[go: up one dir, main page]

WO2021245849A1 - Unité d'instrument de traitement médical, manipulateur médical et robot médical - Google Patents

Unité d'instrument de traitement médical, manipulateur médical et robot médical Download PDF

Info

Publication number
WO2021245849A1
WO2021245849A1 PCT/JP2020/021984 JP2020021984W WO2021245849A1 WO 2021245849 A1 WO2021245849 A1 WO 2021245849A1 JP 2020021984 W JP2020021984 W JP 2020021984W WO 2021245849 A1 WO2021245849 A1 WO 2021245849A1
Authority
WO
WIPO (PCT)
Prior art keywords
flexible joint
bending
medical
joint portion
treatment tool
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/JP2020/021984
Other languages
English (en)
Japanese (ja)
Inventor
大輔 原口
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.)
Riverfield Inc
Original Assignee
Riverfield Inc
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 Riverfield Inc filed Critical Riverfield Inc
Priority to PCT/JP2020/021984 priority Critical patent/WO2021245849A1/fr
Publication of WO2021245849A1 publication Critical patent/WO2021245849A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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

Definitions

  • the present invention relates to a medical treatment tool unit driven by a drive unit, a medical manipulator including such a medical treatment tool unit, and a medical robot including such a medical manipulator.
  • a medical manipulator that drives a treatment part such as forceps by a drive unit is expected as a technology that accurately reflects the movement of the operator's hand to reduce the burden on the operator and patient by surgery and increase the possibility of telemedicine. ing.
  • Patent Document 1 discloses a flexible tube of a medical manipulator which is excellent in torsional rigidity, load bearing capacity, and flexibility while being miniaturized.
  • This flexible tube is formed between a plurality of ring portions connected in the axial direction, a tube connecting portion that partially connects the adjacent ring portions in the axial direction, and a ring portion adjacent in the axial direction. It is divided on both sides in the circumferential direction of the tube joint and is provided with slits that allow bending of the flexible tube due to bending of the tube joint.
  • the dimension in the circumferential direction gradually decreases from one side in the axial direction which is the fixed side at the time of bending to the other side in the axial direction which becomes the movable side at the time of bending.
  • Patent Document 2 discloses a joint portion and a medical instrument of a medical instrument that facilitates operability of the joint portion and the surgical instrument.
  • the joint part of this medical device has a highly flexible outer shell part formed in a cylindrical shape having a space inside, and a tubular part that is arranged in the inner space of the outer shell part and has a higher compression rigidity than the outer shell part.
  • the core material tube formed in the core material tube and the cable used for operating the surgical instrument are inserted inside the core material tube, and the material has a smaller coefficient of friction against the cable than the core material tube.
  • the formed resin tube is provided.
  • a flexible joint that bends a treatment part such as forceps with multiple degrees of freedom (DOF) is indispensable in a robot minimally invasive surgery system.
  • a medical manipulator having such a flexible joint portion is required to have sufficient bending force, treatment force (grip force) and durability required for surgery.
  • An object of the present invention is to provide a medical treatment tool unit having sufficient bending force, treatment force and durability.
  • the present invention also aims to provide a medical manipulator equipped with such a medical treatment tool unit, and to provide a medical robot equipped with such a medical manipulator and capable of estimating force.
  • one aspect of the present invention is a medical treatment tool unit having a treatment unit driven by a drive unit, and a shaft having a transmission mechanism for transmitting a driving force from the drive unit to the treatment unit.
  • a flexible joint portion provided between the shaft and the treatment portion.
  • the flexible joint portion connects between a disk body arranged in a plurality of stages in a first direction along the axis of the shaft at predetermined intervals and an adjacent disk body, and extends in a second direction orthogonal to the first direction. It has a connecting portion which is present and has a connecting portion in which the extending directions of the adjacent connecting portions when viewed in the first direction are different from each other.
  • the flexible joint portion was formed of a resin material having a bending deformation region (bending strength / flexural modulus) of 3.0% or more, a compressive strength of 50 MPa or more, and a bending elastic modulus of 10 GPa or less. It is a feature.
  • the connecting portion having the highest stress at the time of bending in the flexible joint portion is made of a resin material having excellent bending characteristics, excellent flexibility can be ensured for a long period of time. Can be done.
  • the resin material for the flexible joint preferably contains at least one resin selected from the group consisting of PEEK, PEI, PPSU, PSU, PES, and POM-C.
  • a set of one disk body and one connecting portion connected to the disk body is regarded as a one-stage structure, and the extending directions of the connecting portions in adjacent structures are set. It is preferable that they differ from each other by 45 degrees.
  • the positions of the adjacent connecting portions are arranged differently by 45 degrees when viewed in the first direction, and the stress concentration on the connecting portion with respect to the bending direction is relaxed. Will be done.
  • the number of stages of the structure in the flexible joint portion is preferably 9 or more and 12 or less. As a result, it is possible to increase the flexibility of bending while relaxing the stress concentration applied to the structure when the flexible joint portion bends.
