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WO2025057608A1 - Dispositif d'accouplement et dispositif de robot médical - Google Patents

Dispositif d'accouplement et dispositif de robot médical Download PDF

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Publication number
WO2025057608A1
WO2025057608A1 PCT/JP2024/027789 JP2024027789W WO2025057608A1 WO 2025057608 A1 WO2025057608 A1 WO 2025057608A1 JP 2024027789 W JP2024027789 W JP 2024027789W WO 2025057608 A1 WO2025057608 A1 WO 2025057608A1
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WO
WIPO (PCT)
Prior art keywords
rotor
stator
linear
robotic device
driven shaft
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.)
Pending
Application number
PCT/JP2024/027789
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English (en)
Japanese (ja)
Inventor
裕之 鈴木
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.)
Sony Group Corp
Original Assignee
Sony Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Group Corp filed Critical Sony Group Corp
Publication of WO2025057608A1 publication Critical patent/WO2025057608A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • 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
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the technology disclosed in this specification (hereinafter referred to as "the present disclosure”) relates to a coupling device that connects a driven part equipped with an end effector to a driving part including a motor that drives the end effector, and a medical robot device that uses the coupling device.
  • a robot arm (manipulator) is equipped with a driven part consisting of an end effector with one or more degrees of freedom at its distal end, and a driving part consisting of a motor that drives the end effector.
  • a coupling structure is required to connect the drive shaft of the power source and the driven shaft on the end effector side.
  • a coupling structure has been proposed for a medical manipulator system that connects a surgical tool unit equipped with a surgical tool at its tip to a drive unit that drives the surgical tool (see Patent Document 1).
  • the surgical tool unit and drive unit are connected via an adapter.
  • the connecting portion uses the attractive force of magnets to connect the first rotor and the second rotor, and the first stator and the second stator.
  • the connecting portion includes a plurality of first magnets attached to each of the first rotor and the first stator of the driven shaft portion, and a plurality of second magnets attached to each of the second rotor and the second stator of the drive shaft portion, and the second magnets are disposed on the second stator at locations corresponding to the first magnets attached to the first stator.
  • one of the first stator and the second stator may have a positioning pin, and the other may have a pin hole that fits with the positioning pin.
  • a second aspect of the present disclosure is a first robotic device supporting a surgical tool at a distal end; a second robotic device coupled to the first robotic device; Equipped with a linear motion driven shaft portion of the first robot device and a linear motion drive shaft portion of the second robot device are connected by a surface joint; The first robot device operates the surgical tool by power transmitted from the drive shaft portion to the driven shaft portion. It is a medical robotic device.
  • the first robotic device supports the surgical tool so that it has a remote center of motion.
  • the second robotic device is detachably connected to the first robotic device.
  • a third aspect of the present disclosure is A link mechanism that supports a surgical tool at a distal end; a linear driving shaft portion detachably connected to the linear driving shaft portion by surface contact; Equipped with The linear motion driven shaft drives the link drive unit by power transmitted from the linear motion drive shaft. It is a medical robotic device.
  • This disclosure makes it possible to provide a coupling device and a medical robot device that connect a driven part and a driving part while satisfying not only engineering requirements but also medical requirements.
  • FIG. 1 is a diagram showing a basic configuration of a coupling device 100 according to the present disclosure (a separated state before a driven shaft and a driving shaft are coupled to each other).
  • FIG. 2 is a diagram showing a basic configuration of the coupling device 100 according to the present disclosure (in a state in which the driven shaft and the driving shaft are coupled).
  • FIG. 3 illustrates a basic configuration (with thrust and load applied) of a coupling device 100 according to the present disclosure.
  • FIG. 4 is a diagram for explaining alignment required during coupling in the coupling device 100.
  • FIG. 5 is a diagram for explaining a method for automatically coupling a rotor in the coupling device 100.
  • FIG. 6 shows a variation of the coupling device 100 with a locating pin.
