WO2021192291A1

WO2021192291A1 - Surgical robot

Info

Publication number: WO2021192291A1
Application number: PCT/JP2020/014277
Authority: WO
Inventors: 山本　円朗
Original assignee: リバーフィールド株式会社
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2021-09-30
Also published as: JP6982357B1; JPWO2021192291A1

Abstract

Provided is a surgical robot that can easily move by a simple operation even when there is a change in the operative procedure or the affected part.　The present invention comprises: a body part; an arm part which is provided to the body part, retains an endoscope, and is pneumatically driven; a mounting member for detachably mounting the body part to a stand part of a bed; and a friction reducing member for reducing friction in movement of the mounting member so that the mounting member can move along the outer periphery of the stand part. A support part is provided so as to extend along the outer periphery of the stand part of the bed, and the body part is mounted so as to be able to move relative to the support part.

Description

Surgical robot

The present invention relates to a surgical robot that holds an endoscope and has a pneumatically driven arm portion.

The medical robot system described in Patent Document 1 includes a surgical robot fixed at a fixed position, a movable bed, and a diagnostic imaging device, and the surgical robot includes a plurality of surgical robots to which a manipulator and an endoscope are attached to the tips, respectively. Has an arm. The movable bed is configured so that its position, orientation, and posture can be changed with respect to a fixed station.

Japanese Unexamined Patent Publication No. 2012-5557

However, in the medical robot system described in Patent Document 1, although the movable bed can be moved, the positional relationship between the manipulator or the treatment tool and the patient can be freely and quickly changed according to the case or the like. It is difficult to do so, and changing the position of the bed or the like for changing the positional relationship imposes a burden on the patient, which is not preferable.

Furthermore, in the horizontal direction, the relationship between the main body of the surgical robot and the movable bed is fixed, so if there is a change in the surgical procedure or affected area, the heavy surgical robot will be released from fixation and moved. Since it is necessary to perform operations such as re-fixing after moving, adjusting the position of the surgical robot with respect to the patient is extremely complicated, and requires a great deal of time and labor.

Therefore, an object of the present invention is to provide a surgical robot that can be easily moved by a simple operation even when the surgical procedure or the affected area is changed.

In order to solve the above problems, the surgical robot of the present invention has a main body, an arm that is provided on the main body and holds an endoscope and is pneumatically driven, and a main body with respect to a bed base. It is characterized by including a mounting member for detachably mounting and a friction reducing member for reducing friction in the movement of the mounting member so that the mounting member can move along the outer circumference of the base portion.

In the surgical robot of the present invention, it is preferable that a support portion is provided so as to extend along the outer circumference of the base portion of the bed, and the main body portion is movably attached to the support portion.

In the surgical robot of the present invention, it is preferable that the mounting member is a hooking portion that detachably hooks the main body portion to the supporting portion.

In the surgical robot of the present invention, the support portion is divided into a plurality of parts along the outer circumference, and the hook portion preferably has a length larger than the distance between adjacent support portions in the direction in which the support portion extends. ..

In the surgical robot of the present invention, the hook portion includes a regulating member that regulates the movement of the hook portion along the outer circumference of the base portion of the bed, and the hook portion has an outer circumference when the regulation by the regulating member is released. It is preferable to be able to move along the line.

In the surgical robot of the present invention, the friction reducing member is preferably a coating layer that reduces friction between the hooking portion and the supporting portion.

In the surgical robot of the present invention, the friction reducing member is preferably a bearing member provided on the hook portion.

In the surgical robot of the present invention, it is preferable that the hook portion has a recess for accommodating the upper portion of the support portion inside, and the friction reducing member is provided in the contact region of the recess with the upper portion of the support portion. ..

The surgical robot of the present invention includes a vertical drive mechanism that allows the main body to move along a direction perpendicular to the base, and a fixing member that regulates movement of the main body along the direction perpendicular to the base. Is preferable.

According to the present invention, it is possible to provide a surgical robot that can be easily moved by a simple operation even when the surgical procedure or the affected area is changed.

