WO2016136628A1 - Medical manipulator and medical manipulator system - Google Patents

Abstract

This medical manipulator comprises: an end effector; a shaft which is attached to the end effector and has one or more bending parts; a manipulable part which is attached to the shaft; an input member which is disposed in the manipulable part; an input detection part which is disposed in the manipulable part; a drive part which generates power for operating the bending part on the basis of a detection value from the input detection part; a control part which controls the drive part on the basis of an input detected by the input detection part; a first power transmission part which transmits the power generated by the drive part from the drive part to the bending part; a second power transmission part which transmits an amount of force applied to the input member for operating the bending part from the input member to the bending part; and a clutch mechanism which is disposed on at least one of the first power transmission part and the second power transmission part.

Description

Medical manipulator and medical manipulator system

The present invention relates to a medical manipulator and a medical manipulator system.
This application claims priority based on Japanese Patent Application No. 2015-036932 filed in Japan on February 26, 2015, the contents of which are incorporated herein by reference.

2. Description of the Related Art Conventionally, medical instruments that operate an end effector with power generated by a motor are widely known. For example, Patent Literature 1 discloses an electrically driven bending apparatus provided with an electromagnetic clutch that switches between a mode for transmitting power from a motor and a mode for interrupting power transmission from the motor.
Further, for example, Patent Document 2 discloses a medical manipulator that can be used by switching between electric driving using a motor and manual driving without using a motor depending on the situation.

Japanese Unexamined Patent Publication No. 2002-125919 International Publication No. 2013/002063

In the technique disclosed in Patent Document 1, if a motor, an electromagnetic clutch, or the like fails, the electrically driven bending apparatus cannot be operated.

In the medical manipulator described in Patent Document 2, the unit including the motor is removed, and the manual operation unit provided in advance in the medical manipulator can be used, so that it can be continuously used even when the motor fails. is there. However, in the technique disclosed in Patent Document 2, assuming a motor failure, it is necessary to remove the unit including the motor and replace it with a manual operation unit. There is a problem in terms of sex.

The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a medical manipulator and a medical manipulator system that can be operated in the same operation system as before the failure even when a failure occurs.

According to the first aspect of the present invention, a medical manipulator includes an end effector, a shaft attached to the end effector and having one or more curved portions, and an operation attached to the shaft for operating the curved portions. An input member provided in the operation portion for inputting an operation for operating the bending portion, and an input detection portion provided in the operation portion for detecting an input to the input member A drive unit that generates power for operating the bending unit based on a detection value in the input detection unit, a control unit that controls the drive unit based on the input detected by the input detection unit, and the drive unit A first power transmission unit that transmits the power generated by the drive unit to the bending unit, and a force applied to the input member to operate the bending unit. Comprising a second power transmission unit for transmitting the input member to the curved portion, and a clutch mechanism provided on at least one between said first power transmission unit and the second power transmission unit.

According to the second aspect of the present invention, in the medical manipulator according to the first aspect, the control unit includes a first driving force based on the input detected by the input detection unit, and the operation on the input member. The driving unit may be controlled so as to be the motive power by combining the second driving force that cancels the reaction force transmitted from the bending portion and the second power transmission unit to the input member with respect to the input.

According to the third aspect of the present invention, in the medical manipulator according to the first aspect or the second aspect, the control unit may include a failure detection unit that detects the presence or absence of a failure of the drive unit. .

According to a fourth aspect of the present invention, in the medical manipulator according to the third aspect, the control unit further includes a failure presentation unit that presents to the outside that the failure detection unit has detected a failure of the drive unit. You may have.

According to a fifth aspect of the present invention, in the medical manipulator according to the third aspect or the fourth aspect, the clutch mechanism is configured to transmit power of the first power transmission unit when the failure detection unit detects a failure. May be blocked.

According to a sixth aspect of the present invention, in the medical manipulator according to any one of the first aspect to the fifth aspect, the bending via the first power transmission unit with respect to an operation amount to the input member. The ratio of the operation amount of the part and the ratio of the operation amount of the bending portion via the second power transmission unit to the operation amount to the input member may be equal to each other.

According to a seventh aspect of the present invention, in the medical manipulator according to any one of the first aspect to the sixth aspect, the clutch mechanism is a first clutch part provided in the first power transmission part. And a second clutch part provided in the second power transmission part.

According to an eighth aspect of the present invention, in the medical manipulator according to the seventh aspect, the first clutch portion is configured such that the first power transmission portion is in a state where power transmission in the second power transmission portion is interrupted. The second clutch portion may connect the power transmission in the second power transmission portion in a state where the power transmission in the first power transmission portion is cut off.

According to a ninth aspect of the present invention, a medical manipulator system includes a base that can be installed on a floor, an arm that is provided on the base and has one or more joint mechanisms, and any one of the first to eighth aspects. A medical manipulator according to one aspect, wherein the drive unit is detachable from the first power transmission unit and is provided on the arm.

According to each of the above aspects, it is possible to provide a medical manipulator and a medical manipulator system that can be operated in the same operation system as before the failure even when a failure occurs.

1 is an overall view showing a medical manipulator according to a first embodiment of the present invention. It is a schematic diagram which shows the internal structure of the medical manipulator which concerns on 1st Embodiment of this invention. It is a block diagram of the medical manipulator concerning a 1st embodiment of the present invention. It is a figure for demonstrating the effect | action of the medical manipulator which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the internal structure of the medical manipulator of the modification of embodiment which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the internal structure of the medical manipulator which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the other structural example of the medical manipulator which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the further another structural example of the medical manipulator which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the internal structure of the medical manipulator which concerns on 3rd Embodiment of this invention. It is a general view which shows the medical manipulator system which concerns on 4th Embodiment of this invention. It is a block diagram which shows the medical manipulator which concerns on 5th Embodiment of this invention. It is a block diagram which shows the medical manipulator which concerns on the modification of 5th Embodiment of this invention. It is a schematic diagram which shows the internal structure of the medical manipulator which concerns on the modification of 5th Embodiment of this invention. It is a flowchart for demonstrating operation | movement of the medical manipulator which concerns on the modification of 5th Embodiment of this invention.

