JP2008161970A - Manipulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To secure a space inside an operation part to guide a supply line to an action part at a tip in a manipulator. <P>SOLUTION: The operation part 12a of the manipulator 10a is provided with drive pulleys 50a to 50c rotated based on operation of an operation command part 14; a first rotating shaft Oy provided on a tip side of a connection part 16; a second rotating shaft Op intersecting with the first rotating shaft Oy; a shaft Ot provided in parallel with the first rotating shaft Oy; cylindrical bodies 140, 132 journaled to the first rotating shaft Oy; a cylindrical body 116 journaled to the shaft Ot; wires 52, 54, 56 wound around the drive pulleys 50a to 50c and the cylindrical bodies 140, 136, 116; and first and second gears 118, 134 transmitting rotation of the cylindrical body 116 to the cylindrical body 132. Electric conductors 24a, 24b guided from the connection part 16 to an end effector 104 via a drive mechanism part 102 pass through the side part of the cylindrical body 132. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a manipulator that operates an operating portion at the distal end of a working portion via a power transmission member by operating an operating portion, and more specifically, a supply line such as an electric wiring passes through the working portion to The present invention relates to a manipulator configured to be connected to an action unit.

  Conventionally, a medical manipulator in which a distal working portion and a hand operating portion are connected by a connecting portion has been used. In such a medical manipulator, the operating portion is gripped and operated while observing an endoscope. It is inserted into a body cavity and the working unit is operated to perform various treatments on the living tissue.

  Patent Document 1 describes a manipulator in which a pair of grippers for gripping a living tissue are arranged in a working unit. The pair of grippers are opened / closed around the gripper shaft, and are rotated together around the pitch axis, roll axis, and the like. In this case, a wire is wound around the motor output shaft of the operation unit and the pulley of the working unit via a connecting unit, and torque necessary for the operation of the working unit is further transferred from the motor to the pulley via the wire. , And sequentially transmitted from the pulley to a gear or the like.

JP 2002-102248 A

  By the way, when using forceps used for laparoscopic surgery etc. as an electric knife, energy is supplied from a terminal provided in the vicinity of the operation part, and the action part such as a gripper, blade or hook at the tip part is energized. Take the desired action. When such an electric knife is used as a monopolar electric knife, energy is supplied by a single wire, and when it is used as a bipolar electric knife, energy is supplied by a double wire (two wires). In the bipolar electric knife, it is necessary to reliably insulate the two energy supply lines from a structural member, a power transmission member, and the like, which are generally made of a conductive material, where energy is supplied by double wires.

  On the other hand, in the case where a manipulator (multi-degree-of-freedom forceps) is used as a bipolar electric knife, as in the above-described forceps, there are a structural member made of a conductive material, a power transmission member, and the like, and two energy supply lines. Must be insulated.

  In such a manipulator, in order to achieve minimal invasiveness to the patient, it is required to minimize the outer diameter, but in the joint part with a bending operation such as a pitch axis, a yaw axis, a roll axis, A large number of power transmission members such as wires and gears are arranged, and there is almost no space for arranging (passing) the supply line. In this case, when the manipulator is used as a monopolar electric knife, it can be energized to the tip through the power transmission member, the structural member, etc., but when used as a bipolar electric knife, two It is necessary to pass through each supply line to the tip in an insulated state.

  Therefore, in the manipulator as described above, it is difficult to arrange the two supply lines in a state of being insulated from the conductive structural member and the power transmission member unless the passage space of the supply line can be secured.

  The present invention has been made in consideration of such problems, and an object of the present invention is to provide a manipulator that can secure a space for guiding the supply line to the working portion at the tip in the working portion.

  The manipulator of the present invention includes an operation unit, an input unit provided in the operation unit, a first rotation source and a second rotation source that rotate based on an operation of the input unit, and a tail end side of the operation unit, , Intersecting the first joint axis, a coupling portion coupled to a drive unit that rotationally drives the first rotation source and the second rotation source, a first joint axis provided on a distal end side of the coupling portion, or A second joint shaft in a twisted position, an offset shaft provided in parallel with the first joint shaft on the operation portion side of the first joint shaft, and a first shaft pivotally supported by the first joint shaft A cylindrical body and a driven body, a second cylindrical body pivotally supported by the offset shaft, a first flexible power transmission member wound around the first rotation source and the first cylindrical body, and the second A rotation source, a second flexible power transmission member wound around the second cylinder, and rotation of the second cylinder to the follower A rotation transmission mechanism for transmitting, and an action portion that operates around the first joint axis and the second joint axis in conjunction with the rotation of the first cylindrical body and the driven body; The supply line led to the action part passes through the side part of the follower.

  According to the manipulator according to the present invention, it is possible to secure a space for passing the supply line guided to the action portion at the tip.

  Hereinafter, first and second embodiments of a manipulator (multi-degree-of-freedom forceps) according to the present invention will be described with reference to FIGS. The manipulator 10a according to the first embodiment and the manipulator 10b according to the second embodiment are for medical use and used for laparoscopic surgery or the like (see FIG. 1). In addition, the working units 12a and 12b according to the respective embodiments are three-degree-of-freedom mechanisms provided at the distal ends of the manipulators 10a and 10b.

  The manipulator 10a includes an operation command unit (operation unit) 14 at a proximal end that is gripped and operated by a hand, a work unit 12a that performs work at a distal end, and a long length that connects the work unit 12a and the operation command unit 14. Connecting portion 16. The working part 12a and the connecting part 16 are configured to have a small diameter and can be inserted into a body cavity 18 through a small hole (tracar) 17 provided in a patient's abdomen or the like. The desired treatment (heat treatment) can be performed inside.

  In such a manipulator 10a, the working unit 12a at the tip is energized using the two conducting wires (supply lines) 24a and 24b disposed in the connecting unit 16 from a predetermined power source 20 via a terminal 22. Thus, the affected area can be treated. That is, the manipulator 10a is a bipolar electric device in which one of the conductive wires 24a and 24b is used as an anode-side conductive wire and the other is used as a cathode-side conductive wire. Acts as a knife.

