WO2022249524A1 - Arm device - Google Patents

Abstract

Provided is an arm device that supports a surgical instrument for surgery, and achieves a pivot motion of the surgical instrument.　The arm device comprises: a driving link having a degree of freedom in rotation around at least a pitch axis and a yaw axis with respect to a base unit; a first drive unit that is fixed to the base unit, and generates a movement of the driving link around the pitch axis; a second drive unit that is fixed to the base unit, and generates a movement of the driving link around the yaw axis; and further a parallel link mechanism that moves following the rotation motions of the driving link around the pitch axis and around the yaw axis.

Description

arm device

The technology disclosed in this specification (hereinafter referred to as "this disclosure") relates to an arm device that supports surgical tools used in surgical operations such as ophthalmic surgery and laparoscopic surgery.

Recently, robotics technology has been introduced in the medical field, and surgical operations are being performed safely and accurately using a master-slave surgical system (see, for example, Patent Document 1). . By incorporating robotics technology into the surgical system, it becomes possible to suppress the tremor of the operator's hand, assist in operation, absorb differences in skill between operators, and perform surgery remotely.

In general, a surgical robot rigidly supports a surgical tool at the distal end of a robot arm with a multi-link structure. Then, surgery is performed by a robot by inserting a surgical tool into a surgical site such as an abdomen or an eyeball via a mantle tube called a trocar. From the standpoint of minimal invasiveness, it is desirable to reduce the load applied to the insertion site when the surgical instrument is operated or the eye moves during surgery.

For this reason, surgical robots with an RCM (Remote Center of Motion) mechanism have been introduced. RCM uses a mechanical structure such as a link to place the center of rotation (that is, the remote center of rotation) at the insertion position of the trocar away from the center of rotation of the driving mechanism such as the motor, thereby allowing the surgical instrument to pivot (fixed point). It is a structure that realizes By applying the RCM mechanism, even if the surgical instrument is operated using the arm during surgery, the surgical instrument always passes through the trocar insertion point, so minimally invasive and safe surgery can be realized.

For example, a first drive portion secured to the base portion for axially rotating a first drive shaft, a second drive portion secured to the base portion for axially rotating a second drive shaft, and at least one parallel drive portion. An arm portion including a link and supporting a predetermined jig is provided, and the posture of the arm portion is changed by driving the first driving portion and the second driving portion to perform a predetermined rotational motion with respect to the predetermined jig. A supporting arm device has been proposed in which the RCM mechanism is applied (see Patent Document 1).

WO2019/077755 WO2019/054073, Fig. 18

An object of the present disclosure is to provide an arm device that supports a surgical tool and realizes pivotal movement of the surgical tool.

The present disclosure has been made in consideration of the above problems,
a driving link having rotational degrees of freedom about at least the pitch and yaw axes with respect to the base;
a first drive section fixed to the base section for generating motion of the driving link about the pitch axis;
a second drive section fixed to the base section for generating motion of the driving link about the yaw axis;
It is an arm device comprising The arm device according to the present disclosure further includes a parallel link mechanism that follows rotational motion of the driving link about the pitch axis and about the yaw axis.

The first driving section generates motion of the driving link about the pitch axis by means of a slider crank mechanism. The slider-crank mechanism includes a slider that reciprocates in the yaw axis direction and a rod that connects the driving link and the slider. A link rotates around the pitch axis.

Also, the second drive unit includes a rotary motor and a speed reduction mechanism that reduces the speed of rotation of the rotary motor and transmits it to the yaw axis.

The arm device according to the present disclosure includes a medical surgical instrument mounted on a link at a distal end of the parallel link mechanism, a third driving section that drives the medical surgical instrument around a roll axis, and the medical It further comprises a fourth driving section that drives the surgical instrument.

According to the present disclosure, it is possible to provide an arm device that pivots a surgical instrument and realizes rotational motion on two axes without angular interference with each other.

It should be noted that the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited to these. In addition, the present disclosure may have additional effects in addition to the effects described above.

Further objects, features, and advantages of the present disclosure will become apparent from more detailed descriptions based on the embodiments described later and the accompanying drawings.

FIG. 1 is a diagram showing the configuration of the degrees of freedom of the arm device 100. As shown in FIG. FIG. 2 shows the arm device 100 with the tip of the driving link 101 at the retracted position. FIG. 3 shows the arm device 100 with the tip of the drive link 101 at the push-out position. FIG. 4 is a diagram showing the configuration of the degrees of freedom of the arm device 400. As shown in FIG. FIG. 5 shows the arm device 400 with the surgical instrument 430 in the retracted position. FIG. 6 is a diagram showing the arm device 400 with the surgical tool 430 in the pushing position. FIG. 7 is a diagram (perspective view) showing a specific configuration example of the arm device 700. As shown in FIG. FIG. 8 is a diagram (side view) showing a specific configuration example of the arm device 700. As shown in FIG. FIG. 9 is a diagram (front view) showing a specific configuration example of the arm device 700. As shown in FIG. FIG. 10 is a diagram showing how the RCM link of the arm device 700 is rotated 70 degrees in the pitch axis direction. FIG. 11 is a diagram showing how the RCM link of the arm device 700 is rotated by 0 degrees in the pitch axis direction. FIG. 12 is a diagram showing how the RCM link of the arm device 700 is rotated -50 degrees in the pitch axis direction. FIG. 13 is a diagram showing how the RCM link of arm device 700 is rotated by 75 degrees in the yaw axis direction. FIG. 14 is a diagram showing how the RCM link of the arm device 700 is rotated by 0 degrees in the yaw axis direction. FIG. 15 is a diagram showing how the RCM link of arm device 700 is rotated by -75 degrees in the yaw axis direction. FIG. 16 is a diagram showing how the arm device 700 drives the RCM link in parallel in two directions of the pitch axis and the yaw axis. FIG. 17 is a diagram showing how the arm device 700 drives the RCM link in parallel in two directions of the pitch axis and the yaw axis. FIG. 18 is a diagram showing how the arm device 700 drives the RCM link in parallel in two directions of the pitch axis and the yaw axis. FIG. 19 is a diagram showing how the arm device 700 drives the RCM link in parallel in two directions of the pitch axis and the yaw axis. FIG. 20 is a diagram showing how the arm device 700 drives the RCM link in parallel in two directions of the pitch axis and the yaw axis. FIG. 21 is a diagram showing how the arm device 700 drives the RCM link in parallel in two directions of the pitch axis and the yaw axis. FIG. 22 is a diagram showing how the cable 2201 is wound around the input capstan 742 and the output capstan 743 . FIG. 23 is an enlarged view showing the periphery of the surgical instrument 750 mounted on the second driven link 708. As shown in FIG. FIG. 24 is a diagram showing an image of applying the arm device according to the present disclosure to ophthalmic surgery. FIG. 25 is a diagram showing an image of applying the arm device according to the present disclosure to brain surface surgery. FIG. 26 is a diagram showing an image of applying the arm device according to the present disclosure to laparoscopic surgery. FIG. 27 is a diagram showing an example of a parallel link type RCM mechanism. FIG. 28 is a diagram showing an example of a parallel link type RCM mechanism. FIG. 29 is a diagram showing an example of a parallel link type RCM mechanism. FIG. 30 is a diagram showing an example of a parallel link type RCM mechanism. FIG. 31 is a diagram showing an example of a parallel link type RCM mechanism. FIG. 32 is a diagram showing an example of a parallel link type RCM mechanism.

The present disclosure will be described in the following order with reference to the drawings.

