WO2023181629A1 - Wire adjustment device, wire drive device, and manipulator device - Google Patents

Abstract

Provided is a wire adjustment device for adjusting the tension or the length of a wire.　The wire adjustment device comprises adjustment units that are respectively disposed on paths of wires, and adjusts the tension or the length of the wires. The adjustment units, which are disposed for respective wires on the paths where the wires pass through, each include a pulley which abuts against the corresponding wire at the outer circumference thereof, a pedestal on which the pulley is supported, and an adjusting screw for adjusting the moving amount of the pedestal in accordance with a rotation amount. The adjusting screws are arranged so as to be accessible in the same direction. The rotation direction of each of the adjusting screws is identical to the moving direction of the corresponding pulley.

Description

Wire adjustment device, wire drive device, and manipulator device

The technology disclosed in this specification (hereinafter referred to as the "present disclosure") includes a wire adjustment device that adjusts the tension or length of a wire, a wire drive device that drives an end effector with power transmitted by the wire, and a manipulator. Regarding equipment.

A manipulator in which a joint at a distal end (end effector) is driven by an actuator on the base side is widely known. By using a wire drive device that uses a wire to transmit the power of the actuator to the joint shaft at the distal end, it is possible to obtain less backlash and higher back drivability compared to other drive devices such as a ball screw. More precise drive control of the end effector can be achieved. For example, a medical arm device has been proposed that supports an endoscope at its distal end with active joints on three axes and drives each axis with a wire to determine the posture of the endoscope (see Patent Document 1). ).

If the wire tension (pretension) is not sufficient or the wire is too long for the wire path, the wire may derail from the pulley or cause backlash. For this reason, it is essential for the wire drive device to be equipped with a wire adjustment device on the manipulator to adjust the tension and length of the wire.

For example, a wire adjustment mechanism has been proposed in which one end of the wire is fixed via a spring and the other end of the wire is fixed to a moving member for tension adjustment (see Patent Document 2). Furthermore, an accelerator wire adjustment mechanism has been proposed in which the length is adjusted using a fixed end portion of the wire (see Patent Document 3).

WO2022/009756 JP2009-237396A JP2018-95140A

An object of the present disclosure is to provide a wire adjustment device that adjusts the tension or length of a plurality of wires for multi-axis driving, as well as a wire drive device and a manipulator device that drive a multi-axis end effector by wire.

The present disclosure has been made in consideration of the above problems, and the first aspect thereof is:
This wire adjustment device includes an adjustment section that is arranged on a wire path and adjusts the tension or length of the wire.

The wire adjustment device according to the first aspect is arranged between a plurality of joint shafts arranged at a tip side of a link and a plurality of motors arranged at a root side of the link and driving each of the plurality of joint shafts. be done. The wires include a forward rotation side wire and a reverse rotation side wire fixed on the joint axis side and the motor side, respectively.

Each adjustment unit arranged for each wire on a path through which a plurality of wires passes includes a pulley whose outer periphery contacts the wire, a pedestal that supports the pulley, and adjusts the amount of movement of the pedestal according to the amount of rotation. Includes adjustment screws. Each adjustment screw is arranged so that it can be accessed from the same direction, and the direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same.

Further, a second aspect of the present disclosure is:
A joint axis placed on the tip side of the link,
a motor that is disposed on the base side of the link and drives the joint shaft;
a wire connecting the joint shaft and the motor;
a wire adjustment device that is placed on the path of the wire and adjusts the tension or length of the wire;
It is a wire drive device equipped with.

Further, a third aspect of the present disclosure is:
It has a multi-link structure, and at least one link is
A joint shaft is arranged on the tip side, and a motor for driving the joint shaft is arranged on the base side,
a wire adjustment device that is placed on the path of the wire and adjusts the tension or length of the wire;
This is a manipulator device comprising:

According to the present disclosure, there is provided a wire adjustment device that facilitates adjustment of multiple wires for multi-axis driving, and a wire drive device and manipulator device that drive a multi-axis end effector by wire and facilitate adjustment of the wires. can do.

Note that the effects described in this specification are merely examples, and the effects brought about by the present disclosure are not limited thereto. Further, the present disclosure may have additional effects in addition to the above effects.

Still other objects, features, and advantages of the present disclosure will become clear from a more detailed description based on the embodiments described below and the accompanying drawings.

FIG. 1 is a diagram showing an example of the external configuration of a medical arm device 100. FIG. 2 is an enlarged view showing the structure of the distal end portion of the medical arm device 100 that supports the endoscope 200. As shown in FIG. FIG. 3 is a diagram showing a specific internal configuration of the distal end portion of the medical arm device 100 and the fourth link 104. FIG. 4 is a diagram showing an example of how the medical arm device 100 corresponds to a surgical procedure. FIG. 5 is a perspective view of the distal end of the medical arm device 100 and the fourth link 104. FIG. 6 is a diagram showing the layout of the roll axis normal rotation side wire 501 and the roll axis reverse rotation side wire 502. FIG. 7 is a diagram showing the vicinity of the roll shaft component 512 viewed from below. FIG. 8 is an enlarged view of the vicinity of the top surface of the wire adjustment device 310. FIG. 9 is a diagram showing a cross section of the wire adjustment device 310. FIG. 10 is an enlarged view of the vicinity of the bottom surface of the wire adjustment device 310. FIG. 11 is a diagram showing a cross section of the wire adjustment device 310. FIG. 12 is a perspective view of the fourth link 104. FIG. 13 is a diagram showing the layout of the yaw axis normal rotation side wire 1201 and the yaw axis reverse rotation side wire 1202. FIG. 14 is an enlarged view of the upper portion of the right side of the wire adjustment device 310. FIG. 15 is a diagram showing a yaw axis normal rotation side adjustment pulley pedestal 1511 supported inside the wire adjustment device 310. FIG. 16 is a diagram showing a cross section of the wire adjustment device 310. FIG. 17 is an enlarged view showing the vicinity of the lower surface of the left side of the wire adjustment device 310. FIG. 18 is a diagram showing a yaw axis reverse rotation side adjustment pulley pedestal 1811 supported inside the wire adjustment device 310. FIG. 19 is a diagram showing a cross section of the wire adjustment device 310. FIG. 20 is a diagram showing a perspective view of the fourth link 104 (the layout of pitch axis driving wires). FIG. 21 is a diagram showing a perspective view of the fourth link 104 (the layout of pitch axis driving wires). FIG. 22 is a diagram showing the layout of the pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002. FIG. 23 is a perspective view of the vicinity of the tip of the fourth link 104. FIG. 24 is a diagram showing the top surface of the wire adjustment device 310 viewed from the left front. FIG. 25 is a diagram showing the first pitch axis normal rotation side adjustment pulley pedestal 2511 supported inside the wire adjustment device 310. FIG. 26 is a cross-sectional view of the wire adjustment device 310. FIG. 27 is a diagram showing a top view of the wire adjustment device 310. FIG. 28 is a diagram showing the second pitch axis normal rotation side adjustment pulley pedestal 2512 supported inside the wire adjustment device 310. FIG. 29 is a diagram showing a cross section of the wire adjustment device 310. FIG. 30 is a diagram showing the lower surface of the wire adjustment device 310. FIG. 31 is a diagram showing the first pitch axis reverse rotation side adjustment pulley pedestal 3111 supported inside the wire adjustment device 310. FIG. 32 is a diagram showing a cross section of the wire adjustment device 310. FIG. 33 is a diagram showing the lower surface of the wire adjustment device 310. FIG. 34 is a diagram showing the second pitch axis reverse rotation side adjustment pulley pedestal 3112 supported inside the wire adjustment device 310. FIG. 35 is a diagram showing a cross section of the wire adjustment device 310. FIG. 36 is a diagram showing a side view of the wire adjustment device 310. FIG. 37 is a diagram showing a side view of the wire adjustment device 310. FIG. 38 is a diagram showing a side view of the wire adjustment device 310. FIG. 39 is a diagram showing a side view of the wire adjustment device 310. FIG. 40 is a diagram showing the wire adjustment device 310 viewed from the front right side. FIG. 41 is a diagram showing the wire adjustment device 310 viewed from the left front. FIG. 42 is a diagram showing the fourth link 104 in normal use with exterior parts attached. FIG. 43 is a diagram showing how a small-diameter hexagonal wrench is inserted into the adjustment screw of each wire through the opening of the exterior component. FIG. 44 is a diagram showing a cross-sectional configuration near the tip of the fourth link 104.

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

A. Overview B. Configuration of medical arm device B-1. Overall composition B-2. Structure of tip B-2-1. Structure around pitch axis B-2-2. Structure around the yaw axis B-2-3. Structure around the roll axis C. Actuator arrangement example D. Wire adjustment device D-1. Adjustment mechanism of wire for driving roll shaft D-1-1. Adjustment mechanism for roll axis normal rotation side wire D-1-2. Adjustment mechanism of roll axis reverse side wire D-2. Yaw axis drive wire adjustment mechanism D-2-1. Yaw axis normal rotation side wire adjustment mechanism D-2-2. Yaw axis reverse side wire adjustment mechanism D-3. Wire adjustment mechanism for pitch axis drive D-3-1. Pitch axis normal rotation side wire adjustment mechanism D-3-2. Pitch axis reverse side wire adjustment mechanism E. summary

A. Overview In a manipulator device that uses wire drive, a wire adjustment device that adjusts the tension and length of the wire is essential. It is necessary to access the wire adjustment device each time an adjustment is required, such as after the manipulator device is assembled and also while the manipulator device is in use. If the wire adjustment device can be accessed without removing or disassembling the outer cover of the manipulator device, the burden of adjustment work will be reduced.

