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WO2018123755A1 - Pince de robot - Google Patents

Pince de robot Download PDF

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Publication number
WO2018123755A1
WO2018123755A1 PCT/JP2017/045660 JP2017045660W WO2018123755A1 WO 2018123755 A1 WO2018123755 A1 WO 2018123755A1 JP 2017045660 W JP2017045660 W JP 2017045660W WO 2018123755 A1 WO2018123755 A1 WO 2018123755A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
pressure chamber
wire
hydraulic fluid
drive unit
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/JP2017/045660
Other languages
English (en)
Japanese (ja)
Inventor
英紀 田中
哲弘 近藤
忠 穴田
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.)
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
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 Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Publication of WO2018123755A1 publication Critical patent/WO2018123755A1/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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a robot forceps that opens and closes a gripper using hydraulic pressure.
  • Patent Literature 1 discloses a robot forceps 100 that opens and closes the gripper 103 using hydraulic pressure as shown in FIG. The robot forceps 100 is manually operated.
  • the robot forceps 100 shown in FIG. 6 includes an operation unit main body 101, an insertion tube 102, and a gripper 103.
  • the operation unit main body 101 is provided with an opening / closing operation unit 104 for the gripper 103.
  • the gripper 103 is connected to a piston 110 that slides in the guide cylinder 120. That is, the piston 110 and the guide tube 120 are disposed in the distal end portion of the insertion tube 102.
  • the opening / closing operation unit 104 is provided with a cylindrical body 140.
  • the cylinder 140 and the guide cylinder 120 are connected by a tube 130 that passes through the insertion tube 102.
  • a cylinder 150 is disposed in the cylinder 140, a small diameter portion of the pusher 160 is inserted into the cylinder 150, and a large diameter portion of the pusher 160 is exposed from the cylinder 140.
  • the piston 110 can be smoothly advanced when the hydraulic fluid is supplied into the pressure chamber inside the tube 130, but the hydraulic fluid is discharged from the pressure chamber. In this case, the pressure in the pressure chamber is not stabilized, and the piston 110 cannot be smoothly retracted. That is, in the robot forceps 100 shown in FIGS. 6 and 7, the gripper 103 can be opened satisfactorily, but the gripper 103 cannot be closed satisfactorily.
  • an object of the present invention is to provide a robot forceps that can perform both opening and closing of the gripper satisfactorily.
  • the robot forceps of the present invention is arranged in a drive unit, an insertion tube extending from the drive unit, a gripper provided at a distal end of the insertion tube, and a distal end portion of the insertion tube,
  • An operation member that opens or closes the gripper by pushing the gripper directly or through an intermediate member by supplying hydraulic fluid into the pressure chamber, and is connected to the gripper, the intermediate member, or the operation member, and is connected to the drive unit.
  • the drive unit supplies hydraulic fluid to the pressure chamber through the supply / discharge passage when one of the opening and closing of the gripper is performed, and the other when the other of the opening and closing of the gripper is performed.
  • a supply / discharge mechanism for discharging the hydraulic fluid from the pressure chamber through the supply / discharge passage, and a pull for pulling the wire when the hydraulic fluid is discharged from the pressure chamber. Comprising a mechanism, a, characterized in that.
  • the operating member pushes the gripper, so that one of the opening and closing of the gripper can be performed satisfactorily.
  • the gripper, the intermediate member, or the operating member is pulled through the wire. Therefore, the other of the opening and closing of the gripper can be performed well.
  • the pulling mechanism may include a pulley around which the wire is wound, and a spiral spring that rotates the pulley in a direction in which the wire is pulled. According to this configuration, the above effect can be obtained with an inexpensive configuration using a spiral spring.
  • the tension mechanism may include a pulley around which the wire is wound, and a motor connected to the pulley. According to this configuration, when the hydraulic fluid is supplied into the pressure chamber and the operating member pushes the gripper, the wire can be positively drawn out.
  • the operating member may be a piston that slides in a cylinder, and the gripper may be pushed through the intermediate member, and the intermediate member may convert a linear motion of the piston into an opening / closing motion of the gripper. .
  • the gripper includes at least one movable claw
