WO2021234853A1 - Holder - Google Patents

Abstract

Provided is a holder that can be attached/detached to easily attach/detach a drape.　This holder comprises: an attachment part that is attachably/detachably joined to a support structure; a camera head adapter holding part, to/from which a camera head adapter holding an endoscope can be attached/detached; and a drape holding part on which a drape can be installed, the drape covering at least a section of the support structure to which the attachment part is joined. The attachment part is connected to the camera head adapter holding part with a base material part therebetween, and the drape holding part is mounted so as to be rotatable relative to the base material part.

Description

holder

The present invention relates to a holder for detachably joining a camera head adapter that holds an endoscope to a robot or other support structure.

As a robot for holding an endoscope, for example, the surgical assistance system described in Patent Documents 1 and 2 has been proposed. This surgical assistance system consists of a base unit and a robot mechanism, and the robot mechanism is attached to a support column, a first robot arm rotatably attached to the tip of the support column, and the tip of the first robot arm. It has a second robot arm rotatably attached and a device support attached to the tip of the second robot arm. The device support is configured to accommodate an endoscope or other medical tool or device.

Japanese Unexamined Patent Publication No. 2016-93493 European Patent Publication No. 2246006

In the surgery performed by holding the endoscope in the robot, it is necessary to cover it with a drape to prevent the robot from being contaminated. Since the connection structure between the robot arm and the device support is complicated, it is difficult to cover it with a drape. On the other hand, if the entire device support is covered together with the second robot arm, the holding of the endoscope by the device support becomes complicated, which may complicate the drape covering work. there were. Further, when the entire device support is covered with the drape together with the second robot arm, the drape may be twisted by changing the posture of the second robot arm or the like by driving the robot mechanism.

Therefore, an object of the present invention is to provide a holder that can easily attach / detach the drape by attaching / detaching the holder to the robot that holds the endoscope. Furthermore, it is an object of the present invention to provide a holder capable of suppressing the twist of the drape even when the arm or other support structure, which is the object of covering the drape, is driven.

In order to solve the above problems, the holder of the present invention includes a mounting portion that is detachably joined to the support structure and a camera head adapter holding portion that allows the camera head adapter that holds the endoscope to be detached. A drape holding portion capable of installing a drape covering at least the portion of the support structure to which the mounting portion is joined is provided, and the mounting portion is connected to the camera head adapter holding portion via the base material portion. The drape holding portion is characterized in that it is mounted so as to be rotatable relative to the base material portion.

In the holder of the present invention, the base material portion has a circular plane on the support structure side, and the mounting portion is provided in the center of the circular plane in a diameter range smaller than the diameter of the circular plane, and the drape holding portion is provided. Of the circular plane, it is preferable to have a ring plate shape arranged so as to face a substantially annular region surrounding the mounting portion.

In the holder of the present invention, it is preferable that the drape holding portion is arranged so that the central axis is the same with respect to the circular plane.

In the holder of the present invention, a ring-shaped fixing plate is fixed in a substantially annular region of the base material portion, and the fixing plate has a common central axis with the fixing plate and is formed to protrude toward the support structure. It has a ring portion, and the annular portion has an outer diameter corresponding to the inner peripheral surface of the drape holding portion, a first groove portion is formed on the outer peripheral surface thereof, and the inner peripheral surface of the drape holding portion has a ring portion. A second groove having a shape corresponding to the first groove is formed, and the drape is held with respect to the fixing plate so that the first groove and the second groove are fitted to each other in a slidable and rotatable state. It is preferable to attach the part.

In the holder of the present invention, it is preferable that the mounting portion protrudes toward the support structure side from the drape holding portion when the drape holding portion is mounted on the fixing plate.

In the holder of the present invention, it is preferable that the end of the drape on the camera head adapter holding portion side is fixed to the outer peripheral surface of the drape holding portion.

According to the present invention, it is possible to provide a holder in which the drape can be easily attached and detached by attaching and detaching the holder. Since the drape can be attached by attaching and detaching the holder, the adapter holding the endoscope can be easily and quickly replaced even during surgery. Further, the twist of the drape can be kept small even when the arm or other support structure covered with the drape is driven.