When equipped with a multi-axis wire drive device like the medical arm device disclosed in Patent Document 1, it is necessary to adjust each wire, but the wire adjustment devices for each wire are dispersed. If they are placed too close to each other, adjustment work becomes difficult.

Additionally, when the torque driven by the wire increases, it is necessary to fix the wire on both the actuator side and the joint shaft side to prevent the wire from slipping. In that case, it is necessary to adjust the tension and length of the wire on both the forward rotation side and the reverse rotation side, and the number of wire adjustments increases. When three axes are driven by wires as in the medical arm device disclosed in Patent Document 1, it is necessary to adjust each wire at two locations for forward rotation and reverse rotation, six locations in total. If these six wire adjustment devices are distributed, the adjustment task becomes even more difficult.

In a configuration in which the other end of the wire is fixed to a movable member for tension adjustment as in Patent Document 2, adjustment work becomes difficult if there are multiple movable parts and the movable parts are arranged in a dispersed manner. Further, in the wire adjustment mechanism described in Patent Document 2, the wire is not directly fixed to the drive unit, so the device becomes large. In addition, the wire adjustment mechanism described in Patent Document 2 has a different structure in which the wire is fixed on both the actuator side and the joint axis side, and consideration is given to equipping multiple wires for multi-axis drive. It has not been.

In a configuration in which the length is adjusted using the fixed end of the wire as in Patent Document 3, the adjustment work becomes difficult unless the fixed end is exposed to the outside and located in an easily accessible location. In addition, the accelerator wire adjustment mechanism described in Patent Document 3 has a different structure in which the wire is fixed on both the actuator side and the joint axis side, and it is also considered to be equipped with multiple wires for multi-axis drive. Not yet.

In contrast, the wire adjustment device according to the present disclosure is placed in the middle of a wire path whose ends are fixed on both the actuator side and the joint axis side. Therefore, according to the present disclosure, even if there are multiple wires to be adjusted, a wire adjustment device is configured in which all wire adjustment components are centrally arranged at one location along the route of all the wires. This allows the user to adjust the tension and length of all wires by accessing one location, reducing the workload. By placing such a wire adjustment device in a location with easy external access, for example near the joint axis (end effector), the user can easily adjust all wires without removing the extrapolation cover or disassembling the manipulator. The tension and length can be adjusted, further reducing the workload.

The wire adjustment device according to the present disclosure is applied to a multi-axis manipulator, for example, when using multiple wires, or when adjusting the wires on both the forward rotation side and the reverse rotation side for each axis, etc. Adjustment work can be made easier. In particular, by supporting wire adjustment on both the forward rotation side and the reverse rotation side for each axis, it becomes possible to use it in high-torque wire drive devices.

The wire adjustment device according to the present disclosure includes a pulley whose outer periphery contacts the wire as a wire adjustment component for each wire, and a mechanism for moving the pulley by tightening a screw. By moving the pulley, the wire path length can be changed and the tension can be increased. For all wires, the direction of rotation of the screw, the direction of movement of the pulley, and the direction of increasing tension are unified. Therefore, the user can adjust each wire using the same operating method, which further facilitates the user's work. If you want to increase the tension on all the wires, just turn the screw in the tightening direction (clockwise), which avoids confusion for the user during adjustment work.

B. Composition of medical arm device
B-1. Overall configuration FIG. 1 shows an example of the external configuration of a medical arm device 100 to which the present disclosure is applied. The illustrated medical arm device 100 is used, for example, in laparoscopic surgery.

The medical arm device 100 is an arm having a multi-link structure, supports an endoscope at its distal end, and has a structure in which orthogonal rotation axes with three degrees of freedom that determine the posture of the endoscope are centrally arranged. There is. Specifically, the medical arm device 100 includes a first link 101 attached substantially perpendicularly to a base portion, and a vertical rotation axis (or a longitudinal axis of the first link 101) at the tip of the first link 101. a first joint 111 having a degree of freedom around the axis); a second link 102 horizontally attached to the tip of the first link 101 via the first joint 111; A second joint 112 having a degree of freedom around the vertical rotation axis (or an axis perpendicular to the longitudinal axis of the second link 102) at the tip of the link 102; The third link 103 is attached almost perpendicularly to the tip of the link 102, and the vertical rotation axis of the tip of the third link 103 is perpendicular to the vertical rotation axis (or the vertical rotation axis is perpendicular to the longitudinal axis of the third link 103). a third joint 113 having a degree of freedom around the axis); a fourth link 104 attached to the tip of the third link 103 via the third joint 113; It has a distal end that supports an endoscope at its distal end. In addition, the base part may be attached to the frame of a surgical bed, for example, may be installed on the floor surface of an operating room, and may be installed on the ceiling.

The distal end of the fourth link 104 that supports the endoscope 110 has a structure in which orthogonal rotation axes with three degrees of freedom that determine the posture of the endoscope 110 are centrally arranged. The distal end supporting the endoscope 200 and the fourth link 104 having the distal end are equipped with a motor that drives each of the three axes at the distal end, and a motor that directly transmits the driving force of the motor to each joint at the distal end. There are multiple wires and a wire adjustment device that adjusts the tension and length of each wire.

B-2. Structure of the distal end portion FIG. 2 shows an enlarged structure of the distal end portion of the medical arm device 100 that supports the endoscope 200. The endoscope 200 includes a lens barrel 201 whose distal end is inserted into a patient's body cavity, and a camera head 202 which is connected to the base end of the lens barrel 201. The lens barrel 201 may be either a rigid mirror made of a hard lens barrel or a flexible mirror made of a flexible lens barrel. An optical system and an image sensor (both not shown) are disposed within the camera head 202. Reflected light (observation light) from an observation target such as a surgical site is focused on an image sensor by an optical system. Of course, the distal end of the medical arm device 100 may support a medical instrument other than the endoscope 200.

As shown in FIG. 2, the distal end of the medical arm device 100 has a degree of freedom at the distal end of the fourth link 104 around the vertical rotation axis (or an axis perpendicular to the longitudinal axis of the fourth link 104). It has a vertical rotation shaft part 114 that swings the endoscope 200 in the vertical direction, and a vertical rotation shaft part 114 that is adjacent to the vertical rotation shaft part 114 and has a degree of freedom around a left and right rotation axis that is perpendicular to the vertical rotation axis, and that swings the endoscope 200 left and right. It is provided with a left-right rotation shaft part 115 that swings in the direction, and an optical axis rotation shaft part 116 that has a degree of freedom around the optical axis of the endoscope 200 (or the lens barrel 201 of the endoscope 200). Therefore, the orthogonal rotation axes with three degrees of freedom that determine the posture of the endoscope 200 have a structure in which the optical axis rotation axis, the horizontal rotation axis, and the vertical rotation axis of the endoscope 200 are arranged in order from the most distal end. be. Note that when the optical axis rotation shaft section 116 is used as a roll axis, the left and right rotation shaft section 115 can also be called a yaw axis, and the vertical rotation shaft section 114 can also be called a pitch axis. If the combined volume of the joints corresponding to the three axes of the distal end is smaller than the combined volume of a person's wrist and hand, there is an advantage in using the medical arm device 100 instead of the scopist.

C. Wire Drive Mechanism In this section C, a specific configuration of the tip and the fourth link 104 for wire-driving the three axes of the tip of the medical arm device 100 will be described. FIG. 3 shows a perspective view of the specific internal configuration of the distal end portion of the medical arm device 100 and the fourth link 104. However, in FIG. 3, illustration of the endoscope 200 is omitted and the exterior parts are removed.

A roll axis, a yaw axis, and a pitch axis corresponding to the optical axis rotation axis 116, the left-right rotation axis 115, and the vertical rotation axis 114 of the endoscope 200 are arranged in order from the distal end side. As will be described later, a roll shaft capstan is disposed on the roll shaft to fix one end of each of a wire on the normal rotation side of the roll shaft and a wire on the reverse rotation side of the roll shaft, and rotate the capstan in normal and reverse directions around the roll axis. Similarly, a yaw axis capstan is arranged on the yaw axis to rotate forward and reverse around the yaw axis by fixing one end of each of the yaw axis normal rotation side wire and the yaw axis reverse side wire. A pitch shaft capstan is disposed that fixes one end of each of the normal shaft rotation side wire and the pitch shaft reverse rotation side wire and rotates forward and reverse around the pitch axis.