A. OverviewB. Freedom configuration of arm device (1)
C. Freedom configuration of arm device (2)
D. Specific configuration example of arm device D-1. Rotation drive mechanism in two directions of pitch and yaw D-2. About RCM Mechanism D-3. Rotation drive mechanism and opening/closing drive mechanism in roll direction of surgical instrument D-4. Advantages of the Arm DeviceE. Application example in the medical field

A. Outline In an arm device that supports a surgical instrument, a mechanism that realizes pivotal movement of the surgical instrument with the insertion position of the trocar as the RCM is commonly used in order to perform minimally invasive surgery. . 27 to 32 each illustrate a parallel link type RCM mechanism.

The parallel link 2700 shown in FIG. 27 includes two links 2701 and 2702 pivotally supported by the base via joints 2711 and 2712, respectively, and two links 2703 and 2704 arranged parallel to the base, respectively. , link 2701 is coupled to links 2703 and 2704 via joints 2713 and 2714, respectively, and link 2702 is supported by links 2703 and 2704 via joints 2715 and 2716, respectively, so as to be parallel to link 2701. there is Furthermore, link 2705 is supported via joints 2717 and 2718 at the tips (distal ends) of links 2703 and 2704, respectively, so as to be parallel to links 2701 and 2702. However, the joints 2713, 2715, 2716, and 2717 are ball joints capable of rotating about three orthogonal axes. For example, when one of the links 2701 or 2702 is used as a driving link and is rotated about the pitch axis indicated by arrow P in FIG. At that time, the parallel relationship between the link 2705 and the links 2701 and 2702 is maintained at any rotation angle. Therefore, the link 2705 pivots with the intersection O of the lower end with the base as the pivot point.

The parallel link 2800 shown in FIG. 28 includes two links 2801 and 2802 pivotally supported by the base via joints 2811 and 2812, respectively, and two links 2803 and 2804 arranged parallel to the base, respectively. , link 2801 is coupled to links 2803 and 2804 via joints 2813 and 2814, respectively, and link 2802 is supported by links 2803 and 2804 via joints 2815 and 2816, respectively, so as to be parallel to link 2801. there is Further, link 2805 is supported through joints 2817 and 2818 at the tips (distal ends) of links 2803 and 2804, respectively, so as to be parallel to links 2801 and 2802. However, the joints 2813, 2816, and 2817 are ball joints capable of rotating about three orthogonal axes. For example, when one of the links 2801 or 2802 is used as a driving link and is rotated around the pitch axis indicated by the arrow P in FIG. At that time, the parallel relationship between the link 2805 and the links 2801 and 2802 is maintained at any rotation angle. Therefore, the link 2805 pivots with the intersection O of the lower end with the base as the pivot point.

The parallel link 2900 shown in FIG. 29 consists of two links 2901 and 2902 pivotally supported by the base via joints 2911 and 2912, respectively, and two links 2903 and 2904 arranged parallel to the base, respectively. , link 2901 is coupled to link 2904 via joint 2914, and link 2902 is supported by links 2903 and 2904 via joints 2915 and 2916, respectively, so as to be parallel to link 2901. Further, link 2905 is supported in parallel with links 2901 and 2902 via joints 2917 and 2918 at the tips (distal ends) of links 2903 and 2904, respectively. However, the joints 2915, 2916, and 2917 are ball joints capable of rotating about three orthogonal axes. For example, if one of the links 2901 or 2902 is used as a driving link and is rotated around the pitch axis indicated by the arrow P in FIG. At that time, the parallel relationship between the link 2905 and the links 2901 and 2902 is maintained at any rotation angle. Therefore, the link 2905 pivots with the intersection O of the lower end with the base as the pivot point.

The parallel link 3000 shown in FIG. 30 includes two links 3001 and 3002 pivotally supported by the base via joints 3011 and 3012, respectively, and two links 3003 and 3004 arranged parallel to the base, respectively. , link 3001 is coupled to link 3003 via joint 3013, and link 3002 is supported by links 3003 and 3004 via joints 3015 and 3016, respectively, so as to be parallel to link 3001. Furthermore, link 3005 is supported via joints 3017 and 3018 at the tips (distal ends) of links 3003 and 3004, respectively, so as to be parallel to links 3001 and 3002. As shown in FIG. However, the joints 3015 and 3017 are ball joints capable of rotating about three orthogonal axes. For example, when one of the links 3001 or 3002 is used as a driving link and is rotated around the pitch axis indicated by the arrow P in FIG. At that time, the parallel relationship between the link 3005 and the links 3001 and 3002 is maintained at any rotation angle. Therefore, the link 3005 pivots with the intersection point O of the lower end with the base as the pivot point.

The parallel link 3100 shown in FIG. 31 includes two links 3101 and 3102 pivotally supported by the base via joints 3111 and 3112, respectively, and two links 3103 and 3104 arranged parallel to the base, respectively. , link 3101 is coupled to links 3103 and 3104 via joints 3113 and 3114 respectively, and link 3102 is supported by link 3103 via joint 3115 so as to be parallel to link 3101 . Furthermore, link 3105 is supported through joints 3117 and 27518 at the tips (distal ends) of links 3103 and 3104, respectively, so as to be parallel to links 3101 and 3102. However, the joints 3113, 3115, and 3117 are ball joints capable of rotating about three orthogonal axes. For example, when one of the links 3101 or 3102 is used as a driving link and is rotated about the pitch axis indicated by arrow P in FIG. At that time, the parallel relationship between the link 3105 and the links 3101 and 3102 is maintained at any rotation angle. Therefore, the link 3105 pivots with the intersection point O of the lower end with the base as the pivot point.

The parallel link 3200 shown in FIG. 32 includes two links 3201 and 3202 pivotally supported by the base via joints 3211 and 3212, respectively, and two links 3203 and 3204 arranged parallel to the base, respectively. , link 3201 is coupled to links 3203 and 3204 via joints 3213 and 3214 respectively, and link 3202 is supported by link 3204 via joint 3216 so as to be parallel to link 3201 . Furthermore, link 3205 is supported via joints 3217 and 3218 at the tips (distal ends) of links 3203 and 3204, respectively, so as to be parallel to links 3201 and 3202. However, the joints 3213, 3216, and 3217 are ball joints capable of rotating about three orthogonal axes. For example, when one of the links 3201 or 3202 is used as a driving link and is rotated around the pitch axis indicated by the arrow P in FIG. At that time, the parallel relationship between the link 3205 and the links 3201 and 3202 is maintained at any rotation angle. Therefore, the link 3205 pivots with the intersection O of the lower end with the base as the pivot point.

In short, in the parallel link, one end of each of the driving link and the driven link is fixed to the fixed link, and the motion of the driving link is transmitted to the driven link via the intermediate link. The driven link drives while maintaining an angle with the driving link. Therefore, if the driven link is an arm, the tip of the arm will be pivoted at the pivot point. As can be seen from FIGS. 27 to 32, according to the parallel link type RCM mechanism, only the structural structure of the mechanism can be achieved without the translational movement due to the posture change of the arm in the two rotational degrees of freedom of pitch and yaw. can achieve pivotal movement of the tip (distal end) of the arm. Such a parallel link type RCM mechanism can simplify the fixed point of the intended pivot motion, and can be expected to have a low inertia. If the arm having the RCM mechanism further includes three translational degrees of freedom to configure the manipulator device, the entire device can be designed compactly.

In order to realize the agile operation of the arm device, it is necessary to increase the output of the motor that drives the links involved in the RCM mechanism, or reduce the inertia on the output side of the motor. As an effective method for the latter, an RCM mechanism that drives the yaw axis and pitch axis in parallel can be considered, but it is accompanied by a decrease in mechanical performance (range of motion, torque transmission, back drivability) and complication of control. Concerned.