(A) is a perspective view showing a state in which the endoscope and the holder are attached to the camera head adapter in the embodiment of the present invention, and (b) is a perspective view showing a state in which the endoscope and the holder are removed. It is a perspective view which shows the state which the holder and the arm part of a robot are separated. (A) is a plan view of the camera head adapter viewed from above, (b) is a bottom view of the camera head adapter viewed from below, and (c) is a perspective view of the camera head adapter viewed from the bottom side. (A) is a perspective view showing a state in which the camera head adapter, the holder, and the mounting member of the arm portion are joined to each other, and (b) is a state in which the camera head adapter, the holder, and the mounting member of the arm portion are separated from each other. It is a perspective view which shows. It is a perspective view of a camera head adapter holding part, a mounting part, and a base material part of a holder, (a) is a perspective view seen from the rear upper side, and (b) is a perspective view seen from the front lower side. It is a top view of the camera head adapter holding part, the mounting part, and the base material part of the holder, (a) is a plan view, (b) is a rear view seen from the rear side, and (c) is a front side. It is a front view seen from. It is a diagram showing a cross-sectional view taken along the CC'line of FIG. 6 and a diagram showing a virtual view of the side wall portion on the right side of the connection portion of the camera head adapter inserted in the holder. be. (A) is a diagram showing a state in which the connection portion is displaced downward from the state of FIG. 7 and inserted into the holder, and (b) is a diagram showing a state in which the connection portion is displaced forward from the state of (a). Is. (A) is a perspective view showing the holder, the fixing plate, and the ring plate disassembled, and (b) is a perspective view showing the state in which the holder, the fixing plate, and the ring plate of (a) are assembled. It is a back view of the base material part and the mounting part of a holder. (A) is a side view showing a state before the holder equipped with the drape, the camera head adapter, and the arm portion side of the robot are joined, and (b) is the arm portion by joining the holder of (a). It is a side view that virtually shows the state where the robot is covered with the drape.

Hereinafter, the holder according to the embodiment of the present invention will be described in detail with reference to the drawings.
In the following description, the observation optical axis AX1 of the endoscope 100 and the central axis AX2 along the longitudinal direction of the camera head adapter 20 are set, and the front-back direction along the center axis AX2 is the D11-D12 direction, front-back direction. The vertical direction and the horizontal direction (width direction), which are orthogonal to each other and orthogonal to each other, are referred to as D21-D22 direction and D31-D32 direction, respectively. The central axis AX2 substantially coincides with the observation optical axis AX1 when the endoscope 100 is attached to the camera head adapter 20. In each figure, D11, D12, D21, D22, D31, and D32 may be referred to as front side, rear side, upper side, lower side, left side, and right side, respectively.

In this embodiment, an example of holding an endoscope 100 used for endoscopic surgery will be described, and a form that can be attached to a robot for surgical support as a support structure via a holder 60 will be described. Examples of the support structure of the present embodiment include a robot whose arm portion can be bent by pneumatic drive. However, in the camera head adapter 20 of the present embodiment, the robot and the arm portion of other operating principles are not bent and driven. It can also be applied to robots or structures other than robots.

As shown in FIG. 1A, the camera head adapter 20 holds the endoscope 100 in a detachable manner. The camera head adapter 20 is detachably attached to the attachment member 11 of the robot arm portion 15 (see FIG. 11B) via the holder 60.

As shown in FIG. 2, the arm portion 15 of the robot includes a tip holding portion 10 to which the holder 60 is mounted and a gimbal mechanism portion 14 at the tip thereof. As shown in FIG. 2, the tip holding portion 10 is attached to the gimbal mechanism portion 14 and has a substantially circular shape in a plan view along the central axis AX2 of the camera head adapter 20.

The tip holding portion 10 holds the holder 60 detachably via a mounting member 11 provided at the tip portion, thereby holding the camera head adapter 20 mounted on the holder 60. The mounting member 11 is arranged concentrically with the tip holding portion 10 in a plan view along the AX2, and has a circular shape having a smaller diameter.

The gimbal mechanism unit 14 rotatably supports the camera head adapter 20 about the central axis AX2 along the observation optical axis AX1 of the endoscope 100, and a direction intersecting the central axis AX2, preferably a direction orthogonal to the central axis AX2. Supports rotatably around the axis of rotation extending to.

<Endoscope>
As shown in FIG. 1 (b), the endoscope 100 includes a camera head 110, an insertion unit 120, an electric cable 131, and an optical cable 132, and has an operation unit 111 on the upper surface.

The camera head 110 includes an image pickup element (not shown) for capturing an image of an object to be observed / photographed, and an optical system (not shown) for forming an image on the image pickup element, and is provided on the optical axis of the image pickup element. It has a corresponding observation optical axis AX1. The camera head 110 has a change in outer shape when viewed along the direction in which the observation optical axis AX1 extends. Specifically, the diameter of the camera head 110 becomes smaller as the front side portion (D11 side portion) in the observation optical axis AX1 direction becomes smaller toward the front, and the rear side portion (D12 side portion) in the observation optical axis AX1 direction becomes rearward. The diameter becomes smaller toward it, and the intermediate part between them forms a cylinder with substantially the same diameter.