Additionally, three motors 301 to 303 are arranged on the base side of the fourth link 104 to drive the three rotation mechanisms of the roll axis, yaw axis, and pitch axis on the tip side by wire, respectively. Among the three motors 301 to 303, the first motor 301 and the second motor 302 are arranged on the fourth link 104 with their output shafts aligned in the longitudinal direction of the fourth link 104, while the third motor 303 is disposed outside (on the base side) of the fourth link 104 with the output shaft direction perpendicular to the longitudinal direction of the fourth link 104 . However, the third motor 303 is arranged outside the fourth link 104. Further, a motor 304 for rotating the third joint 113 on the base side of the fourth link 104 is arranged outside the third joint 113 (on the opposite side of the fourth link 104).

Here, the method of arranging each motor 301 to 304 will be explained. FIG. 4 shows an example of how the medical arm device 100 shown in FIG. 1 corresponds to the surgical procedure. In the example shown in FIG. 4, the medical arm device 100 is installed on the opposite side of the surgeon across the surgical bed. Then, the operator performs laparoscopic surgery on the patient on the surgical bed while observing the state of the surgical site in the abdominal cavity using the endoscope held at the tip of the medical arm device 100. There is. The distal end of the medical arm device 100 has three axes arranged centrally to achieve miniaturization. Referring to FIG. 4, not only the tip but also the fourth link 104 that supports the tip is in the area of interference with the operator's hand or arm. Therefore, in order to avoid collision with the operator's hand or arm, it is desirable to design the fourth link 104 with a smaller diameter. Generally, a rotary motor has a cylindrical shape with a small diameter and long in the direction of the output shaft. Therefore, in this embodiment, at least one of the motors for driving the pitch axis, roll axis, and yaw axis is arranged in the fourth link 104 with the output axis direction aligned with the longitudinal direction of the fourth link 104. By doing so, the diameter of the fourth link 104 is reduced.

Specifically, as shown in FIG. 3, by arranging the first motor 301 and the second motor 302 on the fourth link 104 with their output shafts aligned in the longitudinal direction of the fourth link 104. , the diameter of the section of the fourth link 104 where the first motor 301 and the second motor 302 are arranged is reduced in diameter. Furthermore, by arranging the third motor 303 outside the fourth link 104 and arranging the output shaft direction perpendicular to the longitudinal direction, the fourth link 104 can be made more compact (reduced longitudinal dimension). ) can be realized.

The third motor 303 is arranged within the rotation mechanism on the base side of the fourth link 104. The rotation mechanism section on the base side of the fourth link 104 referred to here corresponds to the third joint section 113 in FIG. The third joint portion 113 is a rotation mechanism that rotates the fourth link 104 around the vertical rotation axis (or pitch axis) on the base side. By arranging the third motor 303 outward from the root side of the fourth link 104, the torque required for rotationally driving the fourth link 104 can be further reduced, making the entire medical arm device 100 more compact. Contribute to

As a result of placing the third motor 303 inside the third joint 113, the motor 304 for rotating the fourth link 104 around the pitch axis cannot be placed inside the third joint 113. Therefore, the motor 304 for driving the third joint 113 is arranged outside the third joint 113 (on the opposite side of the fourth link 104). Then, the rotational force of this motor 304 is transmitted to the third joint part 113 that houses the third motor 303 using a steel belt 305, and the vertical rotation axis of the fourth link 104 (or the third rotation about an axis perpendicular to the longitudinal axis of the link 103).

The third joint portion 113 has a hollow cylindrical structure with a central axis in the pitch axis direction, and is joined and integrated with the inner wall of the fourth link 104. On the other hand, the third motor 303 and the motor 304 are fixed to the frame of the third link 103. The third motor 303 is arranged within the hollow cylinder of the third joint part 113 so that its rotation axis coincides with the joint axis of the third joint part 113, and is rotatable around the joint axis via a bearing. is supported by

The output shaft pulley 306 of the motor 304 is made of a hollow cylinder that covers the outer periphery of the motor 304. A steel belt 305 is wound around the third joint 113 and the output shaft pulley 306. Therefore, the rotation of the motor 304 is transmitted to the third joint shaft 113 via the steel belt 305, and the fourth link 104 is rotated around the joint axis of the third joint portion 113 (up and down rotation axis perpendicular to the vertical rotation axis). or around an axis perpendicular to the longitudinal axis of the third link 103). At this time, the third motor 303 is rotatably supported within the hollow cylinder (output shaft pulley 306) of the third joint 113 via a bearing, so the rotational movement of the motor 304 is controlled by the third motor. It doesn't get through to 303. In addition, by using a steel belt 1005 made of a metal plate such as stainless steel for the rotation transmission mechanism of the motor 304, it is possible to achieve high strength, wide range of motion, high efficiency, and highly accurate drive transmission without play. be.

In order to reduce the moment of inertia around the joint axis of the third joint 113 of the fourth link 104 and reduce the output of the actuator for driving the third joint 113, it is necessary to It is preferable to arrange the motors in descending order of weight. Specifically, the first motor 301 rotates the lens barrel 201 around the roll axis 116, the second motor 302 rotates the endoscope 200 around the yaw axis 115, and the third motor It is considered preferable to assign the motor to rotate the entire tip portion around the pitch axis 114 at 303.

Since each of the motors 301 to 303 is placed on the base side of the fourth link 104, away from the actual joint axes of the tip, the weight of the tip is reduced and the rotational drive of the fourth link 104 is required. Since the applied torque can be reduced, this contributes to miniaturization of the entire medical arm device 100.

The roll shaft capstan and the first motor 301 for driving the roll shaft (specifically, the motor capstan attached to the output shaft of the first motor 301) are connected to a roll shaft normal rotation side wire and a roll shaft reverse rotation side wire. The side wire is wrapped around. In this embodiment, in order to prevent slippage even when the drive torque by the wire is increased, the roll axis forward rotation side wire and the roll axis reverse rotation side wire are connected on both the first motor 301 side and the roll axis capstan side. Each is fixed.

Similarly, the yaw axis capstan and the second motor 302 for driving the yaw axis (specifically, the motor capstan attached to the output shaft of the second motor 302) are connected to A yaw axis reverse rotation side wire is wound around the wire, and the yaw axis normal rotation side wire and the yaw axis reverse rotation side wire are respectively fixed on both the second motor 302 side and the yaw axis capstan side. In addition, the pitch axis capstan and the third motor 303 for driving the yaw axis (specifically, the motor capstan attached to the output shaft of the third motor 303) are connected to the pitch axis normal rotation side wire and the pitch axis A shaft reverse rotation side wire is wound around the wire, and the pitch shaft normal rotation side wire and the pitch axis reverse rotation side wire are respectively fixed on both the third motor 303 side and the pitch axis capstan side.

Note that the terms used in this specification will be briefly explained. In this specification, a pulley used to apply power to a wire or to convert force from a wire into axial force is referred to as a "capstan." In other words, a "motor capstan" is a pulley used to apply power to a wire using the rotational force of a motor. Furthermore, a "roll axis capstan," a "yaw axis capstan," and a "pitch axis capstan" are pulleys used to convert the traction force of a wire into rotational force of each axis. On the other hand, in this specification, the term "pulley" refers to a pulley (also referred to as an "idler pulley") used for adjusting the layout of wires or applying tension to wires.

D. Wire adjustment mechanism When the torque driven by the wire increases, it is necessary to fix the wire on both the actuator side and the joint shaft side to prevent the wire from slipping. In that case, it is necessary to adjust the tension and length of the wire on both the forward and reverse rotation sides. In the configuration of the distal end portion and the fourth link 104 of the medical arm device 100 shown in FIG. 3, it is necessary to adjust each wire at two locations for forward rotation and reverse rotation, a total of six locations. Therefore, in this embodiment, a wire is installed in the space between the distal end having three joint axes and the motors 301 to 303 on the base side (specifically, adjacent to the distal end side of the first motor 301). An adjustment device 310 is arranged. The wire adjustment device 310 is one location along the route of all the wires, and is equipped with adjustment parts for adjusting the tension and length of all the wires.

The user can adjust the tension and length of all the wires simply by accessing the wire adjustment device 310, which reduces the workload. If the wire adjustment device 310 is configured to be accessible from the outside even with an exterior cover (not shown) attached, the workload will be further reduced. On the other hand, if an adjustment mechanism is provided for each wire near the fixed part of the wire (i.e., near either the joint axis or the actuator), the location for each wire will be different, making access difficult and requiring removal of the outer cover. If the adjustment mechanism cannot be accessed without disassembly, the workload becomes even heavier.

The wire adjustment device 310 includes, as a wire adjustment component for each wire, a pulley that detours the wire route and a mechanism that moves the route detour pulley by tightening a screw. For all wires, the direction of rotation of the screw, the direction of movement of the pulley, and the direction of increasing tension are unified. Therefore, the user can adjust each wire using the same operating method, which further facilitates the user's work. If you want to increase the tension on all the wires, just turn the screw in the tightening direction (clockwise), which avoids confusion for the user during adjustment work.

Below, the wire adjustment mechanism will be explained separately for each of the roll axis, yaw axis, and pitch axis.