  • the treatment portion has a grip portion and the extending direction of the connecting portion is not located along the occlusal surface of the grip portion arranged on the tip end side of the flexible joint portion. This makes it easier to bend in the direction along the occlusal surface of the grip portion.
  • the medical treatment tool unit may have a spring portion or a flexible tube portion inserted in the center of a plurality of discs. As a result, rigidity is added to the flexible joint portion by the spring portion or the flexible tube portion, and it becomes easy to obtain a treatment force.
  • the present invention provides, in another aspect, a medical manipulator including the above-mentioned medical treatment tool unit and a drive unit for driving the treatment tool of the medical treatment tool unit.
  • the drive unit may drive the treatment tool by air pressure.
  • the present invention is a medical robot provided with a medical manipulator that drives a treatment tool by this air pressure, and an air pressure sense estimation that estimates an external force applied to the treatment tool based on the measurement of the air pressure.
  • a medical robot equipped with a mechanism provided with a mechanism.
  • the medical manipulator according to the present invention provided in such a medical robot has excellent linearity between the operating force from the actuator and the operation, and also has excellent repetitive operation stability (bending durability), so that the air pressure sense is estimated.
  • the accuracy of the external force estimated by the mechanism can be improved.
  • the present invention it is possible to provide a medical manipulator having sufficient bending force, treatment force and durability.
  • the present invention also provides a medical manipulator equipped with a medical treatment tool unit and a medical robot capable of estimating force.
  • FIG. 1 is a perspective view illustrating the medical manipulator according to the present embodiment.
  • FIG. 2 is a diagram illustrating a treatment unit of the medical manipulator according to the present embodiment.
  • the medical manipulator 1 according to the present embodiment includes a medical treatment tool unit provided with a treatment unit 60 and a drive unit 50 for driving the treatment unit 60.
  • a drive unit 50 for example, a pneumatic cylinder is used.
  • the forceps unit 100 including the treatment portion 60 having the grip portion 61 will be described as a specific example of the medical treatment tool unit.
  • the forceps unit 100 (medical treatment tool unit) included in the medical manipulator 1 is provided between the shaft 20 having a transmission mechanism for transmitting a driving force from the drive unit 50 to the treatment unit 60, and between the shaft 20 and the treatment unit 60.
  • a flexible joint portion 10 is provided.
  • the direction along the axis of the shaft 20 is referred to as the X direction (first direction)
  • one of the directions orthogonal to the X direction is referred to as the Y direction
  • the X direction and the direction orthogonal to the Y direction are referred to as the Z direction. I will decide.
  • a plurality of wires 211, 212, and 213 are inserted in the shaft 20 as a part of the transmission mechanism, and the power from the drive unit 50 is transmitted to the grip portion 61 of the forceps unit 100.
  • the forceps unit 100 includes wires 211 for opening and closing the grip portion 61, and wires 212 and 213 for bending the flexible joint portion 10 to adjust the orientation of the grip portion 61.
  • a slide cam 62 is provided in the grip portion 61, and the slide cam 62 is operated by a wire 211 inserted in the center of the shaft 20 to open and close the grip portion 61. For example, pulling the wire 211 closes the grip portion 61, and returning the wire 211 opens the grip portion 61.
  • the wires 212 and 213 are inserted at symmetrical positions about the wires 211. By pulling one of the wires 212 and 213 and extending the other, the flexible joint portion 10 can be bent and the direction of the grip portion 61 can be changed. Although not shown in FIG. 2, a set of wires different from the set of wires 212 and 213 is also provided, and the wires 212 and 213 are bent in a direction orthogonal to the bending direction of the flexible joint portion 10. You can do it. By balancing these wire operations, the flexible joint portion 10 can be bent 360 degrees in any direction when viewed in the X direction.
  • FIG. 3 is a perspective view illustrating the flexible joint portion.
  • FIG. 4 is a plan view illustrating the flexible joint portion.
  • FIG. 5 is a front view illustrating the flexible joint portion.
  • the flexible joint portion 10 is formed of a resin material.
  • the flexible joint portion 10 connects between the discs 11 arranged in a plurality of stages in the X direction at predetermined intervals and the adjacent discs 11, and is connected to each other in a second direction (direction along the YZ plane) orthogonal to the X direction. ) With a connecting portion 12 extending.
  • the flexible joint portion 10 has a length of about 10 mm (mm) in the X direction and a diameter of about 5 mm.
  • the thickness of one disk body 11 is about 0.4 mm, and the distance between adjacent disk bodies 11 is about 0.5 mm.
  • the thickness of the connecting portion 12 is about 0.4 mm, and extends so as to pass through the center (center seen in the X direction) of the flexible joint portion 10 (extending in the radial direction of the disk body 11).
  • the pair of one disk body 11 and one connecting portion 12 connected to the disk body 11 is regarded as a one-stage structure ST, and the connecting portion 12 in the adjacent structure ST is used.
  • the extending directions are provided so as to differ from each other by 45 degrees. That is, when viewed in the X direction, the connecting portions 12 are installed so as to be offset by 45 degrees in the extending direction.