  In the following description, the width direction in FIG. 1 is defined as the X direction, the height direction is defined as the Y direction, and the extending direction of the connecting portion 16 is defined as the Z direction. Further, the right side is defined as the X1 direction, the left side as the X2 direction, the upward direction as the Y1 direction, the downward direction as the Y2 direction, the forward direction as the Z1 direction, and the backward direction as the Z2 direction. Further, unless otherwise specified, the description of these directions is based on the case where the manipulators 10a and 10b are in the neutral posture (the posture in the state shown in FIGS. 2 and 9). These directions are for convenience of explanation, and it is needless to say that the manipulators 10a and 10b can be used in any direction (for example, upside down).

  The operation command unit 14 includes a grip handle 26 that is gripped by a hand, an arm 28 that extends from the top of the grip handle 26, and an actuator block (drive unit) 30 that is connected to the tip of the arm 28. The grip handle 26 is provided with a trigger lever 32 that can be operated with a finger, a vertical roller 34, a horizontal roller 35, and a switch 37. The trigger lever 32 is provided at a position where the pulling operation with the index finger is easy. The vertical roller 34 and the horizontal roller 35 are provided at a position where the rotation operation by the thumb is easy.

  The actuator block 30 is provided with a motor 40, a motor 42, and a motor 44 in parallel along the extending direction of the connecting portion 16 corresponding to the mechanism of three degrees of freedom that the working unit 12 a has. These motors 40, 42, and 44 are small and thin, and the actuator block 30 is configured in a compact flat shape. The actuator block 30 is provided below the end of the connecting portion 16 in the Z2 direction. The motors 40, 42, and 44 are rotationally driven by the master / slave control of the controller 45 based on the command (operation) of the operation command unit 14 (master).

  The connecting portion 16 includes a base end side connecting portion 46 connected to the actuator block 30 and a hollow connecting shaft 48 extending from the base end side connecting portion 46 in the Z1 direction. A drive pulley (first rotation source) 50a, a drive pulley (second rotation source) 50b, and a drive pulley 50c that are connected to the drive shafts of the motors 40, 42, and 44 are rotatably provided in the proximal end side connection portion 46. It has been. A wire (first flexible power transmission member) 52, a wire (second flexible power transmission member) 54, and a wire 56 are wound around the driving pulley 50a, the driving pulley 50b, and the driving pulley 50c. Together with the conductors 24a and 24b, the connection shaft 48 extends through the hollow portion 48a (see FIG. 2) to the working portion 12a. The wire 52, the wire 54, and the wire 56 may be of the same type and the same diameter.

  Further, the connecting portion 16 can be detached from the operation commanding portion 14 by a predetermined operation at the proximal end side connecting portion 46, and can perform cleaning, sterilization, maintenance, and the like. In addition, the part ahead from the connection part 16 can be replaced | exchanged, and the thing from which the length of the connection part 16 differs or the mechanism of the working part 12a differs according to a procedure can be mounted | worn. In the case where the actuator block 30 is configured integrally with the operation command unit 14, the proximal end side connection portion 46 of the connecting portion 16 is connected to the operation command unit 14a (arm 28) which is an operation unit. You may comprise.

  As shown in FIG. 2, a distal end side connection portion 47 is coupled to the distal end portion of the coupling portion 16. The distal end side connecting portion 47 is for connecting the connecting portion 16 and the working portion 12a, and for protecting and supporting each component of the drive mechanism portion 102 described later of the working portion 12a. The distal end side connecting portion 47 has a short tube 49 in the Z2 direction, and a pair of tongue pieces that protrude from the upper and lower ends of the short tube 49 in the distal end (Z1) direction and face the central axis of the connecting shaft 48. Parts 58 and 58. The hollow portion 48a of the connecting shaft 48 communicates with the space between the pair of tongue pieces 58, 58 extending in parallel. The pair of tongue pieces 58, 58 are provided with two sets of shaft holes 60a, 60a, 60b, 60b at opposing positions. The tips of the tongue pieces 58 and 58 are each formed in an arc shape. Moreover, the inner surface which a pair of tongue piece parts 58 and 58 oppose is formed in a parallel plane, The space | interval is set to H.

  The two shaft holes 60a and 60a and the two shaft holes 60b and 60b are provided at positions close to symmetry with the central axis in between. The shaft hole 60a and the shaft hole 60b are provided in parallel in the Z direction, and the shaft hole 60b is disposed in front of the shaft hole 60a.

  As shown in FIG. 2, the working unit 12 a has a first degree of freedom in which a portion beyond the first rotation axis Oy in the Y direction rotates in the yaw direction, and a second rotation in the X direction. A second degree of freedom to rotate in the pitch direction about the axis Op, and a third degree of freedom to open and close the gripper at the tip about the third rotation axis Og coaxial with the second rotation axis Op in the Z direction. The mechanism has a total of three degrees of freedom. In the present embodiment, the second rotation axis Op is described as being at a position orthogonal to the first rotation axis Oy. However, the second rotation axis Op and the first rotation axis Oy intersect or twist. May be in position. The working unit 12 a includes a wire passive unit 100, a drive mechanism unit 102, and an end effector (action unit) 104. For convenience, the drive mechanism unit 102 and the end effector 104 will be described separately. However, since the “end effector” is generally understood as a tip portion for performing treatment, the end effector 104 and the drive mechanism unit 102 are considered. And may be defined to include.

  The wire passive unit 100, the drive mechanism unit 102, and the end effector 104 will be described in detail with reference to FIGS. 3 is an exploded perspective view of the working unit 12a, but the conductors 24a and 24b and the wires 52, 54, and 56 are omitted for simplicity.

