【０００１】[0001]
【発明の属する技術分野】本発明は、腹腔鏡下手術等に
用いられる医療用マニピュレータに関する。The present invention relates to a medical manipulator used for laparoscopic surgery and the like.
【０００２】[0002]
【従来の技術】腹腔鏡下手術は患者の腹部に小さな穴を
複数個あけて、それにトラカールという細い筒を取り付
けて、内視鏡や鉗子等を挿入して、術者が内視鏡からの
映像をテレビに映し、その画面を見ながら手術を行って
いる。このような手術法は、開腹を必要としないため、
患者への負担が少なく、術後の回復も早く、入院日数が
大幅に低減されている。このため、このような手術方法
は、適用分野の拡大が期待されている。2. Description of the Related Art In laparoscopic surgery, a plurality of small holes are made in the abdomen of a patient, a thin tube called a trocar is attached to the hole, and an endoscope or forceps are inserted. The video is projected on a television and the operation is performed while watching the screen. Because these procedures do not require laparotomy,
The burden on the patient is small, postoperative recovery is fast, and the number of hospital stays is significantly reduced. For this reason, such surgical methods are expected to expand their application fields.
【０００３】腹腔鏡下手術は、患者への負担が少ないと
いう点で優れた手術方法であるが、術者が術部の実像を
見られない、また、鉗子には開閉するグリッパ機能しか
なく操作性がよくないという問題点がある。そのため、
前述の手術方法で適切な処置により腹腔鏡下手術を行え
る術者は熟練した技術を身につけた医師に限定されてい
た。[0003] Laparoscopic surgery is an excellent surgical method in that the burden on the patient is small. However, the surgeon cannot see the real image of the operative site, and the forceps have only a gripper function for opening and closing, so that operation is difficult. There is a problem that it is not good. for that reason,
The surgeon who can perform a laparoscopic operation by an appropriate procedure using the above-mentioned operation method is limited to a doctor who has a skillful skill.
【０００４】このような課題に対して、マスタースレー
ブマニピュレータ等の遠隔操作型ロボット技術を医療分
野へ応用することが研究されている。遠隔操作型ロボッ
ト技術は、術者が操作するマスターアームと、実際に術
部に処置を施すスレーブアームとが、完全に分離したロ
ボットシステムであり、マスターアームの指令値が電気
信号としてスレーブアームに伝わるものである。[0004] In order to solve such problems, application of remote control robot technology such as a master-slave manipulator to the medical field has been studied. The remote control robot technology is a robot system in which the master arm operated by the operator and the slave arm that actually performs treatment on the operation section are completely separated from each other, and the command value of the master arm is transmitted to the slave arm as an electric signal. It is transmitted.
【０００５】[0005]
【発明が解決しようとする課題】通常、マスターアーム
とスレーブアームとは、ともに６自由度以上の関節数を
有しており、それぞれの自由度に対応してコントローラ
が設けられ、電気的に多数の制御系、部品、配線を有す
る複雑なシステムとなっている。複雑なシステムのた
め、マスタースレーブマニピュレータシステムの操作に
関する信頼性は高いレベルになく、メンテナンス費用が
高価である。Normally, both the master arm and the slave arm have more than six degrees of freedom in the number of joints, and a controller is provided corresponding to each degree of freedom. This is a complicated system having control systems, components, and wiring. Due to the complexity of the system, the reliability of the operation of the master-slave manipulator system is not high and the maintenance costs are high.
【０００６】また、術者は処置に適切な処置部を複数使
用して手術を行うことから、処置部の機能が異なるスレ
ーブアームが複数必要になる。そのためスレーブアーム
が非常に高価なのものになり、さらに複数のスレーブア
ームのメンテナンスにも手間がかかるという問題があ
る。In addition, since the surgeon performs an operation using a plurality of treatment units suitable for the treatment, a plurality of slave arms having different functions of the treatment units are required. Therefore, there is a problem that the slave arm becomes very expensive and maintenance of a plurality of slave arms is troublesome.