  • FIG. 15 is a diagram showing the operation of connecting the robot arm 700 to the drive unit 1000.
  • FIG. 16 is a diagram showing the operation of connecting the robot arm 700 to the drive unit 1000.
  • FIG. 17 is a diagram showing a modified example of the coupling device (an example for compensating for the height discrepancy).
  • FIG. 18 is a view showing another modified example of the coupling device.
  • FIG. 19 is a view showing still another modified example of the coupling device.
  • FIG. 20 is a diagram showing an example of a schematic configuration of a medical robot system 2000.
  • FIG. 21 is a diagram showing an example of the functional configuration of a medical robot system 2000.
  • FIG. 22 is a diagram showing a general configuration of a linear slider 2200.
  • the coupling structure that connects the driven shaft and the drive shaft is required to satisfy engineering requirements such as easy attachment and detachment to easily replace the end effector even during work, good power transmission efficiency, small backlash, and good reproducibility of connection.
  • the coupling structure is also required to ensure the cleanliness of the driven part side that is attached, detached, and replaced as a medical requirement.
  • the driven shaft side which is equipped with a surgical tool as an end effector, is in a sterilized clean area, while the other drive shaft side is separated from the clean area by being covered with a drape, for example, and it is required to maintain the cleanliness of the driven shaft side. For this reason, the components of the coupling part that connects the driven shaft and drive shaft must be sterilizable.
  • FIG. 22 shows a schematic diagram of a general configuration of a linear slider 2200.
  • the illustrated linear slider 2200 is composed of the components of a stator 2201 and a rotor 2202.
  • the stator 2201 is fixed to a mechanical ground, for example, and has a guide rail (details not shown in FIG. 22) that guides and supports the rotor 2202.
  • the rotor 2202 is placed on the stator 2201 and reciprocates along the guide rail in the longitudinal direction of the stator 2201.
  • a motor not shown in FIG.
  • the rotor 22 that serves as a drive source for operating the rotor 2202, and can also be called a "linear actuator.”
  • the linear slider 2200 when the linear slider 2200 is on the driven shaft side, the rotor 2202 moves linearly in the longitudinal direction of the stator 2201 due to the power transmitted from the outside (the driving shaft side).
  • the member that moves (linearly or rotatingly) relative to the stator in the linear slider and linear actuator is called the "rotor.”
  • One method for fixing the magnets to the rotor and stator components is adhesion.
  • a heat-resistant magnet it is possible to use a thermosetting adhesive.
  • a high-pressure steam sterilization device it is also possible to use a high-pressure steam sterilization device to sterilize the coupling device 100.
  • FIG. 4 shows a side view and a top view of the coupling device 100 when surface jointed.
  • magnets 113 and 114 are arranged at both ends of the stator 112 in the longitudinal direction, and magnet 115 is arranged on the top surface of the rotor 111.
  • magnets 123 and 124 are arranged at both ends of the stator 122 in the longitudinal direction, and magnet 125 is arranged on the top surface of the rotor 121.
  • the polarity of each magnet is set so that an attractive force is generated between the opposing magnets 113 and 123, between magnets 114 and 124, and between magnets 115 and 125.
  • the magnetic attraction between the corresponding magnets connects the linear slider 110 and the linear actuator 120 through a surface joint.
  • the alignment at this time is only the orientation of one axis of rotation in the longitudinal direction of the stator 112 on the linear slider 110 side and the stator 122 on the linear actuator 120 side, as shown in the top view of Figure 4, and this alignment is achieved by the magnetic attraction.
  • the coupling device 100 employs a linear motion method and connects the driven shaft and driving shaft through surface contact, so that only one axis of rotation in the longitudinal direction is required for orientation, and the load of alignment is significantly reduced.
  • FIG. 6 shows a modified example of the coupling device 100 with a positioning pin.