D-1. Adjustment mechanism for wires for driving the roll shaft FIG. 5 shows the layout of the wires for driving the roll shaft when the fourth link 104, which is the same as that shown in FIG. 3, is viewed obliquely from the left side. The roll shaft driving wire includes a roll shaft normal rotation side wire 501 and a roll shaft reverse rotation side wire 502. The roll shaft normal rotation side wire 501 is connected to the first motor capstan 511 attached to the output shaft of the first motor 301 on the base side and the normal rotation side roll shaft capstan via the pulley of the wire adjustment device 310. 512a, and both ends are fixed to the first motor capstan 511 and the normal rotation side roll shaft capstan 512a, respectively. Similarly, the roll shaft reverse side wire 502 is connected to the first motor capstan 511 attached to the output shaft of the first motor 301 on the base side and the reverse roll shaft cap via the pulley of the wire adjustment device 310. It is wound around the stan 512b, and both ends are fixed to the first motor capstan 511 and the reverse roll shaft capstan 512b, respectively.

FIG. 6 omits illustration of the wire adjustment device 310 and clearly shows the layout of the roll axis normal rotation side wire 501 and the roll axis reverse rotation side wire 502. FIG. 6 shows fixing parts 601 and 602, which are provided on the front end surface of the motor capstan 511 and fix the ends of the roll axis normal rotation side wire 501 and the roll axis reverse rotation side wire 502, respectively.

FIG. 44 shows a cross-sectional configuration near the tip of the fourth link 104. The normal roll shaft capstan 512a and the reverse roll shaft capstan 512b connect the roll shaft 116 via bearings 4401 and 4402, respectively, to the roll shaft component 512 which is cylindrical and rotates around the roll shaft 116. It is rotatably held in the center. Further, the normal rotation side roll shaft capstan 512a and the reverse rotation side roll shaft capstan 512b are fixed by a fixing ring 4403 so as to rotate together around the roll axis. Further, since the roll axis configuration part 512 is integrally fixed to the yaw axis configuration part 1212 which rotates around the yaw axis 115 by the screw 4404, the roll axis configuration part 512 rotates the yaw axis 115 together with the yaw axis configuration part 1212. Rotate around the center. Therefore, the forward roll shaft capstan 512a and the reverse roll shaft capstan 512b rotate around the yaw axis 115 and around the roll shaft 116. The normal roll shaft capstan 512a and the roll shaft capstan 512b each include fixing parts 611 and 612 that fix the ends of the roll shaft normal rotation side wire 501 and the roll shaft reverse rotation side wire 502, respectively. It can be confirmed from FIGS. 5 and 6 that the reversing side roll shaft capstan 512b is provided with a fixing portion 612 for the roll shaft reversing side wire 502. FIG. 7 shows that a fixing part 611 for the roll shaft normal rotation side wire 501 is provided on the normal rotation side roll shaft capstan 512a when the vicinity of the roll shaft component 512 is viewed from below. The roll axis normal rotation side wire 501 and the roll axis reverse rotation side wire 502 are individually fixed at the tip side where the roll axis 116 is located and the base side where the first motor 301 is located, so separate wire adjustment mechanisms are required. It is.

D-1-1. Adjustment Mechanism for the Roll Axis Normal Rotation Side Wire Next, the adjustment mechanism for the roll axis normal rotation side wire 501 will be described with reference to FIGS. 8 and 9.

FIG. 8 shows an enlarged view of the upper left side of the wire adjustment device 310. When the direction of the roll axis normal rotation side wire 501 is changed from the circumferential direction of the motor capstan 511 to the direction of the distal end (or longitudinal direction) by the pulley 801 near the motor capstan 511, the wire 501 rotates from the side surface of the wire adjustment device 310. It is wrapped around the normal rotation side roll shaft capstan 512a (not shown in FIG. 8) through three pulleys 802 to 804 attached to the pitch shaft, and through a pulley 805 coaxial with the pitch shaft. .

Among the three pulleys 802 to 804 attached to the side surface of the wire adjustment device 310, the pulley 802 closest to the base is arranged on the path of the roll axis normal rotation side wire 501 that connects the pulley 801 and the pulley 803. . This pulley 802 is a "roll axis normal rotation side wire adjustment pulley" that can detour the path of the roll axis normal rotation side wire 501 and adjust the tension and length by moving in the longitudinal direction. The pulley 802 is rotatably supported by a roll axis normal rotation side adjustment pulley pedestal 811. Further, the roll axis normal rotation side adjustment pulley pedestal 811 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

A female-threaded pedestal threaded portion is machined on the front surface of the roll axis normal rotation side adjustment pulley pedestal 811, and a male threaded roll axis normal rotation side adjustment screw 812 is screwed into this pedestal threaded portion. FIG. 9 shows a cross-sectional view of the wire adjustment device 310 cut just at the position where the pedestal screw portion and the roll axis normal rotation side adjustment screw 812 are cut. By rotating the roll axis normal rotation side adjustment screw 812 using a screwdriver, the amount of screwing into the pedestal screw part is changed, and accordingly, the roll axis normal rotation side adjustment pulley pedestal 811 is longitudinally adjusted together with the pulley 802. By moving back and forth in the direction, the tension and length of the roll axis normal rotation side wire 501 can be adjusted.

By rotating the roll axis normal rotation side adjustment screw 812 clockwise, the roll axis normal rotation side adjustment screw 812 is screwed into the roll axis normal rotation side adjustment pulley pedestal 811. The head of the roll axis normal rotation side adjustment screw 812 is fixed by the structure of the wire adjustment device 310, so when the roll axis normal rotation side adjustment screw 812 is turned in the tightening direction, that is, clockwise, the roll axis normal rotation side adjustment pulley is tightened. Pedestal 811 moves in the distal direction (direction of arrow 901 in FIG. 9) together with pulley 802. This movement lengthens the path of the wire 501 on the normal rotation side of the roll axis, so that the tension can be increased. Conversely, when it is desired to reduce the tension of the roll axis normal rotation side wire 501, the roll axis normal rotation side adjustment screw 812 may be turned in the loosening direction, that is, counterclockwise. In FIG. 9, in order to make it easier to see the movement of the roll axis normal rotation side adjustment pulley pedestal 811, the pulley 802 is made transparent and only its outline is drawn with dotted lines.

D-1-2. Adjustment Mechanism for the Roll Axis Reversal Side Wire Next, the adjustment mechanism for the roll axis reversal side wire 502 will be described with reference to FIGS. 10 and 11. The adjustment mechanism for the roll axis reverse rotation side wire 502 basically has a symmetrical structure with the adjustment mechanism for the roll axis normal rotation side wire 501 explained in the above section D-1-1.

FIG. 10 shows an enlarged view of the lower surface of the left side of the wire adjustment device 310. When the direction of the roll axis reversal side wire 502 is changed from the circumferential direction of the motor capstan 511 to the distal end direction (or longitudinal direction) by the pulley 1001 near the motor capstan 511, the wire 502 is attached to the side surface of the wire adjustment device 310. It is wound around the reverse roll shaft capstan 512b (not shown in FIG. 10) via the three attached pulleys 1002, 803, and 804, and further via the pulley 805 coaxial with the pitch axis.

Among the three pulleys 1002, 803, and 804 attached to the side surface of the wire adjustment device 310, the pulley 1002 closest to the base is placed on the path of the roll axis reverse side wire 502 that connects the pulley 1001 and the pulley 803. There is. This pulley 1002 is a "roll axis reversal side wire adjustment pulley" that can detour the path of the roll axis reversal side wire 502 and adjust the tension and length by moving in the longitudinal direction. The pulley 1002 is rotatably supported by a roll shaft reverse rotation side adjustment pulley pedestal 1011. Further, the roll axis reverse rotation side adjustment pulley pedestal 1011 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

A female-threaded pedestal screw portion is machined on the front surface of the roll axis reversal side adjustment pulley pedestal 1011, and a roll axis reversal side adjustment screw 1012, which is a male thread, is screwed into this pedestal threaded portion. FIG. 11 shows a cross-sectional view of the wire adjustment device 310 cut just at the position where the pedestal screw portion and the roll axis reverse rotation side adjustment screw 1012 are cut. By rotating the roll axis reverse side adjustment screw 1012 using a screwdriver, the amount of screwing into the pedestal screw part is changed, and accordingly, the roll axis reverse side adjustment pulley pedestal 1011 moves in the longitudinal direction together with the pulley 1002. By moving back and forth, the tension and length of the roll axis reversal side wire 502 can be adjusted.

By rotating the roll axis reverse side adjustment screw 1012 clockwise, the roll axis reverse side adjustment screw 1012 is screwed into the roll axis reverse side adjustment pulley pedestal 1011. The head of the roll axis reverse side adjustment screw 1012 is fixed by the structure of the wire adjustment device 310, so when the roll axis reverse side adjustment screw 1012 is turned in the tightening direction, that is, clockwise, the roll axis reverse side adjustment pulley pedestal 1011 is adjusted. It moves in the distal direction (in the direction of the arrow in FIG. 10) together with the pulley 1002. This movement lengthens the path of the wire 502 on the reverse side of the roll axis, so that the tension can be increased. Conversely, when it is desired to reduce the tension of the roll axis reversal side wire 502, the roll axis reversal side adjustment screw 1012 may be turned in the loosening direction, that is, counterclockwise. In FIG. 11, the pulley 1002 is made transparent and only its outline is drawn with dotted lines in order to make it easier to see the movement of the roll axis reverse side adjustment pulley pedestal 1011.

