WO2021049345A1 - 術具、手術支援システム、並びに手術用操作ユニット - Google Patents

術具、手術支援システム、並びに手術用操作ユニット Download PDF

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Publication number
WO2021049345A1
WO2021049345A1 PCT/JP2020/032851 JP2020032851W WO2021049345A1 WO 2021049345 A1 WO2021049345 A1 WO 2021049345A1 JP 2020032851 W JP2020032851 W JP 2020032851W WO 2021049345 A1 WO2021049345 A1 WO 2021049345A1
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WO
WIPO (PCT)
Prior art keywords
unit
axis
surgical tool
shaft
around
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2020/032851
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English (en)
French (fr)
Japanese (ja)
Inventor
和仁 若菜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Corp
Original Assignee
Sony Corp
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Filing date
Publication date
Application filed by Sony Corp filed Critical Sony Corp
Priority to DE112020004335.5T priority Critical patent/DE112020004335T5/de
Priority to JP2021545222A priority patent/JPWO2021049345A1/ja
Priority to US17/753,530 priority patent/US12232839B2/en
Priority to CN202080062525.1A priority patent/CN114340519B/zh
Publication of WO2021049345A1 publication Critical patent/WO2021049345A1/ja
Anticipated expiration legal-status Critical
Priority to JP2025083873A priority patent/JP2025113363A/ja
Ceased legal-status Critical Current

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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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Definitions

  • the techniques disclosed in this specification relate to, for example, surgical tools applied to surgical robots, surgical support systems, and surgical operation units.
  • the surgical tool attached to the slave device is equipped with an end effector that has an opening / closing mechanism such as forceps at the tip.
  • an opening / closing mechanism such as forceps at the tip.
  • the tip has a large number of degrees of freedom, a small diameter, a small size, and a light weight.
  • the tip of the surgical instrument has a total of 3 degrees of freedom, 2 degrees of freedom for rotation and 2 degrees of freedom for opening and closing.
  • a drive method using a cable is often applied to operate the tip of the surgical instrument (see, for example, Patent Documents 2 to 4).
  • JP-A-2019-34002 Japanese Unexamined Patent Publication No. 09-542671 Special Table 2018-534100 Special Table 2019-501699 WO2018 / 163680
  • An object of the technique according to the present disclosure is to provide a surgical tool applied to a surgical robot, a surgical support system, and a surgical operation unit, which have an openable and closable end effector such as forceps and are compact and lightweight. To do.
  • the first aspect of the technology according to the present disclosure is With the shaft A pitch unit rotatably connected to the tip of the shaft around the first axis, A roll unit rotatably supported around the second axis with respect to the pitch unit, and A gripping unit supported so as to be linearly movable in the second axial direction with respect to the roll unit, It is a surgical tool equipped with.
  • the surgical tool according to the first side surface is attached to the lower end of the roll unit in the second axial direction, and further includes a pair of jaws that open and close in conjunction with the linear motion of the grip unit in the second axial direction. Be prepared.
  • the gripping unit linearly moves in the second axial direction by the traction force of the first reciprocating cable set generated when the first motor rotates the first drive capstan, and the linear motion is carried out.
  • the pair of jaws open and close in conjunction with each other. Further, the roll unit rotates around the second axis by the traction force of the second reciprocating cable set generated when the second motor rotates the second drive capstan.
  • either the first reciprocating cable set or the second reciprocating cable set is set along the length of the shaft. It is pulled in the axial direction, whereby the pitch unit swivels around the first axis.
  • the second aspect of the technology according to the present disclosure is It is equipped with a surgical tool and an arm to which the surgical tool is attached.
  • the surgical tool With the shaft A pitch unit rotatably connected to the tip of the shaft around the first axis, A roll unit rotatably supported around the second axis with respect to the pitch unit, and A gripping unit supported so as to be linearly movable in the second axial direction with respect to the roll unit, It is a surgical support system equipped with.
  • the third aspect of the technology according to the present disclosure is It is provided with a surgical tool and a handle portion to which the surgical tool is attached.
  • the surgical tool With the shaft A pitch unit rotatably connected to the tip of the shaft around the first axis, A roll unit rotatably supported around the second axis with respect to the pitch unit, and A gripping unit supported so as to be linearly movable in the second axial direction with respect to the roll unit, It is a surgical operation unit equipped with.
  • a surgical tool applied to a surgical robot, a surgical support system, and surgery which have an openable and closable end effector such as forceps and realizes a reduction in the number of parts and a diameter. Operational units can be provided.
  • FIG. 1 is a diagram showing an example of an external configuration of the surgical instrument unit 100.
  • FIG. 2 is a diagram showing an example of an external configuration of the surgical instrument unit 100.
  • FIG. 3 is a six-view view of the surgical instrument unit 100.
  • FIG. 4 is an enlarged view of the tip portion 101 of the surgical instrument unit.
  • FIG. 5 is an enlarged view of the tip portion 101 of the surgical instrument unit.
  • FIG. 6 is an exploded view of the tip portion 101 of the surgical instrument unit.
  • FIG. 7 is an enlarged view of the tip portion 101 of the surgical instrument unit (however, the pitch unit 401 and the shaft 102 are drawn transparently).
  • FIG. 8 is a six-view view of the tip portion 101 of the surgical instrument unit.
  • FIG. 4 is an enlarged view of the tip portion 101 of the surgical instrument unit.
  • FIG. 5 is an enlarged view of the tip portion 101 of the surgical instrument unit.
  • FIG. 6 is an exploded view of the tip portion 101 of the surgical instrument unit.
  • FIG. 9 is a diagram showing a roll unit 402, a gripping unit, a rod 404, and a pair of jaws 405a and 405b.
  • FIG. 10 is a view showing a cross section of a roll unit 402, a gripping unit, a rod 404, and a pair of jaws 405a and 405b.
  • FIG. 11 is an enlarged cross-sectional view of the lower end of the rod 404 and a pair of jaws 405a and 405b.
  • FIG. 12 is an enlarged view of the vicinity of the first axis of the surgical instrument unit tip 101.
  • FIG. 13 is a diagram showing a mechanism in which the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403.
  • FIG. 10 is a view showing a cross section of a roll unit 402, a gripping unit, a rod 404, and a pair of jaws 405a and 405b.
  • FIG. 11 is an enlarged cross-sectional view of
  • FIG. 14 is a diagram showing a mechanism in which the second reciprocating cable sets C2a and c2b are fixed to the roll unit 402.
  • FIG. 15 is a diagram showing an example of arrangement of actuators in the surgical instrument unit drive unit 103.