【０００７】一方、スレーブアームは細径である必要が
あり、その動力伝達にはワイヤとプーリを用いた方式が
主であり、動力源から駆動部までの間にはワイヤが連結
されていることから、先端部分のみを取り外すことは機
構的に不可能であった。複雑に配置されたワイヤの伸び
によるメンテナンスは細径であることから、作業に時間
がかかるとともに専門的技術を要求される作業であるこ
とから、システムが高価なものになっていた。On the other hand, the slave arm must have a small diameter, and its power transmission is mainly of the type using a wire and a pulley, and a wire is connected between the power source and the drive unit. Therefore, it was mechanically impossible to remove only the tip portion. The maintenance due to the elongation of the wires that are arranged in a complicated manner has a small diameter, so that it takes a long time to perform the work and requires a specialized technique, so that the system is expensive.
【０００８】本発明は、このような点を考慮してなされ
たものであり、機構を単純化して信頼性とメンテナンス
性を向上させ、低コスト化をはかった医療用マニピュレ
ータを提供することを目的とする。The present invention has been made in view of the above points, and has as its object to provide a medical manipulator which simplifies a mechanism, improves reliability and maintainability, and reduces costs. And
【０００９】[0009]
【課題を解決するための手段】上記課題を解決するため
に、本発明では、姿勢操作部と処置操作部とを有する操
作指令部と、一端側が前記操作指令部に接続された連結
部と前記連結部の他端側に接続され処置部と前記処置部
を２自由度以上に姿勢変更可能に支持する支持部とを有
する作業部と、前記姿勢操作部からの操作指令を前記支
持部に送って前記処置部の姿勢を変更させるとともに、
前記処置操作部からの操作指令を前記処置部に送って前
記処置部を作動させる制御部と、前記支持部から前記処
置部を取り外し可能とするための着脱部とを備えたこと
を特徴とする医療用マニピュレータを提供する。In order to solve the above-mentioned problems, according to the present invention, there is provided an operation command section having a posture operation section and a treatment operation section, and a connecting section having one end connected to the operation command section. A working unit connected to the other end of the connecting unit, the working unit including a treatment unit and a support unit that supports the treatment unit so that the posture can be changed in two or more degrees of freedom; and an operation command from the posture operation unit is sent to the support unit. To change the posture of the treatment section,
A control unit that sends an operation command from the treatment operation unit to the treatment unit to operate the treatment unit; and a detachable unit that allows the treatment unit to be detached from the support unit. Provide a medical manipulator.
【００１０】ここで、前記着脱部は、前記処置部への動
力を歯車で伝達する機構であり、前記処置部と前記支持
部とは嵌合結合により連結されていることを特徴とする
ものであってもよい。Here, the attachment / detachment section is a mechanism for transmitting power to the treatment section by a gear, and the treatment section and the support section are connected by a fitting connection. There may be.
【００１１】また、前記作業部は、棒状チューブによっ
て動力伝達される回動可能な機構からなることを特徴と
するものであってもよい。[0011] The work section may be constituted by a rotatable mechanism that is transmitted by a rod-shaped tube.
【００１２】さらに、前記作業部は、棒状ロッドによっ
て動力伝達される回動可能な機構からなることを特徴と
するものであってもよい。Further, the working section may be constituted by a rotatable mechanism that is transmitted by a rod-shaped rod.
【００１３】本発明によれば、処置部が支持部から着脱
できる構造のため、操作指令部と連結部からなるアーム
に対して、複数の処置部を容易に付け替え可能になり、
低コストでメンテナンス性が優れた医療用マニピュレー
タを実現できる。According to the present invention, since the treatment section can be attached to and detached from the support section, a plurality of treatment sections can be easily replaced with an arm composed of an operation command section and a connecting section.
A medical manipulator with low cost and excellent maintainability can be realized.