  • positioning pins 601 and 602 are attached to the stator 122 of the linear actuator 120 on the driving shaft side.
  • pin holes 611 and 612 are drilled in the stator 112 of the linear slider 110 on the driven shaft side at locations opposite the positioning pins 601 and 602.
  • a positioning pin is attached to the drive shaft side and a pin hole is provided on the driven shaft side, but the opposite may be true, with a positioning pin attached to the driven shaft side and a pin hole provided on the drive shaft side. In this case, however, an additional step of attaching a positioning pin is required each time the driven shaft side is replaced. Therefore, from the perspective of reducing the number of steps, a configuration in which a positioning pin is attached to the drive shaft side and a pin hole is provided on the driven shaft side, as shown in Figure 6, is more preferable.
  • the coupling device 100 employs a linear motion system for the drive shaft and driven shaft to be coupled, and is configured to connect the drive shaft and driven shaft by surface contact. This reduces the degree of freedom required for alignment and orientation of the drive shaft and driven shaft, and reduces the workload of attachment and detachment.
  • the coupling device 100 is configured to use the attractive force and frictional force of magnets to couple and transmit thrust between the drive shaft and the driven shaft, which enables power to be transmitted from the drive shaft to the driven shaft without backlash, improving the accuracy of driving the driven shaft.
  • the coupling device 100 does not use mechanical parts such as screws to connect the drive shaft and the driven shaft. Therefore, the process of replacing the driven shaft on which an end effector such as a surgical tool is mounted can be simplified.
  • the structure of the coupling device 100 is generally simplified. Therefore, the manufacturing process is simplified, leading to reduced costs.
  • the coupling device 100 has a simple structure that is not complicated, gas can easily penetrate during gas sterilization, facilitating the sterilization process.
  • Robot arm configuration Fig. 7 shows the joint link configuration of a robot arm 700 to which the present disclosure can be applied.
  • the joint axis is represented by "q” and the link is represented by "l”, and the serial numbers identifying each joint q and each link l are represented by subscripts in the lower left corner.
  • joint axes there are two types of joint axes: rotary axes and linear axes.
  • the robot arm 700 is assumed to be a medical robot arm applied to surgical operations such as ophthalmic surgery (or fundus surgery), etc. That is, the tip of the end effector l ee, which is the tip (distal end) link, is a surgical tool T such as forceps, and power given to the linear motion shaft q 20 and the linear motion shaft q 21 arranged near the bottom (mechanical ground) is transmitted by a slider link mechanism to give the end effector l ee translational and rotational degrees of freedom.
  • ophthalmic surgery or fundus surgery
  • the robot arm 700 roughly constitutes a parallel link mechanism, and the position where the longitudinal axis of the end effector l ee intersects with the mechanical ground becomes the remote center of motion RCM of the end effector l ee . Therefore, when the robot arm 700 is applied to ophthalmic surgery, the robot arm 700 is positioned so that the trocar inserted into the sclera (white of the eye) of the eye coincides with this RCM, thereby reducing the load applied to the insertion part when the end effector l ee , which is a surgical tool, is operated or the eye moves, thereby realizing minimally invasive surgery.
  • the end effector l ee can be translated in the longitudinal direction (insertion direction) while remaining inserted in the trocar positioned on the RCM, and by moving the linear axis q21 in a straight line, the end effector l ee can be rotated while the position of the trocar is fixed.
  • the passive axis q19 has the role of keeping the link l15 and the link l16 (and the link l17 ) on a straight line while the end effector l ee is translated and rotated by the operation of the linear axis q20 and the linear axis q21 , and of connecting the joint axes q10 and q11 at both ends of these links in a freely expandable and contractible manner.
  • the passive axis q19 performs linear motion so that the YZ plane passing through the joint axes q10 , q11 , and q14 is constrained.
  • the robot arm 700 having the joint link configuration as shown in Fig. 7 can also be assembled like origami paper.