  • the number of stages of the structure ST in the flexible joint portion 10 is preferably 9 or more and 12 or less. If the number of steps of the structure ST is less than 9, it becomes difficult to secure the flexibility when bending the flexible joint portion 10, and if it is more than 12 steps, it becomes difficult to secure the strength of the flexible joint portion 10 in the X direction.
  • a hole h1 through which the wire 211 is inserted penetrates through the center of the flexible joint portion 10 when viewed in the X direction, and the wires 212 and 213 are formed on a predetermined circumference centered on the center of the flexible joint portion 10.
  • a plurality of holes h2 through which the wire is inserted penetrates.
  • the diameter of the hole h1 is about 1.8 mm, and the diameter of the hole h2 is about 0.5 mm.
  • the bending deformation region (bending strength / flexural modulus) is 3.0% or more, the compressive strength is 50 MPa or more, and the bending elasticity. It is made of a resin material having a modulus of 10 GPa or less. As described above, when the flexible joint portion 10 in which the structure ST of the disk body 11 and the connecting portion 12 is provided in a plurality of stages is formed of a resin material, the resin material within the range of the above characteristics can be used.
  • the connecting portion 12, which has the highest stress during bending, has excellent bending characteristics. Therefore, excellent flexibility can be ensured for a long period of time as the flexible joint portion 10 made of the resin material.
  • the resin material for the flexible joint portion 10 as described above includes a group consisting of PEEK (Polyetheretherketone), PEI (polyetherimide), PPSU (Polyphenylsulfone), PSU (Polysulfone), PES (Polyethersulfone), and POM-C (polyacetal copolymer). At least one selected resin is included.
  • PEEK Polyetheretherketone
  • PEI polyetherimide
  • PPSU Polyphenylsulfone
  • PSU Polysulfone
  • PES Polyethersulfone
  • POM-C polyacetal copolymer
  • the extending direction of the connecting portion 12 is not located in the direction along the occlusal surface of the grip portion 61 arranged on the distal end side of the flexible joint portion 10 (Y direction in FIGS. 1 and 2). This makes it easier to bend in the direction along the occlusal surface of the grip portion 61. That is, the wire 211 is pulled when the grip portion 61 is closed, and a force is applied to the flexible joint portion 10 in the compression direction. In this state, a force is required to bend the flexible joint portion 10 as compared with the case where no force is applied to the flexible joint portion 10 in the compression direction. In the forceps unit 100, an operation of bending along the occlusal direction is performed with the grip portion 61 closed. Since the extending direction of the connecting portion 12 is not located along the occlusal surface, it becomes easy to perform the bending operation along the occlusal surface even when the grip portion 61 is closed.
  • the inventor of the present application has found the present invention by conducting various studies on the resin material in the flexible joint portion 10 of the medical manipulator 1 according to the present embodiment. The examination is shown below.
  • a robot forceps provided with a flexible joint (an example of a medical manipulator 1) has a problem of a trade-off relationship between rigidity characteristics and flexibility characteristics at a joint with a metal part.
  • the inventor of the present application considers that the flexible joint portion 10 is made of super engineering plastic (SEP) widely used in medical equipment because of its excellent heat resistance, chemical stability, and mechanical strength. investigated.
  • SEP super engineering plastic
  • the prototype of the flexible joint 10 is designed using polyetheretherketone (PEEK) with 12 machined slits, and the bending and gripping movements of the forceps unit 100 are realized by wire actuation.
  • PEEK polyetheretherketone
  • the results of the performance evaluation show that the flexible joint portion 10 made of PEEK can maintain the bending range even when a compressive force in the axial direction (X direction) is applied.
  • the flexible joint portion 10 made of PEEK is durable against a compressive force of 30 Newton (N), and the relationship between the degree of compression and the compressive force is linear.
  • the flexible joint portion 10 made of PEEK can withstand a maximum of 10,000 bendings without significantly changing the mechanical properties of the bending.
  • the flexible joint portion 10 has sufficient rigidity to output a force exceeding 1.2 N to the environment from the grip portion 61 of the forceps unit 100.
  • the experimental results by the inventor of the present application show that the developed forceps unit 100 has the basic feasible performance of robotic surgery.
  • Non-Patent Document 1 Haraguchi et al. Have proposed a pneumatically driven multi-DOF forceps using a machined spring in combination with a backbone structure of a NiTi superelastic wire (Non-Patent Document 2).
  • Hu et al. Has developed a flexible suture robot using two coil spring bending portions that rotate in the pitch direction and the yaw direction, respectively (Non-Patent Document 3).
  • the above-mentioned flexible continuum joint is mainly made of a metal material such as a titanium alloy or stainless steel. Metallic bend joints are difficult to maintain in terms of both compressive stiffness and bending flexibility.
  • the other group uses a "quasi-flexible" joint consisting of stacked rigid discs (Non-Patent Documents 4 and 5) or rigid portions (Non-Patent Document 6) in the axial direction (X direction). ) Is increased in rigidity. However, since the bending direction and bending range are limited at each part, the rigid disk or the mechanism connecting the rigid parts increases the length of the flexible joint, which increases the bending radius of the joint and bends. Bending dexterity is reduced.
  • SEPs super engineering plastics