【００１４】[0014]
【発明の実施の形態】以下に図面を参照して、本発明の
実施の形態について説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００１５】図１は、医療用マニピュレータの全体概略
構成を示す図である。医療用マニピュレータ１は、操作
指令部２と、作業部３と、両端が操作指令部２と作業部
３とに接続された連結部４とを備えている。術者は、患
者の腹部に取り付けたトラカール５に医療用マニピュレ
ータ１を挿入して、操作指令部２を操作して手術を行
う。作業部３は術部に処置を施す処置部としてのグリッ
パ３１と、グリッパ３１を２自由度で姿勢変更可能に支
持するＡ軸支持部３２、Ｂ軸支持部３３とを有してい
る。グリッパ３１は開閉動作する構成になっている。Ａ
軸支持部３２は、グリッパ３１の開閉軸部を支持すると
もにＡ軸周りにグリッパ３１全体を回動する構成になっ
ている。Ｂ軸支持部３３は、Ａ軸支持部３２の全体を支
持するとともに、Ｂ軸周りにＡ軸支持部３２を回動する
ようになっている。FIG. 1 is a diagram showing an overall schematic configuration of a medical manipulator. The medical manipulator 1 includes an operation command unit 2, a working unit 3, and a connecting unit 4 having both ends connected to the operation command unit 2 and the working unit 3. The surgeon inserts the medical manipulator 1 into the trocar 5 attached to the patient's abdomen and operates the operation command unit 2 to perform surgery. The working unit 3 has a gripper 31 as a treatment unit for performing treatment on the operation unit, and an A-axis support unit 32 and a B-axis support unit 33 that support the gripper 31 so that the posture can be changed with two degrees of freedom. The gripper 31 is configured to open and close. A
The shaft support 32 supports the open / close shaft of the gripper 31 and rotates the entire gripper 31 around the A axis. The B-axis support portion 33 supports the entire A-axis support portion 32 and rotates the A-axis support portion 32 around the B-axis.
【００１６】操作指令部２は、姿勢操作部としてのハン
ドル２１と処置部操作部としての指操作部２２を有して
いる。指操作部２２はハンドル２１を握る手の指が挿入
される２つの指挿入部２２ａ，２２ｂを有している。指
挿入部２２ａ，２２ｂは指の動きにあうように回動する
構成になっている。指挿入部２２ａ，２２ｂには、開閉
の移動量を検出するセンサ（図示せず）が設けられてい
る。ハンドル２１は連結部４側に配置される台座部２１
ａと旋回アーム２６と、操作者の手によって把持される
把持部２１ｂとを有している。台座部２１ａと旋回アー
ム２６は、Ｃ軸回動部２３を介して接続されており、把
持部２１ｂはＣ軸周りに回転可能になっている。旋回ア
ーム２６と把持部２１ｂはＤ軸回動部２４を介して接続
されており、把持部２１ｂはＤ軸周りに回転可能になっ
ている。図示しないがＣ軸回動部２３と、Ｄ軸回動部２
４には回転角センサが備えられている。指挿入部２２
ａ、２２ｂの開閉による当該センサ値を、グリッパ３１
ａ、３１ｂの開閉動作に対応させている。同様に、Ｃ軸
回動部２３のセンサ値をＡ軸の回転角度に、Ｄ軸回動部
２４のセンサ値をＢ軸の回転角度にそれぞれ対応させて
いる。The operation command unit 2 has a handle 21 as a posture operation unit and a finger operation unit 22 as a treatment unit operation unit. The finger operation section 22 has two finger insertion sections 22a and 22b into which fingers of the hand holding the handle 21 are inserted. The finger insertion portions 22a and 22b are configured to rotate so as to match the movement of the finger. The finger insertion sections 22a and 22b are provided with sensors (not shown) for detecting opening and closing movement amounts. The handle 21 is a pedestal portion 21 arranged on the connecting portion 4 side.