It is a perspective view which shows the state which the surgical robot which concerns on embodiment of this invention is attached to the base part of a bed. It is a perspective view which shows the arm part of the surgical robot which concerns on embodiment of this invention in an enlarged manner. It is a perspective view which shows the main body part of the surgical robot which concerns on embodiment of this invention in an enlarged manner. It is a top view which shows the structure of the bed on which the surgical robot which concerns on embodiment of this invention is mounted. It is a perspective view seen from above which shows the mounting part of the main body part and the bed in the embodiment of this invention in an enlarged manner. It is a side view which shows the hooking part between a main body part and a support part in an enlarged manner. It is a side view which shows the hooking part between a main body part and a support part in an enlarged manner, and is the figure explaining the insertion of the fixing pin. It is a functional block diagram which concerns on the cooperative drive of an arm part and a ball screw. It is an enlarged side view which shows the hooking part between a main body part and a support part, and is the figure which shows the structure which provided the coating layer in the recess of the hooking part. It is an enlarged side view which shows the hooking part between a main body part and a support part, and is the figure which shows the structure which provided the ball bearing in the recess of the hooking part.

Hereinafter, the surgical robot according to the embodiment of the present invention will be described in detail with reference to the drawings. In the present embodiment, an arm portion 20 for holding the endoscope 53 used for endoscopic surgery is given as an example. In each figure, XYZ coordinates are shown as reference coordinates. In the following description, the vertical direction is referred to as the Z1-Z2 direction (vertical direction), and the left-right direction and the front-back direction, which are orthogonal to each other in the horizontal plane orthogonal to the vertical direction, are referred to as the X1-X2 direction and the Y1-Y2 direction, respectively. In the front-rear direction (Y1-Y2 direction), the Y1 side is called the rear side or the back side, the Y2 side is called the front side or the front side, and the state in which the lower side (Z2 side) is viewed from the upper side (Z1 side) is called a plan view. Sometimes.

As shown in FIG. 1, the surgical robot 10 (hereinafter, abbreviated as “robot 10”) includes an arm portion 20, a pedestal portion 30 that supports the arm portion 20, and a base portion 40 provided with the pedestal portion 30. To be equipped. The arm portion 20 for holding the endoscope is provided on a main body portion composed of a pedestal portion 30 and a base portion 40. The robot 10 is attached to the base 40 with respect to the

bases

61, 62, 63 of the bed 60 on which the patient to be operated on lies, so as to be removable and movable in a direction along the outer circumference of the base.

In the example shown in FIG. 1, the camera head adapter 51 is held by the arm portion 20 via the holder 52, and the camera head adapter 51 holds the endoscope 53. The holding form of the endoscope 53 by the arm portion 20 can be arbitrarily changed according to the form and use of the endoscope 53, and is not limited to the one shown in FIG.

As shown in FIG. 2, the arm portion 20 includes a tip holding portion 21, a gimbal mechanism portion 22, a first joint portion 23, and a first portion in which the holder 52 is mounted, in this order from the holder 52 side to the pedestal portion 30 side. An arm 24, a second joint portion 25, and a second arm 26 are provided.

The tip holding portion 21 is supported on the side by the gimbal mechanism portion 22 and holds the holder 52 detachably on the tip side, thereby holding the camera head adapter 51 attached to the holder 52.

The gimbal mechanism unit 22 rotatably supports the endoscope 53 held by the camera head adapter 51 about the first rotation axis AX1 along the observation optical axis of the endoscope 53, and also supports the first rotation axis AX1. It is rotatably supported around a second rotation axis AX2 extending in a direction intersecting with, preferably in an orthogonal direction.

The first joint portion 23 is such that the gimbal mechanism portion 22 rotates relative to the plane including the first rotation axis AX1 and the second rotation axis AX2, and more preferably the third rotation axis AX3 extending orthogonally. Support to be mobile.