  • mechanical parts that face workloads in both the axial and bending directions (eg, flexible couplers made of polyacetal material).
  • SEP often has excellent heat resistance, chemical stability, and the like.
  • the flexible joint portion 10 is made of SEP material due to the following three advantages.
  • the SEP joint is more flexible in bending than the metal joint while maintaining moderate axial rigidity.
  • the SEP junction is reasonably applicable to medical energy devices such as electric knives due to its electrical insulation.
  • it is possible to realize low-cost manufacturing by injection molding at the mass production stage.
  • Section 2 describes the SEP flexible joint structure and the operating mechanism of the robot forceps (medical manipulator 1).
  • Section 3 shows some experimental results of the mechanical properties and durability of the SEP flexible joint for the practical performance evaluation of the SEP flexible joint.
  • the robot forceps (medical manipulator 1), which is an example of the medical manipulator 1, is mainly driven by the forceps unit 100. It is equipped with a unit 50.
  • the forceps unit 100 is connected to the drive unit 50 via the actuator adapter 30, and the actuator adapter 30 transmits the movement of the actuator in the drive unit 50 to the forceps unit 100 and easily separates the sterilized portion and the unsterilized portion. Designed to be able to.
  • the forceps unit 100 has a shaft 20, a flexible joint portion 10 with two degrees of freedom bending, and a grip portion 61.
  • the length of the shaft 20 is about 300 mm, and the diameter of the shaft 20 and the flexible joint portion 10 is 4.5 mm.
  • the drive unit 50 has five pneumatic cylinders, each with a position sensor, and performs two pairs of wire tendon drives for flexible joint control and one push-pull drive for grip control.
  • Pneumatic cylinders generally have a good power-to-weight ratio, so the drive unit mechanism is small and lightweight.
  • the high back-drivability makes it possible to estimate the external force.
  • the length of the bent portion of the flexible joint portion 10 is as small as 10 mm.
  • the bending motion of the flexible joint portion 10 is driven by four stainless steel wires (7 ⁇ 7 stranded wire, diameter: 0.36 mm).
  • FIG. 2 shows wires 212 and 213, which are two of the four stainless steel wires. Opposite wires operate in pairs every two, and the tendon drive mechanism determines the bending motion with one degree of freedom (the mechanism for driving the bending motion by the drive unit will be described later).
  • FIG. 2 shows wire 211 as a stainless steel wire.
  • the slide cam 62 at the base of the grip portion 61 converts the linear motion of the wire 211 into the opening / closing motion of the grip portion 61 (maximum opening angle is 66 °).
  • the flexible joint portion 10 is made of SEP material.
  • SEP material polyetheretherketone (PEEK), polyphenylene sulfide (PPS), polyacetal copolymer (POM-C), polyetherimide (PEI), polyphenylsulfone (PPSU), and polysulfone (PSU).
  • PEEK polyetheretherketone
  • PPS polyphenylene sulfide
  • POM-C polyacetal copolymer
  • PEI polyetherimide
  • PPSU polyphenylsulfone
  • PSU polysulfone
  • PES Polyethersulfone
  • Table 1 shows the relevant characteristics of SEP candidates for the application of the flexible joint 10. All candidates have been verified to have sufficient biocompatibility for practical use as medical materials. In addition, all candidates other than POM have sufficient heat resistance (about 130 ° C.) for autoclave sterilization, and they also have chemical resistance to acute or alkaline chemicals for cleaning. There is.
  • the flexible joint portion 10 was manufactured using PEEK because of its excellent mechanical rigidity.
  • Other materials may be used as long as they have certain advantages suitable for a given application.
  • the mechanical rigidity of PPS and PEI is good, but the problem is that they have low resistance to impact. Since PPSU, PSU, and PES are more flexible and have better formability than PEEK, manufacturing costs can be reduced by simplifying the design of the flexible joint 10, in this case flexible. The number of slit portions of the joint portion 10 is smaller, and the wall thickness can be increased. Also, if the forceps unit 100 is intended for single use with the flexible joint 10, POM (classified as a normal engineering plastic) can also be used.
  • PTFE and PP were also examined. Furthermore, SUS304 was also examined as a metal material.
  • the strength of the flexible joint portion 10 was insufficient because the compressive strength was low (less than 50 MPa). Further, when the flexible joint portion 10 is configured by using SUS304, the bending deformation region is low (less than 3.0%) and the flexural modulus is high (more than 10 GPa). Therefore, when the flexible joint portion 10 is configured, a spring is used. There is no choice but to make it a structure, and some kind of reinforcing member is required.
  • the resin material forming the flexible joint portion 10 has a bending deformation region (bending strength / flexural modulus) of 3.0% or more, a compressive strength of 50 MPa or more, and a bending elastic modulus.
  • the one with a modulus of 10 GPa or less is suitable.
  • the above seven resin materials meet all of these requirements. Of these, PEEK, PEI, PPSU, PSU and PES are preferred, with PEEK being the most preferred.
  • FIG. 6 is a diagram illustrating the stress distribution in the flexible joint portion.
  • FIG. 6 shows the FEM analysis result of the stress distribution in the flexible joint portion 10 when a compressive force of 30 N is applied to the top in order to output the gripping force.
  • the compressive force arises from the wire tension for the gripping motion.
  • the grip mechanism when the wire is pulled at 30N, the grip force exceeds 7.5N at the center of the grip 61, which is reasonably sufficient for laparoscopic surgery. Therefore, a compressive force exceeding 30 N is not required.
  • FIG. 7 is a schematic diagram of a pneumatic drive system with one degree of freedom.