  • Figs. 8 and 9 show an example of the configuration of the robot arm 700 using an origami structure.
  • Fig. 8 is a side view of the robot arm 700 having an origami structure viewed from the side
  • Fig. 9 is a perspective view of the robot arm 700 having an origami structure viewed from the distal end side.
  • the linear motion axis q20 and the linear motion axis q21 move linearly by the transmission of power from an external source, but in Figs. 8 and 9, the linear motion axis q20 and the linear motion axis q21 are omitted for simplicity.
  • the robot arm 700 is a parallel link mechanism that extends in the XZ plane, and includes multiple joint axes and links as shown in FIG. 7.
  • This parallel link mechanism has two degrees of freedom in the X-axis and Z-axis directions, but no degree of freedom in the Y-axis direction.
  • Joint axes q1 to q21 are illustrated as multiple joint axes of the parallel link mechanism (however, in Figs. 8 and 9, illustration of linear axis q20 and linear axis q21 is omitted). Of these, joint axes q1 , q2 , q7 , and q10 are disposed on the base (mechanical ground) of the robot arm 700. The base of the robot arm 700 is the end opposite to the distal end (however, in Figs. 8 and 9, illustration of the end effector l ee at the distal end is omitted).
  • the linear motion of the linear axis q21 is transmitted through link l12 , joint axis q18 , link l11 , and joint axis q17 to rotate link l4 around joint axis q1 .
  • the linear motion of the linear axis q20 which is an active axis, is transmitted through link l8 , joint axis q16 , link l7 , and joint axis q15 to rotate link l9 around joint axis q7 .
  • the linear axis q20 and the linear axis q21 which are active axes, are each configured as a linear slider on the driven axis side in the coupling device according to the present disclosure, and can be linearly moved by being coupled to a linear actuator on the driving axis side (neither of which is shown in Figs. 7 to 9) installed below the base part of the robot arm 700.
  • a linear actuator on the driving axis side either of which is shown in Figs. 7 to 9
  • the specific configuration of the linear motion shaft q20 and the linear motion shaft q21 and the details of the coupling with the drive shaft side will be described later.
  • a plurality of links l 1 to l 15 and a distal end link (end effector) l ee each extend in the XZ plane direction and connect the joint axes.
  • link l 1 connects joint axis q 1 and joint axis q 2.
  • Link l 2 connects joint axis q 2 and joint axis q 3.
  • Link l 3 connects joint axis q 3 and joint axis q 4.
  • Link l 4 connects joint axis q 1 and joint axis q 4.
  • Link l 5 connects joint axis q 3 and joint axis q 5.
  • Link l 6 connects joint axis q 5 and joint axis q 13.
  • Link l 7 connects joint axis q 4 and joint axis q 6.
  • Link l 14 connects joint axis q 3 and joint axis q 4 .
  • Link l15 connects joint axis q12 and joint axis q13 .
  • the robot arm 700 includes a parallel link mechanism pl1 located on the base side, a parallel link mechanism pl2 located on the distal end side, and a parallel link mechanism pl3 located between the parallel link mechanisms pl1 and pl2 .
  • the parallel link mechanism pl1 located on the base side is composed of joint axis q1 , joint axis q2 , joint axis q3 , joint axis q4 , link l1 , link l2, link l3 , and link l4 .
  • the parallel link mechanism pl2 located on the distal end side is composed of joint axis q11 , joint axis q12 , joint axis q13 , joint axis q14 , link l12 , link l14 , link l6, and link l15 .
  • the parallel link mechanism pl3, located between the parallel link mechanism pl1 and the parallel link mechanism pl2 is composed of joint axis q3 , joint axis q4 , joint axis q5 , joint axis q6 , link l3, link l5 , link l6 , and link l7 .
  • the operation of each parallel link mechanism is well known in the art.
  • Link l14 is a support link that supports an end effector l ee (not shown in Figs. 8 and 9) such as a surgical tool at its distal end.