The housing of the camera head 110 is made of a material having hardness in order to protect the built-in image sensor and optical system and to reliably maintain the arrangement relationship between them. On the other hand, the tubular material constituting the outer circumference of the insertion portion 120 is made of a flexible material that can be bent and deformed when inserted into the patient's body. Further, the tubular material constituting the outer circumference of the electric cable 131 and the optical cable 132 is made of a flexible material that allows deformation according to the routing arrangement. The housing of the camera head 110, the tubular material of the insertion portion 120, the tubular material of the electric cable 131, and the tubular material of the optical cable 132 are made of, for example, a resin material as a material having the above-mentioned characteristics.

By operating the operation unit 111, the user can start / end imaging, adjust the imaging conditions by operating the built-in optical system, adjust the illumination intensity, and the like.

The insertion portion 120 is provided on one end side of the camera head 110 in the direction along the observation optical axis AX1, and the electric cable 131 and the optical cable 132 are provided on the other side in the direction along the observation optical axis AX1. Has been done. Therefore, the insertion portion 120, the camera head 110, the electric cable 131, and the optical cable 132 are arranged in order from the object side along the observation optical axis AX1.

The electric cable 131 and the optical cable 132 are smaller in size than the camera head 110 in the width direction (D31-D32 direction) than the camera head 110, respectively, and are arranged in the vertical direction (D21-D22 direction). Have been placed.

The insertion portion 120 is provided so as to extend along the observation optical axis AX1, and inside the insertion portion 120, an optical fiber or the like that guides the light emitted from an external light source to the tip surface and the light incident from the tip surface are guided to the camera head 110. Has a route. Further, a treatment tool for treating an object, for example, forceps, a path for ejecting water or air, a wire for bending and deforming the insertion portion 120, and the like may be provided inside.

The electric cable 131 is internally inserted with a supply line for supplying electric power to the camera head 110 and a transmission line for transmitting the image pickup data in the image pickup element to an external image processing or display unit. The optical cable 132 has a path such as an optical fiber for guiding the emitted light from an external light source to the insertion portion 120 side.

<Camera head adapter>
As shown in FIG. 1 (b), the camera head adapter 20 is formed so as to extend along the direction of the central axis AX2 parallel to the observation optical axis AX1 of the endoscope 100, and has a holding portion 30 located on the front side. A connecting portion 40 located on the rear side and a connecting portion 50 for connecting the holding portion 30 and the connecting portion 40 to each other are provided.

The holding portion 30 holds the camera head 110, which has a rigid housing, in the endoscope 100 so as to be removable. As shown in FIGS. 3A, 3B, and 3C, the holding portions 30 extend along the direction of the central axis AX2, and the two side wall portions 31 facing each other across the central axis AX2. 32, and a bottom wall portion 33 that connects the two side wall portions 31 and 32 to each other on the inner side in the insertion direction of the camera head 110 into the holding portion 30. The two side wall portions 31 and 32 have a smaller facing distance as the front side (D11 side) portion in the direction along the central axis AX2 moves forward so as to correspond to the shape of the housing of the camera head 110. The facing distance becomes smaller as the side (D12 side) portion moves toward the rear, and the intermediate portion between them has substantially the same facing distance. Therefore, the holding portion 30 has an inner surface shape corresponding to the outer shape of the camera head 110.

The front tip portions 31a and 32a of the two side wall portions 31 and 32 are connected to each other, and a groove portion 30a along the central axis AX2 is provided between them. The upper side of the groove 30a is open. That is, the groove portion 30a is formed in the front portion of the holding portion 30. When the camera head 110 is arranged in the holding portion 30 of the camera head adapter 20, the insertion portion 120 extends to the outside through the groove portion 30a, so that the insertion portion 120 can be extended without bending and inserted. The camera head 110 can be held while keeping the stress applied to the unit 120 small. Further, the insertion portion 120 is supported by coming into contact with the groove portion 30a.
In addition, instead of the groove portion 30a, a hole portion that penetrates the connecting portion of the front tip portions 31a, 32a of the two side wall portions 31, 32 along the direction of the central axis AX2 may be used.

The camera head adapter 20 is manufactured, for example, by integrally molding a resin. In the camera head adapter 20, the two side wall portions 31 and 32 have an opening 30b into which the camera head 110 can be inserted in the space 30s between them (see FIG. 3A). The opening 30b is positioned and sized so that the operation unit 111 is exposed when the camera head 110 is inserted and arranged in the space 30s.