a, a swing arm 26, and a grip 21b that is gripped by an operator's hand. The pedestal portion 21a and the turning arm 26 are connected via a C-axis rotating portion 23, and the grip portion 21b is rotatable around the C-axis. The turning arm 26 and the grip 21b are connected via a D-axis rotation unit 24, and the grip 21b is rotatable around the D-axis. Although not shown, the C-axis rotation unit 23 and the D-axis rotation unit 2
4 is provided with a rotation angle sensor. Finger insertion part 22
a, the sensor value by opening and closing of 22b, the gripper 31
a, 31b corresponding to the opening and closing operation. Similarly, the sensor value of the C-axis rotation unit 23 corresponds to the rotation angle of the A-axis, and the sensor value of the D-axis rotation unit 24 corresponds to the rotation angle of the B-axis.
【００１７】また、本実施の形態では、連結部４と台座
２１ａとの間に駆動部４０を設けている。駆動部４０は
前述の角軸センサからの検出信号に基づいて、対応する
駆動部４１、４２、４３から動力を作業部３のグリッパ
３１、Ａ軸支持部３２、Ｂ軸支持部３３に伝達する構造
になっている。In the present embodiment, a driving section 40 is provided between the connecting section 4 and the pedestal 21a. The drive unit 40 transmits power from the corresponding drive units 41, 42, 43 to the gripper 31, the A-axis support unit 32, and the B-axis support unit 33 of the working unit 3 based on the detection signal from the above-described square axis sensor. It has a structure.
【００１８】図２は、本発明の医療用マニピュレータ１
の駆動部４０から作業部３への動力伝達系統図を、図３
は作業部３の概略断面図を示したものである。先端部３
のグリッパ３１ａは、駆動部４１のモータＭ１の動力で
駆動される。モータＭ１の動力は歯車ユニットＧ１を介
して、棒状のチューブからなる動力伝達部Ｔ１に伝えら
れる。この動力伝達部Ｔ１は連結部４の軸心に平行なＳ
軸周りに回動して、端部に取り付かれている歯車５１ａ
を介して、歯車５２ａを回動させる。歯車５２ａは軸Ｂ
上に回動できるように取り付けられており、軸Ｓ周りの
回転を軸Ｂ周りの回転に変換させている。歯車５２ａは
歯車５３ａとかみ合うような歯形が、５１ａとかみ合う
面とは反対側に構成されている。歯車５２ａは歯車５３
ａを介して、歯車５４ａを回動させる。そして、歯車５
４ａは、グリッパ３１ａが取り付けられている歯車５５
ａとかみ合っており、歯車５５ａを軸Ａ周りに回動させ
る。同様に、作業部３のグリッパ３１ｂも駆動部４２の
モータＭ２によって駆動される。モータＭ２の回転動力
は、歯車ユニットＧ２、動力伝達部Ｔ２、歯車５１ｂ、
歯車５２ｂ、歯車５３ｂ、歯車５４ｂと伝わり、グリッ
パ３１ｂが取り付けられている歯車５５ｂを軸Ａ周りに
回動させて、グリッパ３１ｂの開閉を行っている。歯車
５２は、歯車５１と歯車５３と同時にかみ合う必要があ
るので、図３に示すように、軸Ｂ上に歯車９１ａ、歯車
９１ｂを用いて歯車５３ａ、歯車５３ｂに回転させても
かまわない。本構成で使用されている歯車５１と歯車５
２、歯車５４と歯車５５は平歯車とフェースギヤで組み
合わせのものか、あるいは、かさ歯車で組み合わせたも
のである。処置部３のサイズは１５ｍｍ以下にする必要
があり、細径サイズの歯車製作には平歯車とフェースギ
ヤは適している。また、フェースギヤは軸方向を調整す
ることでバックラッシュを調整できる機構であるため、
本提案の形態には最適な組み合わせであると言える。FIG. 2 shows a medical manipulator 1 of the present invention.
A power transmission system diagram from the drive unit 40 to the working unit 3 of FIG.