  • the end effector l ee supported by link l14 extends in the direction in which the surgical tool is inserted into the body (or into the eye).
  • Link l13 is an opposing link that faces link l14 and moves in parallel with link l14 when the end effector l ee is moved in the direction in which the surgical tool is inserted.
  • Joint axis q7 is provided between joint axis q1 and joint axis q2
  • joint axis q9 is provided between joint axis q5 and joint axis q6
  • Link l9 , joint axis q15 , and link l10 are connected between joint axis q7 and joint axis q9 in this order. As can be seen from Figures 8 and 9 , these components are made by bonding plate-like members together to form a V-shape, and do not interfere with the operation of parallel link mechanism pl1 and parallel link mechanism pl2 .
  • linear motion of linear axis q21 which is the active axis, is transmitted via link l12 , joint axis q18 , link l11 , and joint axis q17 , and can rotate link l4 around joint axis q1 .
  • parallel link mechanism pl1 located on the base side is operated by the rotation of link l4
  • parallel link mechanism pl3 located between parallel link mechanisms pl1 and pl2 and parallel link mechanism pl2 located on the distal end side operate in conjunction with each other, and the end effector lee can be pivoted or moved in the insertion direction with the remote motion center RCM as a fixed point.
  • the linear axis q19 is connected between the joint axis q10 and the joint axis q11 via the link l16 and the link l17 so as to linearly move the end effector lee in the insertion direction according to the amount of displacement.
  • the linear axis q19 is configured to deform in the surface direction of the YZ plane perpendicular to the XZ plane.
  • the linear axis q19 is composed of a link mechanism in which the link l16 and the link l17 deform so as to have a V-shape on the YZ plane.
  • the joint link configuration of the linear axis q19 consisting of a V-shaped link mechanism is shown in the lower right of Fig. 8.
  • the linear axis q19 is a passive axis, but while the end effector l ee is translated and rotated by the operation of the linear axis q20 and the linear axis q21 , it has the role of keeping the link l15 and the link l16 (and the link l17 ) on a straight line and of connecting the joint axes q10 and q11 at both ends of these links in a freely expandable and contractible manner.
  • the linear axis q19 is configured by connecting a parallel link mechanism pl81 consisting of joint axis q22 , joint axis q23 , joint axis q24 , joint axis q25 , link l18 , link l19 , link l20 , and link l21 , and a parallel link mechanism pl82 consisting of joint axis q23 , joint axis q24 , joint axis q26 , joint axis q27 , link l18 , link l19 , link l20 , and link l21 , via link l20 .
  • the linear axis q19 has a V-shape in which the parallel link mechanism pl81 and the parallel link mechanism pl82 overlap, with the link l20 as the valley.
  • the link l 20 is displaced in the surface direction of the YZ plane, which becomes the displacement amount of the linear motion axis q 19.
  • the link l 18 is connected to the link l 16
  • the link l 23 is connected to the link l 17 .
  • Fig. 10 shows an external configuration (perspective view) of a drive unit 1000 on the drive shaft side that operates each of linear motion shafts q20 and q21 disposed near the bottom of the robot arm 700.
  • Fig. 11 shows a schematic diagram of a joint link configuration of the drive unit 1000.
  • the drive unit 1000 includes a linear actuator 1010 for driving one linear axis q 20 and a linear actuator 1020 for driving the other linear axis q 21 .
  • One linear actuator 1010 includes a stator 1011, a rotor 1012, and a motor q A,1 .
  • the stator 1011 has a guide rail (not shown in FIG. 11) that guides and supports the rotor 1012, and is fixed to a mechanical ground.
  • the rotor 1012 is placed on the stator 1011, and reciprocates in the longitudinal direction of the stator 1011 along the guide rail by power from the motor q A,1 .
  • the motor q A,1 may be either a rotary motor or a linear motor as long as it can be converted into power in the longitudinal direction of the stator 1011.