  • the actuating member is a bellows having a telescopic tubular portion and a head that closes one end of the tubular portion and contacts the at least one movable claw. Yes, the gripper may be pushed directly, and the wire may be connected to the at least one movable claw.
  • both opening and closing of the gripper can be performed satisfactorily.
  • FIG. 1 shows a robot forceps 1A according to the first embodiment of the present invention.
  • This robot forceps 1A opens and closes the gripper 13 using the hydraulic pressure of the working fluid.
  • the hydraulic fluid is not particularly limited, and is, for example, physiological saline or oil.
  • the robot forceps 1A is used for a surgery support robot.
  • the robot forceps 1A is attached to the manipulator of the slave side device and is remotely operated by the doctor on the master side device.
  • the manipulator freely changes the posture of the robot forceps 1A so that a hole provided in the skin of the patient serves as a fulcrum.
  • the robot forceps 1 ⁇ / b> A includes a drive unit 11, an insertion tube 12 that extends from the drive unit 11 and is inserted into a patient's body, and a gripper 13 that is provided at the distal end of the insertion tube 12 via the support portion 2.
  • a drive unit 11 that extends from the drive unit 11 and is inserted into a patient's body
  • a gripper 13 that is provided at the distal end of the insertion tube 12 via the support portion 2.
  • the axial direction of the insertion tube 12 is referred to as the front-rear direction (the gripper 13 side is the front and the drive unit 11 side is the rear).
  • the gripper 13 holds, for example, an affected part or a suture needle. As shown in FIG. 2, the gripper 13 has a pair of claws 14.
  • the support part 2 has the pin 21 which supports those claws 14 so that rocking
  • the operating member 3 is disposed in the distal end portion of the insertion tube 12.
  • the operating member 3 closes the gripper 13 by pushing the gripper 13 through the intermediate member 20 by supplying hydraulic fluid into a pressure chamber 31 described later.
  • the actuating member 3 may open the gripper 13 by pushing the gripper 13 through the intermediate member 20.
  • the operating member 3 is a piston 3A that slides in a first cylinder 42 described later.
  • the intermediate member 20 converts the linear motion of the piston 3 ⁇ / b> A into the opening / closing motion of the gripper 13.
  • the intermediate member 20 includes a rod 23 extending from the piston 3 ⁇ / b> A toward the gripper 13, and a pair of links 22 that connect the rod 23 and the claw 14.
  • the insertion tube 12 is a highly rigid tube that extends linearly.
  • a pressure chamber 31 is formed in the distal end portion of the insertion tube 12. More specifically, in the distal end portion of the insertion tube 12, a tubular body 32 extending in the front-rear direction, a first cylinder 42 that fits in the front end portion of the tubular body 32, and a first fit that fits in the rear end portion of the tubular body 32.
  • Two cylinders 52 are arranged.
  • An annular first holder 41 is interposed between the front end of the tubular body 32 and the first cylinder 42 and the inner peripheral surface of the insertion tube 12, and the rear end of the tubular body 32 and the second cylinder 52.
  • An annular second holder 51 is interposed between the inner peripheral surface of the insertion tube 12.
  • a stopper 53 for a sleeve 61, which will be described later, is attached to the front surface of the second cylinder 52.
  • the above-described piston 3A (actuating member 3) is disposed in the center hole of the first cylinder 42. As described above, the piston 3A slides in the first cylinder 42. A seal member 33 that seals between the outer peripheral surface and the inner peripheral surface of the center hole of the first cylinder 42 is attached to the outer peripheral surface of the piston 3A.
  • the wire 6 is connected to the piston 3A.
  • the wire 6 extends into the drive unit 11 through the center hole of the first cylinder 42, the inside of the tubular body 32, the center hole of the second cylinder 52, and the insertion tube 12 (see FIG. 3).
  • a sleeve 61 is fixed to the wire 6 at a position corresponding to the second cylinder 52.
  • the sleeve 61 is disposed in the center hole of the second cylinder 52 and slides in the second cylinder 52.
  • a seal member 62 that seals between the outer peripheral surface and the inner peripheral surface of the center hole of the second cylinder 52 is attached to the outer peripheral surface of the sleeve 61.
  • the piston 3A closes the front opening of the tubular body 32 together with the first cylinder 42, and the sleeve 61 closes the rear opening of the tubular body 32 together with the second cylinder 52.