D-2. Adjustment mechanism for the wire for driving the yaw axis Figure 12 shows a perspective view of the fourth link 104 from the right side as in Figure 3, but for convenience of explanation, the wire for driving the pitch axis is omitted. This shows the layout of the wires for driving the yaw axis. The yaw axis driving wires include a yaw axis normal rotation side wire 1201 and a yaw axis reverse rotation side wire 1202. The yaw axis normal rotation side wire 1201 is connected to the second motor capstan 1211 attached to the output shaft of the second motor 302 on the base side and the normal rotation side yaw axis capstan via the pulley of the wire adjustment device 310. 1212a, and both ends are fixed to the second motor capstan 1211 and the normal rotation side yaw axis capstan 1212a, respectively. Similarly, the yaw axis reverse side wire 1202 is connected to the second motor capstan 1211 attached to the output shaft of the second motor 302 on the base side and the reverse side yaw axis cap via the pulley of the wire adjustment device 310. It is wound around the stan 1212b, and both ends are fixed to the second motor capstan 1211 and the reverse rotation side yaw axis capstan 1212b, respectively. As shown in FIG. 14, the yaw axis component 1212 includes a forward rotation side yaw axis capstan 1212a and a reverse rotation side yaw axis capstan 1212b.

In FIG. 13, the first motor 301 is not shown, and the layout of each of the yaw axis normal rotation side wire 1201 and the yaw axis reverse rotation side wire 1202 is shown in an easy-to-understand manner. As shown in FIG. 13, each end of the yaw axis normal rotation side wire 1201 and the yaw axis reverse rotation side wire 1202 is fixed by a fixing part 1301 and a fixing part 1302 provided on the front end surface of the second motor capstan 1211. Fixed.

As can be seen from FIG. 14, the normal rotation side yaw axis capstan 1212a is arranged on the tip side (or distal side) in the yaw direction, and the reverse rotation side yaw axis capstan 1212b is arranged on the root side (or proximal side) in the yaw direction. It is located in Further, the forward rotation side yaw axis capstan 1212a and the reverse rotation side yaw axis capstan 1212b are disposed coaxially in the yaw direction and are fixed together, so that they rotate around the yaw axis 115 as the yaw axis component 1212. It has become. The yaw axis capstan 1212a is fixed using a fixing part 1311 by pulling the tip of the wound wire 1201 for normal rotation of the yaw axis into the center. Further, the yaw axis capstan 1212b is fixed using a fixing part 1312 by pulling the tip of the wrapped yaw axis reversing wire 1202 into the center. The yaw-axis normal rotation side wire 1201 and the yaw-axis reverse rotation side wire 1202 are individually fixed at the tip side where the yaw axis is located and the base side where the second motor 302 is located, so separate wire adjustment mechanisms are required. be.

D-2-1. Adjustment Mechanism for the Yaw Axis Normal Rotation Side Wire Next, the adjustment mechanism for the yaw axis normal rotation side wire 1201 will be described with reference to FIGS. 14 to 16.

FIG. 14 shows an enlarged view of the upper right side of the wire adjustment device 310. The yaw axis normal rotation side wire 1201 is directed from the circumferential direction of the motor capstan 1211 toward the distal end (or longitudinal direction) by a pulley 1221 (see FIGS. 12 and 13) near the motor capstan 1211. Once converted, the circumference of the yaw axis is measured from the longitudinal direction via three pulleys 1402 to 1404 attached to the side of the wire adjustment device 310, a pulley 1405 coaxial with the pitch axis, and a pulley 1406 near the yaw axis. After being changed in direction, it is wrapped around the normal rotation side yaw axis capstan 1212a.

Among the three pulleys 1402 to 1404 attached to the side surface of the wire adjustment device 310, the pulley 1402 closest to the base is arranged on the path of the yaw axis normal rotation side wire 1201 that connects the pulley 1221 and the pulley 1403. . This pulley 1402 is a "yaw axis normal rotation side wire adjustment pulley" that can detour the path of the yaw axis normal rotation side wire 1201 and adjust the tension and length by moving in the longitudinal direction. In FIG. 15, the upper half of the wire adjustment device 310 is made transparent to visualize the yaw axis normal rotation side adjustment pulley pedestal 1511 supported inside the wire adjustment device 310. The pulley 1402 is rotatably supported by a yaw axis normal rotation side adjustment pulley pedestal 1511. Further, the yaw axis normal rotation side adjustment pulley pedestal 1511 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

Referring to FIGS. 14 and 15, a female thread-shaped pedestal screw part is machined on the front surface of the yaw axis normal rotation side adjustment pulley pedestal 1511, and this pedestal thread part has a male thread for yaw axis normal rotation side adjustment. A screw 1512 is screwed on. FIG. 16 shows a cross-sectional view of the wire adjustment device 310 cut just at the position where the pedestal screw portion and the yaw axis normal rotation side adjustment screw 1512 are cut. By rotating the yaw axis normal rotation side adjustment screw 1512 using a screwdriver, the amount of screwing into the pedestal screw part is changed, and accordingly, the yaw axis normal rotation side adjustment pulley pedestal 1511 is longitudinally adjusted together with the pulley 1402. By moving back and forth in the direction, the tension and length of the yaw axis normal rotation side wire 1201 can be adjusted.

By rotating the yaw axis normal rotation side adjustment screw 1512 clockwise, the yaw axis normal rotation side adjustment screw 1512 is screwed into the yaw axis normal rotation side adjustment pulley pedestal 1511. The head of the yaw axis normal rotation side adjustment screw 1512 is fixed by the structure of the wire adjustment device 310, so when the yaw axis normal rotation side adjustment screw 1512 is turned in the tightening direction, that is, clockwise, the yaw axis normal rotation side adjustment pulley is tightened. Pedestal 1511 moves in the distal direction (arrow direction 1601 in FIG. 16) together with pulley 1402. This movement lengthens the path of the yaw axis normal rotation side wire 1201, so that the tension can be increased. On the other hand, if you want to reduce the tension on the yaw axis normal rotation side wire 1201, just turn the yaw axis normal rotation side adjustment screw 1512 in the loosening direction, that is, counterclockwise. In FIG. 16, in order to make it easier to see the movement of the yaw axis normal rotation adjustment pulley pedestal 1511, the pulley 1402 is made transparent and only its outline is drawn with dotted lines.

D-2-2. Adjustment mechanism for the yaw axis reverse side wire Next, the adjustment mechanism for the yaw axis reverse side wire 1202 will be described with reference to FIGS. 17 to 19. The adjustment mechanism for the yaw axis reverse rotation side wire 1202 basically has a structure that is vertically symmetrical to the adjustment mechanism for the yaw axis normal rotation side wire 1201 explained in the above section D-2-1.

FIG. 17 shows an enlarged view of the lower surface of the left side of the wire adjustment device 310. The yaw axis reversal side wire 1202 changes direction from the circumferential direction of the motor capstan 1211 to the distal end direction (or longitudinal direction) by a pulley 1222 (see FIGS. 12 and 13) near the motor capstan 1211. Then, the circle of the yaw axis is adjusted from the longitudinal direction via three pulleys 1702, 1403, 1404 attached to the side of the wire adjustment device 310, a pulley 1405 coaxial with the pitch axis, and a pulley 1706 near the yaw axis. After being changed in direction in the circumferential direction, it is wrapped around the reverse rotation side yaw axis capstan 1212b.

Among the three pulleys 1702, 1403, and 1404 attached to the side surface of the wire adjustment device 310, the pulley 1702 closest to the base is placed on the path of the yaw axis reverse side wire 1202 that connects the pulley 1222 and the pulley 1703. There is. This pulley 1702 is a "yaw axis reverse side wire adjustment pulley" that can move in the longitudinal direction to detour the path of the yaw axis reverse side wire 1202 and adjust the tension and length. In FIG. 18, the lower half of the wire adjustment device 310 is made transparent to visualize the yaw axis reverse rotation side adjustment pulley pedestal 1811 supported inside the wire adjustment device 310. The pulley 1702 is rotatably supported by a yaw axis reverse rotation side adjustment pulley pedestal 1811. Further, the yaw axis reverse rotation side adjustment pulley pedestal 1811 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

Referring to FIGS. 17 and 18, a female-threaded pedestal screw part is machined on the front surface of the yaw-axis reverse side adjustment pulley pedestal 1811, and this pedestal thread part has a yaw-axis reverse side adjustment screw 1812 which is a male thread. is screwed on. FIG. 19 shows a cross-sectional view of the wire adjustment device 310 cut just at the position where the pedestal screw portion and the yaw axis reverse rotation side adjustment screw 1812 are cut. By rotating the yaw axis reverse side adjustment screw 1812 using a screwdriver, the amount of screwing into the pedestal screw part is changed, and accordingly, the yaw axis reverse side adjustment pulley pedestal 1811 moves in the longitudinal direction together with the pulley 1702. By moving it back and forth, the tension and length of the yaw axis reverse rotation side wire 1202 can be adjusted.

By rotating the yaw axis reverse side adjustment screw 1812 clockwise, the yaw axis reverse side adjustment screw 1812 is screwed into the yaw axis reverse side adjustment pulley base 1811. The head of the yaw axis reverse side adjustment screw 1812 is fixed by the structure of the wire adjustment device 310, so when the yaw axis reverse side adjustment screw 1812 is turned in the tightening direction, that is, clockwise, the yaw axis reverse side adjustment pulley pedestal 1811 is adjusted. It moves together with pulley 802 in the distal direction (arrow direction 1901 in FIG. 19). This movement lengthens the path of the yaw axis reverse side wire 1202, so that the tension can be increased. On the other hand, if you want to reduce the tension on the yaw axis reverse side wire 1202, just turn the yaw axis reverse side adjustment screw 1812 in the loosening direction, that is, counterclockwise. In FIG. 19, in order to make it easier to see the movement of the yaw axis reverse rotation side adjustment pulley pedestal 1811, the pulley 1702 is made transparent and only its outline is drawn with dotted lines.

D-3. 20 and 21 show the fourth link 104 viewed from the right and left sides, respectively, as in FIG. The layout of the wires for driving the pitch axis is shown with the wires omitted. The pitch axis drive wires include a pitch axis normal rotation side wire 2001 and a pitch axis reverse rotation side wire 2002, and both wires 2001 and 2002 are connected to the third base side wire via the pulley of the wire adjustment device 310. It is wound around a third motor capstan 2011 attached to the output shaft of the motor 303 and a pitch shaft capstan 2012 that is integrated with the pitch shaft. Further, both ends of the pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002 are respectively fixed to a third motor capstan 2011 and a pitch axis capstan 2012 that is integrated with the pitch axis.

In FIG. 22, illustration of the first motor 301 and the second motor 302 is omitted, and the layout of each of the pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002 is shown in an easy-to-understand manner. As shown in FIG. 22, each end of the pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002 is fixed by a fixing part 2201 and a fixing part 2202 provided on the front end surface of the motor capstan 2011. There is.

FIG. 23 shows the vicinity of the tip of the fourth link 104 viewed from below. As can be seen from FIGS. 20 to 23, the pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002 are routed from the left side to the right side of the fourth link 104 via the wire adjustment device 310. The route has been changed, and the wires are wound from opposite directions around the pitch shaft capstan 2012 located on the left side of the pitch shaft. The pitch axis capstan 2012 pulls in each end of the pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002 and fixes them using fixing parts 2301 and 2302 near the bottom surface of the pitch axis. The pitch axis normal rotation side wire 2001 and the pitch axis reverse rotation side wire 2002 are individually fixed at the tip side where the pitch axis is located and the base side where the third motor 303 is located, so that separate wire adjustment mechanisms are required. is necessary.

D-3-1. Adjustment Mechanism for the Pitch Axis Normal Rotation Side Wire Next, the adjustment mechanism for the pitch axis normal rotation side wire 2001 will be described with reference to FIGS. 24 to 29. In this embodiment, the wire adjustment device 310 is provided with adjustment mechanisms for the pitch axis normal rotation side wire 2001 at two locations. By having two adjustment mechanisms, it is possible to increase the adjustment margin for the tension and length of the pitch axis normal rotation side wire 2001.

FIG. 24 shows the top surface of the wire adjustment device 310 viewed from the front left. After the pitch axis normal rotation side wire 2001 leaves the motor capstan 2011 in the distal direction, it passes through two pulleys 2401 and 2402 attached to the top surface of the wire adjustment device 310 and then connects to the fourth link 104. It is rerouted from the left side to the right side and wraps around a pitch axis capstan 2012 located on the left side of the pitch axis.

The two pulleys 2401 and 2402 attached to the top surface of the wire adjustment device 310 are both arranged on the path of the pitch axis normal rotation side wire 2001 that connects the motor capstan 2011 and the pitch axis capstan 2012 (for example, , see Figure 22). Therefore, the pulleys 2401 and 2402 are both "pitch axis normal rotation side wire adjustment pulleys" that can detour the path of the pitch axis normal rotation side wire 2001 and adjust the tension and length by moving in the longitudinal direction. ”.

In FIG. 25, the upper half of the wire adjustment device 310 is made transparent to visualize the first pitch axis normal rotation side adjustment pulley pedestal 2511 supported inside the wire adjustment device 310. The pulley 2401 is rotatably supported by a first pitch axis normal rotation side adjustment pulley pedestal 2511. Further, the first pitch axis normal rotation side adjustment pulley pedestal 2511 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

FIG. 26 shows a cross-sectional view of the wire adjusting device 310 cut just at the position where the main body screw portion and the first pitch axis normal rotation side adjustment screw 2411 are cut. The main body of the wire adjustment device 310 is machined with a female threaded main body threaded portion at a position facing the front surface of the first pitch axis normal rotation side adjustment pulley pedestal 2511. No. 1 pitch axis normal rotation adjustment screw 2411 is screwed. By rotating the first pitch axis normal rotation side adjustment screw 2411 using a screwdriver, the amount of screwing into the main body threaded portion is changed, and the first pitch axis normal rotation side adjustment pulley pedestal 2511 is accordingly changed. By moving back and forth in the longitudinal direction together with the pulley 2401, the tension and length of the pitch axis normal rotation side wire 2001 can be adjusted.

By rotating the first pitch axis normal rotation side adjustment screw 2411 clockwise, the first pitch axis normal rotation side adjustment screw 2411 is screwed into the wire adjustment device 310. Since the tip of the first pitch axis normal rotation side adjustment screw 2411 is in contact with the side surface of the first pitch axis normal rotation side adjustment pulley pedestal 2511, the direction in which the first pitch axis normal rotation side adjustment screw 2411 is tightened, When turned clockwise, the first pitch axis normal rotation side adjustment pulley pedestal 2511 moves in the distal direction (arrow direction 2601 in FIG. 26) together with the pulley 2401. This movement lengthens the path of the pitch axis normal rotation side wire 2001, so that the tension can be increased. Conversely, when it is desired to reduce the tension of the pitch axis normal rotation side wire 2001, the first pitch axis normal rotation side adjustment screw 2411 may be turned in the loosening direction, that is, counterclockwise.

FIG. 27 shows the top surface of the wire adjustment device 310 viewed from the front right. Further, in FIG. 28, the upper half of the wire adjustment device 310 is made transparent to visualize the second pitch axis normal rotation side adjustment pulley pedestal 2512 supported inside the wire adjustment device 310. The pulley 2402 is rotatably supported by a second pitch axis normal rotation side adjustment pulley pedestal 2512. Further, the second pitch axis normal rotation side adjustment pulley pedestal 2512 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

Referring to FIG. 28, a female screw-shaped pedestal threaded portion is machined on the front surface of the second pitch axis normal rotation side adjustment pulley pedestal 2512, and this pedestal threaded portion has a male threaded second pitch axis normal rotation side adjustment pulley pedestal 2512. A rotation side adjustment screw 2412 is screwed. FIG. 29 shows a cross-sectional view of the wire adjustment device 310 cut just at the position where the pedestal screw portion and the second pitch axis normal rotation side adjustment screw 2412 are cut. By rotating the second pitch axis normal rotation side adjustment screw 2412 using a screwdriver, the amount of screwing into the pedestal threaded portion is changed, and the second pitch axis normal rotation side adjustment pulley pedestal 2512 is accordingly changed. By moving back and forth in the longitudinal direction together with the pulley 2402, the tension and length of the pitch axis normal rotation side wire 2001 can be adjusted.

By rotating the second pitch axis normal rotation side adjustment screw 2412 clockwise, the second pitch axis normal rotation side adjustment screw 2412 is screwed into the second pitch axis normal rotation side adjustment pulley pedestal 2512. become. Since the head of the second pitch axis normal rotation side adjustment screw 2412 is fixed by the structure of the wire adjustment device 310, when the second pitch axis normal rotation side adjustment screw 2412 is turned in the tightening direction, that is, clockwise, the head of the second pitch axis normal rotation side adjustment screw 2412 is fixed. The pitch axis normal rotation side adjusting pulley pedestal 2512 of No. 2 moves in the distal direction (arrow direction 2901 in FIG. 29) together with the pulley 2402. This movement lengthens the path of the pitch axis normal rotation side wire 2001, so that the tension can be increased. Conversely, when it is desired to reduce the tension of the pitch axis normal rotation side wire 2001, it is sufficient to turn the second pitch axis normal rotation side adjustment screw 2412 in the loosening direction, that is, counterclockwise.