  • the other linear actuator 1020 includes a stator 1021, a rotor 1022, and a motor q A,2 , and is configured so that the rotor 1022 reciprocates in the longitudinal direction of the stator 1011 by power from the motor q A,1 .
  • the linear actuator 1010 and the linear actuator 1020 have the stators 1011 and 1021 supported and fixed to the frame 1030 so that their longitudinal directions (i.e., the linear directions of the rotors 1012 and 1022) coincide with the X direction.
  • the frame 1030 is formed by assembling a plurality of sheet metal parts by screw fastening, for example, as shown in the figure.
  • the frame 1030 also has openings 1031 and 1032 for exposing the upper surfaces of the rotors 1012 and 1022, respectively, over the range of movement in the X direction when the rotors 1012 and 1022 reciprocate in the X direction.
  • the upper surface C'1 of the rotor 1012 and the upper surface C'2 of the rotor 1022 are coupling surfaces that couple with the rotors of the linear sliders on the driven shaft side. Therefore, the corresponding rotors on the driving shaft side and the driven shaft side can be coupled to each other through these openings 1031 and 1032.
  • the linear motion axis q20 and the linear motion axis q21 are respectively configured using a linear slider 1210 and a linear slider 1220.
  • the linear slider 1210 and the linear slider 1220 are respectively composed of a stator and a rotor, the stator has a guide rail for guiding and supporting the rotor, and the rotor is placed on the stator and can reciprocate along the guide rail in the longitudinal direction of the stator.
  • the stators of the linear sliders 1210 and the linear sliders 1220 of the linear motion axis q20 and the linear motion axis q21 are supported and fixed to the link l1 of the robot arm 700 so that the longitudinal direction (i.e., the rectilinear direction of the rotor) coincides with the X direction.
  • the longitudinal movement of the rotor on one linear slider 1210 side is the motion of the linear axis q 20
  • the longitudinal movement of the rotor on the other linear slider 1220 side is the motion of the linear axis q 21 .
  • Link l1 is made of a flat part made of sheet metal or the like, and has openings 1231 and 1232 for exposing the upper surfaces of the rotors of linear slider 1210 and linear slider 1220 over the range of motion when the rotors reciprocate in the X direction.
  • the upper surfaces C1 and C2 of each rotor are connecting surfaces for connecting with the upper surface C'1 of rotor 1012 of linear actuator 1010 on the drive shaft side and the upper surface C'2 of rotor 1022 of linear actuator 1020, respectively.
  • the frame portion 1030 has openings 1031 and 1032 for exposing the top surfaces of the rotors 1012 and 1022 over the range of motion when the rotors 1012 and 1022 reciprocate in the X direction.
  • the top surface C'1 of the rotor 1012 and the top surface C'2 of the rotor 1022 are coupling surfaces that couple with the rotors of the linear sliders on the driven shaft side.
  • the corresponding rotors on the driving shaft side and the driven shaft side can be brought into contact with each other via openings 1231 and 1232 provided in link l1 on the robot arm 700 side and openings 1031 and 1032 provided in frame portion 1030 on the drive unit 1000 side.
  • the robot arm 700 and the drive unit 1000 are connected using the attraction force of a magnet.
  • magnets 1251 and 1252 are arranged on the upper surface C1 of the rotor of the linear slider 1210, and magnets 1253 and 1254 are arranged on the upper surface C2 of the rotor of the linear slider 1220.
  • magnets 1255 to 1258 are arranged on the link l1 that supports and fixes the stators of the linear slider 1210 and the linear slider 1220.
  • magnets 1351 and 1352 are arranged on the upper surface C'1 of the rotor 1012 of the linear actuator 1010, and magnets 1353 and 1354 are arranged on the upper surface C'2 of the rotor 1022 of the linear actuator 1020.