  The wire passive part 100 is provided between the pair of tongue pieces 58, 58, and is a part that converts each operation of the wire 52, the wire 54, and the wire 56 into a rotation operation and transmits it to the drive mechanism unit 102. is there. The wire passive portion 100 is connected to the shaft (offset shaft) 108 inserted and fixed in the shaft holes 60a and 60a, the shaft (first joint shaft) 110 inserted and fixed in the shaft holes 60b and 60b, and the shaft 108. And a gear body 114 and an idler 115 that are rotatably supported. The shafts 108 and 110 are fixed to the shaft holes 60a and 60b by, for example, press-fitting. The shaft 110 is disposed on the axis of the first rotation axis Oy, and the shaft 108 is disposed on the axis Ot offset from the shaft 110 in the Z2 direction by a predetermined distance.

  The gear body 114 includes a cylinder (second cylinder) 116 and a first gear (rotation transmission mechanism) 118 provided concentrically on the cylinder 116. The first gear 118 is a spur gear having a larger diameter than the cylindrical body 116. Hereinafter, unless otherwise specified, the gear is a spur gear. The thickness D1 of the first gear 118 is sufficiently thinner than the height H.

  The idler 115 is a cylindrical body that is pivotally supported below the gear body 114. The outer diameter of the idler 115 is substantially the same as that of the cylindrical body 116, and the height occupies most of the height H between the pair of tongue pieces 58, 58. The height of the idler 115 and the height of the gear body 114 are The sum of the two becomes substantially H (see FIG. 5). That is, the idler 115 functions as a spacer for disposing the gear body 114 between the pair of tongue pieces 58 and 58.

  On the upper surface of the first gear 118, a low annular rib 118 a is provided around the hole into which the shaft 108 is inserted, so that the upper surface of the first gear 118 is prevented from contacting the upper tongue piece 58. The dynamic resistance is reduced (see FIG. 5). Similarly, the lower surface of the idler 115 is provided with a low annular rib 115a around the hole into which the shaft 108 is inserted, so that the lower surface of the idler 115 is prevented from contacting the lower tongue piece 58 and slides. The resistance is reduced.

  As shown in FIG. 7, the tubular body 116 is provided with a wire fixing mechanism 120. The wire fixing mechanism 120 has a groove 122 extending in the lateral direction (X direction when neutral) at a substantially central portion on the Z2 direction side, and a tapered fixing pin 124 provided at the center of the groove 122. . A recess 122 a into which the fixing pin 124 is inserted and fixed is provided at the center of the groove 122. The direction of the groove 122 may be slightly inclined as the wire 54 is spirally wound.

  The width and maximum depth of the groove 122 are set substantially equal to the diameter of the wire 54. The fixing pin 124 is provided with a hole 124a that communicates in the lateral direction and through which the wire 54 can pass. By passing the wire 54 through the hole 124 a and inserting the fixing pin 124 into the recess 122 a, a part of the wire 54 is fitted in the groove 122, the orientation is defined horizontally, and the wire 54 is fixed to the cylindrical body 116.

  2 to 6, the wire passive portion 100 further includes a gear body 126 that is rotatably supported with respect to the shaft 110 in order from the Y1 direction to the Y2 direction, a main shaft member 128, and a gear body 130. And have.

  The gear body 126 includes a cylindrical body (driven body) 132 and a second gear (rotation transmission mechanism) 134 provided concentrically on the cylindrical body 132. The second gear 134 has the same thickness as the first gear 118 and is set to mesh with the first gear 118. On the upper surface of the second gear 134, a low annular rib 134a is provided around the hole into which the shaft 110 is inserted, so that the upper surface of the second gear 134 is prevented from contacting the upper tongue piece 58. The dynamic resistance is reduced (see FIG. 5).

  The gear body 130 includes a cylindrical body 136 and a third gear 138 provided concentrically below the cylindrical body 136. A lower annular rib 138a is provided on the lower surface of the third gear 138 around the hole into which the shaft 110 is inserted, so that the lower surface of the third gear 138 is prevented from contacting the lower tongue piece 58. The sliding resistance is reduced (see FIG. 5). A wire fixing mechanism 120 similar to that of the cylindrical body 116 is provided on the surface of the cylindrical body 136 in the Z2 direction, and the wire 56 is fixed.

  The main shaft member 128 includes a cylindrical body (first cylindrical body) 140 through which the shaft 110 is inserted, an annular seating surface (interlocking member) 142 provided in the Z1 direction of the cylindrical body 140, and the center of the annular seating surface 142. And a base (interlocking member) 144 provided on the side surface on the X1 side of the tip of the bridge 143 extending in the Z1 direction. The base 144 is a cylinder serving as a reference for the pitch operation and the gripper opening / closing operation. The base 144 is a pair of parallel left and right sliding end surfaces 144a for the pitch operation and the gripper opening / closing operation, and a rotation provided in the axial direction of the base 144. A central hole 144b.

  The annular seating surface 142 is provided at a position slightly apart from the outer surface of the cylindrical body 140 via two short upper and lower bridges 142 a, and the wire 52 is inserted between the annular seating surface 142 and the cylindrical body 140. A vertical hole 146 that is possible and slightly longer in the Y direction is provided (see FIG. 5). On the upper and lower surfaces of the cylindrical body 140, low annular ribs 140a are provided around the hole into which the shaft 110 is inserted, so that the upper and lower surfaces of the cylindrical body 140 are prevented from coming into contact with the cylindrical bodies 132 and 136 and slide. The resistance is reduced (see FIG. 5). Further, when the annular seating surface 142 is viewed from the front (when viewed from the Z1 direction to the Z2 direction of the reference axis C), the conductive wires 24a and 24b can be inserted slightly above the center (X1 direction and Y1 direction), and the X direction A slightly long lateral hole 147 is provided (see FIGS. 4 to 6).

  A wire fixing mechanism 120 similar to that of the cylindrical body 136 is provided on the surface of the cylindrical body 140 in the Z2 direction, and the wire 52 is fixed.

  The main shaft member 128 can rotate in the yaw direction around the first rotation axis Oy with the operation of the wire 52, and can swing the base 144 on the XZ plane.