Shows a schematic sectional view of the working unit 3. Tip 3
Is driven by the power of the motor M1 of the drive unit 41. The power of the motor M1 is transmitted to a power transmission unit T1 composed of a rod-shaped tube via a gear unit G1. The power transmission unit T1 is connected to the S
A gear 51a that rotates about an axis and is attached to an end.
, The gear 52a is rotated. Gear 52a is shaft B
It is mounted so as to be pivotable upward, and converts rotation around the axis S into rotation around the axis B. The gear 52a has a tooth profile that meshes with the gear 53a on the side opposite to the surface that meshes with the gear 51a. The gear 52a is a gear 53
The gear 54a is rotated via a. And gear 5
4a is a gear 55 to which the gripper 31a is attached.
The gear 55a is rotated around the axis A. Similarly, the gripper 31b of the working unit 3 is driven by the motor M2 of the driving unit 42. The rotational power of the motor M2 is supplied to the gear unit G2, the power transmission unit T2, the gear 51b,
The gear 55b, to which the gripper 31b is attached, is rotated around the axis A by the transmission of the gears 52b, 53b, and 54b to open and close the gripper 31b. Since the gear 52 needs to mesh with the gear 51 and the gear 53 at the same time, as shown in FIG. 3, the gear 53a and the gear 53b may be rotated using the gear 91a and the gear 91b on the shaft B. Gear 51 and gear 5 used in this configuration
2. The gear 54 and the gear 55 are a combination of a spur gear and a face gear, or a combination of a bevel gear. The size of the treatment section 3 needs to be 15 mm or less, and a spur gear and a face gear are suitable for producing a gear having a small diameter. In addition, since the face gear is a mechanism that can adjust the backlash by adjusting the axial direction,
It can be said that this is the optimal combination for the form of the present proposal.
【００１９】Ａ軸支持部３２は、Ｂ軸支持部３３の歯車
７２に連結されている。歯車７２は、駆動部４０のモー
タＭ３の動力で軸Ｂ周りを回動できる。モータＭ３の回
転動力を歯車ユニットＧ３、動力伝達部Ｔ３、歯車７１
を介して歯車７２に伝達される。同様に、歯車７１と歯
車７２は平歯車とフェースギヤの組み合わせが適当であ
る。歯車７２は支持部材８４に連結されており、Ａ軸支
持部３２を軸Ｂ周りに回動させる。The A-axis support 32 is connected to the gear 72 of the B-axis support 33. The gear 72 can rotate around the axis B by the power of the motor M3 of the drive unit 40. The rotational power of the motor M3 is transmitted to the gear unit G3, the power transmission unit T3, and the gear 71.
To the gear 72. Similarly, as the gear 71 and the gear 72, a combination of a spur gear and a face gear is appropriate. The gear 72 is connected to the support member 84 and rotates the A-axis support 32 around the axis B.
【００２０】本実施の形態では、グリッパ３１ａとグリ
ッパ３１ｂをそれぞれ単独で軸Ａ周りに回動できる構成
になっている。そのためグリッパの開閉軸とＡ軸は同軸
になっている。グリッパ３１ａとグリッパ３１ｂを逆位
相で動作させれば、開閉動作ができ、同位相で動作させ
れば、軸Ａ周りに回転することができる。駆動部４０か
らの動力伝達は歯車機構を用いていることから、Ａ軸支
持部３２はＢ軸支持部３３から容易に取り外すことがで
きる。Ｂ軸支持部３３の支持部材８４とＡ軸支持部３２
の支持部材８１は回転拘束され、かつ、精密に位置決め
を行うことができる構成（図示せず）になっており、着
脱部材８３を介して嵌合結合されている。本実施の形態
では、着脱部材８３としてピンを用いた構成にしている
が、ネジ等の方式でも構わない。In the present embodiment, the gripper 31a and the gripper 31b can be independently rotated around the axis A. Therefore, the opening / closing axis of the gripper and the A axis are coaxial. If the gripper 31a and the gripper 31b are operated in opposite phases, the opening and closing operation can be performed. If the grippers 31a and 31b are operated in the same phase, they can rotate around the axis A. Since the power transmission from the drive unit 40 uses a gear mechanism, the A-axis support 32 can be easily removed from the B-axis support 33. The support member 84 of the B-axis support 33 and the A-axis support 32
The support member 81 has a configuration (not shown) that can be rotationally restrained and can be accurately positioned, and is fitted and connected via a detachable member 83. In the present embodiment, a pin is used as the attachment / detachment member 83, but a screw or the like may be used.