(First embodiment)
A first embodiment of the present invention will be described. FIG. 1 is an overall view showing a medical manipulator according to this embodiment. FIG. 2 is a schematic view showing an internal structure of the medical manipulator. FIG. 3 is a block diagram of the medical manipulator. FIG. 4 is a view for explaining the operation of the medical manipulator.

A medical manipulator 1 according to the present embodiment shown in FIG. 1 is a medical device that is inserted into a body through a body wall 101 and performs a procedure such as a surgery.
As illustrated in FIG. 1, the medical manipulator 1 includes an operation unit 2, a drive unit 8, a power transmission mechanism 10, a long unit 30 (shaft), an active bending unit 31, an imaging unit 32, and a display. A unit 33 and a control unit 35 are provided.

The operation unit 2 is disposed at the proximal end of the long unit 30. The operation unit 2 is provided for the operator who uses the medical manipulator 1 to hold in his hand and operate the imaging unit 32 and the active bending unit 31.
As shown in FIG. 2, the operation unit 2 includes a housing 3 and a bending operation input unit 4.

The housing 3 is a cylindrical member to which the proximal end of the long portion 30 is fixed.

The bending operation input unit 4 includes an input member 5 disposed in the housing 3 and an encoder 6 (input detection unit) that detects the amount of movement of the input member 5.

The input member 5 is configured to be tiltable from the neutral position corresponding to the bendable direction in the active bending portion 31.

The encoder 6 detects the movement amount or position (hereinafter referred to as “operation amount”) of the input member 5 and gives the detection result to the control unit 35. That is, the encoder 6 gives the control unit 35 the control target value of the bending amount of the active bending portion 31 input to the input member 5.

The drive unit 8 is electrically connected to the control unit 35. Under the control of the control unit 35, the drive unit 8 deforms the active bending unit 31 into a curved shape or makes it straight. In this embodiment, the drive part 8 has the output shaft 9 which rotates the 1st gearwheel 12 mentioned later. The drive unit 8 has an operation amount detection element such as an encoder (not shown) for detecting the operation amount of the drive unit 8 itself (for example, the rotation amount of the output shaft 9).
The drive unit 8 can be moved by a clutch mechanism 25 described later so that the first gear 12 is engaged with the second gear 13 or the first gear 12 is separated from the second gear 13.
Besides, the first gear 12 and the second gear 13 that are separated from each other may be connected by a gear (not shown). In this case, instead of moving the drive unit 8 itself by the clutch mechanism 25, the clutch mechanism 25 moves a gear (not shown). As a result, the power transmission state between the first gear 12 and the second gear 13 can be switched to one of two states, a power connection state and a power cut-off state.

The power transmission mechanism 10 includes a first power transmission unit 11, a second power transmission unit 20, and a clutch mechanism 25.

The first power transmission unit 11 is provided to transmit the power generated by the driving unit 8 from the driving unit 8 to the active bending unit 31.
The first power transmission unit 11 includes a first gear 12, a second gear 13, a first female screw cylinder 14, a first male screw rod 15, a third gear 16, a fourth gear 17, a second female screw cylinder 18, and A second male threaded rod 19 is provided.

The first gear 12 is fixed to the output shaft 9 of the drive unit 8. The first gear 12 is engaged with the second gear 13 to transmit the rotation of the output shaft 9 to the second gear 13. The first gear 12 moves integrally with the output shaft 9 by the operation in which the clutch mechanism 25 moves the drive unit 8. Due to the integral movement of the output shaft 9 and the first gear 12 by the clutch mechanism 25, the first gear 12 is engaged with the second gear 13 and is not engaged with the second gear 13. It is configured to be in one of the states. In the present embodiment, the first gear 12 is a spur gear.

The second gear 13 is fixed to the first female screw cylinder 14. The shape of the second gear 13 corresponds to the shape of the first gear 12. For example, in the present embodiment, the second gear 13 is a spur gear corresponding to the first gear 12 being a spur gear.
In the present embodiment, since the output shaft 9 of the drive unit 8 and the rotation center line of the first female screw cylinder 14 are parallel to each other, the first gear 12 and the second gear 13 are both spur gears.
For example, when the output shaft 9 of the drive unit 8 and the rotation center line of the first female screw cylinder 14 have an angle with each other, gears having shapes corresponding to the angle are appropriately employed as the first gear 12 and the second gear 13. May be. In addition, the configuration of the first gear 12 and the second gear 13 may consider a reduction ratio when power is transmitted from the drive unit 8 to the first power transmission unit 11. That is, the diameters of the first gear 12 and the second gear 13 and whether the first gear 12 is a spur gear or a worm gear can be appropriately selected in consideration of a suitable reduction ratio.

As long as the rotation can be transmitted from the first gear 12 to the second gear 13, the first gear 12 and the second gear 13 do not have to be directly meshed with each other. For example, the rotation may be transmitted from the first gear 12 to the second gear 13 via another gear (not shown) that connects the first gear 12 and the second gear 13. Further, instead of the first gear 12 and the second gear 13, a mechanism such as transmission of rotation by a sprocket and a chain may be employed.

The first female screw cylinder 14 has a rod-shaped part 14a and a cylindrical part 14b. The second gear 13 is fixed to the rod-like portion 14a. The cylindrical portion 14b is fixed to the rod-shaped portion 14a so as to be coaxial with the rod-shaped portion 14a.
In addition to the second gear 13 described above, a third gear 16 described later is also fixed to the rod-shaped portion 14a. For this reason, the rod-shaped portion 14a is rotated by the second gear 13 around the center line of the rod-shaped portion 14a, and the third gear 16 is rotated.
The cylindrical part 14b is formed at the end of the rod-like part 14a. In this embodiment, the cylindrical part 14b and the rod-shaped part 14a are integrally molded. The cylindrical portion 14b may be fixed to the end of the rod-shaped portion 14a by welding or the like.
A thread groove corresponding to a thread of a first male threaded rod 15 described later is formed inside the first female threaded cylinder 14.