The camera head adapter 20 can reliably hold the camera head 110 in the space in a normal surgical operation, and the camera head 110 is inserted into the space 30s by elastic deformation of the two side wall portions 31, 32. It has the flexibility to allow it. In the holding portion 30, the camera head 110 inserted in the space 30s between the two side wall portions 31 and 32 is supported by the two side wall portions 31 and 32 on two sides facing each other, and the bottom wall portion. The bottom is supported by 33. Further, the upper end portions (upper side (D21 side) ridgeline portion) of the two side wall portions 31 and 32 are curved, bent, or adjusted in thickness so as to be closer to each other than the lower portion. It is preferable to bring the camera head 110 into contact with or close to a part of the upper surface of the camera head 110 housed therein because the camera head 110 can be reliably held.
The side wall portion may be composed of a plurality of three or more wall portions as long as the camera head 110 can be reliably held.

By configuring the holding portion 30 in this way, the camera head 110 can be reliably held in the space 30s, and as a release structure, when an external force of a predetermined value or more is applied to the endoscope 100 or the camera head adapter 20. The holding of the camera head 110 can be released by elastic deformation or plastic deformation of the two side wall portions 31, 32. The above-mentioned predetermined value is set in advance as a value sufficiently large with respect to the external force applied by the operation in the normal treatment or setting, and the camera head 110 is removed from the camera head adapter 20 when an external force exceeding the predetermined value is applied. It can be separated. The shape and flexibility (elasticity) of the two side wall portions 31 and 32 of the camera head adapter 20 are set so that such a release structure functions.

The connecting portion 50 is composed of two side wall portions 31 and 32 extending from the holding portion 30, and the space sandwiched by the two side wall portions 31 and 32 is connected to the space 30s in the holding portion 30. The facing distance between the two side wall portions 31 and 32 in the width direction (D31-D32 direction) is smaller than that of the holding portion 30. This facing distance is smaller than that of the camera head 110, and is large enough to allow the thickest portion of the electric cable 131 and the optical cable 132 to be inserted. The connecting portion 50 is not provided with a bottom portion and has a shape that penetrates vertically. Since the camera head 110 cannot be inserted into the connecting portion 50 due to such a shape, the user can easily adjust the camera head 110 back and forth into the holding portion 30 which is the correct insertion position. Can be inserted. Further, since the connecting portion in which the electric cable 131 and the optical cable 132 are connected to the camera head 110 is inserted into the connecting portion 50 without bending, the electric cable 131 and the optical cable 132 can be connected to the camera head 110 during operation of an endoscope or a robot. Since the connection portions with the electric cable 131 and the optical cable 132 are less likely to be stressed, it is possible to prevent disconnection and other problems.

The connecting portion 50 is not limited to the above structure as long as the holding portion 30 and the connecting portion 40 can be reliably connected. For example, the two side wall portions 31, 32 are not extended to the connecting portion 50, but are joined to each other in front of the connecting portion 50 to form a closed shape. It is also possible to join one connecting portion.

Further, in the present embodiment, the two side wall portions 31 and 32 are flexible (elastic), but can be made of a rigid material as long as the camera head 110 can be inserted and securely held. In this case, it is preferable to give the connecting portion 50 flexibility or elasticity because the insertability of the camera head 110 can be ensured.

As shown in FIGS. 3A to 3C, the connecting portion 40 has a plate shape extending rearward from the rear end of the connecting portion 50, and has two side surfaces 41 and 42 facing each other.
As shown in FIGS. 3 (a) to 3 (c) or FIG. 4 (b), the left side surface 41 of the connecting portion 40 has three engaging projections 41a, 41b, 41c protruding to the left as engaging portions. Is provided. The upper two engaging protrusions 41a and 41b are provided at the same position in the vertical direction (D21-D22 direction), and the two front engaging protrusions 41a and 41c are provided at the same position in the front-rear direction (D11-D12 direction). It is provided. The three engaging protrusions 41a, 41b, and 41c have the same shape. In FIGS. 4A and 4B, the display of the fixing plate 141 and the ring plate 142 is omitted.