【００２１】Ａ軸支持部３２とＢ軸支持部３３が機構的
には独立した構成になっていることから、駆動部４０か
らの動力伝達方式は棒状チューブを用いた方式に限定さ
れるものでない。ワイヤ７５とプーリ７６、７７を用い
た動力伝達方式でも構わない。図２に示すように、モー
タＭ４と歯車ユニットＧ４をプーリ７６、７７の回転軸
と平行に設置し、ワイヤ７５はそれぞれのプーリ７６、
７７に巻き付けて、動力を伝達させる。プーリ７７はＢ
軸に回転可能に設置しているため、前述した歯車構成を
用いることでグリッパ３１ａとグリッパ３１ｂを動作さ
せることができる。棒状チューブを用いた方式は、大き
な動力を得ることができ、機械的なガタが生じにくいと
いうメリットがある。一方、ワイヤとプーリ方式は、軽
量化できるというメリットを持っている。両者ともメン
テナンスは簡素となっている。Since the A-axis support portion 32 and the B-axis support portion 33 are mechanically independent from each other, the system for transmitting power from the drive portion 40 is not limited to the system using a rod-shaped tube. . A power transmission method using the wire 75 and the pulleys 76 and 77 may be used. As shown in FIG. 2, the motor M4 and the gear unit G4 are installed in parallel with the rotation axes of the pulleys 76 and 77, and the wires 75 are connected to the respective pulleys 76 and 77.
It is wound around 77 to transmit power. Pulley 77 is B
Since it is rotatably mounted on the shaft, the gripper 31a and the gripper 31b can be operated by using the gear configuration described above. The method using the rod-shaped tube has a merit that a large power can be obtained and mechanical play does not easily occur. On the other hand, the wire and pulley method has an advantage that the weight can be reduced. Both have simple maintenance.
【００２２】駆動部４０からの動力伝達の別の実施形態
を図４に示す。モータ９３の回転を歯車９４に伝え、歯
車９４に構成されたロッド状伝達部材９５を介して、先
端の歯車９６を回動させる。歯車９６には処置部９７が
取り付けられた歯車９８が噛み合っており、処置部９７
は回動される。ロッド状伝達部材９５は、軸心に作用す
る引っ張り力で動力を伝達する部材から構成されている
ため、細径でも剛性を高くすることができる長所があ
る。Another embodiment of the power transmission from the drive unit 40 is shown in FIG. The rotation of the motor 93 is transmitted to the gear 94, and the gear 96 at the end is rotated via a rod-shaped transmission member 95 formed on the gear 94. The gear 98 is engaged with a gear 98 to which a treatment section 97 is attached.
Is rotated. Since the rod-shaped transmission member 95 is composed of a member that transmits power by a pulling force acting on the axis, there is an advantage that rigidity can be increased even with a small diameter.