Therefore, the present disclosure proposes an arm device having a parallel link type RCM mechanism capable of parallel driving without causing the yaw axis and the pitch axis to interfere with each other. The details of the arm device according to the present disclosure will be described in section B and thereafter.

B. Freedom configuration of arm device (1)
FIG. 1 shows a configuration example of degrees of freedom of an arm device 100 to which the present disclosure is applied. The illustrated arm device 100 includes a drive link 101, a first drive section 103 that generates motion of the drive link 101 about the pitch axis, and a second drive section 104 that generates motion of the drive link 101 about the yaw axis. It has Here, the driving link 101 is coupled to the base portion 102 via a passive joint portion 111 having rotational degrees of freedom about the pitch axis and the yaw axis. Both the first drive section 103 and the second drive section 104 are fixed to the base section 102 corresponding to the mechanical ground.

The first driving section 103 generates rotational motion of the driving link 101 about the pitch axis by means of a slider crank mechanism. Specifically, the slider crank mechanism is composed of a slider 105 that reciprocates in the yaw axis direction and linearly moves in the yaw axis direction, and a rod 106 that connects the slider 105 and the driving link 101 . Both ends of the rod 106 are connected to the slider 105 and the driving link 101 through passive joints 112 and 113 rotatable about the pitch axis. A joint portion 112 at one end of the rod 106 is connected to the driving link 101 at a position separated from the base portion 102 . Therefore, the section from the passive joint portion 111 to the passive joint portion 112 of the driving link 101 corresponds to the crank in the slider crank mechanism.

The rectilinear motion of the slider 105 reciprocating in the yaw axis direction is transmitted to the driving link 101 as a crank via the rod 106 and converted into rotational motion about the pitch axis centering on the passive joint 111 of the driving link 101. be done. For reference, FIG. 2 shows a state in which the slider 105 advances in the yaw axis direction and the leading end of the driving link 101 is at the retracted position. 3 shows a state in which the slider 105 is retracted in the yaw axis direction and the leading end of the driving link 101 is at the pushed position. The rectilinear motion of the slider 105 in the slider-crank mechanism is achieved using, for example, a ball screw, the details of which will be given later.

On the other hand, the second driving section 104 generates rotational motion around the yaw axis about the passive joint section 111 of the driving link 101 by the driving force of the rotary motor. A passive joint 114 rotatable about the yaw axis is arranged between the slider 105 and the rod 106 so that the rotational motion of the driving link 101 about the yaw axis is not transmitted to the slider 105 via the rod 106 . . In FIG. 1 , for the sake of simplification of the drawing, the output shaft of the yaw axis rotating motor is drawn so as to coincide with the central axis of the passive joint section 111 . A rotation motor may be arranged to transmit the rotational force to the driving link 101 via a transmission mechanism such as a cable.

The arm device 100 shown in FIG. 1 uses the first drive section 103 and the second drive section 104 fixed to the base section 102, respectively, to interfere with the rotation of the driving link 101 on the pitch axis and the yaw axis. can be realized without Since they can rotate in two directions without interfering with each other, the control of the driving link 101 is simplified.

C. Freedom configuration of arm device (2)
FIG. 4 shows an example of the degree-of-freedom configuration of an arm device 200 having a parallel link type RCM mechanism to which the present disclosure is applied. The arm device 400 achieves two-way rotation of the pitch axis and the yaw axis without mutual interference by a driving mechanism similar to that of the arm device 100 shown in FIG. Furthermore, using a parallel link, the tip (distal end) of the arm can be pivoted only by the mechanical structure, with two rotational degrees of freedom of pitch and yaw, without translational movement accompanying changes in the posture of the arm. Realize

First, the pitch and yaw rotation drive mechanism of the arm device 400 will be described.

The arm device 400 includes a driving link 401, a first driving section 403 that generates movement of the driving link 401 about the pitch axis, and a second driving section 404 that generates movement of the driving link 401 about the yaw axis. ing. Here, the driving link 401 is coupled to the fixed link 422 via a passive joint section 411 having rotational degrees of freedom about the pitch axis and the yaw axis. Both the first drive section 403 and the second drive section 404 are fixed to a base section 402 corresponding to a mechanical ground.

The first drive unit 403 is composed of a slider crank mechanism composed of a slider 405 that reciprocates in the yaw axis direction and linearly moves in the yaw axis direction, and a rod 406 that connects the slider 405 and the drive link 401 . The rectilinear motion of the slider 405 in the slider-crank mechanism is achieved using, for example, a ball screw, the details of which will be given later. Both ends of the rod 406 are connected to the slider 405 and the driving link 401 through passive joints 412 and 413 rotatable about the pitch axis. A joint portion 412 at one end of the rod 406 is connected to the driving link 401 at a position separated from the fixed link 422 . Therefore, the section from the passive joint portion 411 to the passive joint portion 412 of the driving link 401 corresponds to the crank in the slider crank mechanism. The rectilinear motion of the slider 405 reciprocating in the yaw axis direction is transmitted to the driving link 401 via the rod 406 and converted into rotational motion about the pitch axis about the passive joint 411 of the driving link 401. .

Also, the second driving section 404 rotates the fixed link 422 around the yaw axis with respect to the base section 402 by the driving force of the rotary motor. As a result, a rotational motion about the yaw axis centering on the passive joint portion 411 of the driving link 401 is generated. A passive joint 414 rotatable about the yaw axis is arranged between the slider 405 and the rod 406 so that the rotational motion of the driving link 401 about the yaw axis is not transmitted to the slider 405 via the rod 406 . . In FIG. 4 , for the sake of simplification of the drawing, the output shaft of the yaw axis rotation motor is drawn so as to coincide with the central axis of the passive joint portion 411 . A rotation motor may be arranged to transmit rotational force to the driving link 401 via a transmission mechanism such as a cable.

Next, the RCM mechanism in arm device 400 will be described. The arm device 400 basically has a parallel link type RCM mechanism shown in FIG.

The arm device 400 includes parallel links that operate according to the rotational motion of the driving link 401 in the pitch and yaw directions described above. The parallel links comprise a driving link 401 , a first driven link 407 and a second driven link 408 , a first intermediate link 409 and a second intermediate link 410 and a fixed link 422 .

The driving link 401 is coupled to the fixed link 422 via a passive joint section 411 having rotational freedom around the pitch axis. Also, the first intermediate link 409 is coupled to the fixed link 422 via a passive joint portion 416 having rotational freedom about the pitch axis. The fixed link 422 is rotated about the yaw axis with respect to the base portion 402 by the second drive portion 404 .

Here, the driving link 401, the first driven link 407 and the second driven link 408 are connected by the first intermediate link 409 and the second intermediate link 410 so as to maintain their parallel relationship. It is

The driving link 401 and the first driven link 407 are connected at one end by a fixed link 422, and are also connected by a first intermediate link 409 so as to maintain a parallel relationship. The driving link 401 and the first intermediate link 409 are coupled via a passive joint 418 having rotational freedom about the pitch axis. Also, the first driven link 407 and the first intermediate link 409 are coupled via a passive joint portion 417 having rotational freedom around the pitch axis.