  • FIG. 16 is a diagram showing how the jaws 405a and 405b open and close.
  • FIG. 17 is a diagram showing how the jaws 405a and 405b open and close.
  • FIG. 18 is a diagram showing how the jaws 405a and 405b open and close.
  • FIG. 19 is a diagram showing how the roll unit 402 rotates about the second axis.
  • FIG. 20 is a diagram showing how the roll unit 402 rotates about the second axis.
  • FIG. 20 is a diagram showing how the roll unit 402 rotates about the second axis.
  • FIG. 21 is a diagram showing how the roll unit 402 rotates about the second axis.
  • FIG. 22 is a diagram showing how the roll unit 402 rotates around the second axis.
  • FIG. 23 is a diagram showing how the roll unit 402 rotates around the second axis.
  • FIG. 24 is a diagram showing how the pitch unit 401 swivels around the first axis.
  • FIG. 25 is a diagram showing how the pitch unit 401 swivels around the first axis.
  • FIG. 26 is a diagram showing how the pitch unit 401 swivels around the first axis.
  • FIG. 27 is a diagram showing how the pitch unit 401 swivels around the first axis.
  • FIG. 28 is a diagram showing how the pitch unit 401 swivels around the first axis.
  • FIG. 29 is a diagram showing a state in which three axes are simultaneously driven at the tip portion 101 of the surgical instrument unit.
  • FIG. 30 is a diagram showing a state in which three axes are simultaneously driven at the tip portion 101 of the surgical instrument unit.
  • FIG. 31 is a diagram showing a state in which three axes are simultaneously driven at the tip portion 101 of the surgical instrument unit.
  • FIG. 32 is a diagram showing an operation example in which the pitch unit 401 turns around the first axis.
  • FIG. 33 is a diagram showing an operation example in which the roll unit 402 rotates about the second axis.
  • FIG. 34 is a diagram showing an example of gripping operation of the jaws 405a and 405b.
  • FIG. 35 is a diagram showing an example of a jaw turning operation.
  • FIG. 36 is a diagram showing an example of a jaw turning operation.
  • FIG. 37 is a view showing a cross section of the roll unit 3700 according to the modified example.
  • FIG. 38 is a diagram showing a cross-sectional configuration example of the roll unit 3700 to which the FBG sensor is applied.
  • FIG. 39 is a diagram showing an example of an external configuration of a surgical robot 3900 using a surgical instrument unit.
  • FIG. 40 is a diagram showing an example of an external configuration of the operation unit 4000.
  • the surgical tool applied to the surgical robot has a total of 3 degrees of freedom, 2 degrees of freedom for rotation and 2 degrees of freedom for opening and closing at the tip.
  • a type of surgical tool including an openable and closable end effector composed of a pair of jaws, a wrist that supports the end effector, and a shaft that has a longitudinal axis and connects the wrist to the tip.
  • This type of surgical tool has a first axis that swivels the wrist around the tip of the shaft, for example, around the yaw axis, a second axis that swivels the end effector with respect to the wrist, for example, around the pitch axis, and a jaw. It has a degree of freedom configuration of a third axis (opening / closing axis) for opening / closing operation (see, for example, Patent Documents 2 to 4). In the case of such a degree of freedom configuration, the range of motion of each link is limited, so that the operation of both the first axis and the second axis is limited to about ⁇ 90 degrees.
  • a configuration including a first axis that turns around the yaw axis and a second axis that turns the direction of the end effector with respect to the wrist, for example, around the pitch axis is suitable.
  • a surgical tool unit having a total of 3 degrees of freedom of rotation 2 degrees of freedom and opening / closing degrees of freedom at the tip and realizing a wide range of motion is proposed below.
  • the surgical instrument unit according to the present disclosure is assumed to be used for surgery on or near the body surface, for example, but one purpose is to realize a wide range of motion.
  • the surgical instrument unit includes a shaft having a longitudinal axis, a pitch unit, a roll unit, and a gripping unit.
  • the shaft supports the pitch unit at its tip so as to be able to swivel around the first axis parallel to the pitch axis.
  • the pitch unit rotatably supports the roll unit about a second axis parallel to the roll axis.
  • the roll unit may support a gripping unit having a pair of jaws that can be opened and closed. Therefore, in the surgical tool unit according to the present disclosure, the degree of freedom of rotation in which the pitch unit rotates around the first axis with respect to the tip of the shaft, and the roll unit instructed by the pitch unit rotates about the second axis. It has three degrees of freedom consisting of a degree of freedom of rotation and a degree of freedom of opening and closing a pair of jaws.
  • the surgical instrument unit according to the present disclosure has a range of motion of ⁇ 80 degrees around the first axis of the pitch unit and ⁇ 140 to 150 degrees around the second axis of the roll unit, for example, the body surface or It can be said that the range of motion is wide enough when used for surgery near the body surface.
  • the maximum opening / closing angle of the pair of jaws is, for example, 20 degrees.
  • the traction force of the cable is used to drive the pitch unit, the roll unit, and the gripping unit (or jaw). That is, the power of each actuator arranged on the root side (proximal end side) of the shaft is transmitted to the pitch unit, the roll unit, and the gripping unit on the tip side (distal end side) by using a cable.
  • a capstan for applying power to the cable or converting the force from the cable into an axial force, adjusting the layout of the cable in the shaft, and applying a certain tension to the cable.
  • Multiple pulleys may be used, such as idler pulleys used for purposes.
  • FIGS. 1 and 2 show an external configuration example of the surgical instrument unit according to the present disclosure. Further, FIG. 3 shows a six-view view of the surgical instrument unit.
  • the illustrated surgical tool unit 100 includes a hollow shaft 102 having a longitudinal axis, a surgical tool unit tip 101 at one end of the shaft 102, and a surgical tool unit driving unit 103 at the other end of the shaft 102.
  • FIG. 1 shows a perspective view of the surgical tool unit 100
  • FIG. 2 shows a transparent shaft 102 and a surgical tool unit driving unit 103 to visualize the inside.
  • the surgical tool unit tip 101 is rotatably supported by a pitch unit that can rotate around the first axis parallel to the pitch axis with respect to the shaft 102 and a second axis parallel to the roll axis by the pitch unit. It includes a roll unit and a gripping unit supported by the roll unit.
  • the gripping unit includes a pair of jaws that can be opened and closed. However, the second axis is arranged at a position offset from the first axis.
  • Each movable part of the surgical tool unit tip 101 is driven by the traction force of the cable.
  • an actuator for towing each cable is arranged in the surgical instrument unit drive unit 103.