  The gear body 126, the cylindrical body 140, and the gear body 130 are stacked with the shaft 110 as an axis, the stacking height is substantially equal to H, and is provided between the pair of tongue pieces 58, 58 with almost no gap. (See FIG. 5).

  Next, the drive mechanism unit 102 includes a cover 150, a gear ring 152, a gear ring 154, a gear body 156, and a gear body 158 housed in the cover 150, and a fixing pin (third joint shaft) that supports them. , Gripper shaft) 160.

  The gear ring 152 is a thin cylindrical body, and includes a face gear 162 provided on a surface in the Z2 direction and a face gear 164 provided on a surface in the Z1 direction. The gear ring 152 is extrapolated to the annular seat surface 142 of the main shaft member 128 and is slidably rotatable with respect to the outer peripheral surface of the annular seat surface 142. The face gear 162 meshes with the second gear 134, and the gear ring 152 can rotate around the central axis (reference axis C) of the connecting portion 16 as the gear body 126 rotates.

  The gear ring 154 is also a thin cylinder similar to the gear ring 152, and has a face gear 166 provided on the surface in the Z2 direction and a face gear 168 provided on the surface in the Z1 direction. The gear ring 154 is extrapolated to the gear ring 152 and is slidably rotatable with respect to the outer peripheral surface of the gear ring 152. The face gear 166 meshes with the third gear 138, and the gear ring 154 can rotate around the reference axis C as the gear body 130 rotates.

  The cover 150 is for protecting and supporting each component in the drive mechanism unit 102, and includes a short tube 170 in the Z2 direction and a pair of ears protruding from the left and right ends of the short tube 170 in the Z1 direction. And a single portion 172. Each ear piece 172 is provided with a hole 172a for inserting and fixing the fixing pin 160 therein. The fixing pin 160 is fixed to the hole 172a, for example, by press fitting.

  Further, the opposing surfaces of the ear piece 172 are formed in parallel, and are set to a width that holds the gear body 156, the base 144, and the gear body 158 slidably (see FIG. 6). The inner peripheral surface of the short cylinder 170 is set to have a slightly larger diameter than the outer peripheral surface of the gear ring 154, and a gap is provided (see FIGS. 5 and 6).

  The gear body 156 is a component disposed in the X2 direction between the pair of ear pieces 172, and includes a fourth gear 174 and a D-cut projection provided on the X1 side concentrically with the fourth gear 174. 176. The fourth gear 174 meshes with the face gear 164. The gear body 156 is provided with a hole 156a into which the fixing pin 160 is inserted at the center.

  The gear body 158 is a part arranged in the X1 direction between the pair of ear pieces 172, and is a fifth gear 178 and a D-cut projection provided on the X2 side concentrically with the fifth gear 178. 180. The fifth gear 178 meshes with the face gear 168. The gear body 158 is provided with a hole 158a into which the fixing pin 160 is inserted at the center.

  Next, the end effector 104 includes a first end effector member 182 and a second end effector member 184.

  The first end effector member 182 includes a proximal end tube 186, an arm 188 projecting from the proximal end tube 186 in a substantially radial direction (Z1 direction), and further projecting from the arm 188 in the radial direction (Z1 direction). And a gripper 190. A D-shaped hole 186a suitable for engaging with the protrusion 176 is provided at the center of the base end tube 186, and has a positioning function and a rotation preventing function with respect to the protrusion 176.

  The gripper 190 is slightly thicker in the width direction (X1 direction) than the base end tube 186 and the arm 188, and the intermediate portion in the width direction on the base end side of the gripper 190 is substantially equal to the end surface in the X1 direction of the base end tube 186 and the arm 188. The gripper 190 has a shape that is slightly curved in the X1 direction while tapering from the base end side to the tip end side in a plan view, and both ends thereof are arcuate (see FIGS. 3 and 6). Further, the inner side surface 190a of the gripper 190 is provided with a straight line extending in the X direction to prevent slipping of a work object to be gripped or a tool.

  The second end effector member 184 includes a proximal end tube 192, an arm 194 that protrudes from the proximal end tube 192 in a substantially radial direction (Z1 direction) and then bent in the X2 direction, and a further radial direction (Z1 And a gripper 196 projecting in the direction). A D-cut hole 192a suitable for engaging with the protrusion 180 is provided at the center of the base end tube 192, and has a positioning function and a rotation preventing function with respect to the protrusion 180.

  The gripper 196 has the same shape as the gripper 190 in plan view, and the end portion in the X1 direction on the base end side of the gripper 196 is substantially equal to the end surface in the X2 direction of the base end tube 192 and the arm 194 (see FIGS. 3 and 6). . Similar to the gripper 190, the inner surface 196a of the gripper 196 is also provided with a straight line extending in the X direction to prevent slipping of a work object to be gripped or a tool.

  Further, on the inner side surface (X1 direction) of the arm 188, there is a connection hole 188a to which a terminal pin 198a connected to the tip of a conducting wire 24a wired from the power source 20 to the working portion 12a via the connecting portion 16 is attached. Is provided. Similarly, on the inner side surface (X2 direction) of the arm 194, a connection hole 194a to which a terminal pin 198b connected to the tip of the conducting wire 24b is attached is provided. Thus, as will be described later, the conductive wires 24a and 24b wired to pass through the wire passive portion 100 and the drive mechanism portion 102 are connected to the first end effector member 182 and the second end effector member 184, respectively. The energization between the gripper 190 and the gripper 196 becomes possible.

  In the end effector 104, the gripper 190 of the first end effector member 182 is disposed closer to the X1 direction, the gripper 196 of the second end effector member 184 is disposed closer to the X2 direction, and the grippers 190 and 196 are respectively disposed on the inner side surfaces 190a. And 196a are arranged symmetrically about the central axis (reference axis C) of the connecting shaft 48 so as to face each other.