The first arm 24 forms a parallel link mechanism together with the first joint portion 23 and the second joint portion 25, and is capable of relative movement while maintaining the relative postures of the first joint portion 23 and the second joint portion 25. Is what you do. The first arm 24 includes a pair of first rods 24a, a pair of first pneumatic actuator portions 24b, and a first self-weight compensating portion 24c.

The first rod 24a is a pair of rod-shaped members, one end of which is rotatably attached to the first joint 23 and the other end of which is rotatable to the second joint 25. It is attached.

The first pneumatic actuator portion 24b moves the relative positions of the first joint portion 23 and the second joint portion 25. For example, the first pneumatic actuator unit 24b is an actuator including a cylinder and a piston, and slides the piston by receiving the supply of air with increased pressure. One end of the first pneumatic actuator portion 24b is rotatably attached to or near the position where one first rod 24a is attached in the second joint portion 25, and the other end is the other. It is rotatably attached to the middle of the first rod 24a.

The first self-weight compensating portion 24c applies a force for moving the first joint portion 23 upward, and is composed of, for example, a tension spring. One end of the first self-weight compensating portion 24c is attached to or near the position where one first rod 24a is attached in the first joint portion 23, and the other end is attached to the other first rod 24a. It is installed in the middle.

The second arm 26 forms a parallel link mechanism together with the second joint portion 25 and the pedestal portion 30, and enables relative movement while maintaining the relative posture of the second joint portion 25 and the pedestal portion 30. be. The second arm 26 includes a pair of second rods 26a, a pair of second pneumatic actuator portions 26b, and a second self-weight compensating portion 26c.

The second rod 26a is a pair of rod-shaped members, one end of which is rotatably attached to the second joint 25 and the other end of which is rotatably attached to the pedestal 30. ing.

The second pneumatic actuator portion 26b moves the relative positions of the second joint portion 25 and the pedestal portion 30. For example, the second pneumatic actuator unit 26b is an actuator including a cylinder and a piston, and slides the piston by receiving the supply of air with increased pressure. One end of the second pneumatic actuator portion 26b is rotatably attached to or near the position where one second rod 26a is attached on the pedestal portion 30, and the other end is the other. It is rotatably attached to the middle of the second rod 26a.

The second self-weight compensating unit 26c applies a force for moving the second arm 26 in the vertical direction as the first direction, and is composed of, for example, a tension spring. One end of the second self-weight compensating portion 26c is attached to or near the position where one second rod 26a is attached on the pedestal portion 30, and the other end is inside the other second rod 26a. It is attached to the extent.

As shown in FIG. 8, the first pneumatic actuator unit 24b receives the air supply with increased pressure from the first air supply unit 83, and the second pneumatic actuator unit 26b receives the increased pressure from the second air supply unit 84. Receive the supply of air. The first air supply unit 83 and the second air supply unit 84 supply air of a predetermined pressure to each of the first pneumatic actuator unit 24b and the second pneumatic actuator unit 26b according to the control signal from the arm drive control unit 82. , Supply in a predetermined time or cycle. As a result, the first arm 24 and the second arm 26 are driven, respectively, the arm portion 20 performs a predetermined drive, and the endoscope 53 is placed in a predetermined position at a predetermined position, or in a predetermined trajectory from that position. Can be moved.

In the robot 10 having the above configuration, the arm portion 20 is operated by pneumatic drive as described below.
The pistons of the first pneumatic actuator section 24b and the second pneumatic actuator section 26b are respectively projected or pulled in from the cylinder by being supplied with driving air having an increased pressure. When the piston protrudes from the cylinder, for example, in the first arm 24, when the dimension of the first pneumatic actuator portion 24b in the longitudinal direction becomes longer, the first joint portion 23 of the first arm 24 moves upward. Rotate to do so. On the contrary, when the dimension of the first pneumatic actuator portion 24b in the longitudinal direction becomes shorter, the first rod 24a rotates so that the first joint portion 23 moves downward. Further, since the first self-weight compensating portion 24c is attached to the first arm 24 in a state of being stretched so that the dimension in the longitudinal direction becomes longer, the urging force in the direction in which the dimension in the longitudinal direction thereof becomes shorter. Is being generated. This urging force acts as a force for the first joint portion 23 to rotate upward against the weight of the endoscope 53 or the like.