  • an electromagnetic rotary motor is used as the actuator.
  • a plurality of cables for driving the pitch unit, the roll unit, and the gripping unit of the surgical instrument unit tip 101 are inserted through the shaft 102.
  • the surgical instrument unit drive unit 101 is provided with three motors for towing a cable for driving each of the pitch unit, the roll unit, and the gripping unit.
  • FIG. 4 and 5 show the tip 101 of the surgical instrument unit in an enlarged manner (however, the viewing direction is switched between FIGS. 4 and 5).
  • FIG. 6 shows an exploded view of the tip portion 101 of the surgical instrument unit.
  • the surgical instrument unit tip 101 includes a pitch unit 401, a roll unit 402, a gripping unit 403, a rod 404, and a pair of jaws 405a and 405b attached to the lower end of the rod 404. It includes a first reciprocating cable set C1a and C1b and a second reciprocating cable set C2a and C2b.
  • FIG. 7 makes the pitch unit 401 and the shaft 102 transparent, and visualizes the layout of each cable in the vicinity of the tip portion 101 of the surgical instrument unit.
  • FIG. 8 shows a six-view view of the tip portion 101 of the surgical instrument unit.
  • the first reciprocating cable sets C1a and C1b and the actuators for towing the second reciprocating cable sets C2a and C2b are arranged in the surgical instrument unit drive unit 103. Details of this point. Will be described later.
  • the pitch unit 401 is supported near the tip of the shaft 102 so as to be able to turn around the first axis parallel to the pitch axis.
  • the pitch unit 401 has the shape of a hollow cylinder having a second axis parallel to the roll axis as the center of rotation.
  • the roll unit 402 is inserted into the hollow cylinder of the pitch unit 401, and as a result, the roll unit 402 is supported by the pitch unit 401 so as to be rotatable about the second axis.
  • the roll unit 402 rotates around the second axis by the traction force of the second reciprocating cable sets C2a and C2b, and the details of this point will be described later.
  • a rail for restricting the movement of the gripping unit 403 is formed on the rear rear surface of the roll unit 402 in the direction of the second axis. Therefore, the gripping unit 403 can move along the rail in the direction of the second axis (or in the vertical direction) within a predetermined range.
  • the gripping unit 403 moves in the second axial direction by the traction force of the first reciprocating cable sets C1a and C1b, and details of this point will be described later.
  • FIG. 9 shows the roll unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b taken out from the tip portion 101 of the surgical instrument unit.
  • FIG. 10 shows a cross-sectional view of the roll unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b, which are orthogonal to the first axis and cut in a plane including the second axis.
  • the roll unit 402 has a through hole penetrating in the direction of the second axis, and the rod 404 is inserted through this through hole.
  • the upper end of the rod 404 is supported by the gripping unit 403 so that it can rotate via a bearing.
  • the bearing has a structure that supports a load applied in the second axial direction, and the rod 404 can rotate about the second axis with respect to the gripping unit 403, but with respect to the gripping unit 403 in the second axial direction. It shall not move relative to each other. Therefore, when the gripping unit 403 moves linearly with respect to the roll unit 402 in the direction of the second axis, the rod 404 also moves linearly with the gripping unit 403 in the direction of the second axis.
  • FIG. 11 shows an enlarged cross-sectional view of the lower end of the rod 404 and a pair of jaws 405a and 405b.
  • the jaws 405a and jaws 405b have shapes that are substantially symmetrical with respect to the second axis. Both the jaw 405a and the jaw 405b can rotate around the opening / closing shaft 1101 formed at the tip of the roll unit 402. Further, the jaws 405a and the jaws 405b are respectively provided with elongated hole grooves 1102 behind the opening / closing shaft 1101. A pin 1103 projecting from the tip of the rod 404 is inserted into each of the elongated hole grooves 1102 of the jaw 405a and the jaw 405b.
  • the longitudinal axes of the elongated hole grooves 1102 of the jaws 405a and the jaws 405b are inclined in opposite directions with respect to the second axis, and the wall surface of each longitudinal groove 1102 makes a linear motion in the second axial direction the jaws 405a and the jaws. It constitutes a cam that converts the motion in the opening / closing direction of 405b.
  • the rod 404 moves linearly with respect to the roll unit 402 together with the gripping unit 403 in the direction of the second axis.
  • the pin 1103, together with the rod 404 reciprocates in the direction of the second axis (that is, in the vertical direction of the paper surface). Since the pin 1103 reciprocates so as to slide in each of the long groove holes 1102, each long groove hole 1102 needs to intersect the rod 404 (or the second axis) at the current position of the pin 1103. Further, the longitudinal axes of the elongated hole grooves 1102 of the jaws 405a and the jaws 405b are inclined in opposite directions with respect to the second axis, and the wall surfaces of the elongated hole grooves 1102 form a cam.
  • the jaws 405a and the jaws 405b rotate in opposite directions around the opening / closing shaft 1101 in response to the linear motion of the pin 1103 in the second axial direction.
  • This is a mechanism in which the jaw 405a and the jaw 405b are opened and closed by the linear motion of the rod 404 in the direction of the second axis.
  • the opening / closing structure of the jaw 405a and the jaw 405b is not limited to this, and the opening / closing operation of the jaw 405a and the jaw 405b is realized by the linear motion of the rod 404 in the direction of the second axis by using another mechanism. You may do it.
  • the surgical instrument unit 100 includes a first reciprocating cable set C1a and C1b and a second reciprocating cable set C2a and C2b.
  • the first reciprocating cable sets C1a and C1b and the actuators for towing the second reciprocating cable sets C2a and C2b are arranged in the surgical instrument unit drive unit 103. I will give it to you later.
  • FIG. 12 shows an enlarged portion of the tip portion 101 of the surgical instrument unit through which the first reciprocating cable sets C1a and C1b near the first axis and the second reciprocating cable sets C2a and C2b pass.
  • FIG. 13 shows a mechanism in which the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403.
  • FIG. 14 shows a mechanism in which the second reciprocating cable sets C2a and c2b are fixed to the roll unit 402.
  • the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403 at the cable connection portion 1301 provided on the gripping unit 403.
  • the first reciprocating cable sets C1a and C1b are wound around a gripping pulley GP rotatably supported on the back surface of the pitch unit 401 from opposite directions. , It is laid out so as to draw a U shape and fold it back.
  • the cable C1a on the first outbound route is pulled in the direction of the second axis, but the direction orthogonal to the first axis by the first idler pulley IP11a having the first axis as the rotation axis.