  • the bending wires 212 and 213 of the flexible joint portion 10 are connected to the corresponding bending cylinders 52 and 53 (SMC, CJ2XB10-15Z) in the drive unit 50, and the pair of reciprocal cylinders expand and contract to drive the tendon. conduct.
  • the drive wire of the grip portion 61 is also connected to the central grip cylinder 51 (SMC Corporation, CJ2XB16-15RZ).
  • an analog linear encoder (Renishaw, ATOM4T0-100) is used as a position sensor to measure the position of each cylinder rod in position control.
  • Each cylinder 51, 52 and 53 is operated by a 5-port servo valve (FESTO, MPYE-5-M5-010-B, FESTO) of the control unit 70, and two pressure sensors are attached to the two control ports of the valve. And control the driving force.
  • a PI controller represented by the equation (1) is implemented for controlling the pneumatic driving force of the cylinders 51, 52 and 53.
  • the symbol u shown in the formula (1) represents the input voltage of the servo valve (considering the neutral voltage of 5.0 V), F ref represents the desired cylinder force, and F meas represents the measured cylinder force calculated by the pressure sensor. represents, K p and K i represent the feedback gain parameter of the PI controller shows these values in Table 2. In this system, the control cycle is 0.002 seconds.
  • FIG. 8 is a diagram illustrating a state in which the flexible joint portion is bent.
  • FIG. 8 shows the appearance of the forceps unit 100 when the flexible joint portion 10 is bent using the pneumatic drive system.
  • the bending angle of the flexible joint portion 10 is 67 °, which is the mechanical bending limit of this prototype.
  • FIG. 9 is a diagram showing the relationship between the bending cylinder force and the bending angle of the flexible joint portion.
  • FIG. 9 shows a change in the bending angle of the flexible joint portion 10 corresponding to the force output from the bending cylinder even when there is no driving force of the grip portion 61.
  • FIG. 10 is a diagram showing the relationship between the bending cylinder force and the bending angle of the flexible joint portion.
  • FIG. 10 shows a change in the bending angle of the flexible joint portion 10 corresponding to the force output from the bending cylinder when the driving force of the grip portion 61 is present.
  • FIGS. 9 and 10 show that when the bending cylinder outputs 13N, the grip portion 61 It is shown that the flexible joint portion 10 can bend up to 50 ° regardless of the driving force. Further, FIGS. 9 and 10 show the same tendency in the relationship between the bending angle of the flexible joint portion 10 and the bending cylinder force when the bending angle is less than 50 °.
  • the main reason for the hysteresis is the static friction of the operation transmission mechanism, that is, the static friction of the cylinder piston and the wire and its guide path.
  • the bending angle of the flexible joint portion 10 was 50 ° when the bending cylinder force became 13N, while the bending cylinder force became 6N in the cylinder force decreasing process.
  • the bending angle of the flexible joint portion 10 recovered to 50 °.
  • An extra force of about 7N prevented the bending wire from returning to its original position.
  • FIGS. 9 and 10 show that when the bending angle is less than 50 °, the cylinder output difference between the increasing and decreasing processes for bending the flexible joint 10 to the same angle is 6-7N. There is. The cylinder output difference was 9N at the maximum bending angle. Therefore, the magnitude of static friction is estimated to be 6-9N.
  • the bending cylinder had to output an extra compression force, which resulted in a smaller bending angle than in the absence of the driving force of the grip 61. According to this result, the SEP flexible junction related to the combination of the grip portion 61 with the drive controller needs to be designed and mounted so as not to cause this kind of mechanical interference.
  • the force of the four bending cylinders was kept at 0N, and the force of the gripping cylinder was gradually increased by 2N to 30N.
  • the length of the flexible joint 10 and the corresponding cylinder force in this case were measured and recorded.
  • FIG. 11 is a diagram showing the relationship between the grip cylinder output and the length of the flexible joint portion. From the experimental results, it was found that when the compressive force was increased to 30 N, the flexible joint portion 10 was compressed by 0.62 mm. On the other hand, the results of FEM analysis show compression of the wrist joint of 0.48 mm with the same compressive load (see (2-2) and FIG. 6 above), which results in compression deformation of the flexible joint 10 by PEEK. Can be predicted approximately.
  • the compression of the flexible joint portion 10 causes a positional error of the tip of the forceps unit 100.
  • the compression length can be measured in real time using the positions of the four bending cylinders, the position error can be compensated by the control system for the entire surgical robot arm.
  • the two bending cylinders are manufactured so as to output a driving force according to a sine function reference (amplitude: 20N, frequency: 1Hz) and to repeatedly perform a bending motion of the flexible joint portion 10 with one degree of freedom. Therefore, the flexible joint portion 10 continuously bends to both sides with a bending angle amplitude of about 65 °.
  • bending was temporarily stopped after each repetition of 1000, 2000, 3000, 5000, and 10000 times, and the experiment shown in (3-1) above was performed without the driving force of the grip portion 61.
  • FIG. 12 is a diagram showing the relationship between the bending cylinder force and the bending angle of the flexible joint portion.
  • FIG. 12 shows the relationship between the bending cylinder force and the angle of the flexible joint portion 10 after each set of the number of repeated bendings. The results show that the bending characteristics of the flexible joint portion 10 due to PEEK do not change significantly.