Also, the driving link 401 and the second driven link 408 are connected by a first intermediate link 409 and a second intermediate link 410 so as to maintain a parallel relationship. The driving link 401 and the first intermediate link 409 are coupled via a passive joint 418 having rotational freedom about the pitch axis, and the driving link 401 and the second intermediate link 410 are coupled via the rotational freedom about the pitch axis. is coupled via a passive joint 419 with . The second driven link 408 and the first intermediate link 409 are coupled via a passive joint 420 having rotational freedom about the pitch axis, and the second driven link 408 and the second intermediate link 410 are connected to the pitch axis. It is connected via a passive joint 421 having rotational freedom around the axis.

The reciprocating motion of slider 405 is transmitted to driving link 401 via rod 406 . On the other hand, the driving link 401 rotates about the pitch axis around the passive joint portion 411 . Also, the rotational motion of the driving link 401 is transmitted to the first driven link 407 by the first intermediate link 409 . Then, the first driven link 407 rotates about the pitch axis around the driven joint portion 416 while maintaining the angle with the driving link 401 . Furthermore, the rotational motion of the driving link 401 is transmitted to the second driven link 408 by the first intermediate link 409 and the second intermediate link 410, and the second driven link 408 maintains an angle with the driving link 401. works while

The tip of the second driven link 408 is a medical instrument 430 such as forceps. As described above, when the parallel relationship with the second driven link 408 is maintained at any rotational position around the pitch axis of the driving link 401, the tip of the second driven link 408 and the fixed link 422 are extended. The RCM can be placed at the intersection of a straight line (or a straight line connecting the passive joints 411 and 416) to achieve pivotal movement of the surgical tool 430. FIG.

FIG. 5 shows a state in which the slider 405 advances in the yaw axis direction and the surgical instrument 430 at the tip of the driving link 401 and the second driven link 408 is in the retracted position. FIG. 6 also shows a state in which the slider 405 is retracted in the yaw axis direction and the surgical instrument 430 at the distal end of the driving link 401 and the driven link 408 is at the pushing position. 5 and 6 also show that the RCM is arranged at the tip of the second driven link 408 and the surgical instrument 403 is pivoting.

Further, when the fixed link 422 rotates around the yaw axis with respect to the base portion 402 by the second driving portion 404, the driving link 401, the first driven link 407 and the second driven link 408 are all yawed by the same angle. Rotate around an axis. Rotation in the two directions of pitch and yaw in parallel links, including motive link 401, is not interfered with. Therefore, even when rotating about the yaw axis, the RCM is arranged at the tip of the second driven link 408 and the surgical instrument 403 pivots.

In the arm device 400, the rotation of the driving link 401 about the pitch axis and the rotation about the yaw axis can be driven in parallel. The second driven link 408 is maintained parallel to the driving link 401 by the first intermediate link 409 and the second intermediate link 410, and rotates about the pitch axis and the yaw axis following the driving link 401. . The main feature of the RCM mechanism in the arm device 400 is that the surgical instrument 430 mounted at the tip of the second driven link 408 can be rotated about the pitch axis and the rotation about the yaw axis in parallel. The point is that the two axes do not angularly interfere with each other. The mechanical points for realizing this parallel drive are summarized below. Note that these points also apply to the arm device 100 shown in FIGS.

(1) The drive link 401 is used as a crank in a slider crank mechanism, and the drive link 401 is driven around the pitch axis by the reciprocating motion of the slider 405 .
(2) The slider 405 of the slider crank mechanism reciprocates along the yaw axis.
(3) The rod 406 connecting the slider 405 and the crank (driving link 401) is rotatable around the yaw axis.

The arm device 400 shown in FIGS. 4 to 6 has a rotational degree of freedom to rotate the surgical instrument 403 around the roll axis and a degree of freedom to drive the surgical instrument 403 (for example, the surgical instrument 403 can be opened and closed like forceps). If it is operable, it may be further provided with a degree of freedom of opening and closing). In this case, the arm device 400 realizes a total of four degrees of freedom of operation of the surgical tool, including the degrees of freedom about the pitch axis and the yaw axis. Furthermore, if the arm device 400 is mounted on an XYZ stage capable of 3-axis translational motion, a parallel link capable of 3-axis rotational motion, or the like, a total of 7 degrees of freedom of operation of the surgical instrument can be realized.

Also, the parallel link type RCM structure to which the present disclosure is applicable is not limited to the configuration example shown in FIG. For example, for any of the parallel links shown in FIGS. 27-32, two actuators, each located at the base, are used, one of which uses a slider-crank mechanism to produce motion about the pitch axis of the driving link. At the same time, by using the other actuator to generate the movement of the drive link around the yaw axis, a parallel link type RCM mechanism capable of parallel driving without mutual interference between the yaw axis and the pitch axis is realized. can be realized.

D. Specific configuration example of the arm device In this section D, an example in which the arm device 400 described in the above section C is applied to the medical field will be described.

7 to 9 show specific configuration examples of an arm device 700 to which the present disclosure is applied. 7 is a perspective view of the arm device 700, FIG. 8 is a side view of the arm device 700, and FIG. 9 is a front view of the arm device. The arm device 700 basically has the same degree-of-freedom configuration as the arm device 400 described in Section C above.

D-1. Pitch and Yaw Bi-directional Rotational Drive Mechanism First, the pitch and yaw bidirectional rotational drive mechanism of the arm device 700 will be described.

The arm device 700 includes a driving link 701, a first driving section that generates rotational movement of the driving link 701 about the pitch axis, and a second driving section that generates rotational movement of the driving link 701 about the yaw axis. ing. Here, the driving link 701 operates as a driving link of an RCM link, which will be described later, but is connected to a fixed link 722 of the RCM link via a passive joint portion 711 having rotational degrees of freedom around the pitch axis and the yaw axis. ing. Also, both the first drive section and the second drive section are fixed to the RCM base section 702 corresponding to the mechanical ground.

The first drive section has a slider crank mechanism composed of a slider 705 that reciprocates in the yaw axis direction and linearly moves in the yaw axis direction, and a rod 706 that connects the slider 705 and the drive link 701 . Both ends of the rod 706 are connected to the slider 705 and the driving link 701 through passive joints 712 and 713 rotatable about the pitch axis. A passive joint portion 712 at one end of the rod 706 connects the driving link 701 and the rod 706 at a position separated from the fixed link 722 . Therefore, the section from the passive joint portion 711 to the passive joint portion 712 of the driving link 701 corresponds to the crank in the slider crank mechanism. The rectilinear motion of the slider 705 reciprocating in the yaw axis direction is transmitted to the driving link 701 via the rod 706 and converted into rotational motion about the pitch axis about the passive joint 711 of the driving link 701. .

The linear motion of the slider 705 in the slider crank mechanism is realized using a ball screw mechanism. The ball screw mechanism shown in FIG. It has a spline nut 733 screwed into the ball screw groove, and a ball spline rod 734 arranged parallel to the ball screw shaft 731 and inserted through the spline nut 733 .

Here, the ball spline rod 734 is arranged so as to match the yaw axis of the arm device 700, and is supported by the RCM base portion 702 so as to be rotatable around the yaw axis. The fixed link 722 of the RCM link is connected to the tip of the ball spline rod 734 and is rotatable around the yaw axis together with the ball spline rod 734 . A spline nut 733 is used as the slider 705 in the slider crank mechanism. A ball spline rod 734 is inserted through the spline nut 733 . The ball spline rod 734 is rotatable around the yaw axis with respect to the spline nut 733 . Therefore, the slider 705 is held in a fixed upward orientation by the ball spline rod 734 at any position in the yaw axis direction.