  • the layout inside the shaft 102 is adjusted so that the shaft 102 is inserted by the first adjacent idler pulley IP12a which is adjacent to the first idler pulley IP11a and has a rotation axis parallel to the first axis. Will be done.
  • the cable C1b on the first return path is towed in the direction of the second axis, but is changed in the direction orthogonal to the first axis by the first idler pulley IP11b having the first axis as the rotation axis. Further, the layout is adjusted so that the inside of the shaft 102 is inserted by the first adjacent idler pulley IP12b which is adjacent to the first idler pulley IP11b and has a rotation axis parallel to the first axis.
  • the first reciprocating cable sets C1a and C1b are pulled through the shaft 102 and then pulled by the actuator arranged in the surgical instrument unit drive unit 103.
  • the first reciprocating cable sets C1a and C1b are driven by a single motor (first motor M1) by a cable loop method, but the details will be described later.
  • first motor M1 first motor M1
  • the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403 at the cable connection point 1301 (described above). Therefore, when the first outbound cable C1a is towed, the gripping unit 403 rises in the direction of the second axis along the rail (described above) on the back surface of the pitch unit 401. Further, when the cable C1b on the first return path is towed, the gripping unit 403 descends in the direction of the second axis.
  • the rod 404 is supported by the gripping unit 403 at its tip (described above), and reciprocates in the direction of the second axis together with the gripping unit 403, whereby the degree of freedom of opening and closing of the jaw 405a and the jaw 405b is realized.
  • the roll unit 402 is provided with a roll capstan RC near the middle in the second axial direction.
  • the second outbound cable C2a and the second inbound cable C2b are wound around the roll capstan RC from opposite directions and fixed to the roll unit 402 at their ends. ..
  • the second outward cable C2a and the second return cable C2b are wound around the roll capstan RC so as to overlap each other by about 180 degrees around the second axis, whereby the roll unit 402 A range of motion of ⁇ 150 degrees around the second axis is realized.
  • pins are projected on the pitch unit 401 in the vicinity where the second outward cable C2a and the second return cable C2b pass.
  • the height of each pin in the second axis direction is almost the same.
  • the second outward cable C2a passes above the pin and is then wound around the roll capstan RC, and the second return cable C2b is passed below the pin and then wound around the roll capstan RC. .. Therefore, the cable C2a on the second outbound route and the cable C2b on the second inbound route are separated from each other in the height direction of the second axis so as not to come into contact with each other, and overlap with each other by about 180 degrees around the second axis. It is wrapped around a roll capstan RC (see FIG. 14). As a result, when the roll unit 402 is driven about ⁇ 150 degrees around the second axis, the second outbound cable C2a and the second inbound cable C2b are not entangled.
  • the cable C2a on the second outbound route is towed in a direction orthogonal to the second axis, but is orthogonal to the first axis by the second idler pulley IP21a having the first axis as the rotation axis.
  • the layout is adjusted so that the shaft 102 is inserted by the second adjacent idler pulley IP22a which is adjacent to the second idler pulley IP21a and has a rotation axis parallel to the first axis.
  • the cable C2b on the second return path is towed in a direction orthogonal to the second axis, but is changed in a direction orthogonal to the first axis by the second idler pulley IP21b having the first axis as the rotation axis.
  • the layout is further adjusted so that the shaft 102 is inserted by the second adjacent idler pulley IP22b which is adjacent to the second idler pulley IP21b and has a rotation axis parallel to the first axis.
  • the second reciprocating cable sets C2a and C2b are pulled through the shaft 102 and then pulled by the actuator arranged in the surgical instrument unit drive unit 103.
  • the second reciprocating cable sets C2a and C2b are driven by a single motor (second motor M2) by a cable loop method, but the details will be described later.
  • second motor M2 single motor
  • the second outbound cable C2a and the second inbound cable C2b are wound around the roll unit 402 from opposite directions (described above). Therefore, when the second outbound cable C2a is towed, the roll unit 402 can be rotated forward around the second axis. Further, when the cable C2b on the second return path is towed, the roll unit 402 can be inverted around the second axis. As a result, the degree of freedom of rotation around the second axis of the tip portion 101 of the surgical tool unit is realized.
  • the idler pulleys IP11a, IP11b, IP21a, and IP21b all have the first axis as the rotation axis. Further, the adjacent idler pulleys IP12a, IP12b, IP22a, and IP22b are all parallel to the first axis and have the same rotation axis. Then, in the shaft 102, the layout is arranged by the above idler pulleys so that the first reciprocating cable sets C1a and C1b pass through the upper side and the second reciprocating cable sets C2a and C2b pass through the lower side. It has been adjusted.
  • the second reciprocating cable sets C2a and C2b are in the direction in which the first reciprocating cable sets C1a and C1b are wound around the idler pulleys IP11a and IP11b. Is wound around the idler pulleys IP21a and IP21b from the opposite direction. Therefore, when the first reciprocating cable sets C1a and C1b are towed (or when the shaft 102 is retracted in the longitudinal axis direction) and when the second reciprocating cable sets C2a and C2b are retracted. , A rotational force in the opposite direction is applied to the pitch unit 401 around the first axis.
  • the pitch unit 401 can be swiveled around the first axis. , The degree of freedom of rotation around the second axis of the tip portion 101 of the surgical tool unit is realized.
  • FIG. 15 illustrates an example of arrangement of actuators in the surgical instrument unit drive unit 103 and a method of pulling a cable by each actuator.
  • a first motor M1, a second motor M2, and a third motor M3 are provided. Further, the first to third motor capstans MC1, MC2, and MC3 as drive capstans are attached to the output shafts of the first to third motors M1 to M3, respectively.
  • a rotary motor is used for each of the first to third motors M1 to M3, but a motor with a speed reducer may be used. It is best to use an electromagnetic rotary motor as the first to third motors M1 to M3. However, it is possible to replace it with another type of actuator that can rotate the drive capstan.
  • the first reciprocating cable sets C1a and C1b are wound around the first motor capstan MC1 via the idler pulleys IP13a and IP13b.
  • the first motor M1 can rotate the first motor capstan MC1 in the forward direction to apply a traction force to the cable set C1a on the first outbound route.
  • the gripping unit 403 rises with respect to the pitch unit 401 and the roll unit 402
  • the rod 404 also rises in the second axial direction, and the operation of closing the jaw 405a and the jaw 405b can be realized.
  • the gripping unit 403 is the pitch unit 401 and the roll unit 402. Since the rod 404 also descends in the second axial direction, the operation of opening the jaw 405a and the jaw 405b can be realized. In short, the first motor M1 has a role of opening and closing the jaws 405a and the jaws 405b.