  • the variation between the bending angle and the cylinder output curve was considered to be due to the static friction of the operation transmission mechanism that causes the hysteresis in FIGS. 9 and 10.
  • FIG. 12 shows a cylinder output difference of 4-5N between these two curves for bending the flexible joint 10 to the same angle. It shows that there is, and it is within the range of static friction discussed in (3-1) above (6 to 9N). In addition, no cracks or large plastic deformation occurred in the flexible joint portion 10.
  • FIG. 13 is a diagram showing an experimental device.
  • the movement of the tip of the forceps unit 100 in one direction was constrained by a jig fixed to a force sensor (CFS018CA101U, Leptorino Corp.). Initially, the force output from the four bending cylinders was 0N. Next, the output force of the bending cylinder that drives the flexible joint portion 10 and bends in the restraint direction was increased by 2N to 26N. This experiment was performed in the Z-axis direction and the X-axis direction shown in FIG.
  • the compressive rigidity of the flexible joint portion 10 should be strengthened to maintain the maximum bendable angle and reduce the positional error of the forceps unit 100 in the position control.
  • the maximum bending force should be strengthened without major deformation.
  • the experimental results shown in (3-4) above indicate that the maximum bending force without large deformation was 1.2N. This magnitude of force is sufficient for surgical operations such as cutting, excision, detachment, and suturing, but insufficient for lifting and holding large organs.
  • the bending characteristics did not change significantly even after the wrist joint joint was repeatedly bent 10,000 times without the driving force of the grip portion 61.
  • the PEEK flexible joint 10 can withstand an external force of more than 1.2 N at the center of the grip 61 and maintain its shape when in contact with the environment.
  • the robotic forceps (medical manipulator 1) with the flexible joint 10 made by PEEK show excellent performance and have potential for use in robotic surgery.
  • FIG. 16 is a diagram showing the results of static load analysis of the flexible joint portion according to the comparative example.
  • the flexible joint portion according to the comparative example shown in FIG. 16 is made of stainless steel (SUS204).
  • FIG. 17 is a diagram showing the results of static load analysis of the flexible joint portion (manufactured by PEEK) according to the present embodiment. In each of the examples, the static load analysis result at the time of bending when the compressive force 30N is applied to the flexible joint portion is shown.
  • FIG. 18 is a block diagram for explaining the force sense estimation mechanism of the medical robot.
  • the medical robot 500 includes an actuator 55 (specifically, a gripping cylinder 51, a bending cylinder 52, 53) for operating the forceps unit 100, a drive unit 50 including a linear encoder 56 attached to each actuator 55, and a pneumatic sense. It includes an estimation mechanism 561, a pneumatic control unit 562, a pneumatic measurement unit 571, and a servo valve 572.
  • the pneumatic control unit 562 outputs a control signal for controlling the servo valve 572, and the servo valve 572 changes the air pressure supplied to each actuator 55 by this control signal, and the forceps unit 100 associated with each actuator 55.
  • Adjustment portion 60 such as grip portion 61, flexible joint portion 10.
  • the linear encoder 56 included in the drive unit 50 measures the position of the operating portion of the forceps unit 100 associated with the actuator 55 by measuring the position of the piston of the actuator 55.
  • the air pressure measuring unit 571 measures the air pressure supplied from the servo valve 572 to each actuator 55.
  • the air pressure sensation estimation mechanism 561 obtains the force applied in the operating direction of the actuator 55 based on the information on the position of each part of the forceps unit 100 from each linear encoder 56 and the information on the air pressure from the air pressure measuring unit 571. Based on the force, the external force applied to the moving portion of the forceps unit 100 is estimated. Specifically, the air pressure sensation estimation mechanism 561 can estimate the bending external force of the flexible joint portion 10 of the forceps unit 100 and the gripping force of the grip portion 61.
  • the linearity between the operating force output by the actuator 55 and the displacement of the moving portion of the forceps unit 100 is high. There is little change in this linearity over time. Therefore, the air pressure sensation estimation mechanism 561 can more accurately estimate the external force applied to the moving portion of the forceps unit 100.
  • the present invention is not limited to these examples.
  • the example of the forceps having the grip portion 61 as the treatment portion 60 is shown, but the treatment portion 60 other than the forceps may be used.
  • Specific examples include a cutting tool such as an ultrasonic scalpel and a laser scalpel.
  • the gist of the present invention also includes those to which a person skilled in the art appropriately adds, deletes, and changes the design of each of the above-described embodiments, and those in which the features of the configuration examples of each embodiment are appropriately combined. Is included in the scope of the present invention as long as it is provided.
  • the medical treatment tool unit may have a spring portion or a flexible tube portion inserted in the center of a plurality of discs.
  • the rigidity of the spring portion or the flexible tube portion is added to the flexible joint portion, and the spine structure (core material) for increasing the compression rigidity of the flexible joint portion 10 is formed, so that the treatment force can be easily obtained.
  • PEEK is suitable as the material for the flexible tube portion.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (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)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