  The fourth gear 174, the base end tube 186, the base 144, the base end tube 192, and the fifth gear 178 are arranged between the pair of ear pieces 172 with almost no gap (see FIG. 6) and fixed. The pin 160 is inserted into the hole 156a, the hole 144b, and the hole 158a and is pivotally supported.

  In such an end effector 104, the first end effector member 182 swings about the second rotation axis Op (third rotation axis Og) by transmitting the rotation of the gear ring 152 to the fourth gear 174. Be free. Further, the second end effector member 184 is swingable about the second rotation axis Op (third rotation axis Og) when the rotation of the gear ring 154 is transmitted to the fifth gear 178.

  That is, when the gear rings 152 and 154 rotate clockwise when viewed from the front (when viewed from the Z1 direction of the reference axis C to the Z2 direction), the fourth gear 174 is counterclockwise as viewed from the side from the reference axis C. The fifth gear 178 rotates counterclockwise as viewed from the side from the reference axis C. Accordingly, the pair of arms 188 and 194 and the pair of grippers 190 and 196 operate in a direction in which they are separated from each other (opening direction). On the other hand, when both the gear rings 152 and 154 rotate counterclockwise when viewed from the front, the fourth gear 174 rotates clockwise in a side view from the reference axis C, and the fifth gear 178 rotates from the reference axis C. Rotates clockwise in side view. As a result, the pair of arms 188 and 194 and the pair of grippers 190 and 196 operate in the direction in which they approach each other (in the closing direction).

  In this manner, the end effector 104 can open and close the pair of grippers 190 and 196 around the third rotation axis Og (gripper shaft).

  Further, by rotating the gear rings 152 and 154 in opposite directions, the swing directions of the pair of grippers 190 and 196 can be made the same direction. That is, the pair of grippers 190 and 196 are lifted in the pitch direction about the second rotation axis Op. Needless to say, the grippers 190 and 196 can be individually raised in the pitch direction.

  The wire 52 is wound around the cylinder 140 of the main shaft member 128, the wire 54 is wound around the cylinder 116 of the gear body 114, and the wire 56 is wound around the cylinder 136 of the gear body 130, for example, 1.5 times or more. (See FIG. 4).

  Next, the wiring method of the conducting wires 24a and 24b in the working unit 12a configured as described above will be described with reference to FIGS. FIG. 4 is a partially omitted exploded perspective view of the working unit 12a. The conducting wires 24a and 24b are shown by two thicker wires than the wire 52 and the like.

  The conducting wires 24a and 24b are each covered with, for example, a resin tube that is an insulating material. Such conducting wires 24 a and 24 b are wired from the power source 20 to the working unit 12 a via the terminal 22 and the connecting shaft 48.

  However, as described above, the working unit 12 a is provided with a large number of gear bodies, wires, and the like that constitute the wire passive unit 100 and the drive mechanism unit 102.

  Here, suppose that the gear body 126 is directly rotated by winding the wire 54 around the cylindrical body 132 without providing the gear body 114 and the first gear 118, that is, without providing the shaft Ot. . Then, in the first rotation axis Oy centered on the shaft 110, the second gear 134, the cylindrical body 132, the wire 54, the cylindrical body 140, and the wire are sequentially arranged from the upper side to the lower side in the height direction (Y direction). 52, the cylindrical body 136 and the wire 56, and the third gear 138 are stacked with almost no gap. In this case, between the pair of tongue pieces 58, 58, there is almost no space for the conducting wires 24a, 24b to pass in both the height direction (Y direction) and the width direction (X direction). Therefore, it is difficult to wire the conductive wires 24a and 24b to the end effector 104.

  On the other hand, in the working unit 12a of the manipulator 10a according to the first embodiment, as described above, the cylinder 116 is in front of the cylinder 116 around which the wire 54 is wound (in the Z1 direction), and the rotation axis is the cylinder 116. And a first gear 118 and a second gear 134 that transmit the rotation of the gear body 114 to the gear body 126.

  For this reason, it is not necessary to wind the wire 54 around the cylindrical body 132 of the gear body 126 pivotally supported by the first rotating shaft Oy, and the space S (where the conducting wires 24a and 24b pass through the outer peripheral portion of the cylindrical body 132). A range indicated by a dotted line in FIGS. 5 and 6 is secured. A lateral hole 147 is provided in the annular seating surface 142 of the main shaft member 128.

  Thus, in the working unit 12a, a sufficient space for wiring the conductive wires 24a and 24b from the wire passive unit 100 to the end effector 104 is secured. That is, the conductive wires 24a and 24b wired from the hollow portion 48a of the connecting shaft 48 to the working portion 12a pass through the side portion of the idler 115, are wound around the outer periphery of the cylindrical body 132, and then pass through the lateral hole 147. To do. The conductive wires 24a and 24b that have passed through the lateral hole 147 are wound around the base 144 of the main shaft member 128, and then are connected to the distal ends by the terminal pins 198a and 198b, whereby the first end effector member 182 and the second end effector member 184 are connected. Connection holes 188a and 194a.

  As described above, the conductive wires 24a and 24b are wound around the cylindrical body 132 and the base 144 when the working portion 12a is operated in the yaw direction, the pitch direction, or the like, when the conductive wires 24a and 24b have excessive tensile force or the like. This is to prevent a load from occurring. Therefore, it is not always necessary to wind the conducting wires 24a and 24b around the cylindrical body 132 or the base 144, and it is only necessary to pass these side portions.

  Next, the operation of the manipulator 10a configured as described above will be described. In addition, since there is mechanical interference in the drive mechanism, the operation of each drive pulley (each drive motor) and the operation of each rotary shaft (posture axis) do not correspond one-to-one, but in the following description, For simplicity, the operation of a typical drive pulley (each drive motor) and the operation of each rotary shaft (posture axis) will be described in a one-to-one correspondence.