  • 16 to 18 show how the jaws 405a and 405b open and close.
  • the first motor M1 rotates the first motor capstan MC1 to the maximum in the positive direction, and the traction force of the cable C1a on the first outbound route maximizes the gripping unit 403 and the rod 404.
  • the jaws 405a and 405b are closed.
  • the gripping unit 403 and the rod 404 are slightly lowered, and the opening angles of the jaws 405a and 405b are 10 degrees. Further, in the example shown in FIG.
  • the first motor M1 rotates the first motor capstan MC1 to the maximum in the negative direction, and the traction force of the cable C1b on the first return path causes the gripping unit 403 and the rod 404 to be rotated.
  • the opening angles of the jaws 405a and 405b are 20 degrees.
  • the second reciprocating cable sets C2a and C2b are wound around the second motor capstan MC2 via the idler pulleys IP23a and IP23b. Therefore, when the second motor M2 rotates the second motor capstan MC2 in the forward direction and applies a traction force to the second reciprocating cable set C2a, the roll unit 402 rotates forward around the second axis. Can be made to. Further, when the second motor M2 rotates the second motor capstan MC2 in the negative direction and applies a traction force to the second reciprocating cable set C2a, the roll unit 402 rotates in the reverse direction around the second axis. Can be made to. In short, the second motor M2 has a role of rotating the roll unit 402 around the second axis parallel to the roll axis.
  • 19 to 23 show how the roll unit 402 rotates around the second axis.
  • the second motor M2 rotates the second motor capstan MC2 to the maximum in the positive direction, and the traction force of the second outward cable C2a causes the roll unit 402 to rotate around the second axis. It is rotated forward by 150 degrees.
  • the second motor M2 gradually rotates the second motor capstan MC2 in the negative direction, and the traction force of the cable C2b on the second return path causes the second shaft of the roll unit 402 to rotate.
  • the rotation angle is reduced to 75 degrees, 0 degrees, and -75 degrees in order. Further, in the example shown in FIG.
  • the second motor M2 rotates the second motor capstan MC2 to the maximum in the negative direction, and the roll unit 402 is seconded by the traction force of the cable C2b on the second outbound route. It is rotated in the reverse direction by -140 degrees around the axis.
  • the third motor M3 has a role of rotating the pitch unit 401 around the first axis parallel to the pitch axis, and this point will be described in detail.
  • the second reciprocating cable sets C2a and C2b have the idler pulley IP21a from the direction opposite to the direction in which the first reciprocating cable sets C1a and C1b are wound around the idler pulleys IP11a and IP11b. And wrapped around IP21b. Therefore, when the first reciprocating cable sets C1a and C1b are towed (or when the shaft 102 is retracted in the longitudinal axis direction) and when the second reciprocating cable sets C2a and C2b are retracted. , A rotational force in the opposite direction is applied to the pitch unit 401 around the first axis.
  • the pitch unit 401 can be swiveled around the first axis. , The degree of freedom of rotation around the second axis of the tip portion 101 of the surgical tool unit is realized.
  • the first motor M1 is supported on the first slide base SB1 that slides in the longitudinal direction of the shaft 102, and the second motor M2 slides in the longitudinal direction of the shaft 102. It is supported on the second slide base SB2. Further, a third reciprocating cable set C3a and C3b are wound around the third motor capstan MC3 via the third idler pulleys IP3a and IP3b. The other end of the third outward cable C3a is fixed to the first slide base SB1, and the other end of the third return cable C3b is fixed to the second slide base SB2.
  • the third motor M3 can rotate the third motor capstan MC3 in the forward direction to apply a traction force to the cable C3a on the third outbound route.
  • the first slide base SB1 retracts to the root side (that is, the proximal end) of the shaft 102, and the second slide base SB2 advances to the distal end side (that is, the distal end) of the shaft 102.
  • the first reciprocating cable sets C1a and C1b retract and the second reciprocating cable sets C2a and C2b advance, and as a result, the pitch unit 401 rotates in the positive direction around the first axis.
  • the third motor M3 can rotate the third motor capstan MC3 in the negative direction to apply a traction force to the cable C3b on the third return path.
  • the second slide base SB2 retracts to the root side (that is, the proximal end) of the shaft 102, and the first slide base SB1 advances to the distal end side (that is, the distal end) of the shaft 102.
  • the first reciprocating cable sets C1a and C1b move forward and the second reciprocating cable sets C2a and C2b move backward, and as a result, the pitch unit 401 rotates in the negative direction around the first axis.
  • FIGS. 24 to 28 show how the pitch unit 401 swivels around the first axis.
  • the third motor M3 rotates to the maximum in the positive direction, and the traction force of the cable C3a on the third outbound route causes the first slide base SB1 to retract to the maximum.
  • the pitch unit 401 turns about 80 degrees around the first axis.
  • the third motor M3 gradually rotates the third motor capstan MC3 in the negative direction, and the traction force of the cable C3b on the third return path causes the second slide base SB2 to move. Gradually retreat. As a result, the pitch unit 401 gradually turns in the negative direction around the first axis, and the turning angle gradually decreases to 40 degrees, 0 degrees, and ⁇ 40 degrees.
  • the third motor M3 rotates to the maximum in the negative direction, and the traction force of the cable C3b on the third return path causes the second slide base SB2 to retract to the maximum.
  • the pitch unit 401 turns about the first axis by ⁇ 80 degrees.
  • the linear motion of the 403 in the second axis direction) is non-interfering and can drive the three axes at the same time.
  • FIGS. 29 to 31 show how the tip 101 of the surgical instrument unit simultaneously drives three axes.
  • the third motor M3 rotates the third motor capstan MC3 in the forward direction, and the traction force of the third outward cable C3a causes the first slide base SB1 to retract.
  • the pitch unit 401 is swiveled around the first axis by 40 degrees.
  • the jaws 405a and 405b are further opened up to an angle of 20 degrees in a state where the pitch unit 401 is rotated by 40 degrees around the first axis.
  • the first motor M1 rotates the first motor capstan MC1 in the negative direction to pull the cable set C1b on the first return path.
  • the rod 404 descends in the second axial direction, so that the jaws 405a and 405b are opened.
  • the pitch unit 401 is rotated by 40 degrees around the first axis, and the jaws 405a and 405b are opened up to an angle of 20 degrees, and the roll unit 402 is further rotated by the second axis. Turn forward by 45 degrees.
  • the second motor M2 rotates the second motor capstan MC2 in the forward direction, and the traction force of the second outward cable C2a causes the roll unit 402 to rotate forward by 45 degrees around the second axis. The action is generated.