As shown in FIGS. 3 (a) to 3 (c) or FIG. 7, the right side surface 42 is provided with three engaging protrusions 42a, 42b, and 42c protruding to the right as engaging portions. As shown in FIG. 7, the two upper engaging protrusions 42a and 42b are provided at the same position in the vertical direction, and the center positions are arranged at a distance L1 in the front-rear direction. The two engaging protrusions 42a and 42c on the front side are provided at the same position in the front-rear direction, and the center positions are arranged at a distance L2 in the vertical direction. Further, the distance between the center position of the engaging protrusion 42b on the rear side and the rear end surface 40a of the connecting portion 40 is set to a distance L3. The three engaging protrusions 42a, 42b, and 42c have the same shape as each other, and the three engaging protrusions 41a, 41b, and 41c on the left side surface 41 also have the same shape.

These three engaging protrusions 42a, 42b, 42c are arranged at positions corresponding to the three engaging protrusions 41a, 41b, 41c of the left side surface 41 with respect to the surface extending in the vertical direction including the central axis AX2. Has been done.

<Holder>
As shown in FIGS. 5A and 5B and FIGS. 6A to 6C, the holder 60 is provided on the base material portion 61 provided at the rear portion and the front surface 61a of the base material portion 61. It includes two side wall portions 70, 80 and a bottom wall portion 90. Further, as shown in FIGS. 9A and 9B, the holder 60 includes a fixing plate 141 and a ring plate 142. The base material portion 61, the two side wall portions 70 and 80, and the bottom wall portion 90 are manufactured, for example, by integrally molding a hard resin material.

The base material portion 61 has a substantially disk shape having a planar shape extending in a substantially disk shape when viewed along the front-rear direction (D11-D12 direction), and is the rear plane of the two opposing planes. The 61c is provided with a mounting portion 62 that projects rearward and is detachably joined to the arm portion 15 of the robot.

The mounting portion 62 is provided within a diameter range smaller than the diameter of the planar shape of the base material portion 61, has a predetermined width W (see FIG. 6B) in the left-right direction (D31-D32 direction), and has a predetermined width W (see FIG. 6B). Moreover, it has a shape extending along the vertical direction (D21-D22 direction). In the mounting portion 62, overhanging portions 63a and 64a extending outward in the left-right direction are provided on the upper portions of the two side surfaces 63 and 64 facing each other in the left-right direction, respectively. In the state shown in FIG. 6B, the mounting portion 62 has a predetermined height H from the bottom portion 62a to the overhanging portions 63a and 64a.

The two side wall portions 70 and 80 of the holder 60 are provided so as to extend from the front surface 61a of the base material portion 61 to the front side (D11 side), respectively, and face each other in the left-right direction (D31-D32 direction). The bottom wall portion 90 extends from the front surface 61a of the base material portion 61 to the front side and is connected to the lower portions of the two side wall portions 70 and 80. As a result, a space 60a is formed in front of the base material portion 61, which is surrounded by the two side wall portions 70 and 80 and the bottom wall portion 90 and has an open upper side, and the camera head adapter 20 is detachably held by the camera. A head adapter holding portion is configured.

As shown in FIG. 6A, two insertion recesses 71 and 72 recessed toward the outside (left side (D31 side)) are provided on the upper inner surface of the first side wall portion 70 on the left side. .. These insertion recesses 71 and 72 are provided side by side so that the center positions are arranged at a predetermined distance L1 in the front-rear direction.

The upper inner surface of the second side wall portion 80 on the right side of the holder 60 is outside (right side (D32)) so as to face each other in the left-right direction with respect to each of the two insertion recesses 71 and 72 of the first side wall portion 70 on the left side. Two insertion recesses 81, 82 recessed toward (side)) are provided. These insertion recesses 81 and 82 are provided side by side so that the center positions are arranged at a predetermined distance L1 in the front-rear direction. The insertion recess 82 on the rear side is separated from the center position of the insertion recess 82 to the front surface 61a of the base material portion 61 by a distance L3 in the front-rear direction.

As shown in FIG. 7, the insertion recess 81 on the front side of the second side wall portion 80 on the right side is connected to the first fixing recess 83 extending to the front side at a position extending downward by a predetermined distance, and is connected to the rear side. The insertion recess 82 extends downward by the same distance as the front insertion recess 81, and is connected to the second fixing recess 84 extending to the front. The second fixing recess 84 is continuously provided in the insertion recess 81 in the front-rear direction, and is provided at the same height position as the first fixing recess 83 in the vertical direction.

The insertion recess 81 on the front side extends further downward from the portion connected to the first fixing recess 83, and is connected to the third fixing recess 85 extending to the front at a place extended by a distance L2. .. Therefore, the insertion recess 81 extending in the vertical direction, the first fixing recess 83 extending in the front-rear direction, the second fixing recess 84, and the third fixing recess 85 are orthogonal to each other in the surface direction of the inner surface of the second side wall portion 80. It is formed so as to bend along the direction of bending. This bending direction is not limited to orthogonality, and may be a direction substantially orthogonal to each other.