  In this case, first, the switch 37 of the operation command unit 14 is turned on so that the manipulator 10a can be driven. Next, as shown in FIG. 8, the operation in the yaw direction is first performed by operating the horizontal roller (input unit) 35 (see FIG. 1) with a finger. That is, by operating the horizontal roller 35 to rotate left and right by a predetermined angle with a finger, the driving pulley 50a rotates under the rotating action of the motor 40 to drive the wire 52, and the main shaft member 128 moves the first rotating shaft Oy. Rotates as the center. As a result, the drive mechanism unit 102 and the end effector 104 connected to the base 144 of the main shaft member 128 swing in the yaw direction.

  By rotating the horizontal roller 35 in the left and right (forward / reverse) directions, the operation in the yaw direction swings in the left and right (forward / reverse) direction according to the rotation direction of the horizontal roller 35. Further, when the horizontal roller 35 is stopped at a predetermined angle, the motor 40 is stopped, and the operation in the yaw direction is stopped while maintaining the position at that time.

  The movement of the end effector 104 in the pitch direction is performed by operating the vertical roller (input unit) 34 (see FIG. 1) with a finger. That is, the wire 54 is driven by rotating the driving pulley 50b, the driving pulley 50c, etc. under the rotating action of the motor 42, the motor 44, etc. by operating the vertical roller 34 up and down by a predetermined angle with a finger. The gear body 114 rotates, and the rotation is transmitted to the gear body 156 via the first gear 118, the second gear 134, the face gears 162, 164 and the fourth gear 174. Further, the wire 56 is driven, the gear body 130 is rotated, and the rotation is transmitted to the gear body 158 via the third gear 138, the face gears 166, 168 and the fifth gear 178. As a result, the gear body 156 is lifted and raised about the second rotation axis Op (third rotation axis Og) integrally with the base end cylinder 186 by the protrusion 176, and the gear body 158 is integrated with the base end cylinder 192 by the protrusion 180. Ascend around the second rotation axis Op (third rotation axis Og). That is, the grippers 190 and 196 are lifted around the second rotation axis Op (third rotation axis Og). In this case, when the vertical rollers 34 are operated to rotate the gear rings 152 and 154 in the opposite directions, the pair of grippers 190 and 196 are lifted in the pitch direction around the second rotation axis Op.

  By rotating the vertical roller 34 in the vertical (forward / reverse) direction, the end effector 104 is interlocked with the operation of the vertical roller 34, that is, depending on the rotation angle of the vertical roller 34, the end effector 104 is raised or lowered in the Y1 direction or the Y2 direction. The Further, when the vertical roller 34 is stopped at a predetermined angle, the motor 42 and the motor 44 are stopped, and the rotation position of the end effector 104 can be held.

  The opening / closing operation of the end effector 104 is performed by operating the trigger lever (input unit) 32 (see FIG. 1) with a finger. That is, when the trigger lever 32 is operated and both the gear rings 152 and 154 are rotated in the clockwise direction when viewed from the front, the grippers 190 and 196 operate in directions in which they are separated from each other (opening direction). On the other hand, when the trigger lever 32 is operated to rotate both the gear rings 152 and 154 in the counterclockwise direction when viewed from the front, the grippers 190 and 196 operate in directions in which they approach each other (close direction). In the working unit 12a, the opening / closing operation of the grippers 190 and 196 around the third rotation axis Og (gripper shaft) can be performed in this way.

  The trigger lever 32 can be pulled by a finger and returns to its original position by an elastic body when the finger is released. The end effector 104 is interlocked with the operation of the trigger lever 32 and opens and closes according to the degree of pulling of the trigger lever 32. In this case, when the trigger lever 32 is returned to the original position, the end effector 104 is returned to the neutral position, for example, a predetermined opening degree such as full opening or a predetermined closing degree such as full closing.

  In the manipulator 10a having such a three-degree-of-freedom mechanism, the trigger lever 32 may function as a changeover switch. In this case, for example, by switching the trigger lever 32 which is the changeover switch, for example, the vertical roller 34 for operating the operation in the pitch direction can be selectively used as an operating means for opening and closing the end effector 104. Can be used. Further, the state-of-the-art posture axis in the three-degree-of-freedom mechanism such as the end effector 104 may be operated by separately preparing another operation device.

  In the working unit 12a, as described above, the operation in the yaw direction around the first rotation axis Oy, the operation in the pitch direction around the second rotation axis Op, and the center around the third rotation axis Og. The gripper opening and closing operation can be performed.

  By the way, as described above, in the manipulator 10a, in the working unit 12a, the gear body 126 is provided in front of the cylinder body 116 around which the wire 54 is wound (in the Z1 direction) and the rotation shaft is provided substantially parallel to the cylinder body 116. The first gear 118 and the second gear 134 that transmit the rotation of the gear body 114 to the gear body 126 are included. That is, the cylinder 116 is disposed on the axis Ot that is offset with respect to the first rotation axis Oy. For this reason, it is not necessary to wind the wire 54 around the cylindrical body 132 of the gear body 126 that is pivotally supported by the first rotating shaft Oy, and the space S through which the conducting wires 24a and 24b pass through the outer peripheral portion of the cylindrical body 132. (A range indicated by a dotted line in FIGS. 5 and 6) can be secured. Further, since the annular seating surface 142 of the main shaft member 128 is provided with a lateral hole 147, the working portion 12a has a sufficient space for wiring the conductive wires 24a and 24b from the wire passive portion 100 to the end effector 104. Will be secured.

  Therefore, in the working unit 12a, the conducting wires 24a and 24b guided through the hollow portion 48a of the connecting shaft 48 can be easily wired to the end effector 104 at the tip, and the energization of the work object by the grippers 190 and 196 is possible. Is possible.

  Further, in the working unit 12a, the conductors 24a and 24b can be wound around the cylindrical body 132 and the base 144 in the middle of connecting to the end effector 104 at the tip. Thereby, even when the operation in the yaw direction or pitch direction and the gripper opening / closing operation as described above are performed, a load such as a tensile force generated in the conducting wires 24a and 24b is wound around the cylindrical body 132 and the base 144. Since it is absorbed by the looped portion, the conductors 24a and 24b, the connection parts between the conductors 24a and 24b and the terminal pins 198a and 198b, and the like are protected. Therefore, the reliability of the manipulator 10a can be improved.