  • the operation method of the tip 101 of the surgical tool unit is summarized.
  • the jaws 405a and 405b can swivel around the opening / closing shaft 1101 formed at the tip of the roll unit 402, and swivel around the opening / closing shaft 1101 in opposite directions according to the linear motion of the rod 404 in the second axial direction. Then, when the first motor capstan MC1 is rotated by the first motor M1, a traction force is generated in either of the first reciprocating cable sets C1a and C1b, and the rod 404 is raised in the second axial direction or By lowering, the opening / closing operation of the jaws 405a and 405b is generated.
  • FIG. 32 shows an operation example in which the pitch unit 401 turns around the first axis.
  • the figure is a view of the tip portion 101 of the surgical instrument unit viewed from a direction parallel to the first axis.
  • the radius of each idler pulley pulley P11a, P11b, P21a, P21b having the first axis as the rotation axis is R pitch
  • the turning angle around the first axis of the pitch unit 401 is ⁇ pitch .
  • X be the amount of displacement of the cable shaft 102 from a predetermined reference position in the longitudinal axis direction.
  • FIG. 33 shows an operation example in which the roll unit 402 (or jaws 405a and 405b) rotates around the second axis.
  • the figure is a view of the tip portion 101 of the surgical instrument unit viewed from a direction parallel to the second axis.
  • the pulley radius of the roll capstan RC is R roll
  • the rotation angle of the roll unit 402 around the second axis is ⁇ roll .
  • FIG. 34 shows an example of a gripping operation in which the jaws 405a and 405b rotate around an opening / closing axis to open / close.
  • the figure is a view of the tip portion 101 of the surgical instrument unit viewed from a direction parallel to the first axis.
  • the jaws 405a and 405b open and close in response to the linear motion of the rod 404 in the second axial direction. Let the opening angles of the jaws 405a and 405b be ⁇ grips .
  • FIG. 35 shows the positional relationship between the opening / closing shaft of the jaw and the pin at the tip of the rod 404 that slides in the elongated groove hole formed in the jaw.
  • the left side shows the entire jaw
  • the right side shows the vicinity of the opening / closing shaft in an enlarged manner.
  • the figure shows an example of the jaw 405a, the same applies to the jaw 405b.
  • the figure shows a state in which the jaws 405a and 405b are closed. When the jaws 405a and 405b are closed, the distance from the center of the opening / closing shaft to the pin at the tip of the rod 404 (not shown in FIG.
  • the wall surface of the long groove hole formed in the jaw constitutes a cam surface, and the pin at the tip end of the rod 404 slides along the wall surface of the long groove hole.
  • the gripping unit 403 rises and the rod 404 also rises in the second axial direction, the operation of closing the jaw 405a and the jaw 405b is realized.
  • the gripping unit 403 is lowered and the rod 404 is also lowered in the second axial direction, the operation of opening the jaw 405a and the jaw 405b is realized.
  • Figure 36 is a rod 404 (not shown in FIG.
  • FIG. 36 shows how the distance from the center to the pin at the tip of the rod 404 of the control shaft is displaced from x 0 to x ing.
  • the left side shows the entire jaw
  • the right side shows the vicinity of the opening / closing shaft in an enlarged manner.
  • the opening angle of the jaw at this time is ⁇ grip / 2
  • the inclination angle of the long axis of the long groove hole with respect to the second axis is ⁇ .
  • the height of a right triangle whose hypotenuse is x between the pins at the tip of the rod 404 from the center of the opening / closing shaft is L.
  • the displacement (x 0 ⁇ x) of the rod 404 in the second axial direction is expressed by the following equation (1).
  • the first reciprocating cable sets C1a and C1b and the second reciprocating cable sets C2a and C2b advance and retreat in the longitudinal axis direction of the shaft 102 by driving the first to third motors M1 to M3, respectively.
  • the displacement amounts of the shaft 102 of each cable from a predetermined reference position in the longitudinal axis direction are referred to as X C1a , X C1b , X C2a , and X C2b , respectively.
  • the relationship between the opening angle ⁇ grip of 405b is expressed by the following equations (2) to (5), respectively.
  • the turning angle ⁇ pitch around the first axis of the pitch unit 401, the opening angle ⁇ grip of the jaws 405a and 405b, and the rotation angle ⁇ roll around the second axis of the roll unit 402 are the following equations (6) to (8), respectively. ).
  • the opening angles ⁇ grips of the jaws 405a and 405b are related only to the displacement amounts X C1a and X C1b of the first reciprocating cable sets C1a and C1b.
  • the rotation angle ⁇ roll around the second axis of the roll unit 402 involves only the displacement amounts X C2a and X C2b of the second reciprocating cable sets C2a and C2b. ..
  • the turning angle ⁇ pitch around the first axis of the pitch unit 401 is the displacement amount of the first reciprocating cable sets C1a and C1b X C1a , X C1b and the second reciprocating cable set. It can be seen that it is determined by the difference between the displacement amounts X C2a and X C2b of C2a and C2b.
  • FIG. 37 shows a cross section of the roll unit 3700 according to the deformation example.
  • the illustrated roll unit 3700 is divided into an inner surgical tool shaft portion 3701 and an outer surgical tool cover portion 3702 in the above-mentioned "roll unit 402".
  • the surgical tool shaft portion 3701 has a hollow cylindrical shape, and a rod 404 is inserted therein.
  • the surgical tool cover portion 3702 has a hollow cylindrical shape having an inner diameter equal to or larger than that of the surgical tool shaft portion 3701, and the surgical tool shaft portion 3701 is inserted therein.
  • a roll capstan RC is formed on the outer circumference of the surgical instrument cover portion 3702, and a second reciprocating cable set C2a and C2b (not shown in FIG.
  • the outer circumference of the surgical instrument shaft portion 3701 and the inner wall surface of the surgical instrument cover portion 3702 are slightly separated from each other, and a space exists. Using this space, strain detection elements 3703 are attached to several places on the outer circumference of the surgical instrument shaft portion 3701. Then, the detection signal of each strain detection element 3703 can be calculated and processed to calculate the external force applied to the jaws 405a and 405b at the tip of the surgical instrument.
  • a pair of strain detecting elements 3703a and 3703b are attached to opposite sides of the surgical tool shaft portion 3701 in a direction orthogonal to the roll axis (tentatively referred to as “Y direction”).
  • the strain amount in the Y direction of the surgical instrument shaft portion 3701 can be calculated by arithmetically processing the detection signals of the pair of strain detection elements 3703a and 3703b, and the strain amount is calculated by the jaws 405a and 405b. It can be converted into an external force applied in the Y direction.