By supporting the first joint portion 23 with the first arm 24 and the second arm 26 having parallel links, the posture of the first joint portion 23 is kept constant even if the arrangement position of the first joint portion 23 is changed. It becomes easy.

By providing the first self-weight compensating section 24c and the second self-weight compensating section 26c, the first pneumatic actuator section 24b and the second pneumatic actuator section 26b support the endoscope 53 as compared with the case where they are not provided. The driving force required to move the position of the first joint portion 23 can be reduced. Therefore, the first pneumatic actuator portion 24b and the second pneumatic actuator portion 26b can be easily miniaturized, and the weight of the robot 10 can be reduced.

By using the first pneumatic actuator unit 24b and the second pneumatic actuator unit 26b, it becomes easy to increase the weight-to-output ratio, and a simple linear motion operation without using a reduction mechanism can be realized. As a result, it becomes easier to reduce the size and weight of the robot 10.

Next, the mounting of the bed 60 on the bases 61 to 63 and the vertical drive mechanism for driving the robot 10 along the first direction perpendicular to the bases 61 to 63 of the bed 60 will be described. In the following description, in order to explain an example in which the base portions 61 to 63 of the bed 60 are along the horizontal direction, the first direction is the direction along the vertical direction.

As shown in FIG. 3, the base 40 of the robot 10 is provided with a hooking portion 42 on the rear surface 41a on the rear side (Y1 side) of the housing portion 41 via a linear guide 44 and a ball screw 45, and further. A holding plate 43 supported so as to be relatively movable is provided on the hooking portion 42. The hooking portion 42 and the pressing plate 43 form a mounting member for mounting the base portion 40 (main body portion) detachably on the base portions 61 to 63 of the bed 60. The hooking portion 42 includes an extending portion 42a extending rearward from the rear surface 41a in a plate shape, and a tip hooking portion 42b extending downward from the rear tip of the extending portion 42a in a plate shape. The hooking portion 42 has a length L1 in the left-right direction.

The robot 10 locks the hooking portion 42 to any of the plate-shaped support portions 71 to 76 (see FIG. 4) provided along the outer circumference of the base portions 61 to 63 of the bed 60, thereby engaging the bed. With respect to 60, it is arranged at a predetermined position according to the surgical procedure, the surgical site, the body shape of the patient, and the like. As a result, the hooking portion 42 can detachably attach the main body portion composed of the pedestal portion 30 and the base portion 40 to the base portions 61 to 63 of the bed 60 as a mounting member, and depending on the treatment or the like, It is possible to move in the front-rear direction (Y1-Y2 direction) or the left-right direction (X1-X2 direction), that is, in a second direction different from the first direction (Z1-Z2 direction) perpendicular to the base 61 to 63 of the bed 60. Will be done.

As shown in FIG. 4, the bed 60 has a first base 61 on the left side (X1 side), a second base 62 located on the back side on the right side, and a third base 63 located on the front side on the right side. (See FIG. 1). The three bases 61 to 63 each have a substantially rectangular shape in a plan view from the Z1 side to the Z1 side, and are on a base 64 extending in a horizontal plane orthogonal to the vertical direction (Z1-Z2 direction). They are arranged respectively and can be individually moved in the left-right direction (X1-X2 direction).

The base 64 has a rectangular outer shape along the front-rear direction and the left-right direction in a plan view, and as shown in FIG. 1, the support portion 65 extending vertically from the foundation portion 66 mounted on the floor surface. Supported by.

As shown in FIG. 1 or 4, plate-shaped support portions 71 to 76 are provided on the outer surface of the base 64. The support portions 71 to 76 have a long plate shape having the same thickness, have a predetermined width in the vertical direction, and extend long in the horizontal direction.