The spline nut 733 as the slider 705 and the rod 706 of the slider crank mechanism are connected via a bearing portion 735 made of a ball bearing that can rotate smoothly around the yaw axis. Therefore, since the rod 706 is rotatably supported by the slider 705 via the bearing portion 735 about the yaw axis, the rotation of the drive link 701 about the yaw axis is not transmitted to the slider 705 . The bearing portion 735 corresponds to the passive joint portion 414 in FIG.

When the pitch-axis motor 732 rotates the ball screw shaft 731 , thrust is generated in the spline nut 733 in the axial direction of the ball screw shaft 731 . The spline nut 733 advances or retreats in the longitudinal direction of the ball spline rod 734, that is, in the yaw axis direction, upon receiving thrust from the ball screw shaft 731 due to the rotation of the pitch axis motor 732. The linear motion of the slider 705 in the yaw axis direction is transmitted to the driving link 701 via the rod 706 and converted into rotational motion about the pitch axis about the passive joint portion 711 of the driving link 701 .

On the other hand, the second driving section includes a yaw axis motor 741 arranged below the RCM base section 702, a cable reducer input capstan (hereinafter simply referred to as "input capstan") 742, and a cable reducer output capstan. It consists of a cable reducer consisting of a stun (hereafter simply “output capstan”) 743 . The input capstan 742 is attached to the output shaft of the yaw axis motor 741 and rotates together with the output shaft of the yaw axis motor 741 . Also, the output capstan 743 is coupled to the tip of the ball spline rod 734 and rotates together with the ball spline rod 734 . The ball spline rod 734 is arranged so as to match the yaw axis of the arm device 700 (described above). A power transmission cable is wound around the input capstan 742 and the output capstan 743 . Therefore, the rotational motion of the yaw-axis motor 741 is decelerated through the cable speed reducer and transmitted to the fixed link 722 at the tip of the ball spline rod 734 to generate the rotational motion of the drive link 701 around the yaw axis.

The main feature of the link mechanism in the arm device 700 is that the rotation of the driving link 701 about the pitch axis and the rotation about the yaw axis can be driven in parallel, and these two axes do not interfere angularly with each other. The mechanical points for realizing this parallel drive are summarized below.

(1) The driving link 701 is used as a crank in a slider crank mechanism, and the driving link 701 is driven around the pitch axis by the reciprocating motion of the slider 705 . Specifically, when the pitch shaft motor 732 rotates, the ball screw shaft 731 connected to its output shaft also rotates. By transmitting, a rotational motion of the driving link 701 around the pitch axis is generated.

(2) The slider 705 of the slider crank mechanism reciprocates along the yaw axis. Specifically, by using a ball spline rod 734 for the yaw axis and a spline nut 733 as the slider 705 of the slider crank mechanism, reciprocating motion in the yaw axis direction is realized.

(3) The rod 706 connecting the slider 405 and the crank (driving link 401) is rotatable around the yaw axis. Specifically, the spline nut 733 (slider 705) and the rod 706 of the slider crank mechanism are connected via a bearing portion 735 composed of a ball bearing capable of smoothly rotating about the yaw axis. The rod 706 can transmit the thrust of the slider 705 in the pitch axis direction to the driving link 701 without being affected by the posture of the slider 701 in the yaw axis direction.

By designing the shape of the RCM link so as not to interfere with the movement of the rod 706 to transmit the thrust in the pitch axis direction to the driving link 701 as much as possible, it is possible to achieve a wide range of motion of the pitch axis, for example ±60 degrees.

Also, as described above, the yaw axis motion is generated by decelerating the rotation of the yaw axis motor 741 with the cable speed reducer to rotate the ball spline rod 734 . For reference, FIG. 22 shows how the cable 2201 is wrapped around the input capstan 742 and the output capstan 743 . The cable deceleration structure combines complete backlashlessness with high backdrivability, making it a common practice in bilateral control systems that require precise position and force control. The cable speed reducer is composed of an input capstan 742 coupled to the output shaft of the yaw axis motor 741 and an output capstan 743 coupled to the tip of the ball spline rod 734 . As shown in FIGS. 7 to 9, by arranging the cable speed reducer at the tip of the RCM base portion 702, a wide yaw axis movable range of ±75 degrees, for example, can be realized.

In the arm device 700 shown in FIGS. 7 to 9, the first drive section that generates linear motion of the slider crank mechanism (slider 705) is composed of a rotary motor (pitch axis motor 732) and a ball screw mechanism. However, it is not limited to this. For example, any one of the following means (1) to (3) may be used to generate linear motion of the slider 705 .

(1) Syringe-type actuator driven by air pressure, water pressure, hydraulic pressure, etc. (2) Ultrasonic linear motor (3) Linear electromagnetic motor

Further, in the actuator device 700 shown in FIGS. 7 to 9, a cable speed reducer is used as a mechanism for transmitting the rotational motion of the yaw axis motor 741 to the ball spline rod 734 as the yaw axis (for example, FIG. 22 ), but not limited to. For example, the rotation of the yaw axis motor 741 may be decelerated and transmitted to the ball spline rod 734 using any one of the following means (1) to (6), or the ball spline rod 734 may be driven directly. good.

(1) Reduction structure using spur gear (2) Reduction structure using belt (3) Direct drive using high-output electromagnetic motor (4) Reduction structure using strain wave gear, planetary gear, or traction drive (5) Ultrasonic motor (6) Electrostatic motor

D-2. Regarding the RCM Mechanism Next, the RCM mechanism in the arm device 700 will be described. The arm device 700 basically has a parallel link type RCM mechanism shown in FIG.

The arm device 700 includes parallel links that operate according to the pitch and yaw rotational movements of the driving link 701 described above. The parallel links comprise a driving link 701 , a first driven link 707 and a second driven link 708 , a first intermediate link 709 and a second intermediate link 710 and a fixed link 722 .

The first driven link 707 has a U-shape through which the rod 706 is inserted. A rod 706 passes through the inside of the U-shape of the first driven link 707 to connect between the slider 705 and the driving link 701 . Further, the second driven link 708 at the distal end is a drive mechanism for supporting the surgical instrument 750, rotating the surgical instrument 750 around the roll axis, and opening and closing the surgical instrument (such as forceps) 750. However, the details of this point will be given later.

The driving link 701 is coupled to the fixed link 722 via a passive joint section 711 having rotational freedom around the pitch axis. Also, the first intermediate link 709 is coupled to the fixed link 722 via a passive joint 716 having rotational freedom about the pitch axis. As described above, the fixed link 722 rotates around the yaw axis with respect to the RCM base portion 702 by being driven by the yaw axis motor 741 .

The driving link 701 and the first driven link 707 and the second driven link 708 are connected by a first intermediate link 709 and a second intermediate link 710 so as to maintain a parallel relationship with each other. .

The driving link 701 and the first driven link 707 are connected at one end by a fixed link 722, and are also connected by a first intermediate link 709 so as to maintain a parallel relationship. The driving link 701 and the first intermediate link 709 are coupled via a passive joint 718 having rotational freedom about the pitch axis. Also, the first driven link 707 and the first intermediate link 709 are coupled via a passive joint portion 717 having rotational freedom around the pitch axis.

Also, the driving link 701 and the second driven link 708 are connected by a first intermediate link 709 and a second intermediate link 710 so as to maintain a parallel relationship. The driving link 701 and the first intermediate link 709 are coupled via a passive joint 718 having rotational freedom about the pitch axis, and the driving link 701 and the second intermediate link 710 are coupled via the rotational freedom about the pitch axis. is coupled via a passive joint 719 with . The second driven link 708 and the first intermediate link 709 are coupled via a passive joint 720 having rotational freedom about the pitch axis, and the second driven link 708 and the second intermediate link 710 are connected to the pitch axis. It is connected via a passive joint 721 having rotational freedom around the axis.