  • a pair of strain detecting elements (not shown in FIG.
  • a strain-causing structure may be formed at a position on the surgical instrument shaft portion 3701 where the strain detecting elements 3703a and 3703b are arranged.
  • strain detecting elements 3703a and 3703b detection elements widely known in the art such as a capacitance type sensor, a semiconductor strain gauge, and a foil strain gauge can be used.
  • an FBG (Fiber Bragg Grating) sensor manufactured by using an optical fiber may be used for the strain detection elements 3703a and 3703b.
  • the FBG sensor is a sensor configured by carving a diffraction grating along the long axis of an optical fiber, and changes in the spacing of the diffraction gratings due to expansion or contraction due to distortion caused by acting force or changes in temperature. Can be detected as a change in the wavelength of the reflected light with respect to the incident light in a predetermined wavelength band (Bragg wavelength) (well known). Then, the change in wavelength detected by the FBG sensor can be converted into the strain, stress, and temperature change that cause the change.
  • Bragg wavelength a predetermined wavelength band
  • the FBG sensor using an optical fiber has a small transmission loss (it is difficult for noise from the outside world to get on), it is possible to maintain high detection accuracy even under the assumed usage environment.
  • the FBG sensor has an advantage that it is easy to take sterilization and a strong magnetic field environment necessary for medical treatment (see, for example, Patent Document 5).
  • FIG. 38 shows an example of a cross-sectional configuration of the roll unit 3700 when an FBG sensor is used as the strain detection element.
  • the two optical fibers 3801 and 3802 are arranged in the roll axis direction from the upper end surface of the roll unit 3700 by utilizing the space between the outer circumference of the surgical instrument shaft portion 3701 and the inner wall surface of the surgical instrument cover portion 3702. It has been inserted.
  • the two optical fibers 3801 and 3802 are arranged on opposite sides in the Y direction.
  • gratings are engraved at the positions indicated by the reference numbers 3803 and 3804 of the optical fibers 3801 and 3802, respectively, and can operate as a distortion detecting element.
  • a strain-causing structure may be formed in the vicinity of the gratings 3803 and 3804 of the surgical instrument shaft 3701.
  • E Deformation example of surgical instrument unit E-1. Modification example of the method of driving the cable It is best to use an electromagnetic rotary motor as the first to third motors M1 to M3. However, it is possible to replace it with another type of actuator that can rotate the drive capstan. Other deformability of the actuator that pulls the cable may further include, for example:
  • Piezo type direct drive type ultrasonic motor ⁇ Piezo type rotary type ultrasonic motor ⁇ Hydraulic type direct action motor ⁇ Hydraulic type rotary motor ⁇ Polymer direct action actuator ⁇ Electromagnetic type direct action motor ⁇ Shape memory alloy
  • the actuator may be equipped with a speed reducer, a position detector, and an emergency brake mechanism.
  • the reducer include a gear type reducer, a wave gear reducer, a postal gear reducer, a mysterious postal gear reducer, a cable reducer, a traction reducer, a ball screw, a slip screw, a worm gear, and the like. it can.
  • the position detector for example, a magnetic encoder, an optical encoder, a potentiometer and the like can be mentioned.
  • E-2 Deformation example of the shape of the jaw
  • the jaw is drawn in a relatively simple shape for convenience.
  • the shape of the jaw may be changed according to the use of the surgical instrument unit. For example, the following can be mentioned.
  • the shaft 102 is ideally a rigid body, but may be an elastic body such as a flexible endoscope. Further, in each drawing, a shaft 102 having a simple hollow cylindrical shape is drawn for simplification, but the shaft 102 does not necessarily have to have a cylindrical shape.
  • the cross section of the shaft 102 may have a polygonal shape or an elliptical shape, or the cross-sectional shape may be switched in the middle of the longitudinal axis direction.
  • the cable may be a bundle of metal wires, a bundle of resins, or a mixture of a plurality of materials such as metal wires and resin.
  • a metal shaft 102 having high rigidity is used for a cable portion that is arranged inside the shaft 102 and does not require bending, and is connected to a flexible cable used for a curved portion to form a single cable. May be configured. Examples of cable alternatives include:
  • the cable may be laid out along the guide groove formed in the mechanism without using the idler pulley.
  • FIG. 39 shows an external configuration example of the surgical robot 3900 using the surgical tool unit according to the present embodiment.
  • the illustrated surgical robot 3900 includes an arm 3901 having a multi-link structure, and a surgical instrument unit 3902 is mounted on the tip of the arm 3901.
  • the surgical instrument unit 3902 may be replaceable.
  • the surgical robot 3900 is applied to, for example, laparoscopic surgery, in which the tip portion 101 of the surgical instrument unit is inserted into the abdominal cavity via a trocar (not shown) to perform an operation such as grasping or excising the affected portion.
  • the illustrated surgical robot 3900 is used, for example, as a slave device in a master-slave system, and the arm 3901 and the surgical instrument unit 3902 are driven according to a command from the master device (not shown). Further, for example, a bilateral control method is applied to this type of master-slave system.
  • the arm 3901 may be, for example, a polar coordinate type robot, a cylindrical coordinate type robot, a right angle coordinate type robot, a vertical articulated robot, a horizontal articulated robot, a parallel link type robot, an RCM (Remote Center of Motion) type robot, or the like. Any of these mechanical robots may be used.
  • the arm 3901 can be used as an arm 3901 from the viewpoint of compactness of the mechanism and ease of generating a pivot motion at a trocar location. It is preferable to use a joint type arm or an RCM (Remote Center of Motion) type arm that realizes a pivot (fixed point) motion by arranging a remote rotation center at a position away from the drive rotation center.
  • RCM Remote Center of Motion
  • FIG. 39 shows a configuration example of a surgical robot capable of mounting only one surgical tool unit, it is a type of surgical robot capable of performing laparoscopic surgery by mounting a plurality of surgical tool units at the same time. The same can be applied to robots.
  • FIG. 40 shows an example of an external configuration of an operation unit 4000 using the surgical instrument unit according to the present embodiment.
  • the operation unit 4000 includes a handle portion 4001 that the user directly holds and operates, and the surgical tool unit 4002 is mounted on the tip of the handle portion 4001.
  • the surgical instrument unit 4002 may be replaceable.
  • the handle portion 4001 may include a joystick 4003 that can be operated with a thumb to indicate the posture of the tip portion of the surgical tool unit of the surgical tool unit 4002 in an arbitrary direction. Further, the handle portion 4001 may include a button 4004 that can be operated with an index finger to instruct the opening / closing operation of the jaw.