  Thus, in the manipulator 10a, the outer diameter of the working part 12a is not enlarged, but the space through which the conducting wires 24a and 24b pass is ensured by arranging the cylinder 116 offset with respect to the first rotation axis Oy. is doing. That is, according to the manipulator 10a, it is possible to achieve minimal invasiveness to the patient while maintaining the workability by the operation in the yaw direction and the pitch direction and the gripper opening / closing operation in the working unit 12a.

  Next, a manipulator 10b according to a second embodiment will be described with reference to FIGS.

  Compared to the manipulator 10a, the manipulator 10b has a common operation command unit 14 and connecting unit 16, and the working unit 12a is replaced with the working unit 12b. The working unit 12 b includes a wire passive unit 200, a drive mechanism unit 102, and an end effector 204.

  The wire passive portion 200 is a portion corresponding to the wire passive portion 100, and has a main shaft member 206 instead of the main shaft member 128 as compared with the wire passive portion 100. The main shaft member 206 has a configuration in which the annular seat surface 142 and the base 144 of the main shaft member 128 are replaced with an annular seat surface (interlocking member) 208 and a base (interlocking member) 210.

  The base 210 is a portion corresponding to the base 144 and extends from the center of the annular seating surface 208 in the Z1 direction. The base 210 is provided with a pair of parallel left and right sliding end surfaces 210a for pitch operation and end effector opening / closing operation, a hole 210b serving as a rotation center provided at the tip, and extending in the Z direction at the center of the upper surface. Groove 210c. The annular seating surface 208 is substantially the same as the annular seating surface 142, and has a lateral hole 212 communicating with the groove 210c instead of the lateral hole 147.

  Therefore, in the main shaft member 206, the conducting wires 24a and 24b that have passed through the lateral hole 212 are wired to the end effector 204 through the groove 210c (see FIGS. 11 and 12).

  Next, the end effector 204 has a first end effector member 214 and a second end effector member 216.

  The first end effector member 214 has a base end tube 218, an arm 220 protruding from the base end tube 218 in a substantially radial direction (Z1 direction), and further protrudes from the arm 220 in the radial direction (Z1 direction). And a gripper 222. A D-shaped hole 218a suitable for engaging the projection 176 of the gear body 156 is provided at the center of the base end tube 218, and has a positioning function and a rotation prevention function for the projection 176.

  The gripper 222 is configured to be slightly thicker in the width direction (X1 direction) than the base end tube 218 and the arm 220. The gripper 222 includes a flat plate portion 224 and a saw-tooth-shaped grip portion 226 provided on the front end side of the flat plate portion 224, and a meshing groove 226 a extending in the Z direction is formed at the center in the width direction of the grip portion 226. Has been. The gripper 222 is attached in a state of being offset from the arm 220 in the X1 direction so that the meshing groove 226a is on the reference axis C.

  The second end effector member 216 includes a proximal end tube 228, an arm 230 protruding from the proximal end tube 228 in a substantially radial direction (Z1 direction), a box 232 provided at the distal end of the arm 230, and a proximal end And a vibrating bar 234 protruding from a hole 232a provided in a substantially central portion of the end surface on the front end side of the box 232. At the center of the base end tube 228, a D-shaped hole 228a suitable for engaging the projection 180 of the gear body 158 is provided, and has a positioning function and a rotation preventing function for the projection 180.

  As shown in FIG. 12, the box 232 is attached in a state of being offset in the X2 direction from the arm 230 so that the width direction is slightly smaller than the outer diameter of the cover 150 and the center in the width direction is on the reference axis C. ing. An ultrasonic transducer (not shown) is provided in the box 232, and a base end portion of a vibrating rod 234 is attached to the ultrasonic transducer.

  Further, a hole 228b is provided in the base end side end face of the box body 232 (see FIG. 12), and the conductive wires 24a and 24b wired from the power source 20 to the working unit 12b via the connecting unit 16 are provided in the hole 228b. Terminal pins 198a and 198b inserted into the box 232 and connected to the tips of the conducting wires 24a and 24b are attached to the ultrasonic transducer. As a result, the vibrating bar 234 vibrates in the axial direction under the action of the ultrasonic transducer.

  In the end effector 204, the gripper 222 of the first end effector member 214 is disposed closer to the X1 direction, the box 232 of the second end effector member 216 is disposed closer to the X2 direction, and the vibration rod 234 is inserted into the engagement groove 226a of the gripper 222. Are arranged symmetrically with respect to the reference axis C so as to engage with each other.

  The fourth gear 174, the base end tube 218, the base 210, the base end tube 228, and the fifth gear 178 are disposed between the pair of ear pieces 172 with almost no gap (see FIG. 12) and fixed. The pin 160 is inserted into the hole 156a, the hole 210b, and the hole 158a and is pivotally supported.

  The working unit 12b having such an end effector 204 functions as an ultrasonic scalpel that performs treatment by sandwiching the affected part between the gripper 222 and the vibrating bar 234 and vibrating the vibrating bar 234.

  Since the operation in the yaw direction and the pitch direction and the gripper opening / closing operation in the working unit 12b of the manipulator 10b are substantially the same as those of the manipulator 10a, detailed description thereof is omitted.