Here, the relative positional relationships of the three fixing recesses 83, 84, and 85 in the vertical and front-rear directions correspond to the relative positional relationships of the three engaging protrusions 42a, 42b, and 42c of the connecting portion 40 in the vertical and front-rear directions. Is located in. The three fixing recesses 83, 84, and 85 have inner surface shapes corresponding to the outer shapes of the three engaging protrusions 42a, 42b, and 42c, respectively. Therefore, when it is inserted into the three engaging protrusions 42a, 42b, 42c, it is press-fitted by applying a predetermined force, and after the press-fitting, it is fixed to such an extent that it does not come off even if an external force due to an operation such as a normal treatment is applied. ..

Here, although not shown, the insertion recesses 71 and 72 of the first side wall portion 70 on the left side also have the first fixing recesses and the second fixing recesses, as in the insertion recesses 81 and 82 of the second side wall portion 80 on the right side. In addition, a third fixing recess is continuously provided.

The joining between the camera head adapter 20 and the holder 60 will be described focusing on the joining between the right side surface 42 of the connecting portion 40 and the second side wall portion 80 on the right side of the holder 60. The left side surface 41 of the connecting portion 40 and the first side wall portion 70 on the left side of the holder 60 are also joined in the same manner.

First, as shown in FIG. 7, the camera head adapter 20 is arranged above the holder 60, and the lower portion of the rear end surface 40a of the connection portion 40 is brought into contact with the upper portion of the front surface 61a of the base material portion 61. As a result, the engaging protrusions 42c and 42b of the connecting portion 40 are located above the insertion recesses 81 and 82, respectively. At this time, although not shown, the engaging protrusions 41c and 41b of the connecting portion 40 are located above the insertion recesses 71 and 72 of the holder 60, respectively.

Next, by displacing the camera head adapter 20 downward or the holder 60 upward, the engaging protrusions 42c and 42b of the connecting portion 40 are inserted into the insertion recesses 81 and 82, respectively (FIG. 8 (a). )). At this time, the engaging protrusions 41c and 41b of the connecting portion 40 are also inserted into the insertion recesses 71 and 72, respectively.

Next, taking the right side surface 42 as an example, as shown in FIG. 8A, the engaging protrusion 42c contacts the bottom 81a of the insertion recess 81, and the engaging protrusion 42b contacts the bottom 82a of the insertion recess 82. By doing so, the insertion into the second side wall portion 80 is restricted in the vertical direction. Further, by moving the camera head adapter 20 forward or the holder 60 backward from the state of FIG. 8A, the engaging protrusion 42a is press-fitted into the first fixing recess 83, and the second The engaging protrusion 42b is press-fitted into the fixed recess 84, and the engaging protrusion 42c is press-fitted into the third fixing recess 85 (FIG. 8 (b)). As a result, the connection portion 40 and the holder 60 are joined, and the camera head adapter 20 and the holder 60 are fixed to each other. Since the direction in which the insertion recesses 81 and 82 extend and the direction in which the first fixing recess 83, the second fixing recess 84, and the third fixing recess 85 extend are orthogonal to each other, the camera head adapter 20 and the holder 60 are mutually orthogonal to each other. After fixing, even if an external force is applied to the camera head adapter 20, the holder 60, or the arm portion 15 of the robot to shift it back and forth, it will move further up and down to prevent the fixed state from being released. be able to.

Here, as shown in FIG. 7, in each of the three fixing recesses 83, 84, and 85, recesses or through holes recessed in the second side wall portion 80 along the left-right direction (D31-D32 direction) are formed. It is preferable to provide elastic members 83a, 84a, 85a that can be elastically extended toward the inside of the holder 60 along the left-right direction. As a result, when the engaging protrusions 42a, 42b, and 42c are press-fitted into the three fixing recesses 83, 84, and 85, elastic forces can be applied along the left-right direction, so that the camera head adapter 20 and the holder 60 can be applied. It can be more firmly fixed with.

When the camera head adapter 20 and the holder 60 are fixed to each other in this way and the camera head adapter 20 is moved forward or the holder 60 is moved backward, the engaging protrusion 42a, the engaging protrusion 42b, and the engagement protrusion 42b are engaged. The joint protrusion 42c is extracted from the first fixing recess 83, the second fixing recess 84, and the third fixing recess 85, respectively. Further, by pulling up the connecting portion 40 upward, the engaging protrusion 42a, the engaging protrusion 42b, and the engaging protrusion 42c are pulled out from the insertion recesses 81 and 82, respectively, so that the camera head adapter 20 can be pulled out from the holder 60. It will be possible to remove it. By the above steps, the camera head adapter 20 can be removably held by the holder 60.