  • a controller (not shown) may be mounted in the handle portion 4001.
  • the angle ⁇ grip is calculated, converted into the rotation amount of each motor, and the control signal to the surgical instrument unit drive unit 103 is output.
  • the rotation around the second axis parallel to the roll axis of the roll unit 402 has a degree of freedom at the distal end (however, the degree of freedom in gripping the jaw is excluded), so that the bandwidth is widened.
  • the pitch unit 401 has a rotational degree of freedom of about ⁇ 80 degrees around the first axis parallel to the pitch axis
  • the roll unit 402 has a rotational degree of freedom of about ⁇ 150 degrees around the second axis.
  • the opening angle ⁇ grip of the pair of jaws 405a and 405b is the displacement of the shaft 102 of the first outward path cable C1a and the first return path cable C1b in the longitudinal axis direction. It is determined by the difference (see, for example, equation (7) above).
  • the rotation angle ⁇ roll around the second axis of the roll unit 402 is determined by the difference in displacement of the shaft 102 of the second outward cable C2a and the second return cable C2b in the longitudinal axis direction (for example, the above equation). (8)).
  • the turning angle ⁇ pitch around the first axis of the pitch unit 401 is the average value of the displacements of the shafts 102 of the first reciprocating cable sets C1a and C1b and the second reciprocating cable sets C2a and C2b in the longitudinal axis direction. It is determined by the difference between (see, for example, equation (6) above).
  • control model of the surgical instrument unit 100 is simple. Therefore, control is easy when the surgical instrument unit 100 is applied to a surgical robot (see FIG. 39), and an operator operation when the surgical instrument unit 100 is applied to an operation unit (see FIG. 40). Is easy.
  • the surgical tool unit 100 is equipped with a strain detecting element in the roll unit 402 (see FIGS. 37 and 38), and can detect an external force applied to the jaw at the tip. Even in this case, the dimension from the first shaft to the jaw at the tip can be designed to be short.
  • the present specification has mainly described embodiments in which the technique according to the present disclosure is applied to surgical tools used in surgical robots, the gist of the technique according to the present disclosure is not limited to this.
  • the technology according to the present disclosure can be applied to robots in various fields other than medical treatment, such as precision work robots. Further, the technique according to the present disclosure can be applied to a grip type operation unit and a precision work apparatus that can be operated while being held by a user.
  • the technology according to the present disclosure can also have the following configuration.
  • the gripping unit supports a rod through which the roll unit is inserted in the second axial direction.
  • the pair of jaws are supported by an opening / closing shaft near the lower end of the roll unit, and include a cam that converts a linear motion of the rod in the second axial direction into a motion in the opening / closing direction.
  • the first reciprocating cable set has a portion fixed to the gripping unit, and is arranged so as to be folded back in the second axial direction via a gripping pulley provided on the roll unit.
  • the second reciprocating cable set is wound around a roll capstan provided on the roll unit.
  • the outbound cable and the inbound cable of the second reciprocating cable set overlap each other by 180 degrees around the second axis from opposite directions, and are separated in the height direction of the second axis. Wrapped around the roll capstan to prevent contact, The surgical tool according to (7) above.
  • the first idler pulley portion has a first idler pulley that rotates around the first axis, and a first idler pulley that has a rotation axis adjacent to the first idler pulley and parallel to the first axis.
  • Including the adjacent idler pulley of The second idler pulley portion includes a second idler pulley that rotates around the first axis and a second adjacent idler that has a rotation axis adjacent to the second idler pulley and parallel to the first axis.
  • Including pulley The surgical tool according to (9) above.
  • the second reciprocating cable set is wound around the second idler pulley from a direction opposite to the direction in which the first reciprocating cable set is wound around the first idler pulley. ing, The surgical tool according to (10) above. (12) A first actuator that rotates the first drive capstan to pull the first reciprocating cable set in the longitudinal axis direction of the shaft, and A second actuator that rotates the second drive capstan and pulls the second reciprocating cable set in the longitudinal axis direction of the shaft. The surgical tool according to (11) above.
  • a first slide base that fixes the first actuator and the first drive capstan and slides in the longitudinal axis direction of the shaft
  • a second slide base that fixes the second actuator and the second drive capstan and slides in the longitudinal axis direction of the shaft
  • a third actuator that rotates the third drive capstan
  • a third reciprocating cable set each end of which is fixed to the first slide base and the second slide base, and wound around the third drive capstan. With more The rotation of the third drive capstan generates the advance / retreat motion of the first slide base and the second slide base.
  • the surgical tool With the shaft A pitch unit rotatably connected to the tip of the shaft around the first axis, A roll unit rotatably supported around the second axis with respect to the pitch unit, and A gripping unit supported so as to be linearly movable in the second axial direction with respect to the roll unit, Surgery support system equipped with.
  • a surgical tool and a handle portion to which the surgical tool is attached are provided.
  • the surgical tool With the shaft A pitch unit rotatably connected to the tip of the shaft around the first axis, A roll unit rotatably supported around the second axis with respect to the pitch unit, and A gripping unit supported so as to be linearly movable in the second axial direction with respect to the roll unit, A surgical operation unit equipped with.

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PCT/JP2020/032851 2019-09-13 2020-08-31 術具、手術支援システム、並びに手術用操作ユニット Ceased WO2021049345A1 (ja)

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DE112020004335.5T DE112020004335T5 (de) 2019-09-13 2020-08-31 Chirurgisches Werkzeug, Chirurgieunterstützungssystem und chirurgische Bedienungseinheit
JP2021545222A JPWO2021049345A1 (https=) 2019-09-13 2020-08-31
US17/753,530 US12232839B2 (en) 2019-09-13 2020-08-31 Surgical tool, surgery support system, and surgical operating unit
CN202080062525.1A CN114340519B (zh) 2019-09-13 2020-08-31 手术工具、手术支持系统和手术操作单元
JP2025083873A JP2025113363A (ja) 2019-09-13 2025-05-20 術具、手術支援システム、並びに手術用操作ユニット

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WO2023145249A1 (ja) * 2022-01-25 2023-08-03 ソニーグループ株式会社 操作入力装置及び操作コンソール装置
CN116672162A (zh) * 2023-06-07 2023-09-01 中国人民解放军陆军特色医学中心 一种青光眼手术用光导纤维推注工具

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US20220226058A1 (en) * 2021-01-21 2022-07-21 Ethicon Llc Robotic surgical instruments with drive belt shaft insertion

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