  • the pressure chamber 31 is formed by closing the inside of the tubular body 32 from both sides. That is, the pressure in the pressure chamber 31 acts on the rear end surface of the piston 3A. Therefore, when the hydraulic fluid is supplied into the pressure chamber 31, the piston 3 ⁇ / b> A moves forward so as to approach the gripper 13, and when the hydraulic fluid is discharged from the pressure chamber 31, the piston 3 ⁇ / b> A moves backward away from the gripper 13.
  • a flow path 55 that opens to the pressure chamber 31 is formed in the second cylinder 52 and the stopper 53.
  • the flow path 55 extends in the front-rear direction from the rear end surface of the second cylinder 52 to the front surface of the stopper 53.
  • the flow path 55 does not necessarily need to be linear, and may be bent in the middle.
  • a pipe 56 is connected to the flow path 55, and the pipe 56 extends through the insertion pipe 12 and into the drive unit 11 (see FIG. 3).
  • the flow path 55 and the pipe 56 constitute the supply / discharge path 5.
  • the drive unit 11 includes a supply / discharge mechanism 7 for operating the hydraulic fluid and a tension mechanism 9 for operating the wire 6.
  • the drive unit 11 is a mechanism which slides the insertion pipe 12 to the axial direction other than the supply / discharge mechanism 7 and the tension mechanism 9, and a mechanism which rotates the insertion pipe 12 around the central axis. May be included.
  • the distal end portion of the insertion tube 12 may be configured to be swingable, and the drive unit 11 may include a mechanism for swinging the distal end portion of the insertion tube 12. In this case, a pulley for changing the direction of the wire 6 is disposed on the swinging portion of the insertion tube 12.
  • the supply / discharge mechanism 7 supplies hydraulic fluid into the pressure chamber 31 through the supply / discharge passage 5 when the gripper 13 is closed, and discharges the hydraulic fluid from the pressure chamber 31 through the supply / discharge passage 5 when the gripper 13 is opened.
  • the supply / discharge mechanism 7 includes a cylinder 71 to which a pipe line 56 is connected and a piston 72 disposed in the cylinder 71.
  • the cylinder 71 extends in the front-rear direction, but the axial direction of the cylinder 71 is not particularly limited.
  • the cylinder 71 has a tubular portion that slidably holds the piston 72 and a front wall that closes the front opening of the tubular portion.
  • a pressure chamber 70 communicating with the pressure chamber 31 through the supply / discharge path 5 is formed between the piston 72 and the front wall of the cylinder 71.
  • the piston 72 is connected to the linear motion mechanism 8 by a rod 73 extending in the front-rear direction.
  • the linear motion mechanism 8 is connected to the output shaft 93 of the motor 92 by a relay shaft 81 via a pulley 91 described later.
  • the linear motion mechanism 8 converts the rotational motion of the output shaft 93 of the motor 92 into the linear motion of the rod 73.
  • the tension mechanism 9 pulls the wire 6 when the hydraulic fluid is discharged from the pressure chamber 31. Furthermore, in this embodiment, when the working fluid is supplied into the pressure chamber 31, the tension mechanism 9 feeds the wire 6.
  • the tension mechanism 9 includes a pulley 91 around which a wire 6 is wound, and a motor 92 having an output shaft 93 connected to the pulley 91. That is, the motor 92 is shared by the tension mechanism 9 and the supply / discharge mechanism 7.
  • the motor 92 is, for example, a servo motor.
  • the piston 3A pushes the gripper 13 through the intermediate member 20, so that the gripper 13 can be satisfactorily closed.
  • the piston 3 ⁇ / b> A is pulled through the wire 6. Therefore, the gripper 13 can be opened satisfactorily. That is, both the opening and closing of the gripper 13 can be performed satisfactorily.
  • the wire 6 is not necessarily connected to the piston 3A.
  • the wire 6 may be connected to the rod 23, the link 22, or the claw 14.
  • a compression coil spring that urges the piston 3A rearward may be disposed between the first holder 41 and the piston 3A. Further, the first holder 41, the tubular body 32, and the second holder 51 are omitted, the diameters of the first cylinder 42 and the second cylinder 52 are expanded, and the inside of the insertion tube 12 closed from both sides by these is the pressure chamber 31. It may be.
  • FIG. 4 shows a robot forceps 1B according to the second embodiment of the present invention.
  • the same components as those in the first embodiment are denoted by the same reference numerals, and a duplicate description is omitted.
  • the configuration of the drive unit 11 of the robot forceps 1B is as shown in FIG.
  • the gripper 13 includes a fixed claw 15 that is linear in a side view and a movable claw 16 that is L-shaped in a side view.
  • the fixed claw 15 is fixed to the support portion 2, and the movable claw 16 is supported at the bent portion by a pin 24 of the support portion 2 so as to be swingable.
  • the movable claw 16 includes a main body portion facing the fixed claw 15 and a lever portion orthogonal to the main body portion.