D-3-2. Adjustment mechanism for pitch axis reverse side wire Next, an adjustment mechanism for pitch axis reverse side wire 2002 will be described with reference to FIGS. 30 to 35. The adjustment mechanism for the pitch axis reverse rotation side wire 2002 basically has a structure that is vertically symmetrical to the adjustment mechanism for the pitch axis normal rotation side wire 2001 explained in the above section D-3-1. In this embodiment, the wire adjustment device 310 is provided with adjustment mechanisms for the pitch axis reverse side wire 2002 at two locations. By having two adjustment mechanisms, it is possible to increase the adjustment margin for the tension and length of the pitch axis reversal side wire 2002.

FIG. 30 shows the bottom surface of the wire adjustment device 310 viewed from the front left. After leaving the motor capstan 2011 in the distal direction, the pitch axis reversal side wire 2002 passes through two pulleys 3001 and 3002 attached to the lower surface of the wire adjustment device 310 to the left side of the fourth link 104. It is rerouted from the side toward the right side and wraps around a pitch axis capstan 2012 located on the left side of the pitch axis.

The two pulleys 3001 and 3002 attached to the lower surface of the wire adjustment device 310 are both placed on the path of the pitch axis reverse side wire 2002 that connects the motor capstan 2011 and the pitch axis capstan 2012. Therefore, both pulleys 3001 and 3002 are "pitch axis reverse side wire adjustment pulleys" that can adjust the tension and length by moving in the longitudinal direction to detour the path of the pitch axis reverse side wire 2002. be.

In FIG. 31, the lower half of the wire adjustment device 310 is made transparent to visualize the first pitch axis reverse side adjustment pulley pedestal 3111 supported inside the wire adjustment device 310. The pulley 3001 is rotatably supported by a first pitch axis reverse rotation side adjustment pulley pedestal 3111. Further, the first pitch axis reverse rotation side adjustment pulley pedestal 3111 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

FIG. 32 shows a cross-sectional view of the wire adjusting device 310 cut just at the position where the main body screw portion and the first pitch axis reverse side adjustment screw 3011 are cut. The main body of the wire adjustment device 310 is machined with a female threaded main body threaded portion at a position facing the front surface of the first pitch axis reverse side adjustment pulley pedestal 3111, and this main body threaded portion has a first male threaded threaded portion. A pitch axis reverse side adjustment screw 3011 is screwed on. By rotating the first pitch axis reverse side adjustment screw 3011 using a screwdriver, the amount of screwing into the main body threaded portion is changed, and accordingly, the first pitch axis reverse side adjustment pulley pedestal 3111 is adjusted to the pulley 3001. The tension and length of the pitch axis reversal side wire 2002 can be adjusted by moving back and forth in the longitudinal direction together with the wire 2002.

By rotating the first pitch axis reverse side adjustment screw 3011 clockwise, the first pitch axis reverse side adjustment screw 3011 is screwed into the wire adjustment device 310. Since the tip of the first pitch axis reverse side adjustment screw 3011 is in contact with the side surface of the first pitch axis reverse side adjustment pulley pedestal 3111, the direction in which the first pitch axis reverse side adjustment screw 3011 is tightened, that is, clockwise. When turned, the first pitch axis reverse side adjustment pulley pedestal 3111 moves in the distal direction (arrow direction 3201 in FIG. 32) together with the pulley 3001. This movement lengthens the path of the pitch axis reverse side wire 2002, so that the tension can be increased. Conversely, when it is desired to reduce the tension of the pitch axis reverse side wire 2002, it is sufficient to turn the first pitch axis reverse side adjustment screw 3011 in the loosening direction, that is, counterclockwise.

FIG. 33 shows the bottom surface of the wire adjustment device 310 viewed from the front left. Further, in FIG. 34, the lower half of the wire adjustment device 310 is made transparent to visualize the second pitch axis reverse side adjustment pulley pedestal 3112 supported inside the wire adjustment device 310. The pulley 3002 is rotatably supported by a second pitch axis reverse rotation side adjustment pulley pedestal 3112. Further, the second pitch axis reverse rotation side adjustment pulley pedestal 3112 is supported by the wire adjustment device 310 so as to be movable back and forth in the longitudinal direction.

Referring to FIG. 34, a female thread-shaped pedestal threaded portion is machined on the front surface of the second pitch axis reverse side adjustment pulley pedestal 3112, and this pedestal threaded portion has a second pitch axis reverse side adjustment pulley pedestal 3112 that is male threaded. An adjustment screw 3012 is screwed on. FIG. 35 shows a cross-sectional view of the wire adjustment device 310 cut just at the position where the pedestal screw portion and the second pitch axis reverse rotation side adjustment screw 3012 are cut. By rotating the second pitch axis reverse side adjustment screw 3012 using a screwdriver, the amount of screwing into the pedestal threaded portion is changed, and accordingly, the second pitch axis reverse side adjustment pulley pedestal 3112 is adjusted to the pulley 3002. The tension and length of the pitch axis reversal side wire 2002 can be adjusted by moving back and forth in the longitudinal direction together with the wire 2002.

By rotating the second pitch axis reverse side adjustment screw 3012 clockwise, the second pitch axis reverse side adjustment screw 3012 is screwed into the second pitch axis reverse side adjustment pulley pedestal 3112. Since the head of the second pitch axis reverse side adjustment screw 3012 is fixed by the structure of the wire adjustment device 310, when the second pitch axis reverse side adjustment screw 3012 is turned in the tightening direction, that is, clockwise, the second pitch axis reverse side adjustment screw 3012 is fixed. Pitch axis reverse side adjustment pulley pedestal 3112 moves in the distal direction (arrow direction 3501 in FIG. 35) together with pulley 3002. This movement lengthens the path of the pitch axis reverse side wire 2002, so that the tension can be increased. Conversely, when it is desired to reduce the tension of the pitch axis reverse side wire 2002, the second pitch axis reverse side adjusting screw 3012 may be turned in the loosening direction, that is, counterclockwise.

E. Summary As explained in Section D above, the wire adjustment device 310 is capable of adjusting both the base side where the motors 301 to 303 are arranged and the joint axis side in the medical arm device 100 (or the fourth link 104). It is placed on a path through which multiple wires with fixed ends pass, and is equipped with an adjustment mechanism for each wire. The adjustment mechanism for each wire includes a pulley that detours the wire route, and a mechanism that moves the route detour pulley by tightening a screw.

36 to 39 show side views of the wire adjustment device 310 from various directions. As can be seen from FIGS. 36 to 39, all pulleys for adjusting a total of six wires on the forward and reverse sides that drive the three joint axes at the distal end are supported on the side of the wire adjustment device 310. has been done. Further, FIGS. 40 and 41 show the wire adjustment device 310 as viewed from the front right and front left, respectively. As can be seen from FIGS. 40 and 41, all the screws for adjusting each wire are arranged in a concentrated manner at the front of the wire adjusting device 310.

Therefore, the user can adjust any wire by accessing the front side of the wire adjustment device 310. Also, for any screw, if you turn it clockwise, you can increase the tension of the corresponding wire, and if you turn it counterclockwise, you can decrease the tension of the wire. That is, since the direction of rotation of the screw, the direction of movement of the pulley, and the direction of increasing tension are unified for all wires, it is possible to avoid confusion for the user during adjustment work.

Although FIG. 3 shows the fourth link 104 with the exterior parts removed, FIG. 42 shows the fourth link 104 in normal use with the exterior parts attached. Although the outer periphery of the fourth link 104 is covered by the exterior component, there is an opening in the exterior component near the joint axis (or pitch axis). Through this opening, it is possible to access the adjustment screws for each wire, which are concentrated inside, specifically at the front of the wire adjustment device 310. FIG. 43 shows how the tension of the wires is adjusted by inserting a small-diameter hexagonal wrench into the adjustment screw of each wire through the opening.

The present disclosure has been described in detail 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.

Although this specification has mainly described an embodiment in which the present disclosure is applied to a medical arm device that supports an endoscope, the gist of the present disclosure is not limited thereto. In various fields other than medicine, the wire adjustment device according to the present disclosure can be similarly applied to manipulator devices and robot arm devices that utilize wire drive mechanisms.

In short, the present disclosure has been explained in the form of examples, and the contents of this specification should not be interpreted in a limited manner. In order to determine the gist of the present disclosure, the claims should be considered.

Note that the present disclosure can also have the following configuration.

(1) A wire adjustment device, comprising an adjustment section that is arranged on a wire path and adjusts the tension or length of the wire.

(2) The adjustment unit includes a pulley whose outer periphery contacts the wire, and a movement mechanism that moves the pulley.
The wire adjustment device according to (1) above.

(3) The moving mechanism includes a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation.
The wire adjustment device according to (2) above.

(4) disposed on a path through which a plurality of wires pass, including a plurality of adjustment sections disposed on each of the plurality of wires;
The wire adjustment device according to any one of (1) to (3) above.

(5) Each of the plurality of adjustment parts includes a pulley whose outer periphery contacts a corresponding wire, a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation.
The wire adjustment device according to (4) above.

(6) Arranging each adjustment screw of the plurality of adjustment parts so that it can be accessed from the same direction;
The wire adjustment device according to (5) above.

(7) The direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same;
The wire adjustment device according to any one of (5) or (6) above.