Here, in the present embodiment, the connecting portions 40 of the camera head adapter 20 are provided with engaging protrusions 41a to 41c and 42a to 42c, and the holder 60 is provided with an insertion recess and a fixing recess corresponding to the engaging protrusions. However, on the contrary, a recess may be provided in the connection portion and a protrusion corresponding to the holder 60 may be provided.

The mounting portion 62 of the holder 60 has a shape corresponding to the holding groove portion 12 provided in the mounting member 11 of the tip holding portion 10 of the arm portion 15 of the robot, and has elasticity that can be press-fitted into the holding groove portion 12. Specifically, as shown in FIG. 2, the holding groove portion 12 is a rectangular groove having a width W and a height H in a plan view, and one end in the direction of the height H is an open portion 13. Therefore, the holder 60 can be detachably joined to the tip holding portion 10 by press-fitting the mounting portion 62 from the opening portion 13 of the holding groove portion 12 along the direction of the height H.

By joining the mounting portion 62 to the tip holding portion 10 in this way, when an external force of a predetermined value or more is applied to the camera head adapter 20, the holder 60, or the arm portion 15, the holder 60 is transferred from the tip holding portion 10. It is removable and functions as a release structure that releases the connection with the arm portion 15. The above-mentioned predetermined value is set in advance as a value sufficiently large with respect to the external force applied by the operation in the normal treatment or setting. The shape and elasticity of the mounting portion 62 and the holding groove portion 12 are set so that such a release structure functions.

As shown in FIGS. 9A and 9B, an annular (ring-shaped) fixing plate 141 is fixed to the flat surface 61c behind the base material portion 61 of the holder 60, and is centered on the fixing plate 141. A ring plate 142 is attached so as to be relatively rotatable about the central axis AX3 along the axis AX2, and the tip end portion of the drape 140, that is, the end portion on the camera head adapter holding portion side is attached to the outer peripheral surface 142a of the ring plate 142. Is fixed. Therefore, the ring plate 142 and the outer peripheral surface 142a function as a drape holding portion for holding the drape 140.

As shown in FIG. 10, the plane 61c has a circular circular plane centered on the central axis AX3 when viewed along the central axis AX3. This circular plane comprises an annular range A1 in FIG. 10 and a circular range A2 within this range A1. The range A1 and the range A2 have the central axis AX3 as a common central axis, the range A1 has an outer diameter (diameter) R1, and the range A2 has a diameter R2.

The mounting portion 62 is provided in the range A2 of the diameter R2 smaller than the outer diameter R1 of the flat surface 61c at the center of the circular flat surface 61c.

The ring plate 142 is arranged so as to face the annular range A1 of the circular planes (ranges A1 and A2) formed by the plane 61c in the direction along the central axis AX3.

As shown in FIGS. 9A and 9B, the rear surface of the fixing plate 141, that is, the surface on the ring plate 142 side (the arm portion 15 side of the robot as a support structure) is centered on the central axis AX3. An annular portion 141a is provided so as to project rearward, and a first groove portion 141b is provided on the outer peripheral surface thereof. The annular portion 141a has an outer diameter corresponding to the inner peripheral surface of the ring plate 142. A second groove portion 142b having a shape corresponding to the first groove portion 141b of the fixing plate 141 is provided on the inner peripheral surface of the ring plate 142. With such a shape, when the second groove portion 142b of the ring plate 142 is fitted to the first groove portion 141b of the fixing plate 141, the second groove portion 142b of the ring plate 142 becomes slidable and rotatable about the central axis AX3, and the fixed plate 141 can be slidably rotated. The ring plate 142 can rotate relative to each other. As a result, even when the holder 60 rotates around the central axis AX2 due to the drive of the arm portion 15, the drape 140 is less likely to be twisted, so that the drape 140 can be prevented from being damaged and the arm portion 15 and the robot can be reliably covered. It becomes possible.

As shown in FIG. 9B, when the fixing plate 141 and the ring plate 142 are attached to the base material portion 61, the mounting portion 62 is rearward of the ring plate 142, that is, the arm portion 15 of the robot. It protrudes to the side by the amount of protrusion P.