The first male screw rod 15 is inserted into the cylindrical portion 14b. The first male threaded rod 15 is held in the elongated portion 30 so as not to rotate with the centerline of the first female threaded cylinder 14 as the rotational centerline. The first male threaded rod 15 is held in the elongated portion 30 so as to be able to move forward and backward along the center line of the first female threaded cylinder 14. An angle wire 31b is fixed to the opposite end of the first male screw rod 15 to the side inserted into the first female screw cylinder 14. The angle wire 31 b is provided to bend the active bending portion 31. The first male threaded rod 15 can move forward and backward in the direction of the center line of the first female threaded cylinder 14 by the first female threaded cylinder 14 rotating about the centerline of the first female threaded cylinder 14. . The active bending portion 31 can be bent by pulling the angle wire 31b or loosening the pulling with respect to the angle wire 31b by the forward and backward movement of the first male screw rod 15.

The third gear 16 is fixed to the rod-like portion 14a. The third gear 16 is engaged with the fourth gear 17 to transmit the rotation of the first female screw cylinder 14 to the fourth gear 17. In the present embodiment, the third gear 16 is a spur gear.

The fourth gear 17 is fixed to the second female screw cylinder 18. The shape of the fourth gear 17 corresponds to the shape of the third gear 16. For example, in the present embodiment, the fourth gear 17 is a spur gear corresponding to the third gear 16 being a spur gear.
In the present embodiment, since the rotation center line of the first female screw cylinder 14 and the rotation center line of the second female screw cylinder 18 are parallel to each other, the third gear 16 and the fourth gear 17 are both spur gears. is there. Further, the third gear 16 and the fourth gear 17 are meshed so that the fourth gear 17 rotates in the reverse direction to the third gear 16 by the rotation of the third gear 16. For this reason, the 1st internal thread cylinder 14 and the 2nd internal thread cylinder 18 are comprised so that it may always mutually reversely rotate. Further, the third gear 16 and the fourth gear 17 have a reduction ratio of 1, that is, the absolute value of the rotation amount of the third gear 16 and the absolute value of the rotation amount of the fourth gear 17 are equal to each other. It is configured as follows.

The second female screw cylinder 18 is a member of the same shape and size as the first female screw cylinder 14, and has a rod-shaped part 18 a and a cylindrical part 18 b, as with the first female screw cylinder 14. Unlike the rod-shaped portion 14 a of the first female screw cylinder 14, only the fourth gear 17 is fixed to the rod-shaped portion 18 a of the second female screw cylinder 18.
Members other than the fourth gear wheel 17 may be attached to the rod-shaped portion 18a.
The second female screw cylinder 18 can be rotated by the fourth gear 17 with the center line of the rod-shaped portion 18a as the center of rotation. The fourth gear 17 receives the rotational force from the third gear 16 and rotates. The rotation center line of the second female screw cylinder 18 is parallel to the rotation center line of the first female screw cylinder 14.

The second male threaded rod 19 is a member of the same shape and size as the first male threaded rod 15, and is arranged in the long portion 30 so as to be parallel to the first male threaded rod 15. The second male threaded rod 19 is held in the elongated portion 30 so as not to rotate with the centerline of the second female threaded cylinder 18 as the rotational centerline. The second male screw rod 19 is held in the elongated portion 30 so as to be able to move forward and backward along the center line of the second female screw cylinder 18. An angle wire 31b for bending the active bending portion 31 is fixed to the opposite end of the second male screw rod 19 to the side inserted into the second female screw cylinder 18. The second male threaded rod 19 can move back and forth in the direction of the center line of the second female threaded cylinder 18 by the second female threaded cylinder 18 rotating around the centerline of the second female threaded cylinder 18. . The active bending portion 31 can be bent by pulling the angle wire 31b or loosening the pulling with respect to the angle wire 31b by the forward and backward movement of the second male screw rod 19.

In the present embodiment, the first female screw cylinder 14 and the second female screw cylinder 18 are connected by a third gear 16 and a fourth gear 17 that mesh with each other so as to rotate in reverse. Therefore, when the first male screw rod 15 moves to the distal end side, the second male screw rod 19 moves to the proximal end side, and when the second male screw rod 19 moves to the distal end side, the first male screw rod 15 becomes Move to the proximal side.

The second power transmission unit 20 is provided to transmit the force applied to the input member 5 to the active bending portion 31 by mechanical transmission when the operator operates the input member 5.
The second power transmission unit 20 includes a rotary shaft member 21 and a fifth gear 22.

The rotary shaft member 21 is a rod-like member fixed to the input member 5. When the input member 5 is moved in the direction in which the input member 5 is movable, the rotary shaft member 21 rotates about an axis parallel to the center line of the rod-like portion 14a of the first female screw cylinder 14.

The fifth gear 22 is fixed to the rotary shaft member 21. The fifth gear 22 rotates in response to an operation on the input member 5 by the rotation operation of the rotary shaft member 21. In the present embodiment, the fifth gear 22 is a spur gear that can rotate around a straight line parallel to the rotation center line of the first female screw cylinder 14. The fifth gear 22 is always meshed with the second gear 13 of the first power transmission unit 11. The fifth gear 22 may always mesh with the third gear 16 instead of the second gear 13.

In the present embodiment, the second power transmission unit 20 and the first power transmission unit 11 share the first female screw cylinder 14, the first male screw rod 15, the second female screw cylinder 18, and the second male screw rod 19. is doing. The first female screw cylinder 14, the first male screw rod 15, the second female screw cylinder 18, and the second male screw rod 19 transmit the force applied to the input member 5 to the active bending portion 31 by mechanical transmission. It becomes the route.

The clutch mechanism 25 has a disconnect switch 26 and a rail 27. The separation switch 26 is disposed so as to be exposed on the outer surface of the operation unit 2. The rail 27 is provided to move the drive unit 8 in response to an operation on the disconnect switch 26.
The separation switch 26 is fixed to the drive unit 8 so that the drive unit 8 can be moved along the rail 27. That is, in this embodiment, the drive unit 8 is moved inside the operation unit 2 by moving the disconnect switch 26, and the first gear 12 fixed to the output shaft 9 of the drive unit 8 is moved with respect to the second gear 13. To be removed.
The separation switch 26 may be arranged in a range where an operator's finger that moves the input member 5 with respect to the operation unit 2 can reach.
The disconnect switch 26 may have an erroneous operation preventing means for preventing the operation of the clutch mechanism 25 due to an erroneous operation.

The long part 30 is connected to the operation part 2. The long portion 30 has an active bending portion 31 at the distal end portion of the long portion 30. The long portion 30 includes the first male screw rod 15 and the second male screw rod 19 and a rigid tube. The first male screw rod 15 and the second male screw rod 19 are provided to bend and deform the active bending portion 31. Inside the rigid tube, a signal line and the like for the imaging unit 32 are arranged inside. The first male screw rod 15, the second male screw rod 19, and the long portion 30 may have flexibility, and the long portion 30 may be configured to bend to some extent.

The active bending portion 31 is connected to the distal end of the long portion 30. The active bending portion 31 is connected to the drive unit 8 via the first male screw rod 15 and the second male screw rod 19. The active bending portion 31 can be actively bent by the force by which the drive unit 8 advances and retracts the first male screw rod 15 and the second male screw rod 19. The configuration of the active bending portion 31 is not particularly limited. For example, the active bending portion 31 has a cylindrical shape that can be curved and deformed as a whole by connecting a plurality of cylindrical bending pieces 31a so as to be swingable. In this case, the first male screw rod 15 and the second male screw rod 19 are connected to the bending piece located on the most distal side among the plurality of bending pieces via the angle wire 31b.

The imaging unit 32 includes an image sensor and an imaging optical system (not shown). The imaging unit 32 is an end effector arranged at a distal portion of the long portion 30, in this embodiment, a distal end of the active bending portion 31.

The display unit 33 is connected to the control unit 35. The display unit 33 displays the video imaged by the imaging unit 32. The configuration of the display unit 33 is not particularly limited.

As shown in FIG. 3, the control unit 35 is electrically connected to the drive unit 8, the imaging unit 32, and the display unit 33. The control unit 35 includes a command value calculation unit 36 and a video processing unit 37.

The command value calculation unit 36 receives the information indicating the operation amount from the encoder 6, generates a drive signal to be output to the drive unit 8, and outputs the drive signal to the drive unit 8.

In the present embodiment, the command value calculation unit 36 refers to the value detected by the encoder 6 and the value detected by the drive unit 8 to generate a drive signal. The value detected by the encoder 6 is detected as an operation amount for the input member 5. A value detected by the drive unit 8 is detected as an operation amount of the drive unit 8. The drive signal is generated to give a predetermined auxiliary power to the amount of force applied by the operator to the input member 5. The predetermined auxiliary power is a power with a magnitude that cancels a reaction force (resistance force) transmitted from the active bending portion 31 and the second power transmission portion 20 to the input member 5 in response to an operation input by the operator to the input member 5. (Second driving force) is included. This power is power that compensates for power loss caused by the power transmission mechanism 10. The predetermined auxiliary power may further include a predetermined magnitude of power (first driving force) based on a value detected by the encoder 6. This predetermined amount of power is auxiliary power that further reduces the amount of force that the operator needs to apply to the input member 5.
The drive signal generated by the command value calculation unit 36 is output to the drive unit 8.

The video processing unit 37 outputs the video captured by the imaging unit 32 to the display unit 33.

Operation | movement of the medical manipulator 1 which concerns on this embodiment is demonstrated.
The medical manipulator 1 is introduced into the patient's body through a small incision formed in the patient's body wall 101 (see FIG. 1). The introduction path of the medical manipulator 1 into the patient's body may be a path through a small incision portion of the body wall 101 or a path through a natural opening such as a mouth.

For example, when there is an observation target object 102 (such as a lesion site) in the patient's body, the operator moves the long part 30 of the medical manipulator 1 so that the observation target object 102 enters the imaging field of the imaging unit 32. Let For the movement of the long part 30 of the medical manipulator 1, the long part 30 is moved forward and backward in the longitudinal axis direction, and the pivoting operation is performed to swing the long part 30 with a small incision formed in the body wall 101 as a fulcrum. Etc.

If necessary, the operator may bend the active bending portion 31 by operating the input member 5 of the bending operation input portion 4. The active bending portion 31 can be bent and deformed using the input member 5, so that the direction of the imaging field of the imaging portion 32 can be oriented in a direction inclined with respect to the longitudinal axis of the long portion 30.

During normal operation of the medical manipulator 1, the power generated by the drive unit 8 is transmitted from the drive unit 8 to the active bending unit 31 via the first power transmission unit 11 as illustrated in FIG. 2. Thereby, the medical manipulator 1 operates the active bending portion 31 with a force obtained by adding the output of the driving portion 8 to the amount of force applied by the operator to the input member 5. That is, in the medical manipulator 1 according to the present embodiment, the drive unit 8 causes the active bending portion 31 to move following the operation of the input member 5 in response to the operation of the operator on the input member 5. As a result, the operator who operates the input member 5 can operate the active bending portion 31 with an amount of force smaller than the amount of force originally required for operating the active bending portion 31. That is, in the present embodiment, the drive unit 8 during normal operation assists the operator's operation on the input member 5.

In the medical manipulator 1 and other known medical devices according to the present embodiment, in order to improve safety for a patient, the possibility that some of the constituent elements may not operate normally or break down during use is considered. A design is preferred. For example, it is preferable that even if a part of the medical device breaks down, the failed medical device can be safely removed from the body, or can be easily changed to an alternative means capable of continuing the treatment on the treatment target site.

In the medical manipulator 1 according to the present embodiment, when the driving unit 8 does not normally operate when the medical manipulator 1 is used, the active bending unit 31 is set substantially the same as when the driving unit 8 is not used. It can be operated.

That is, when the drive unit 8 stops operating normally, as shown in FIG. 4, when the operator operates the disconnection switch 26 of the clutch mechanism 25, the drive unit 8 moves to move the first gear 12 and the first gear 12. The meshing with the two gears 13 is eliminated. Thereby, the power transmission from the drive part 8 to the 1st power transmission part 11 is interrupted | blocked.

Whether or not the drive unit 8 is operating normally is determined, for example, by the fact that the operator using the medical manipulator 1 does not operate the active bending unit 31 as intended for the operation on the input member 5. The determination is made based on the fact that the force necessary to operate the input member 5 has become extremely large.

When the active bending portion 31 is operated so that the drive unit 8 is different from the intention of the operator, the operation on the input member 5 does not correspond to the operation of the active bending portion 31 intended by the operator as a result. Therefore, it is difficult to continue the treatment as it is. In such a case, in the present embodiment, when the operator operates the disconnect switch 26 of the clutch mechanism 25, the power transmission from the drive unit 8 to the first power transmission unit 11 is interrupted. Therefore, the drive unit 8 is operated by the drive signal transmitted from the input member 5 to the drive unit 8 via the encoder 6 and the control unit 35. The operation of the drive unit 8 at this time is the power for bending the active bending unit 31. Must not.
Even if the engagement of the first gear 12 and the second gear 13 is eliminated by the action of the clutch mechanism 25, the operation performed by the operator on the input member 5 is performed through the second power transmission unit 20 through the first male screw rod. 15 and the second male threaded rod 19 are mechanically transmitted as an amount of force for advancing and retracting. For this reason, in this embodiment, the function that the active bending part 31 can be operated by the operator operating the input member 5 is the same whether or not the drive part 8 is operating normally. Maintained.

When the meshing between the first gear 12 and the second gear 13 is eliminated by the action of the clutch mechanism 25, the assistance by the drive unit 8 cannot be obtained. Therefore, compared with the case where the drive part 8 is operating normally, the amount of force that the operator should apply to the input member 5 is increased. However, the operating system for operating the active bending portion 31 using the input member 5 does not change depending on whether the first gear 12 and the second gear 13 are engaged.

Next, for example, when the drive unit 8 stops operating due to a failure, or when the encoder 6 stops detecting the input member 5 due to a failure, the drive unit 8 does not move even if the operator operates the input member 5. It may not react. In these cases, when the first gear 12 and the second gear 13 are engaged with each other, the force is transmitted from the input member 5 to the active bending portion 31 through the second power transmission portion 20, but the second gear 13 and the first gear 13 are in the first state. It is also necessary to move the drive unit 8 with the amount of force transmitted through the gear 12. That is, the drive unit 8 that does not respond to the operation on the input member 5 becomes a resistance to the operation of operating the active bending unit 31.

For example, when the reduction ratio from the drive unit 8 to the second gear 13 is high, the drive unit 8 does not move and the active bending unit 31 can be operated in a state where the first gear 12 and the second gear 13 are engaged. It may not be possible. Even in such a case, the meshing between the first gear 12 and the second gear 13 is canceled when the operator operates the disconnect switch 26 of the clutch mechanism 25. As a result, the power transmission from the drive unit 8 to the first power transmission unit 11 is interrupted, the resistance is eliminated, and the active bending unit 31 can be operated.

In the medical manipulator 1 of the present embodiment, the clutch mechanism 25 disables auxiliary power transmission from the drive unit 8 even in a state where the operation of the drive unit 8 appropriately corresponding to the operation on the input member 5 is not performed. Furthermore, the second power transmission unit 20 mechanically transmits the operation on the input member 5 to the active bending portion 31. As a result, even if some or all of the components for operating the drive unit 8 are operated based on an operation on the input member 5, the drive unit 8 is separated from the power transmission mechanism 10 by the clutch mechanism 25. The procedure can be continued while maintaining the same operation system as in normal operation.

As described above, the medical manipulator 1 according to the present embodiment can be operated in the same operation system as before the failure even when a failure occurs.

In the present embodiment, the fifth gear 22 is always in mesh with the second gear 13, and the drive unit 8 generates power to assist the operation of the input member 5 within the movable range of the input member 5. Therefore, the amount of movement of the active bending portion 31 in response to an operation input to the input member 5 can be changed from the input member 5 through the second power transmission portion 20 regardless of whether the drive portion 8 is connected to the power transmission mechanism 10. It is defined by the reduction ratio when mechanically transmitting the force to the active bending portion 31. As a result, the operation of the active bending portion 31 obtained as a result of the operation on the input member 5 is the same whether or not the drive portion 8 is connected to the power transmission mechanism 10.

(Modification 1-1)
A modification 1-1 of the first embodiment will be described. FIG. 5 is a schematic diagram showing the internal structure of the medical manipulator 1 of the modification.
A medical manipulator 1 according to this modification shown in FIG. 5 includes a power transmission mechanism 40 having a configuration different from that of the power transmission mechanism 10 disclosed in the first embodiment, and the power transmission mechanism disclosed in the first embodiment. 10 instead of 10.

The power transmission mechanism 40 of this modification includes a first gear 41, a second gear 42, a pulley 43, an angle wire 44, and a third gear 45.

The first gear 41 is fixed to the output shaft 9 of the drive unit 8 as in the first embodiment. The first gear 41 of this modification is a bevel gear corresponding to the shape of the second gear 42 of this modification.

The second gear 42 is a gear that can mesh with the first gear 41 and the third gear 45. The second gear 42 of this modification is a bevel gear. The second gear 42 is rotatable about the same axis as the rotation axis of the pulley 43.

The pulley 43 is a disk-shaped member that can rotate integrally with the second gear 42. An angle wire 44 is hung on the outer peripheral portion of the pulley 43.

The angle wire 44 is a wire that connects the operation unit 2 and the active bending portion 31 and is provided in place of the angle wire 31b of the first embodiment. Both ends of the angle wire 44 are fixed to the active bending portion 31, and an intermediate portion of the angle wire 44 is hung on the pulley 43. The angle wire 44 may be fixed or locked to a part of the outer peripheral portion of the pulley 43.

The third gear 45 is fixed to the rotary shaft member 21 fixed to the input member 5 in place of the fifth gear 22 disclosed in the first embodiment. The third gear 45 of this modification is a bevel gear corresponding to the shape of the second gear 42.

In this modification, the first gear 41, the second gear 42, the pulley 43, and the angle wire 44 have a function corresponding to the first power transmission unit 11 disclosed in the first embodiment, and the rotary shaft member 21 The third gear 45 has a function corresponding to the second power transmission unit 20 disclosed in the first embodiment.
In the present modification, as in the first embodiment, the clutch mechanism 25 moves the drive unit 8 so that the meshing state of the first gear 41 and the second gear 42 is switched.
Thereby, also in this modification, there exists an effect similar to 1st Embodiment.

In this embodiment, since the angle wire 44 is arranged in the region from the operation unit 2 to the active bending portion 31, for example, the long portion 30 can be configured to be flexible and bendable in the body.

(Modification 1-2)
Another modification 1-2 of the first embodiment will be described.
The medical manipulator 1 of this modification has a strain gauge (not shown) instead of the encoder 6 (see FIG. 2) disclosed in the first embodiment. The strain gauge is provided to detect the magnitude of strain generated in the rotary shaft member 21 when the rotary shaft member 21 is rotated about its rotation center.

The strain gauge detects the magnitude of the force applied to the input member 5 when the operator operates the input member 5 based on the strain generated in the rotary shaft member 21.

In this modification, the control unit 35 (see FIG. 3) disclosed in the first embodiment described above is not the operation amount indicated by the encoder 6 but the magnitude of the force indicated by the strain gauge in the process in the command value calculation unit 36. Use the information. The command value calculation unit 36 of the present modification has a driving signal for applying a predetermined auxiliary power to the amount of force applied by the operator to the input member 5 and has a magnitude of the force indicated by the strain gauge. Generate based on information.
The drive signal generated by the command value calculation unit 36 is output to the drive unit 8.
Even with such a configuration, the same effects as those of the first embodiment can be obtained.

(Second Embodiment)
A second embodiment of the present invention will be described. In each embodiment described below, the same components as those of the medical manipulator 1 disclosed in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant descriptions are omitted.

FIG. 6 is a schematic diagram showing the internal structure of the medical manipulator according to the second embodiment of the present invention. FIG. 7 is a view for explaining a modified example 2-1 of the medical manipulator. FIG. 8 is a view for explaining a modified example 2-2 of the medical manipulator.

In the medical manipulator 1A according to this embodiment shown in FIG. 6, the clutch mechanism 25 disclosed in the first embodiment includes a first clutch portion 51 and a second clutch portion 52. The first clutch part 51 is provided for moving the drive part 8. The second clutch part 52 is provided for moving the rotary shaft member 21 of the second power transmission part 20.

The first clutch portion 51 has a disconnect switch 26 and a rail 27 as in the first embodiment.

The second clutch portion 52 can cancel the meshing between the fifth gear 22 and the second gear 13 by moving the rotary shaft member 21 of the second power transmission portion 20 in a direction away from the second gear 13. it can. That is, the second clutch part 52 includes a disconnect switch 53 and a rail 54. The separation switch 53 is arranged so as to be exposed to the outside of the operation unit 2 and is connected to the rotary shaft member 21. The rail 54 movably holds the rotary shaft member 21 so that the fifth gear 22 approaches or separates from the second gear 13.

The first clutch part 51 and the second clutch part 52 can be operated independently.

The first clutch portion 51 and the second clutch portion 52 may be interlocked with each other by integrating the separation switch 26 and the separation switch 53 as shown in FIG. The configuration in which the first clutch portion 51 and the second clutch portion 52 are linked is a configuration in which a switching operation can be performed so that one of the following two states can be selected.
In the first state, the first clutch portion 51 connects the drive portion 8 to the power transmission mechanism 10, and the second clutch portion 52 cancels the meshing between the fifth gear 22 and the second gear 13 and the input member 5 is in a state of being disconnected from the power transmission mechanism 10 (see FIG. 6).
In the second state, the first clutch unit 51 disconnects the drive unit 8 from the power transmission mechanism 10, and the second clutch unit 52 engages the fifth gear 22 and the second gear 13 to power the input member 5. In this state, the transmission mechanism 10 is mechanically connected (see FIG. 7).

The clutch mechanism 25 of the present embodiment includes a first gear 12 and a fifth gear in addition to the interlocking of the first clutch portion 51 and the second clutch portion 52 by switching between the first state and the second state. The non-transmission state (see FIG. 8) in which the engagement with the second gear 13 is canceled by both of them may be configured to be selectable.

The medical manipulator 1A according to the present embodiment also has the same effect as the first embodiment.

In this embodiment, the meshing between the second gear 13 and the fifth gear 22 is eliminated during normal use (when used with assistance from the drive unit 8). Therefore, irrespective of the reduction ratio of the path for mechanically transmitting the force from the input member 5 to the active bending portion 31 (see FIG. 2) via the second power transmission portion 20, the drive portion 8 is preferably used during normal use. Can be operated. For example, the operation of the active bending portion 31 that exceeds the movable range of the input member 5 when a path for mechanically transmitting the amount of force to the active bending portion 31 from the input member 5 via the second power transmission portion 20 is used. Is possible.

(Modification 2-1)
A modification 2-1 of the second embodiment will be described.
In the present modification, the reduction ratio from the output shaft 9 to the second gear 13 and the reduction ratio from the input member 5 to the second gear 13 are the same as in the second embodiment shown in FIG. Therefore, the reduction ratio from the output shaft 9 to the active bending portion 31 is the reduction ratio of the mechanical force transmission from the input member 5 to the active bending portion 31 (see FIG. 2) via the second power transmission portion 20. Can be the same. As a result of setting the speed reduction ratio from the output shaft 9 to the second gear 13 in this way, the operation of the active bending portion 31 obtained as a result of the operation on the input member 5 is the power of the drive portion 8 as in the first embodiment. The same operation is performed whether or not connected to the transmission mechanism 10.
Instead of setting the reduction ratio from the output shaft 9 to the active bending portion 31, the drive signal output to the drive portion 8 corresponding to the operation amount detected by the encoder 6 can be optimized. An effect is obtained.

(Modification 2-2)
A modification 2-2 of the second embodiment will be described.
In the present modification, the second clutch portion 52 (see FIG. 6) further includes a speed change mechanism (not shown) for transmitting the rotational force from the rotary shaft member 21 to the first female screw cylinder 14.
In other words, in the present modification, the second clutch portion 52 has a plurality of predetermined reduction gear ratios in a path through which force is mechanically transmitted from the input member 5 to the active bending portion 31 via the second power transmission portion 20. The ratio can be selected.
Even with such a configuration, the same effects as those of the second embodiment can be obtained.
Moreover, in this modification, it is not restrict | limited within the movable range of the input member 5, but the active bending part 31 can be made to bend suitably.

(Third embodiment)
A third embodiment of the present invention will be described. FIG. 9 is a schematic diagram showing an internal structure of a medical manipulator 1B according to the third embodiment of the present invention.

A medical manipulator 1B according to the present embodiment shown in FIG. 9 includes a clutch mechanism 55 having a configuration different from that of the clutch mechanism 25 disclosed in the first embodiment.

The clutch mechanism 55 according to the present embodiment includes an attachment / detachment structure that enables the drive unit 8 to be removed together with the first gear 12 from the operation unit 2 in place of the separation switch 26 and the rail 27 according to the first embodiment. .

In this embodiment, when the drive part 8 does not operate | move appropriately with respect to operation with respect to the input member 5, by removing the drive part 8 from the operation part 2, similarly to 1st Embodiment, 1st gearwheel 12 and 2nd Engagement with the gear 13 can be eliminated. In a state where the meshing between the first gear 12 and the second gear 13 is eliminated, the active bending portion 31 can be manually operated from the input member 5 via the second power transmission portion 20.

If another drive unit 8 that operates normally is prepared separately, the drive unit 8 that operates normally is attached to the operation unit 2 in place of the drive unit 8 that does not operate normally, so that treatment is performed using the drive unit 8 that operates normally. Can continue.

In the present embodiment, even if there is no drive unit 8, there is no assistance by the drive unit 8, but the active bending unit 31 using the input member 5 can be operated. In this case, when the medical manipulator 1 </ b> B is used without attaching the drive unit 8 to the operation unit 2, the drive unit 8 is light by the amount that the drive unit 8 is not attached to the operation unit 2.

(Fourth embodiment)
A fourth embodiment of the present invention will be described. FIG. 10 is an overall view showing a medical manipulator system 100 according to the fourth embodiment of the present invention.

A medical manipulator system 100 according to the present embodiment shown in FIG. 10 is a system including the medical manipulator 1B disclosed in the third embodiment and a holder 60 that holds the medical manipulator 1B.

The holder 60 of the medical manipulator system 100 according to the present embodiment includes a base 61 that can be installed on the floor, and an arm 62 that is provided on the base 61 and has one or more joint mechanisms.
The base 61 may be configured to be fixed to a floor or an operating table.

The arm 62 can hold the drive unit 8. In the present embodiment, a part of the weight of the medical manipulator 1 </ b> B is supported by the holder 60 by attaching the drive unit 8 to the operation unit 2 while the drive unit 8 is held by the arm 62. For this reason, in the medical manipulator system 100 according to the present embodiment, the operator's fatigue can be reduced.

In the state where the drive unit 8 is removed from the operation unit 2 to reduce the weight, the active bending unit 31 of the medical manipulator 1B can be manually operated as disclosed in the third embodiment.

(Fifth embodiment)
A fifth embodiment of the present invention will be described. FIG. 11 is a block diagram showing a medical manipulator according to a fifth embodiment of the present invention.

The medical manipulator 1C according to the present embodiment shown in FIG. 11 presents to the operator that the operation of the drive unit 8 appropriately corresponding to the operation on the input member 5 is not considered as a failure of the drive unit 8. The configuration is different from that of the medical manipulator 1 disclosed in the first embodiment in that the configuration is further provided.

The medical manipulator 1C of this embodiment includes a failure detection unit 70 and a failure presentation unit 71 in addition to the medical manipulator 1 disclosed in the first embodiment.

The failure detection unit 70 is provided in the control unit 35. The failure detection unit 70 of the present embodiment refers to the operation amount detected by the encoder 6 and the operation amount of the drive unit 8 respectively, and the operation amount detected by the encoder 6 and the operation amount of the drive unit 8 are predetermined. It is determined whether or not the correspondence relationship is deviated. When the failure detection unit determines that the operation amount detected by the encoder 6 and the operation amount of the drive unit 8 deviate from a predetermined correspondence relationship, the failure detection unit 70 instructs the failure presentation unit 71 to A predetermined signal indicating a failure of the drive unit 8 is output.

The failure presentation unit 71 is connected to the control unit 35. The failure presentation unit 71 presents the failure of the drive unit 8 to the operator, such as a buzzer (not shown) that makes a sound in response to the failure detection unit emitting a signal indicating the failure of the drive unit 8, for example. Have means.

When using the medical manipulator 1C according to the present embodiment, an operator who operates the medical manipulator 1C often watches the state of a treatment target site using an endoscopic image or the like. For example, by notifying the failure of the drive unit 8 using the buzzer or the like, it is possible to quickly inform the operator that the drive unit 8 cannot operate properly with respect to the operation on the input member 5.

The failure detection unit 70 is configured so that the first power transmission unit 11 appropriately responds to the operation of the input member 5 by an encoder (not shown) that detects the movement amount of the components of the first power transmission unit 11 (see FIG. 2). It may be determined whether or not it is operating.
When the failure detection unit 70 detects the occurrence of distortion of the rotary shaft member 21 (see FIG. 2) such that the strain gauge disclosed in Modification 1-2 of the first embodiment exceeds a predetermined threshold value, It may be detected that the drive unit 8 is in resistance to the operation of the input member 5, that is, the drive unit 8 is not operating correctly.

The fault presenting unit 71 has means for presenting a malfunction by visual (light or character string display) or tactile sense (vibration, etc.) instead of or in addition to the sound presentation using the buzzer. You may do it. For example, the failure presentation unit 71 may be configured to display, on the display unit 33, a message that prompts an operation of disconnecting the drive unit 8 in which the failure has occurred from the power transmission mechanism 10 using the clutch mechanism 25.

(Modification 5-1)
A modification 5-1 of the fifth embodiment will be described. FIG. 12 is a block diagram showing a medical manipulator of the modification. FIG. 13 is a schematic view showing an internal structure of the medical manipulator.