Taking the sixth support portion 76 as an example, as shown in FIG. 6, the connecting portion 76a extending outward from the base 64 along the front-rear direction (Y1-Y2 direction) is fixed to the rear surface of the sixth support portion 76. , Supports the sixth support portion 76. In the front-rear direction, when the tip hooking portion 42b of the hooking portion 42 is hooked (locked) to the sixth support portion 76, the connecting portion 76a has a third rear side surface 42e of the tip hooking portion 42b. It has a length that substantially abuts on the outer surface of the portion 63.

As shown in FIG. 4, the

support portions

71, 72, 73 are arranged in order from left to right at the same positions in the front-rear direction, and the

support portions

71, 72 are arranged along the rear surface 61a of the first base portion 61 in a plan view. The third support portion 73 is arranged along the rear surface 62a of the second base portion 62. The

support portions

74, 75, 76 are arranged in order from left to right at the same position in the front-rear direction, and in a plan view, the

support portions

74, 75 are arranged along the front surface 61b of the first base portion 61, and the sixth support is provided. The portion 76 is arranged along the front surface 63a of the third base portion 63.

The rear side (Y1 side)

support portions

71, 72, 73 and the front side (Y2 side)

support portions

74, 75, 76 are arranged at positions facing each other in the front-rear direction, and the facing support portions are the same as each other. It is provided in width (horizontal direction).

Regarding the distance between the support portions 71 to 76 in the left-right direction (X1-X2 direction), the first support portion 71 and the second support portion 72 on the rear side are spaced apart from each other, and the second support portion 72 and the third support portion 73 are spaced apart from each other. The fourth support portion 74 and the fifth support portion 75 on the front side have an interval L2, and the fifth support portion 75 and the sixth support portion 76 have an interval L3. These intervals L2 and L3 are shorter than the length L1 of the hooking portion 42. In other words, the hooking portion 42 has a length larger than any of the distances between the two adjacent supporting portions in the left-right direction in which the supporting portions 71 to 76 extend. Therefore, the main body portion can be moved along the outer circumference of the base portions 61 to 63 of the bed 60 in a state where the hooking portion 42 is hooked on the support portions 71 to 76.
The arrangement, size, and spacing of the support portions are not limited to those shown in FIG. 4 and the like. For example, the support portions provided on the first base 61 are one or three or more on both front and rear surfaces. It may be provided.

In the example shown in FIG. 4, the support portions 71 to 76 extending in the left-right direction are shown, but in addition to or instead of this, a support portion extending in the front-rear direction may be provided. Further, the support portion may be provided on the outer surface of the bed instead of the base 64.

As shown in FIGS. 5 and 6, the holding plate 43 of the base 40 is arranged so as to extend downward from an intermediate position in the front-rear direction of the extending portion 42a of the hooking portion 42. The pressing plate 43 is supported by the hooking portion 42 so as to be relatively movable in the front-rear direction. In the process of hooking the base portion 40 to the support portions 71 to 76, the pressing plate 43 is arranged so that the distance from the tip hooking portion 42b is wider than the thickness of the support portion to be hooked, and the pressing plate 43 is hooked. After that, by moving to the rear side, the distance from the tip hooking portion 42b is adjusted to a distance corresponding to the thickness of the hooked support portion, whereby the hooked support portion is sandwiched from the front-rear direction.

As shown in FIG. 6, the extending portion 42a of the hooking portion 42 has a recess 42c having a length corresponding to the thickness of the sixth supporting portion 76 at a position where the sixth supporting portion 76 to be hooked is hooked. I have. The recess 42c is recessed upward from the lower surface of the extending portion 42a, and when the hooking portion 42 is hooked on the sixth supporting portion 76, the upper portion 76b of the sixth supporting portion 76 is accommodated therein. At the same time, it comes into contact with the sixth support portion 76 from the front and rear to determine the position in the front and rear direction.

When the upper portion 76b of the sixth support portion 76 is housed inside the recess 42c, the upper inner surface 42f and the inner side surface 42g in the recess 42c and the upper surface 76d and the outer surface 76e of the upper portion 76b of the sixth support portion 76 are formed. , Each contact. In order to reduce friction when the hooking portion 42 as a mounting member is moved along the sixth support portion 76 in these contact regions (inner surface 42f, inner side surface 42g, upper surface 76d, and outer surface 76e). A friction reducing member is provided.

The friction reducing member includes a lubricant, a coating layer formed by coating, a film / thin film formed by surface treatment or vapor deposition, a bearing member, and a surface surface that is subjected to uneven processing or groove processing so as to reduce the contact area. Examples thereof include a bearing member and a structure in which the convex portion of the uneven processing material is a curved surface. The application location of the friction reducing member is all or a part of the above contact region in consideration of specifications and costs required for friction reduction.

In the example shown in FIG. 9, a coating layer 91 as a friction reducing member is provided on the upper inner surface 42f in the recess 42c. In the example shown in FIG. 10, a ball bearing 92 (bearing member) as a friction reducing member is provided on the upper inner surface 42f in the recess 42c. As the bearing member, bearings other than ball bearings, for example, slide bearings, fluid bearings, and magnetic bearings can also be adopted.

With the configurations illustrated in FIGS. 9 and 10, it is possible to reduce the friction between the inner surface 42f and the upper surface 76d of the support portion 76, and the hooking portion 42 can be smoothly moved on the support portion 76. .. Therefore, the robot 10 can be easily moved by a simple operation of applying a force to move the main body portion along the outer circumference of the base portions 61 to 63 of the bed 60.

If the

corners

42h and 42i of the entrance portion of the recess 42c are provided with an inclined portion that expands outward from the recess toward the lower side, the sixth support portion 76 can be easily guided in the recess 42c and the recess 42c. It is preferable because the extension portion 42a and the sixth support portion 76 are less likely to be damaged when the 42c is inserted or removed.

An inclined surface 42d inclined upward from the rear side (Y1 side) to the front side (Y2 side) is formed at the front portion of the lower end of the tip hooking portion 42b. Even if the tip hooking portion 42b hits the sixth support portion 76 when the hooking portion 42 is locked to the sixth support portion 76, the tip hooking portion 42b supports the sixth support portion 42b according to the inclination of the inclined surface 42d. Since the guide is guided to the rear side of the portion 76, the hooking portion 42 can be smoothly and surely locked to the sixth support portion 76.

A protrusion 43a projecting to the rear side is provided at the rear portion of the lower portion of the holding plate 43. The protrusion 43a is provided at a predetermined position in the vertical direction of the holding plate 43 so as to come into contact with the bottom surface 76c of the sixth support 76 when the upper portion 76b of the sixth support 76 is housed in the recess 42c. Has been done. Therefore, after the extension portion 42a is locked to the sixth support portion 76, the pressing plate 43 is moved to the rear side, and when the position where the pressing plate 43 comes into contact with the front surface of the sixth support portion 76 is reached, the protrusion 43a becomes the sixth. It contacts the bottom surface 76c of the support portion 76. As a result, the sixth support portion 76 is regulated in the front-rear direction by the tip hooking portion 42b and the pressing plate 43, and is also regulated in the vertical direction by the protrusion 43a. The displacement is regulated, a constant posture is maintained, and the vehicle can move in the left-right direction (X1-X2 direction) along the sixth support portion 76.

Here, as a regulating member that regulates the movement of the main body portion in a second direction different from the first direction, for example, as shown in FIG. 7, the shaft portion P1 penetrates the extending portion 42a up and down. Further, by using the fixing pin P that is inserted into the sixth support portion 76, the movement of the robot 10 in the left-right direction can be restricted. In FIG. 7, the fixing pin P before being inserted into the sixth support portion 76 is shown by a solid line, and the state of being inserted into the sixth support portion 76 is shown by a broken line.