  • magnets 1355 to 1358 are arranged on the upper surface of the frame part 1030 that supports and fixes the stator 1011 of the linear actuator 1010 and the stator 1021 of the linear actuator 1020. The positions of these magnets 1355 to 1358 correspond to the positions of the four magnets 1255 to 1258 arranged in the link l1 on the robot arm 700 side.
  • each magnet is set so that an attractive force is generated between opposing magnets 1251 and 1351, between magnets 1252 and 1352, between magnets 1253 and 1353, between magnets 1254 and 1354, between magnets 1255 and 1355, between magnets 1256 and 1356, between magnets 1257 and 1357, and between magnets 1258 and 1358.
  • magnets 1251 to 1258 arranged on the robot arm 700 side are all set to S poles
  • magnets 1351 to 1358 arranged on the drive unit 1000 are all set to N poles.
  • the polarity combinations are not limited to these, and other polarity combinations may be used as long as an attractive force acts between opposing magnets.
  • magnets 1251-1258 and magnets 1351-1358 can be fixed by adhesion, and the use of heat-resistant magnets makes it possible to use a thermosetting adhesive (ibid.).
  • the positions of the corresponding rotors on the linear slider and linear actuator may not match, resulting in the rotors not being connected to each other.
  • the magnetic attraction will connect the rotors to each other (see FIG. 5, for example).
  • the alignment required when connecting the robot arm 700 and the drive unit 1000 is only the orientation of one axis of rotation in the longitudinal direction. This alignment can be made even easier by using a positioning pin.
  • the positioning pins 1341 and 1342 are attached to the frame part 1030 of the drive unit 1000, which is the drive shaft side, while the link l1 , which is the bottom surface of the robot arm 700, which is the driven shaft side, has pin holes 1241 and 1242 drilled at locations facing the positioning pins 1341 and 1342. Therefore, by connecting the linear slider 110 and the linear actuator 120 so that the positioning pins 1341 and 1342 are fitted into the pin holes 1241 and 1242, respectively, the alignment between the stators 112 and 122 can be easily achieved.

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

Abstract

L'invention concerne un dispositif d'accouplement destiné à relier un arbre entraîné et un arbre d'entraînement.　Le dispositif d'accouplement comprend : une partie arbre entraîné à mouvement linéaire ; une partie arbre d'entraînement à mouvement linéaire ; et une partie d'accouplement destinée à accoupler la partie arbre entraîné et la partie arbre d'entraînement par jonction de surfaces. La partie arbre entraîné comprend un coulisseau linéaire comprenant un premier rotor et un premier stator et la partie arbre d'entraînement comprend un actionneur linéaire comprenant un second rotor et un second stator. La partie d'accouplement accouple le premier rotor et le second rotor par jonction de surfaces et le premier stator et le second stator par jonction de surfaces de telle sorte que le premier rotor et le second rotor se déplacent dans la même direction.
PCT/JP2024/027789 2023-09-11 2024-08-02 Dispositif d'accouplement et dispositif de robot médical Pending WO2025057608A1 (fr)

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JP2023147137 2023-09-11
JP2023-147137 2023-09-11

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007029274A (ja) * 2005-07-25 2007-02-08 Hitachi Ltd 術具装置
JP2018191881A (ja) * 2017-05-16 2018-12-06 リバーフィールド株式会社 動力伝達アダプタおよび医療用マニピュレータシステム
JP2022027324A (ja) * 2020-07-31 2022-02-10 ソニーグループ株式会社 医療用マニピュレータシステム並びにアダプタ装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007029274A (ja) * 2005-07-25 2007-02-08 Hitachi Ltd 術具装置
JP2018191881A (ja) * 2017-05-16 2018-12-06 リバーフィールド株式会社 動力伝達アダプタおよび医療用マニピュレータシステム
JP2022027324A (ja) * 2020-07-31 2022-02-10 ソニーグループ株式会社 医療用マニピュレータシステム並びにアダプタ装置

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