(8) disposed on the path of a wire connecting a joint shaft disposed on the tip side of the link and a motor that drives the joint shaft disposed on the root side of the link;
The wire adjustment device according to any one of (1) to (7) above.

(9) disposed between a plurality of joint shafts arranged on the tip side of the link and a plurality of motors arranged on the root side of the link and driving each of the plurality of joint shafts;
The wire adjustment device according to any one of (1) to (8) above.

(10) The wire includes a forward rotation side wire and a reverse rotation side wire fixed on the joint axis side and the motor side, respectively.
The wire adjustment device according to any one of (1) to (9) above.

(11) A joint axis located on the tip side of the link,
a motor that is disposed on the base side of the link and drives the joint shaft;
a wire connecting the joint shaft and the motor;
a wire adjustment device that is placed on the path of the wire and adjusts the tension or length of the wire;
A wire drive device comprising:

(12) a plurality of joint shafts are arranged on the distal end side of the link;
A plurality of motors that drive each of the plurality of joint shafts are arranged on the root side of the link,
the wire adjustment device is arranged between the plurality of joint axes and the plurality of wires;
The wire drive device according to (11) above.

(13) The wire adjustment device includes, for each wire, an adjustment section including a pulley whose outer periphery contacts the wire, a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation. ,
The wire drive device according to any one of (11) or (12) above.

(14) Arranging the adjustment screws of the plurality of adjustment parts arranged for each wire so that they can be accessed from the same direction;
The wire drive device according to (13) above.

(15) The direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same;
The wire drive device according to any one of (13) or (14) above.

(16) It has a multi-link structure, and at least one link is
A joint shaft is arranged on the tip side, and a motor for driving the joint shaft is arranged on the base side,
a wire adjustment device that is placed on the path of the wire and adjusts the tension or length of the wire;
A manipulator device comprising:

(17) a plurality of joint shafts are arranged on the distal end side of the link;
A plurality of motors that drive each of the plurality of joint shafts are arranged on the root side of the link,
the wire adjustment device is arranged between the plurality of joint axes and the plurality of wires;
The manipulator device according to (16) above.

(18) The wire adjustment device includes, for each wire, an adjustment section including a pulley whose outer periphery contacts the wire, a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation. ,
The manipulator device according to any one of (16) or (17) above.

(19) Arranging the adjustment screws of the plurality of adjustment parts arranged for each wire so that they can be accessed from the same direction;
The manipulator device according to (18) above.

(20) The direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same;
The manipulator device according to any one of (18) or (19) above.

100... Medical arm device, 101... First link 102... Second link, 103... Third link, 104... Fourth link 111... First joint part, 112... Second joint part, 113 ...Third joint part 114...Vertical rotation axis part (tilt axis, pitch axis)
115...Left and right rotation axis (pan axis, yaw axis)
116... Optical axis rotation shaft portion (roll axis), 200... Endoscope 301... First motor, 302... Second motor,
303...Third motor, 304...Motor, 305...Steel belt 306...Pulley (output shaft pulley of motor 304)
310...Wire adjustment device 501...Roll axis normal rotation side wire, 502...Roll axis reverse rotation side wire 511...First motor capstan, 512...Roll axis component 512a...Normal rotation side roll axis capstan 512b...Reverse rotation side roll Shaft capstan 601...Wire fixing part (roll shaft normal rotation side)
602...Wire fixing part (roll axis reverse side)
611...Wire fixing part (roll axis normal rotation side)
612...Wire fixing part (roll axis reverse side)
801 to 805...Pulley, 811...Roll axis normal rotation side adjustment pulley pedestal 812...Roll axis normal rotation side adjustment screw, 1001, 1002...Pulley 1011...Roll axis reverse rotation side adjustment pulley pedestal 1012...Roll axis reverse rotation side adjustment screw 1201... Yaw axis forward rotation side wire, 1202...Yaw axis reverse rotation side wire 1211...Second motor capstan, 1212...Yaw axis component part 1212a...Forward rotation side yaw axis capstan 1212b...Reverse rotation side yaw axis capstan 1221, 1222... Pulley 1301...Wire fixing part (yaw axis normal rotation side)
1302...Wire fixing part (yaw axis reverse side)
1311...Wire fixing part (yaw axis forward rotation side)
1312...Wire fixing part (yaw axis reverse side)
1402 to 1406...Pulley 1511...Yaw axis forward rotation side adjustment pulley pedestal 1512...Yaw axis forward rotation side adjustment screw 1702, 1706...Pulley 1811...Yaw axis reverse rotation side adjustment pulley pedestal 1812...Yaw axis reverse rotation side adjustment screw 2001...Pitch axis Forward rotation side wire 2002...Pitch axis reverse rotation side wire 2011...Third motor capstan 2012...Pitch axis capstan 2201...Wire fixing part (pitch axis normal rotation side)
2202...Wire fixing part (pitch axis reverse side)
2301...Wire fixing part (pitch axis normal rotation side)
2302...Wire fixing part (pitch axis reverse side)
2401, 2402... Pulley 2411... First pitch axis normal rotation side adjustment screw 2412... Second pitch axis normal rotation side adjustment screw 2511... First pitch axis normal rotation side adjustment pulley pedestal 2512... Second pitch axis normal rotation side adjustment screw Rotation side adjustment pulley pedestal 3001, 3002...Pulley 3011...First pitch axis reverse rotation side adjustment screw 3012...Second pitch axis reverse rotation side adjustment screw 3111...First pitch axis reverse rotation side adjustment pulley pedestal 3112...Second pitch Adjustment pulley pedestal on reverse side of shaft 4401, 4402...Bearing, 4403...Fixing ring 4404...Screw

Claims (20)

1. A wire adjustment device that includes an adjustment section that is placed on a wire path and adjusts the tension or length of the wire.
2. The adjustment unit includes a pulley whose outer periphery contacts the wire, and a movement mechanism that moves the pulley.
   The wire adjustment device according to claim 1.
3. The moving mechanism includes a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation.
   The wire adjustment device according to claim 2.
4. disposed on a path through which a plurality of wires pass, and including a plurality of adjustment sections disposed on each of the plurality of wires;
   The wire adjustment device according to claim 1.
5. Each of the plurality of adjustment parts includes a pulley whose outer periphery contacts a corresponding wire, a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation.
   The wire adjustment device according to claim 4.
6. arranging each adjustment screw of the plurality of adjustment parts so that it can be accessed from the same direction;
   The wire adjustment device according to claim 5.
7. The direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same,
   The wire adjustment device according to claim 5.
8. disposed on the path of a wire that connects a joint shaft disposed on the tip side of the link and a motor that drives the joint shaft disposed on the root side of the link;
   The wire adjustment device according to claim 1.
9. disposed between a plurality of joint axes disposed on the tip side of the link and a plurality of motors disposed on the root side of the link and driving each of the plurality of joint axes;
   The wire adjustment device according to claim 1.
10. The wires include a forward rotation side wire and a reverse rotation side wire fixed on the joint axis side and the motor side, respectively.
    The wire adjustment device according to claim 1.
11. A joint axis placed on the tip side of the link,
    a motor that is disposed on the base side of the link and drives the joint shaft;
    a wire connecting the joint shaft and the motor;
    a wire adjustment device that is placed on the path of the wire and adjusts the tension or length of the wire;
    A wire drive device comprising:
12. A plurality of joint shafts are arranged on the distal end side of the link,
    A plurality of motors that drive each of the plurality of joint shafts are arranged on the root side of the link,
    the wire adjustment device is arranged between the plurality of joint axes and the plurality of wires;
    The wire drive device according to claim 11.
13. The wire adjustment device includes, for each wire, an adjustment section including a pulley whose outer periphery contacts the wire, a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation.
    The wire drive device according to claim 11.
14. arranging the adjustment screws of the plurality of adjustment parts arranged for each wire so that they can be accessed from the same direction;
    The wire drive device according to claim 13.
15. The direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same,
    The wire drive device according to claim 13.
16. It has a multi-link structure, and at least one link is
    A joint shaft is arranged on the tip side, and a motor for driving the joint shaft is arranged on the base side,
    a wire adjustment device that is placed on the path of the wire and adjusts the tension or length of the wire;
    A manipulator device comprising:
17. A plurality of joint shafts are arranged on the distal end side of the link,
    A plurality of motors that drive each of the plurality of joint shafts are arranged on the root side of the link,
    the wire adjustment device is arranged between the plurality of joint axes and the plurality of wires;
    Manipulator device according to claim 16.
18. The wire adjustment device includes, for each wire, an adjustment section including a pulley whose outer periphery contacts the wire, a pedestal that supports the pulley, and an adjustment screw that adjusts the amount of movement of the pedestal according to the amount of rotation.
    Manipulator device according to claim 16.
19. arranging the adjustment screws of the plurality of adjustment parts arranged for each wire so that they can be accessed from the same direction;
    Manipulator device according to claim 18.
20. The direction of rotation of each adjustment screw and the direction of movement of the corresponding pulley are the same,
    Manipulator device according to claim 18.

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