  • the wire 6 is connected to the tip of the lever portion of the movable claw 16.
  • a cylindrical first holder 45 is disposed in the distal end portion of the insertion tube 12, and a bag-shaped bellows 3 ⁇ / b> B is disposed in the first holder 45.
  • the bellows 3B has a tubular portion that can be expanded and contracted in the front-rear direction and a head that closes the front end of the tubular portion. Then, the head of the bellows 3B comes into contact with the lever portion of the movable claw 16.
  • a tubular body 34 having a small diameter portion at the front and a large diameter portion at the rear is connected to the rear end of the tubular portion of the bellows 3B.
  • the rear end portion of the tubular body 34 is sandwiched between the second cylinder 52 and the second holder 51 as in the first embodiment.
  • a conduit 56 is connected to the center hole of the second cylinder 52.
  • the inside of the bellows 3B and the inside of the tubular body 34 constitute the pressure chamber 31.
  • the bellows 3 ⁇ / b> B is an operating member 3 that closes the gripper 13 by directly pushing the lever portion of the movable claw 16 of the gripper 13 by supplying hydraulic fluid into the pressure chamber 31.
  • the bellows 3B may open the gripper 13 by directly pushing the lever portion of the movable claw 16.
  • the motor 92 rotates in one direction, and the piston 72 moves forward while the wire 6 is fed out from the pulley 91.
  • hydraulic fluid is supplied from the pressure chamber 70 to the pressure chamber 31, the bellows 3B expand
  • the bellows 3B pushes the movable claw 16 of the gripper 13, so that the gripper 13 can be satisfactorily closed.
  • the movable claw 16 of the gripper 13 is pulled through the wire 6. Therefore, the gripper 13 can be opened satisfactorily. That is, both the opening and closing of the gripper 13 can be performed satisfactorily.
  • the gripper 13 may include a pair of movable claws 16 without including the fixed claws 15. In this case, the head of the bellows 3B may abut against both the movable claws 16, or two bellows 3B may be provided so as to correspond to the movable claws 16.
  • the tension mechanism 9 may include a spiral spring 94 that rotates the pulley 91 in the direction of pulling the wire 6 instead of the motor 92.
  • a dedicated motor 82 may be installed in the supply / discharge mechanism 7, and the output shaft 83 of the motor 82 may be connected to the linear motion mechanism 8.
  • the tension mechanism 9 includes the motor 92 connected to the pulley 91 as in the first or second embodiment, the working fluid is supplied into the pressure chamber 31 and the working member 3 (piston 3A or bellows 3B). When the gripper 13 is pressed, the wire 6 can be actively fed out.
  • the linear motion mechanism 8 and the motor 82 may be omitted, and the piston 72 may be manually operated.
  • the insertion tube 12 may be flexible, and a ring may be provided in the insertion tube 12 at a predetermined pitch, and the wire 6 may be guided by these rings.
  • the supply / discharge mechanism 7 does not necessarily include the cylinder 71 and the piston 72, and may be a small rotary pump. In this case, a gear box may be interposed between the motor 92 and the pump.
  • the wire 6 does not necessarily pass through the insertion tube 12 and may be disposed on the outer peripheral surface of the insertion tube 12.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Mechanical Engineering (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une pince de robot qui est pourvue : d'une unité d'entraînement ; d'un tube d'insertion s'étendant à partir de l'unité d'entraînement ; d'un dispositif de préhension disposé au niveau de la pointe du tube d'insertion ; d'un élément d'actionnement qui est disposé à l'intérieur de la partie pointe du tube d'insertion et qui ouvre ou ferme le dispositif de préhension en poussant le dispositif de préhension directement, ou par l'intermédiaire d'un élément intermédiaire, lors de l'introduction d'un fluide hydraulique dans une chambre de pression ; et d'un fil qui est relié à la pince, à l'élément intermédiaire ou à l'élément d'actionnement et qui s'étend dans l'unité d'entraînement. L'unité d'entraînement comprend : un mécanisme d'alimentation et de drainage qui fournit un fluide hydraulique dans la chambre de pression par l'intermédiaire d'un passage d'alimentation et de drainage lorsqu'il s'ouvre ou se ferme et qui évacue le fluide hydraulique de la chambre de pression à travers le passage d'alimentation et de drainage lorsque l'autre de l'ouverture ou de la fermeture du dispositif de préhension est réalisée ; et un mécanisme de tension qui tire le fil lorsque le fluide hydraulique est drainé à partir de la chambre de pression.
PCT/JP2017/045660 2016-12-28 2017-12-20 Pince de robot Ceased WO2018123755A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-255504 2016-12-28
JP2016255504A JP2018102823A (ja) 2016-12-28 2016-12-28 ロボット鉗子