As shown in FIG. 3, the hooking portion 42 is provided on the rear surface 41a of the housing portion 41 via a linear guide 44 and a ball screw 45 as a vertical drive mechanism. The linear guide 44 is provided from the rear surface 41a of the housing portion 41 to the upper part of the pedestal portion 30 along the vertical direction, and a ball screw 45 having a screw shaft extending in the vertical direction is arranged inside the linear guide 44. The screw shaft of the ball screw 45 is rotated by driving a motor 46 arranged below the rear surface 41a. The screw shaft is provided with a nut portion (not shown) that is displaced up and down by the rotation of the screw shaft, and the housing portion 41 fixed to the nut portion is supported by the linear guide 44 while the hooking portion 42. The robot 10 is moved up and down relative to the base 40, and the robot 10 supported by the base 40 is displaced up and down accordingly.

The housing portion 41 is provided with a self-weight compensation spring 47. The self-weight compensation spring 47 is composed of, for example, a tension spring, and applies a force that displaces the housing portion 41 upward. By providing the self-weight compensation spring 47, the driving force of the motor 46 can be suppressed to be small and the robot 10 can be efficiently displaced up and down.

As shown in FIG. 8, the motor 46 is driven according to a control signal from the main body drive control unit 49. On the other hand, a brake 48 (fixing member) is connected to the motor 46, and when the supply of the control signal from the main body drive control unit 49 to the motor 46 is stopped due to a loss of power or the like, the ball screw 45 is operated by the operation of the brake 48. The operation is stopped, the vertical movement of the base 40 is stopped, and the vertical position of the robot 10 is fixed.

As the brake 48, for example, a brake 48 that acts on the rotation shaft of the ball screw 45 to regulate the rotation, or a brake 48 that sandwiches the nut portion to which the housing portion 41 is fixed and regulates the vertical movement of the nut portion. Can be mentioned. In addition, for example, by inserting fixing pins into both the housing portion 41 and the hooking portion 42 along the front-rear direction to fix the housing portion 41 and the hooking portion 42 to each other, the base 40 can be moved up and down. It may be regulated.

Regarding the operation of the brake 48, for example, as shown in FIG. 8, a control signal from the main body drive control unit 49 to the motor 46 is also sent to the brake 48, and the input of this control signal is input for a predetermined time when the power is lost. It is advisable to activate the brake 48 by using the above failure as a trigger. Alternatively, when there is a control signal from the main body drive control unit 49 to the motor 46, the operation of the brake 48 is regulated, and when the above control signal is not input for a predetermined time or more due to a loss of power or the like, the operation of the brake 48 is regulated. It may be released and the brake 48 may be activated.

The control signal of the main body drive control unit 49 is also output to the cooperative drive control unit 81. The cooperative drive control unit 81 is connected to the arm drive control unit 82, and control signals given by the arm drive control unit 82 to the first air supply unit 83 and the second air supply unit 84 are also input.

The cooperative drive control unit 81 links the movement of the base 40 in the vertical direction (first direction) with the drive of the arm unit 20. For example, the arm portion 20 is driven according to the vertical position of the base portion 40, and the endoscope 53 is adjusted to the optimum position and posture for the treatment or the like. When the base 40 moves up and down, the posture of the endoscope 53 is changed accordingly to prevent troubles such as contact of the endoscope 53 and the arm 20 with the patient.

The cooperative drive control unit 81 stops at least one of the drive of the arm unit 20 and the vertical movement of the base unit 40 at the end of operation or in an emergency, or saves the endoscope 53 and the arm unit 20 to a predetermined position. The arm portion 20 is driven so as to be driven. When the drive of the arm unit 20 is stopped, the operations of the first pneumatic actuator unit 24b and the second pneumatic actuator unit 26b are fixed from each of the first air supply unit 83 and the second air supply unit 84. A control signal for adjusting the air supply is output to the arm drive control unit 82. The arm unit 20 is retreated from the first air supply unit 83 and the second air supply unit 84, respectively, calculated from the current posture of the arm unit 20 so that the arm unit 20 retreats to a predetermined position set in advance. A control signal for adjusting the supply of air from the arm drive control unit 82 is output.
Although the present invention has been described with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and can be improved or modified within the purpose of improvement or the idea of the present invention. For example, in the above description, the surgical robot holds the endoscope, but the present invention is not limited to this, and other treatment tools such as forceps and a scalpel may be used. Further, instead of the endoscope, a medical robot that holds a camera for observing the appearance of the patient can be used.

As described above, the surgical robot according to the present invention is useful in that the surgical robot can be easily moved by a simple operation even when the surgical method or the affected area is changed.

10 Robot (surgical robot)
20 Arm part 21 Tip holding part 22 Gimbal mechanism part 23 1st joint part 24 1st arm 24a 1st rod 24b 1st pneumatic actuator part 24c 1st self-weight compensating part 25 2nd joint part 26 2nd arm 26a 2nd rod 26b 2nd pneumatic actuator part 26c 2nd self-weight compensation part 30 Pedestal part (main body part)
40 base (main body)
41 Housing part 41a Rear surface 42 Hooking part 42a Extension 42b Tip Hooking part 42c Recess (contact area)
42d Inclined surface 42e Rear side surface 42f Upper inner surface (contact area)
42g inner surface (contact area)
42h, 42i Square 43 Pressing plate 43a Protrusion 44 Linear guide 45 Ball screw 46 Motor 47 Self-weight compensation spring 48 Brake (fixing member)
49 Main unit drive control unit 51 Camera head adapter 52 Holder 53 Endoscope 60

Bed

61, 62, 63

Base

61a, 62a Rear 61b Front 63a Front 64 Base 65 Support 66

Base

71, 72, 73, 74, 75 , 76 Support 76a Connection 76b Top 76c Bottom 76d Top (contact area)
76e outer surface (contact area)
81 Coordinated drive control unit 82 Arm drive control unit 83 1st air supply unit 84 2nd air supply unit 91 Coating layer (friction reduction member)
92 Ball bearing (friction reduction member)
AX1 1st rotation axis AX2 2nd rotation axis AX3 3rd rotation axis L1 Length of hook,
L2, L3 Spacing between adjacent support parts P Fixing pin (regulatory member)
P1 shaft

Claims

With the main body
An arm portion provided on the main body portion that holds the endoscope and is pneumatically driven,
A mounting member for detachably mounting the main body to the bed base, and
A surgical robot comprising: a friction reducing member for reducing friction in the movement of the mounting member so that the mounting member can move along the outer circumference of the base portion.
The surgical robot according to claim 1, wherein a support portion is provided so as to extend along the outer circumference of the base portion of the bed, and the main body portion is movably attached to the support portion.
The surgical robot according to claim 2, wherein the mounting member is a hooking portion that detachably hooks the main body portion to the support portion.
The support portion is divided into a plurality of parts along the outer circumference.
The surgical robot according to claim 3, wherein the hooking portion has a length larger than the distance between adjacent supporting portions in a direction in which the supporting portion extends.
A regulatory member that regulates the hooking portion from moving along the outer circumference of the bed base is provided.
The surgical robot according to claim 3, wherein the hooking portion can move along the outer circumference when the regulation by the regulating member is released.
The surgical robot according to claim 3, wherein the friction reducing member is a coating layer that reduces friction between the hooking portion and the supporting portion.
The surgical robot according to claim 3, wherein the friction reducing member is a bearing member provided on the hooking portion.
The hooking portion has a recess for accommodating the upper portion of the support portion inside, and the friction reducing member is claimed from claim 3 provided in a contact region with the upper portion of the support portion in the recess. Item 6. The surgical robot according to any one of Item 7.
A vertical drive mechanism that allows the main body to move along a direction perpendicular to the base.
The surgical robot according to any one of claims 1 to 8, further comprising a fixing member that regulates movement of the main body portion along a direction perpendicular to the base portion.