Un manipulateur médical selon un aspect de la présente invention présente une résistance à la flexion, une capacité de traitement et une durabilité suffisantes, et entraîne une unité de traitement à l'aide d'une unité d'entraînement comprenant : un arbre ayant un mécanisme de transmission pour transmettre une force d'entraînement de l'unité d'entraînement à l'unité de traitement ; et une partie joint souple disposée entre l'arbre et l'unité de traitement. La partie joint souple comporte : des corps de disque disposés en plusieurs étages à des intervalles prédéterminés dans une première direction le long de l'axe de l'arbre ; et des sections de liaison qui relient des corps de disque adjacents et s'étendent dans une seconde direction perpendiculaire à la première direction. Vus dans la première direction, les parties liaison adjacentes s'étendent dans des directions mutuellement différentes. La partie joint souple est caractérisée en ce qu'elle est fabriquée à partir d'un matériau de résine ayant une plage de déformation à la flexion (résistance à la flexion/module de flexion) de 3,0 % ou plus, une résistance à la compression de 50 MPa ou plus, et un module de flexion de 10 GPa ou moins.
PCT/JP2020/021984 2020-06-03 2020-06-03 Unité d'instrument de traitement médical, manipulateur médical et robot médical Ceased WO2021245849A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/021984 WO2021245849A1 (fr) 2020-06-03 2020-06-03 Unité d'instrument de traitement médical, manipulateur médical et robot médical