As shown in FIG. 11A, the camera head adapter 20 is joined to the holder 60 to which the drape 140 is fixed, and is attached to the attachment member 11 of the tip holding portion 10. As described above, since the mounting portion 62 protrudes from the ring plate 142, the mounting operation on the mounting member 11 can be easily and reliably performed. By this attachment, as shown in FIG. 11B, the arm portion 15 and the robot are covered by the drape 140. Therefore, the arm portion 15 and the robot can be reliably maintained in a clean state, and the holder 60 and the camera head adapter 20 contaminated by the treatment or the like can be easily separated from the robot.

In the above embodiment, the fixing plate 141 and the ring plate 142 are mounted in order on the base material portion 61, but the fixing plate 141 is mounted on the flat surface 61c of the base material portion 61, the outer edge of the mounting portion 62, and the like. When a groove portion is formed in place of the first groove portion 141b provided in the above, it is possible to mount the ring plate 142 on the base material portion 61 without providing the fixing plate 141.
Further, the shape of the range A1 is abbreviated as long as the ring plate 142 faces in the direction along the central axis AX3 and can rotate relative to the fixed plate 141 about the central axis AX3. It may be annular or other shape.
Although the present invention has been described with reference to the above embodiments, the present invention is not limited to the above embodiments, and can be improved or modified within the scope of the purpose of improvement or the idea of the present invention.

As described above, the holder according to the present invention can easily attach / detach the drape by attaching / detaching the holder, and the twist of the drape is reduced even when the arm or other support structure covered with the drape is driven. It is useful in that it can be suppressed.

10 Tip holding part 11 Mounting member 12 Holding groove part 13 Open part 14 Gimbal mechanism part 15 Arm part 20 Camera head adapter 30 Holding part 30a Groove part 30b Opening part 30s Space 31, 32 Side wall part 31a, 32a Front tip part 33 Bottom wall part 40 Connection part 40a Rear end surface 41 Left side surface 41a, 41b, 41c Engagement protrusion 42 Right side surface 42a, 42b, 42c Engagement protrusion 50 Connection part 60 Holder 60a Space 61 Base material part 61a Front surface 61c Rear plane (circular plane)
62 Mounting part 62a Bottom part 63, 64 Side surface 63a, 64a Overhanging part 70 First side wall part 71, 72 Insertion recess 80 Second side wall part 81, 82 Insertion recess 81a, 82a Bottom part 83, 84, 85 Fixed recess 83a, 84a, 85a Elastic member 90 Bottom wall part 100 Endoscope 110 Camera head 111 Operation part 120 Insertion part 131 Electrical cable 132 Optical cable 140 Drape 141 Fixing plate 141a Circular part 141b Groove part 142 Ring plate (drape holding part)
142a Outer peripheral surface (drape holding part)
142b Groove AX1 Observation optical axis AX2 Central axis AX3 Rotation axis (central axis)
H Height L1, L2, L3 Distance W Width

Claims (6)

A mounting part that is detachably joined to the support structure,
A camera head adapter holder that allows the camera head adapter that holds the endoscope to be attached and detached, and a camera head adapter holder.
It is provided with at least a drape holding portion in which a drape can be installed to cover the portion of the support structure to which the mounting portion is joined.
The mounting portion is connected to the camera head adapter holding portion via the base material portion, and is connected to the camera head adapter holding portion.
The drape holding portion is a holder characterized in that it is mounted so as to be rotatable relative to the base material portion. The base material portion has a circular plane on the support structure side, and the base material portion has a circular plane.
The attachment portion is provided in the center of the circular plane in a diameter range smaller than the diameter of the circular plane.
The holder according to claim 1, wherein the drape holding portion has the shape of a ring plate arranged so as to face a substantially annular region surrounding the mounting portion in the circular plane. The holder according to claim 2, wherein the drape holding portion is arranged so that the central axis is the same with respect to the circular plane. A ring-shaped fixing plate is fixed to the substantially annular region of the base material portion.
The fixing plate has a central axis in common with the fixing plate, and has an annular portion formed so as to project toward the support structure.
The annular portion has an outer diameter corresponding to the inner peripheral surface of the drape holding portion, and a first groove portion is formed on the outer peripheral surface thereof.
A second groove having a shape corresponding to the first groove is formed on the inner peripheral surface of the drape holding portion.
The holder according to claim 3, wherein the drape holding portion is attached to the fixing plate so that the first groove portion and the second groove portion can be fitted to each other in a slidable and rotatable state. The holder according to claim 4, wherein the mounting portion protrudes toward the support structure from the drape holding portion when the drape holding portion is mounted on the fixing plate. The holder according to any one of claims 2 to 5, wherein the drape is an end portion on the camera head adapter holding portion side fixed to the outer peripheral surface of the drape holding portion.

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