The reciprocating motion of slider 705 is transmitted to driving link 701 via rod 706 . On the other hand, the driving link 701 rotates around the pitch axis with the passive joint portion 711 as the center. Also, the rotational motion of the driving 7-link 401 is transmitted to the first driven link 707 by the first intermediate link 709 . Then, the first driven link 707 rotates about the pitch axis around the driven joint portion 716 while maintaining the angle with the driving link 701 . Further, the rotational motion of driving link 701 is transmitted to second driven link 708 by first intermediate link 709 and second intermediate link 710, and second driven link 708 maintains an angle with driving link 701. works while

The tip of the second driven link 708 is a medical instrument 750 such as forceps. As described above, when the parallel relationship with the second driven link 708 is maintained at any rotational position around the pitch axis of the driving link 701, the longitudinal direction (or roll axis) of the surgical instrument 705 and the second A RCM can be placed at the intersection of the tip of the driven link 708 and the straight line (or yaw axis) extending the fixed link 722 to provide pivoting motion of the surgical tool 750 .

In addition, the arm device 700 can drive the rotation of the drive link 701 about the pitch axis and the rotation about the yaw axis in parallel, and these two axes do not interfere with each other. Therefore, the RCM link mechanism supporting the surgical instrument 750 at the distal end of the arm device 700 can be driven in parallel in two directions of the pitch axis and the yaw axis, and these two axes do not interfere angularly with each other.

10 to 12 show how the arm device 700 drives the RCM link in the pitch axis direction by driving the pitch axis motor 732. FIG. 10 shows the RCM link rotated 70 degrees along the pitch axis, FIG. 11 shows the RCM link rotated 0 degrees along the pitch axis, and FIG. It shows a state rotated by -50 degrees in the direction. The first driven link 707 is configured in a U-shape (see above and FIG. 7), so that the rod 706 does not interfere with the movement of the thrust in the pitch axis direction to the driving link 701 as much as possible. By designing the shape, it is possible to realize a wide range of motion of the pitch axis of ±60 degrees, for example.

　On the other hand, FIGS. 13 to 15 show how the arm device 700 drives the RCM link in the yaw axis direction by driving the yaw axis motor 741. FIG. Of these, FIG. 13 shows the RC link rotated 75 degrees along the yaw axis, FIG. 14 shows the RC link rotated 0 degrees along the yaw axis, and FIG. It shows a state rotated -75 degrees in the direction. By arranging the cable reducer at the tip of the RCM base portion 702 as shown in FIGS. 7 to 9, a wide yaw axis movable range of ±75 degrees can be realized.

16 to 21 show in time sequence how the arm device 700 simultaneously drives the pitch axis motor 732 and the yaw axis motor 741 to drive the RCM link in parallel in the two directions of the pitch axis and the yaw axis. is shown. As already described with reference to FIGS. 7-9, the RCM link of the arm device 700 is configured so that the pitch axis and the yaw axis do not angularly interfere with each other. It should also be understood from FIGS. 16-21 that the RCM link drives in parallel in two directions, the pitch and yaw axes, without angular interference.

D-3. Roll Direction Rotation Drive Mechanism and Opening/Closing Drive Mechanism of Surgical Instrument Subsequently, the roll direction rotation drive mechanism and opening/closing drive mechanism of the surgical instrument in the arm device 700 will be described.

A second driven link 708 at the distal end supports a surgical instrument 750 and is for driving a rotary drive mechanism for rotating the surgical instrument 750 about the roll axis and a movable portion of the surgical instrument (such as forceps) 750 . Equipped with a surgical instrument drive mechanism. For reference, FIG. 23 shows an enlarged view of the surgical instrument 750 mounted on the second driven link 708 .

As shown in FIGS. 7, 8, and 23, a surgical tool unit 2301 is mounted on the front side of the second driven link 708 at the distal end of the arm device 700. FIG. A surgical tool 750 is replaceably attached to the lower end of the surgical tool unit 2301 . Specifically, a hollow cylindrical surgical instrument shaft 2303 including a surgical instrument 750 at its distal end is inserted into a receiving portion at the lower end of the surgical instrument unit 2301 . As shown in the upper left enlarged view of FIG. 23, the surgical instrument shaft 2303 is attached to the surgical instrument unit 2301 via a bearing 2321 so as to be rotatable about the roll axis. Here, the surgical instrument shaft 2303 is arranged so that its longitudinal direction coincides with the roll axis of the arm device 700 . Ideally, the surgical instrument 750 at the distal end of the surgical instrument shaft 2302 (or the insertion position of a trocar (not shown) through which the surgical instrument 750 is inserted) serves as the RCM.

The surgical instrument 750 is, for example, forceps, scissors, forceps, bipolar forceps, clip forceps, and a camera (endoscope, etc.). A surgical tool driving actuator 2302 is mounted on the upper end of the surgical tool unit 2301 . If the surgical instrument 750 has a movable portion such as forceps that can be opened and closed, the surgical instrument 750 can be operated by the driving force generated by the surgical instrument driving actuator 2302 .

The surgical instrument driving actuator 2302 is composed of a rotary motor, and a slide mechanism using a lead screw 2304 converts the rotary motion of this rotary motor into a linear motion in the roll axis direction. The upper end of a transmission rod 2330 passing through the hollow surgical instrument shaft 2303 is fixed to the nut of the lead screw 2304, and the linear motion transmitted by the transmission rod 2330 drives the surgical instrument 750 such as opening and closing forceps. can be realized. Alternatively, the surgical instrument driving actuator 2302 may be a linear actuator. The lead screw 2304 is composed of a lead screw that is axially driven and a nut that is screwed onto the lead screw and linearly moves as the lead screw is axially rotated, but details are omitted in FIG. 23 for the sake of simplification. do.

Here, the opening and closing structure of the forceps will be briefly explained with reference to the enlarged view at the bottom left of FIG. The forceps is configured by attaching a pair of jaw members 2331 and 2332 having substantially symmetrical shapes so as to be rotatable around an opening/closing shaft 2333 . Each of the jaw members 2331 and 2332 has elongated cam slots 2334 and 2335 inclined with respect to the roll axis (or the longitudinal axis of the surgical instrument shaft 2303) on the root side (proximal end side) of the opening/closing axis 2333. respectively. Each cam slot 2334 and 2335 receives a small cylindrical pin 2336 projecting near the distal end of transmission rod 2330 . When the transmission rod 2330 linearly moves in the longitudinal axis direction of the surgical instrument shaft 2303 by the surgical instrument driving actuator 2302, the pin 2336 at the tip of the transmission rod 2330 slides on the inner walls of the respective cam slots 2334 and 2335 and moves in the roll axial direction. move forward or backward to In this manner, each cam slot 2334 and 2335 converts the translational motion of pin 2336 into rotational motion of respective jaw members 2331 and 2332 about opening and closing axis 2333 (see, eg, US Pat. No. 5,400,000). When the pin 2336 moves distally, the forceps close and when the pin 2336 moves proximally, the forceps open. Assuming that the transmission rod 2330 (or pin 2336) that performs linear motion is a slider, and the cam slots 2334 and 2335 that convert this linear motion into rotational motion are regarded as cranks, the forceps are opened and closed by a slider-crank system. be able to.

7, 8, and 23, a roll shaft motor 2311 for rotationally driving the surgical instrument 750 around the roll shaft is mounted on the back side of the second driven link 708. . The roll shaft motor 2311 is arranged so that its output shaft is parallel to the roll shaft and separated from the roll shaft. The surgical instrument shaft 2303 is attached to the surgical instrument unit 2301 via a bearing 2321 so as to be rotatable around the roll axis (described above). The rotational force of the roll shaft motor 2311 is transmitted to the capstan attached to the surgical instrument shaft 2303 via a timing belt 2312 wound around the output shaft capstan of the roll shaft motor 2311 , thereby rotating the surgical instrument 750 . It can be rotated around the roll axis.

Operation of the surgical instrument 750 by the surgical instrument drive actuator 2302 (opening and closing forceps, etc.) and rotation of the surgical instrument 750 in the roll direction by the roll shaft motor 2311 can be driven in parallel without mutual interference. Please note. The mechanical points for achieving this interference-free parallel drive are summarized below.

(1) The forceps are opened and closed by converting the linear motion of the surgical instrument driving actuator 2302 into the rotational motion of each jaw member by a slider crank system.
(2) The linear motion of the surgical instrument driving actuator 2302 is performed in the roll axis direction.
(3) The transmission rod (or the surgical instrument shaft 2303 through which the transmission rod is inserted) that transmits the linear motion of the surgical instrument driving actuator 2302 is freely rotatable around the roll axis.

Operation of the surgical instrument 750 by the surgical instrument drive actuator 2302 (opening and closing of forceps, etc.) and rotation of the surgical instrument 750 in the roll direction by the roll shaft motor 2311 are driven in parallel without mutual interference, thereby rolling the surgical instrument 750. Infinite rotation can be achieved by eliminating restrictions on the range of motion of the axis. Further, when the surgical instrument 750 is forceps, the opening angle of the forceps is, for example, 20 degrees.

Reference number 2340 in FIG. 23 indicates a force sensor. A force sensor 2340 is mounted on the second driven link 708 and used to measure the external force that the surgical instrument 750 receives from the surgical site or the like. Here, the force sensor 2340 is composed of a strain-generating body and a strain detection element attached to the surface of the strain-generating body. The strain-generating body is fixed to the second driven link 708, but may be a fir with a portion of the second driven link 708 having a strain-generating body structure. The strain detection element may be, for example, a strain gauge whose electric resistance value changes according to the amount of strain, or an FBG (Fiber Bragg Gratings) that changes the wavelength of light transmitted through the optical fiber according to the amount of strain. The force sensor 2340 is a 6DoF (Degrees of Freedom) force sensor capable of measuring external forces and moments in three directions, for example, configured by arranging one set of strain detection elements in each of the three axial directions of the strain body. may

D-4. Advantages of Arm Apparatus At the end of Section D, the advantages of the arm apparatus 700 are summarized.

(1) By adopting a structure in which the yaw axis and the pitch axis of the RCM link are driven in parallel, the inertia of each output axis can be reduced.
(2) Inertia of each output shaft can be reduced by adopting a structure in which the roll shaft of the surgical instrument 750 and the forceps opening/closing shaft are driven in parallel.
(3) The control model is simple because the parallel drive in (1) and (2) does not interfere with the axes.
(4) Wide range of motion for each axis. Specifically, it has a movable range of ±75 degrees around the yaw axis of the RCM link and ±60 degrees around the pitch axis, and the surgical instrument 750 is infinitely rotatable around the roll axis.
(5) Comparability is high by using a slider crank mechanism to drive the pitch axis of the RCM link.

In addition, as advantages of the arm device 700, it is possible to reduce the weight, achieve high rigidity, and achieve parallel drive and a wide range of motion at the same time.

E. Medical Applications This Section E describes the medical applications of the arm apparatus according to the present disclosure. As explained in the above sections C to D, the arm device according to the present disclosure has a structure that supports the surgical instrument at the distal end by the parallel link type RCM mechanism, so the surgical instrument or the trocar through which the surgical instrument is inserted Since the surgical instrument can be pivoted around the insertion position as a pivot point, minimally invasive surgery can be achieved. Further, according to the arm device according to the present disclosure, the parallel driving of the yaw axis and the pitch axis in the RCM link, and the parallel driving of the roll axis and the forceps opening/closing axis of the surgical instrument supported at the distal end of the RCM link are controlled by inter-axis interference. Since the control model is simple, the inertia of each output shaft can be reduced.

FIG. 24 shows an image of applying the arm device according to the present disclosure to ophthalmic surgery. However, for the sake of simplification of the drawing, the arm device 2400 is depicted as having a degree-of-freedom configuration as shown in FIGS. The arm device 2400 may be mounted on a device capable of adjusting its three-dimensional position and orientation, such as an XYZ stage or parallel link (none of which is shown). As shown in FIG. 24, a surgical instrument 2401 supported at the distal end of an arm device 2400 is inserted into the eyeball via a trocar 2402 stuck into the surface of the eyeball 2410, and the tip of the surgical instrument 2401 is It reaches near the fundus (retina). The arm device 2400 is capable of pivoting with the insertion position of the trocar 2402 through which the surgical instrument 2401 is inserted as the pivot point. Therefore, when the surgical instrument 2401 is driven in parallel in two directions of pitch and yaw, the load acting on the eyeball at the insertion position of the trocar 2402 can be suppressed, and minimally invasive ophthalmic surgery can be realized.

In addition, FIG. 25 shows an image of applying the arm device according to the present disclosure to brain surface surgery. However, for the sake of simplification of the drawings, the arm device 2500 is depicted as having a degree-of-freedom configuration as shown in FIGS. The arm device 2500 may be mounted on a device capable of adjusting its three-dimensional position and orientation, such as an XYZ stage or parallel link (none of which is shown). As shown in FIG. 25, the tip of surgical instrument 2501 supported by the distal end of arm device 2500 abuts brain surface 2510 . The arm device 2500 is capable of pivoting the surgical tool with the tip of the surgical tool 2501 as a pivot point. Therefore, when the surgical instrument 2501 is driven in parallel in two directions of pitch and yaw, the distal end of the surgical instrument 2501 does not move and damage the brain surface 2510 other than the trunk, thereby realizing minimally invasive brain surface surgery. can be done. Although illustration is omitted, the same can be said when the arm device according to the present disclosure is applied to body surface surgery.

Also, FIG. 26 shows an image of applying the arm device according to the present disclosure to laparoscopic surgery. However, for the sake of simplification of the drawings, the arm device 2600 is depicted as having a degree-of-freedom configuration as shown in FIGS. The arm device 2600 may be mounted on a device capable of adjusting its three-dimensional position and orientation, such as an XYZ stage or parallel link (none of which is shown). As shown in FIG. 26, a surgical instrument 2601 supported at the distal end of an arm device 2600 is inserted into an abdominal cavity 2610 via a trocar 2602 inserted into the patient's abdomen, and the tip of the surgical instrument 2601 is It reaches the target organ. The arm device 2600 is capable of pivoting with the insertion position of the trocar 2602 through which the surgical instrument 2601 is inserted as the pivot point. Therefore, when the surgical instrument 2601 is driven in parallel in two directions of pitch and yaw, the load acting on the abdomen at the insertion position of the trocar 2602 can be suppressed, and minimally invasive laparoscopic surgery can be realized.

The present disclosure has been described in detail above with reference to specific embodiments. However, it is obvious that those skilled in the art can modify or substitute the embodiments without departing from the gist of the present disclosure.

The arm device according to the present disclosure, for example, supports a surgical instrument at its distal end, is applied to eye surgery, brain surface surgery, body surface surgery, laparoscopic surgery, etc., and uses a parallel drive RCM mechanism to perform minimally invasive surgery. can be realized. The arm device according to the present disclosure supports, for example, forceps, scissors, scissors, bipolar forceps, clip forceps, etc. as surgical tools, and pivots the surgical tool using the insertion position of the trocar, the brain surface, or the body surface as a pivot point (RCM). Since it can be moved, minimally invasive surgery can be achieved. Of course, the present disclosure can also be applied to various industrial fields other than medicine.

In short, the present disclosure has been described in the form of an example, and the content of the specification should not be construed in a restrictive manner. In order to determine the gist of the present disclosure, the scope of the claims should be considered.

It should be noted that the present disclosure can also be configured as follows.

(1) a driving link having rotational degrees of freedom about at least the pitch axis and the yaw axis with respect to the base;
a first drive section fixed to the base section for generating motion of the driving link about the pitch axis;
a second drive section fixed to the base section for generating motion of the driving link about the yaw axis;
An arm device comprising

(2) The first driving section generates motion of the driving link about the pitch axis by a slider crank mechanism.
The arm device according to (1) above.

(3) The slider crank mechanism is composed of a slider that reciprocates in the yaw axis direction and a rod that connects the driving link and the slider, and the reciprocating motion of the slider is transmitted through the rod. , the driving link rotates about the pitch axis;
The arm device according to (2) above.

(4) the rod is rotatable about the yaw axis with respect to the slider;
The arm device according to any one of (1) to (3) above.

(5) the rod is connected to the slider via a bearing rotatable about the yaw axis;
The arm device according to (4) above.

(6) The first drive unit includes a rotary motor and a ball screw mechanism that converts rotary motion of the rotary motor into linear motion of the slider in the yaw axis direction.
The arm device according to any one of (3) to (5) above.

(7) The second drive unit includes a rotary motor and a speed reduction mechanism that reduces rotation of the rotary motor and transmits the reduced speed to the yaw axis.
The arm device according to any one of (1) to (6) above.

(8) The speed reduction mechanism includes an input capstan attached to the output shaft of the rotary motor, an output capstan attached to the yaw shaft, and a rotational force wound around the input capstan and the output capstan. is a cable reducer consisting of a cable that transmits the
The arm device according to (7) above.

(9) further comprising a parallel link mechanism that follows the rotational motion of the driving link about the pitch axis and about the yaw axis;
The arm device according to any one of (1) to (8) above.

(10) further comprising a medical instrument mounted on a link at the distal end of the parallel link mechanism;
The arm device according to (9) above.

(11) further comprising a third driving unit that drives the medical surgical instrument around a roll axis;
The arm device according to (10) above.

(12) The third drive unit includes a rotary motor and a transmission unit that transmits rotation of the rotary motor to the medical surgical instrument.
The arm device according to (11) above.

(13) The medical surgical instrument is forceps, scissors, forceps, bipolar forceps, clip forceps, or a camera.
The arm device according to any one of (10) to (12) above.

(14) the medical surgical tool is forceps or other surgical tool that can be opened and closed;
Further comprising a fourth driving unit for driving the medical surgical instrument,
The arm device according to any one of (10) to (13) above.

(15) The fourth drive unit includes a rotary motor and a lead screw that converts rotary motion of the rotary motor into linear motion in the roll axial direction,
driving the medical surgical instrument by linear motion of a transmission rod coupled to a nut of the lead screw;
The arm device according to (14) above.

(16) further comprising a force sensor mounted on the link at the distal end of the parallel link mechanism and detecting an external force acting on the medical surgical instrument;
The arm device according to any one of (10) to (15) above.

DESCRIPTION OF SYMBOLS 100... Arm apparatus 101... Driving link 102... Base part 103... 1st drive part 104... 2nd drive part 105... Slider 106... Rod 111, 112, 113, 114... Passive joint part 400... Arm device 401 Drive link 402 Base part 403 First drive part 404 Second drive part 405 Slider 406 Rod 407 First driven link 408 Second driven link 409... First intermediate link 410... Second intermediate link 411, 412, 413, 414... Passive joint part 417, 418, 419, 420, 421... Passive joint part 422... Fixed link 700... Arm device, 701... Driving force Links 702 RCM base portion 705 Slider 706 Rod 707 First driven link 708 Second driven link 709 First intermediate link 710 Second intermediate link 711, 712, 713 Passive joint 731 Ball screw shaft 732 Pitch axis motor 733 Spline nut 734 Ball spline rod 735 Bearing 741 Yaw axis motor 742 Cable reduction gear input capstan 743 Cable reduction gear output cap Stun 750...Surgical tool 2201...Cable 2301...Surgical tool unit 2302...Surgical tool drive actuator 2303...Surgical tool shaft 2304...Lead screw 2311...Roll shaft motor 2312...Timing belt 2321...Bearing 2330... Transmission rod 2331, 2332 Jaw member 2333 Open/ close shaft 2334, 2335 Cam slot 2336 Pin 2340 Force sensor

Claims (16)

1. a driving link having rotational degrees of freedom about at least the pitch and yaw axes with respect to the base;
   a first drive section fixed to the base section for generating motion of the driving link about the pitch axis;
   a second drive section fixed to the base section for generating motion of the driving link about the yaw axis;
   An arm device comprising
2. The first driving section generates motion of the driving link about the pitch axis by a slider crank mechanism.
   The arm device according to claim 1.
3. The slider-crank mechanism includes a slider that reciprocates in the yaw axis direction and a rod that connects the driving link and the slider. the link rotates around the pitch axis;
   The arm device according to claim 2.
4. the rod is rotatable about the yaw axis with respect to the slider;
   The arm device according to claim 3.
5. the rod is connected to the slider via a bearing rotatable about the yaw axis;
   The arm device according to claim 4.
6. The first drive unit includes a rotary motor and a ball screw mechanism that converts rotary motion of the rotary motor into linear motion of the slider in the yaw axis direction.
   The arm device according to claim 3.
7. The second drive unit includes a rotary motor and a speed reduction mechanism that reduces the speed of rotation of the rotary motor and transmits the speed to the yaw axis.
   The arm device according to claim 1.
8. The reduction mechanism includes an input capstan attached to the output shaft of the rotary motor, an output capstan attached to the yaw shaft, and is wound around the input capstan and the output capstan to transmit rotational force. A cable speed reducer consisting of a cable,
   The arm device according to claim 7.
9. further comprising a parallel link mechanism that follows the rotational movement of the driving link about the pitch axis and about the yaw axis;
   The arm device according to claim 1.
10. further comprising a medical surgical instrument mounted on a distal end link of the parallel linkage mechanism;
    The arm device according to claim 9.
11. further comprising a third drive unit that drives the medical surgical instrument around a roll axis,
    The arm device according to claim 10.
12. The third drive unit includes a rotary motor and a transmission unit that transmits rotation of the rotary motor to the medical surgical instrument.
    The arm device according to claim 11.
13. The medical surgical instrument is forceps, scissors, forceps, bipolar forceps, clip forceps, or a camera,
    The arm device according to claim 10.
14. The medical surgical instrument is forceps or other surgical instruments that can be opened and closed,
    Further comprising a fourth driving unit for driving the medical surgical instrument,
    The arm device according to claim 10.
15. The fourth drive unit includes a rotary motor and a lead screw that converts rotary motion of the rotary motor into linear motion in the roll axial direction,
    driving the medical surgical instrument by linear motion of a transmission rod coupled to a nut of the lead screw;
    The arm device according to claim 14.
16. further comprising a force sensor mounted on the link at the distal end of the parallel link mechanism and detecting an external force acting on the medical surgical instrument;
    The arm device according to claim 10.

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