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/021984 WO2021245849A1 (fr) 2020-06-03 2020-06-03 Unité d'instrument de traitement médical, manipulateur médical et robot médical

Publications (1)

Publication Number Publication Date
WO2021245849A1 true WO2021245849A1 (fr) 2021-12-09

Family

ID=78830693

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/021984 Ceased WO2021245849A1 (fr) 2020-06-03 2020-06-03 Unité d'instrument de traitement médical, manipulateur médical et robot médical

Country Status (1)

Country Link
WO (1) WO2021245849A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118105173A (zh) * 2024-04-29 2024-05-31 苏州安博医疗科技有限公司 基于环境感知的脊柱外科用机械臂智能调节方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008531222A (ja) * 2005-03-03 2008-08-14 インテュイティブ サージカル， インコーポレイテッド 柔軟性手首部を持つ心臓組織アブレーション器具
US20140188159A1 (en) * 2011-07-11 2014-07-03 Agile Endosurgery, Inc. Surgical tool
WO2015079775A1 (fr) * 2013-11-28 2015-06-04 国立大学法人 東京工業大学 Robot chirurgical
US20170000977A1 (en) * 2015-06-30 2017-01-05 Boston Scientific Scimed, Inc. Medical device having outer polymeric member including one or more cuts
JP2020515330A (ja) * 2017-03-30 2020-05-28 マイクロポート（シャンハイ）メドボット カンパニー，リミティッド 手術ロボット用ヘビ型ジョイント、手術器具及び内視鏡

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008531222A (ja) * 2005-03-03 2008-08-14 インテュイティブ サージカル， インコーポレイテッド 柔軟性手首部を持つ心臓組織アブレーション器具
US20140188159A1 (en) * 2011-07-11 2014-07-03 Agile Endosurgery, Inc. Surgical tool
WO2015079775A1 (fr) * 2013-11-28 2015-06-04 国立大学法人 東京工業大学 Robot chirurgical
US20170000977A1 (en) * 2015-06-30 2017-01-05 Boston Scientific Scimed, Inc. Medical device having outer polymeric member including one or more cuts
JP2020515330A (ja) * 2017-03-30 2020-05-28 マイクロポート（シャンハイ）メドボット カンパニー，リミティッド 手術ロボット用ヘビ型ジョイント、手術器具及び内視鏡

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118105173A (zh) * 2024-04-29 2024-05-31 苏州安博医疗科技有限公司 基于环境感知的脊柱外科用机械臂智能调节方法

Similar Documents

Publication Publication Date Title
Hwang et al. Strong continuum manipulator for flexible endoscopic surgery
Haraguchi et al. A pneumatically driven surgical manipulator with a flexible distal joint capable of force sensing
Thomas et al. Surgical applications of compliant mechanisms: A review
Kim et al. A novel layer jamming mechanism with tunable stiffness capability for minimally invasive surgery
EP3448297B1 (fr) Mécanismes flexibles ayant des éléments d'outil inversés
Xu et al. Actuation compensation for flexible surgical snake-like robots with redundant remote actuation
US7988215B2 (en) Surgical robotic system
US9144370B2 (en) Mechanical structure of articulated sheath
US20130298759A1 (en) Integrated mecatronic structure for portable manipulator assembly
US8984982B2 (en) Parallel kinematic structure
KR20160073969A (ko) 수술 기구용 손목 장치
Orekhov et al. A surgical parallel continuum manipulator with a cable-driven grasper
Arata et al. Articulated minimally invasive surgical instrument based on compliant mechanism
Yang et al. Design of a dexterous robotic surgical instrument with a novel bending mechanism
Zhou et al. Design and evaluation of a robotic forceps with flexible wrist joint made of PEEK plastic
WO2019054073A1 (fr) Appareil actionneur, effecteur terminal et système chirurgical
Spiers et al. Investigating remote sensor placement for practical haptic sensing with EndoWrist surgical tools
Kim et al. Design concept of hybrid instrument for laparoscopic surgery and its verification using scale model test
JPWO2018163622A1 (ja) 手術用システム、外科手術システム、外科手術用器具、並びに外力検知システム
Zhou et al. Robotic Forceps with a Flexible Wrist Joint Made of Super Engineering Plastic.
WO2021245849A1 (fr) Unité d'instrument de traitement médical, manipulateur médical et robot médical
Arata et al. Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications
Ahmed et al. Kinestatic modeling of a spatial screw-driven continuum robot
Kim et al. Development of novel bevel-geared 5 mm articulating wrist for micro-laparoscopy instrument
Takikawa et al. Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20938990

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20938990

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP