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WO2016136628A1 - Manipulateur médical et système de manipulateur médical - Google Patents

Manipulateur médical et système de manipulateur médical Download PDF

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Publication number
WO2016136628A1
WO2016136628A1 PCT/JP2016/054895 JP2016054895W WO2016136628A1 WO 2016136628 A1 WO2016136628 A1 WO 2016136628A1 JP 2016054895 W JP2016054895 W JP 2016054895W WO 2016136628 A1 WO2016136628 A1 WO 2016136628A1
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WO
WIPO (PCT)
Prior art keywords
unit
power transmission
gear
medical manipulator
input member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/054895
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English (en)
Japanese (ja)
Inventor
井上　慎太郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Publication of WO2016136628A1 publication Critical patent/WO2016136628A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • control unit may include a failure detection unit that detects the presence or absence of a failure of the drive unit.
  • 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.
  • 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.
  • the bending via the first power transmission unit with respect to an operation amount to the input member 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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
  • 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.
  • 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.
  • 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.
  • 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).
  • the clutch mechanism 25 moves a gear (not shown).
  • 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.
  • 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.
  • the second gear 13 is a spur gear corresponding to the first gear 12 being a spur gear.
  • the first gear 12 and the second gear 13 are both spur gears.
  • gears having shapes corresponding to the angle are appropriately employed as the first gear 12 and the second gear 13. May be.
  • 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.
  • the first gear 12 and the second gear 13 do not have to be directly meshed with each other.
  • 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.
  • 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.
  • a third gear 16 described later is also fixed to the rod-shaped portion 14a.
  • the cylindrical part 14b is formed at the end of the rod-like part 14a.
  • 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.
  • 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.
  • the fourth gear 17 is a spur gear corresponding to the third gear 16 being a spur gear.
  • the third gear 16 and the fourth gear 17 are both spur gears. is there.
  • 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.
  • the 1st internal thread cylinder 14 and the 2nd internal thread cylinder 18 are comprised so that it may always mutually reversely rotate.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the long part 30 of the medical manipulator 1 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.
  • 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.
  • 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.
  • 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.
  • the active bending unit 31 is set substantially the same as when the driving unit 8 is not used. It can be operated.
  • 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.
  • the active bending portion 31 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.
  • the drive unit 8 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.
  • the drive unit 8 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.
  • the drive unit 8 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first clutch portion 51 connects the drive portion 8 to the power transmission mechanism 10
  • 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).
  • the first clutch unit 51 disconnects the drive unit 8 from the power transmission mechanism 10
  • the second clutch unit 52 engages the fifth gear 22 and the second gear 13 to power the input member 5.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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. .
  • 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.
  • the drive unit 8 is light by the amount that the drive unit 8 is not attached to the operation unit 2.
  • 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 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.
  • 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.
  • the active bending unit 31 of the medical manipulator 1B can be manually operated as disclosed in the third embodiment.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the failure detection unit 70 outputs a predetermined signal indicating a failure of the drive unit 8 to the failure presentation unit 71.
  • 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.
  • 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.
  • FIG. 14 is a flowchart for explaining the operation of the medical manipulator 1C.
  • the failure detection unit 70 refers to the command value ⁇ r (drive signal) generated (calculated) by the command value calculation unit 36 of the control unit 35 (step S1). Further, the drive amount ⁇ e detected by the encoder or the like of the drive unit 8 is referred to by the failure detection unit 70 (step S2).
  • the failure detection unit 70 compares the absolute value of the difference between the command value ⁇ r and the drive amount ⁇ e with a predetermined threshold value ⁇ th (step S3). When the absolute value of the difference between the command value ⁇ r and the drive amount ⁇ e exceeds the threshold value ⁇ th (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).
  • step S3 When the absolute value of the difference between the command value ⁇ r and the drive amount ⁇ e is equal to or less than the threshold ⁇ th (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 ⁇ r (step S6) is continued for the drive unit 8.
  • 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.

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  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur médical qui comprend : un effecteur terminal; un arbre qui est fixé à l'effecteur terminal et a une ou plusieurs parties de courbure ; une partie manipulable qui est fixée à l'arbre ; un élément d'entrée qui est disposé dans la partie manipulable ; une partie de détection d'entrée qui est disposée dans la partie manipulable ; une partie d'entraînement qui génère de l'énergie pour faire fonctionner la partie de courbure sur la base d'une valeur de détection provenant de la partie de détection d'entrée ; une partie de commande qui commande la partie d'entraînement sur la base d'une entrée détectée par la partie de détection d'entrée ; une première partie de transmission d'énergie qui transmet l'énergie générée par la partie d'entraînement de la partie d'entraînement à la partie de courbure ; une seconde partie de transmission d'énergie qui transmet une ampleur de force appliquée à l'élément d'entrée, pour faire fonctionner la partie de courbure, de l'élément d'entrée à la partie de courbure ; et un mécanisme d'embrayage qui est disposé sur au moins une parmi la première partie de transmission d'énergie et la seconde partie de transmission d'énergie.
PCT/JP2016/054895 2015-02-26 2016-02-19 Manipulateur médical et système de manipulateur médical Ceased WO2016136628A1 (fr)

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JP2015036932 2015-02-26

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018174228A1 (fr) * 2017-03-24 2018-09-27 株式会社メディカロイド Instrument médical
CN110076747A (zh) * 2019-05-30 2019-08-02 燕山大学 一种雷达块拆装辅助拿取三自由度机械臂
JP2020151201A (ja) * 2019-03-20 2020-09-24 富士フイルム株式会社 内視鏡
CN114052928A (zh) * 2020-08-07 2022-02-18 柯惠有限合伙公司 机器人手术系统的手动端部执行器激活
JP2025505568A (ja) * 2022-02-01 2025-02-28 シー・アール・バード・インコーポレーテッド カテーテル制御システムを含む内視鏡システム、ならびに内視鏡システムを動作させる方法

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JP2000279368A (ja) * 1999-03-31 2000-10-10 Olympus Optical Co Ltd 内視鏡装置
JP2002125919A (ja) * 2000-10-26 2002-05-08 Asahi Optical Co Ltd 内視鏡の電動駆動式湾曲装置
JP2002264048A (ja) * 2001-03-08 2002-09-18 Hitachi Ltd 被牽引機構の位置決め制御装置
JP2013223735A (ja) * 2013-05-21 2013-10-31 Tetsumaru Miyawaki 内視鏡

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Publication number Priority date Publication date Assignee Title
JP2000279368A (ja) * 1999-03-31 2000-10-10 Olympus Optical Co Ltd 内視鏡装置
JP2002125919A (ja) * 2000-10-26 2002-05-08 Asahi Optical Co Ltd 内視鏡の電動駆動式湾曲装置
JP2002264048A (ja) * 2001-03-08 2002-09-18 Hitachi Ltd 被牽引機構の位置決め制御装置
JP2013223735A (ja) * 2013-05-21 2013-10-31 Tetsumaru Miyawaki 内視鏡

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018174228A1 (fr) * 2017-03-24 2018-09-27 株式会社メディカロイド Instrument médical
JP6404537B1 (ja) * 2017-03-24 2018-10-10 株式会社メディカロイド 医療用処置具
JP2020151201A (ja) * 2019-03-20 2020-09-24 富士フイルム株式会社 内視鏡
JP7061584B2 (ja) 2019-03-20 2022-04-28 富士フイルム株式会社 内視鏡
US11653822B2 (en) 2019-03-20 2023-05-23 Fujifilm Corporation Endoscope
CN110076747A (zh) * 2019-05-30 2019-08-02 燕山大学 一种雷达块拆装辅助拿取三自由度机械臂
CN110076747B (zh) * 2019-05-30 2020-09-25 燕山大学 一种雷达块拆装辅助拿取三自由度机械臂
CN114052928A (zh) * 2020-08-07 2022-02-18 柯惠有限合伙公司 机器人手术系统的手动端部执行器激活
JP2022031244A (ja) * 2020-08-07 2022-02-18 コヴィディエン リミテッド パートナーシップ ロボット外科システムの手動エンドエフェクタ作動
JP2025505568A (ja) * 2022-02-01 2025-02-28 シー・アール・バード・インコーポレーテッド カテーテル制御システムを含む内視鏡システム、ならびに内視鏡システムを動作させる方法

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