  Also in the manipulator 10b, similarly to the manipulator 10a, in the working unit 12b, the rotating shaft is provided in front of the cylinder 116 around which the wire 54 is wound (in the Z1 direction) and substantially parallel to the cylinder 116. The gear body 126 includes a first gear 118 and a second gear 134 that transmit the rotation of the gear body 114 to the gear body 126. That is, the cylinder 116 is disposed on the axis Ot that is offset with respect to the first rotation axis Oy. For this reason, it is not necessary to wind the wire 54 around the cylindrical body 132 of the gear body 126 that is pivotally supported by the first rotation axis Oy, and the space S (FIG. 5) through which the conducting wires 24a and 24b pass on the outer periphery of the cylindrical body 132. 12 (range indicated by a dotted line). Further, the annular seating surface 208 of the main shaft member 206 is provided with a lateral hole 212, and the base 210 is provided with a groove 210c communicating with the lateral hole 212. A sufficient space for wiring the conductive wires 24a and 24b to the end effector 204 is secured.

  Therefore, in the working portion 12 b, the conductive wires 24 a and 24 b guided through the hollow portion 48 a of the connecting shaft 48 can be easily wired to the end effector 204 at the tip, and stored in the box 232. It is possible to energize the ultrasonic transducer that does not. Thereby, the manipulator 10b can be functioned as an ultrasonic knife.

  Further, in the working unit 12b, the conductors 24a and 24b can be wound around the cylindrical body 132 while being connected to the end effector 204 at the tip. Thereby, even when the operation portion 12b performs the operation in the yaw direction or the pitch direction, the gripper opening / closing operation, and the like, a loop in which a load such as a tensile force generated in the conducting wires 24a and 24b is wound around the cylindrical body 132. Therefore, the conductors 24a and 24b, the connection parts between the conductors 24a and 24b and the terminal pins 198a and 198b, and the like are protected. Therefore, the reliability of the manipulator 10b can be improved.

  As described above, in the manipulator 10b, as in the manipulator 10a, the outer diameter of the working unit 12b is not increased, but the cylindrical body 116 is arranged offset with respect to the first rotation axis Oy, thereby conducting wires 24a and 24b. The space to pass through is secured. That is, according to the manipulator 10b, it is possible to achieve minimal invasiveness to the patient while maintaining workability by the operation in the yaw direction and the pitch direction in the working unit 12b and the gripper opening / closing operation.

  Although the manipulators 10a and 10b have been described as medical, that is, the work target and the work environment are living bodies, the usage is not limited thereto.

  In each of the above embodiments, the wiring body 24a, 24b in which the gear body 114 is offset and the lateral holes 147 and 212 are formed in the main shaft members 128 and 206 is replaced with, for example, the conductive wires 24a and 24b. It can be effectively used even when a tube (flow path) for supplying water (physiological saline) or the like from the tip of the working unit to the work target is passed.

  Furthermore, it will be easily understood that a bag, pliers, nippers, end nippers, and the like can be configured by changing the shape and configuration of the end effectors 104 and 204 of the working units 12a and 12b.

  Furthermore, the combination of the spur gear and the face gear in each embodiment may be any combination that can contact each other and change the direction of rotation to transmit power, such as a bevel gear pair. Also good.

  Of course, the working mechanism and the manipulator according to the present invention are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention.

It is a perspective view of a manipulator concerning an embodiment form of the present invention. It is an expansion perspective view of the operation part of the manipulator concerning a 1st embodiment. FIG. 3 is an exploded perspective view of a working unit shown in FIG. 2. FIG. 3 is a partially omitted exploded perspective view for explaining a wiring state of a working unit shown in FIG. 2. It is a cross-sectional side view of the working part shown in FIG. FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. 5. It is a disassembled perspective view of a wire fixing mechanism. It is a basic lineblock diagram of the drive system of the manipulator concerning a 1st embodiment. It is a perspective view which shows the operation part of the manipulator which concerns on the modification of the 2nd Embodiment of this invention. FIG. 10 is an exploded perspective view of the working unit shown in FIG. 9. FIG. 10 is a partially omitted exploded perspective view for explaining a wiring state of the working unit shown in FIG. 9. FIG. 10 is a partial cross-sectional plan view of the working unit shown in FIG. 9.

Explanation of symbols

10a, 10b ... Manipulators 12a, 12b ... Working part 14 ... Operation command part 16 ... Connection part 32 ... Trigger lever 34 ... Vertical roller 35 ... Horizontal roller 37 ... Switch 50a-50c ... Drive pulley 52, 54, 56 ... Wire 100, 200 ... Wire passive part 102 ... Drive mechanism part 104,204 ... End effector 108,110 ... Shaft 114,126,130,156,158 ... Gear body 116,132,136,140 ... Cylinder body 118,134,138,174 178 ... Gears 128, 206 ... Main shaft members 142, 208 ... Annular seating surfaces 144, 210 ... Bases 147, 212 ... Lateral holes 162, 164, 166, 168 ... Face gear 160 ... Fixing pins 182, 184, 214, 216 ... End effector members 190, 196, 222 ... grippers

Claims (3)

An operation unit;
An input unit provided in the operation unit;
A first rotation source and a second rotation source that rotate based on an operation of the input unit;
A connecting portion in which the tail end side is connected to the operation unit or a driving unit that rotationally drives the first rotation source and the second rotation source;
A first joint shaft provided on the distal end side of the connecting portion;
A second joint axis that intersects or twists the first joint axis;
An offset shaft provided in parallel with the first joint axis on the operation unit side of the first joint axis;
A first cylinder and a follower supported by the first joint shaft;
A second cylinder supported by the offset shaft;
A first flexible power transmission member wound around the first rotation source and the first cylinder;
A second flexible power transmission member wound around the second rotation source and the second cylinder;
A rotation transmission mechanism for transmitting the rotation of the second cylinder to the driven body;
An action part that operates in conjunction with the rotation of the first cylinder and the follower, and operates around the first joint axis and the second joint axis;
Have
A manipulator characterized in that a supply line led from the connecting part to the action part passes through a side part of the follower. The manipulator according to claim 1, wherein
The manipulator, wherein the supply line is wound around the first joint axis. The manipulator according to claim 1 or 2,
The first cylinder is connected to the drive mechanism portion via an interlocking member that interlocks with the rotation of the first cylinder.
The interlocking member is formed with a hole through which the supply line is inserted.

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