12 and 13, the medical manipulator 1C according to this modification further includes an actuator 73 provided in the clutch mechanism 25 in addition to the medical manipulator 1C disclosed in the fifth embodiment.

In the fifth embodiment, the failure detection unit 70 outputs a predetermined signal indicating a failure of the drive unit 8 to the failure presentation unit 71. On the other hand, the failure detection unit 70 of this modification outputs a predetermined signal for disconnecting the drive unit 8 from the power transmission mechanism 10 due to the failure of the drive unit 8 to the actuator 73 of the clutch mechanism 25. That is, in the present modification, instead of the failure detection unit 70 presenting the occurrence of the failure to the operator via the failure presentation unit 71 in the fifth embodiment, the control unit 35 and the failure detection unit 70 Is detected, the clutch mechanism 25 is controlled.

Specifically, the control unit 35 controls the actuator 73 of the clutch mechanism 25 to move the drive unit 8 in order to cancel the meshing between the first gear 12 and the second gear 13.

The control procedure of the clutch mechanism 25 corresponding to the failure of the drive unit 8 in this modification will be described. FIG. 14 is a flowchart for explaining the operation of the medical manipulator 1C.

When using the medical manipulator 1C, the failure detection unit 70 refers to the command value θr (drive signal) generated (calculated) by the command value calculation unit 36 of the control unit 35 (step S1). Further, the drive amount θe detected by the encoder or the like of the drive unit 8 is referred to by the failure detection unit 70 (step S2).

Referring to the command value θr and the drive amount θe, the failure detection unit 70 compares the absolute value of the difference between the command value θr and the drive amount θe with a predetermined threshold value θth (step S3). When the absolute value of the difference between the command value θr and the drive amount θe exceeds the threshold value θth (YES in step S3), the failure detection unit 70 moves the drive unit 8 relative to the actuator 73 of the clutch mechanism 25. The predetermined signal for outputting is output (step S4). Similarly to the fifth embodiment, the operator may be notified that the drive unit 8 has failed (step S5).

When the absolute value of the difference between the command value θr and the drive amount θe is equal to or less than the threshold θth (NO in step S3), the failure detection unit 70 does not move the drive unit 8 using the clutch mechanism 25. The drive based on the command value θr (step S6) is continued for the drive unit 8.

In the present modification, the clutch mechanism 25 can automatically disconnect the drive unit 8 from the power transmission mechanism 10 when a failure occurs. Therefore, the operation of the disconnect switch 26 disclosed in the first embodiment and the fifth embodiment can be performed. It is unnecessary.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included. The present invention is not limited to the above description, but is limited only by the scope of the appended claims.
In addition, the constituent elements shown in the above-described embodiments can be combined as appropriate.

According to the above-described embodiment, it is possible to provide a medical manipulator and a medical manipulator system that can be operated in the same operation system as before the failure even when a failure occurs.

1, 1A, 1B, 1C, 1D Medical manipulator 2 Operation unit 3 Housing 4 Bending operation input unit 5 Input member 6 Encoder 8 Drive unit 9 Output shaft 10 Power transmission mechanism 11 First power transmission unit 12, 41 First gear 13, 42 Second gear 14 First female screw cylinder 15 First male screw rod 16, 45 Third gear 17 Fourth gear 18 Second female screw cylinder 19 Second male screw rod 20 Second power transmission portion 21 Rotating shaft member 22 fifth gear 25 clutch mechanism 26 switch 27 rail 30 long part 31 active bending part 32 imaging part 33 display part 35 control part 36 command value calculation part 37 video processing part 40 power transmission mechanism 43 pulley 44 angle wire 51 first clutch Part 52 second clutch part 53 switch 54 rail 55 clutch mechanism 60 holder 61 base 62 arm 70 failure detection part 7 Failure presenting unit 73 actuator 100 medical manipulator system 101 body wall

Claims (9)

An end effector;
A shaft attached to the end effector and having one or more curved portions;
An operation unit attached to the shaft to operate the bending unit;
An input member provided in the operation portion for inputting an operation for operating the bending portion;
An input detection unit provided in the operation unit to detect an input to the input member;
A drive unit that generates power for operating the bending unit based on a detection value in the input detection unit;
A control unit that controls the drive unit based on the input detected by the input detection unit;
A first power transmission unit configured to transmit the power generated by the drive unit from the drive unit to the bending unit;
A second power transmission unit that transmits the force applied to the input member to operate the bending unit from the input member to the bending unit;
A clutch mechanism provided in at least one of the first power transmission unit and the second power transmission unit;
A medical manipulator comprising: The control unit transmits the first driving force based on the input detected by the input detection unit and the input of the operation on the input member from the bending unit and the second power transmission unit to the input member. The medical manipulator according to claim 1, wherein the driving unit is controlled so as to be the motive power together with a second driving force that cancels a reaction force. The medical manipulator according to claim 1, wherein the control unit includes a failure detection unit that detects presence or absence of a failure of the drive unit. The controller is
The medical manipulator according to claim 3, further comprising a failure presentation unit that presents to the outside that the failure detection unit has detected a failure of the drive unit. The medical manipulator according to claim 3 or 4, wherein the clutch mechanism interrupts power transmission of the first power transmission unit when the failure detection unit detects a failure. The ratio of the operation amount of the bending portion through the first power transmission unit to the operation amount to the input member, and the operation amount of the bending unit through the second power transmission unit to the operation amount to the input member The medical manipulator according to any one of claims 1 to 5, wherein the ratio is equal to each other. The clutch mechanism is
A first clutch portion provided in the first power transmission portion;
A second clutch portion provided in the second power transmission portion;
The medical manipulator according to any one of claims 1 to 6. The first clutch unit connects power transmission in the first power transmission unit in a state where power transmission in the second power transmission unit is interrupted,
The medical manipulator according to claim 7, wherein the second clutch unit connects power transmission in the second power transmission unit in a state where power transmission in the first power transmission unit is interrupted. A base that can be installed on the floor;
An arm provided on the base and having one or more joint mechanisms;
The medical manipulator according to any one of claims 1 to 8,
With
The said drive part is detachable with respect to said 1st power transmission part, and is provided in the said arm The medical manipulator system.

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