second arm is driven and the non-drive range different from the drive range, the pressing force of the second brake in the non-drive range, The holding device according to claim 3, wherein the holding force is larger than the pressing force of the second brake in the drive range.
  11. 　前記第一押圧部材は、前記第一アームを前記第一関節により回動可能に支持するベースに設けられている
    　請求項１に記載の保持装置。     The holding device according to claim 1, wherein the first pressing member is provided on a base that rotatably supports the first arm by the first joint.
PCT/JP2018/044990 2018-12-06 2018-12-06 Retaining device WO2020115879A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07227398A (en) * 1993-12-22 1995-08-29 Olympus Optical Co Ltd Operational tool supporting apparatus
JP2001025472A (en) * 1999-05-12 2001-01-30 Olympus Optical Co Ltd Supporting device for medical optical instrument

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07227398A (en) * 1993-12-22 1995-08-29 Olympus Optical Co Ltd Operational tool supporting apparatus
JP2001025472A (en) * 1999-05-12 2001-01-30 Olympus Optical Co Ltd Supporting device for medical optical instrument

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