Publications (1)

Publication Number Publication Date
WO2018123755A1 true WO2018123755A1 (fr) 2018-07-05

Family

ID=62707525

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/045660 Ceased WO2018123755A1 (fr) 2016-12-28 2017-12-20 Pince de robot

Country Status (2)

Country Link
JP (1) JP2018102823A (fr)
WO (1) WO2018123755A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9207414U1 (de) * 1992-06-02 1992-08-20 Aesculap AG, 7200 Tuttlingen Chirurgisches Instrument
JP2000014634A (ja) * 1998-07-02 2000-01-18 Olympus Optical Co Ltd 内視鏡システム
WO2014155743A1 (fr) * 2013-03-29 2014-10-02 国立大学法人 東京工業大学 Pince
WO2015025745A1 (fr) * 2013-08-21 2015-02-26 オリンパスメディカルシステムズ株式会社 Outil et système de traitement

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130091334A (ko) * 2010-07-27 2013-08-16 더 트러스티이스 오브 콜롬비아 유니버시티 인 더 시티 오브 뉴욕 빠르게 전개가능한 유연한 로봇 기기 장치

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9207414U1 (de) * 1992-06-02 1992-08-20 Aesculap AG, 7200 Tuttlingen Chirurgisches Instrument
JP2000014634A (ja) * 1998-07-02 2000-01-18 Olympus Optical Co Ltd 内視鏡システム
WO2014155743A1 (fr) * 2013-03-29 2014-10-02 国立大学法人 東京工業大学 Pince
WO2015025745A1 (fr) * 2013-08-21 2015-02-26 オリンパスメディカルシステムズ株式会社 Outil et système de traitement

Also Published As

Publication number Publication date
JP2018102823A (ja) 2018-07-05

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