【００２３】以上のことから、医療用マニピュレータ１
は、作業部３の一部から容易に取り外すことができるの
で、操作指令部２と連結部４と駆動部４０と作業部３の
Ｂ軸支持部３３のいわゆるアーム部分を共通化して、作
業部３のＡ軸支持部３２とグリッパ３１からなる処置部
を必要な作業によってつけ替えることで、製作コストは
大幅に低減できる。術者は、作業（つかむ作業、切る作
業、縫合する作業など）に応じて、適した処置部をあら
かじめアーム先端に取り付けて手術を行い、術後それを
外し、洗浄や滅菌を行う。特にグリッパは直接組織を扱
うため、消耗が激しくメンテナンスや交換が頻繁に行わ
れている。そのような交換作業も本形態の医療用マニピ
ュレータでは手間がかからず、専門的な知識が無くても
容易に交換等が可能になる。From the above, the medical manipulator 1
Can be easily removed from a part of the working unit 3, so that the operation command unit 2, the connecting unit 4, the driving unit 40, and the so-called arm portion of the B-axis support unit 33 of the working unit 3 are shared, By replacing the treatment section composed of the A-axis support section 32 and the gripper 31 by necessary work, the production cost can be significantly reduced. An operator performs an operation by attaching a suitable treatment section to the distal end of the arm in advance in accordance with an operation (a grasping operation, a cutting operation, a suturing operation, and the like), removes the operation portion after the operation, and performs cleaning and sterilization. In particular, since the gripper directly handles the tissue, the gripper is frequently consumed and maintenance and replacement are frequently performed. In the medical manipulator according to the present embodiment, such replacement work can be easily performed without any trouble and without any special knowledge.
【００２４】[0024]
【発明の効果】以上説明したように、本発明によれば、
処置部が支持部から着脱できる構造のため、操作指令部
と連結部からなるアームに対して、複数の処置部が容易
に取り付けることが可能になり、低コストでメンテナン
ス性が優れる医療用マニピュレータを提供することがで
きる。As described above, according to the present invention,
Because the treatment section can be attached to and detached from the support section, multiple treatment sections can be easily attached to the arm consisting of the operation command section and the connection section, and a medical manipulator with low cost and excellent maintainability is provided. Can be provided.
【図１】本発明の実施の形態を示す全体構成図。FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.
【図２】本発明の実施の形態を示す動力伝達系統図。FIG. 2 is a power transmission system diagram showing the embodiment of the present invention.
【図３】本発明による作業部の概略断面図。FIG. 3 is a schematic sectional view of a working unit according to the present invention.
【図４】本発明による動力伝達部の別の実施の形態を示
す概略図。FIG. 4 is a schematic diagram showing another embodiment of the power transmission unit according to the present invention.
１ 医療マニピュレータ ２ 操作指令部 ３ 作業部 ４ 連結部 ２１ ハンドル ２２ 指操作部 ３１ グリッパ ３２ Ａ軸支持部 ３３ Ｂ軸支持部 ４０ 駆動部 ５１〜５５、７１、７２、９１、９４、９６ 歯車 ８１、８４ 支持部材 ８３ 着脱部材 Ｔ１〜Ｔ３ 棒状チューブ型伝達部材 ７５ ワイヤ ７６、７７ プーリ ９５ ロッド状伝達部材 Ｍ１〜Ｍ４ モータ Ｇ１〜Ｇ４ 歯車ユニット DESCRIPTION OF SYMBOLS 1 Medical manipulator 2 Operation command part 3 Working part 4 Connecting part 21 Handle 22 Finger operation part 31 Gripper 32 A axis support part 33 B axis support part 40 Drive part 51-55, 71, 72, 91, 94, 96 Gear 81, 84 Supporting member 83 Removable member T1 to T3 Rod-shaped tube-type transmitting member 75 Wire 76, 77 Pulley 95 Rod-shaped transmitting member M1 to M4 Motor G1 to G4 Gear unit
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０２Ｂ 21/32 Ｇ０２Ｂ 21/32 // Ａ６１Ｂ 17/00 ３２０ Ａ６１Ｂ 17/00 ３２０ Ｂ２５Ｊ 7/00 Ｂ２５Ｊ 7/00 Ｆターム(参考） 2H052 AF19 3F059 AA00 AA10 BA10 CA06 CA08 DA02 DA05 DA08 EA02 3F060 AA00 AA10 FA06 GA05 GA13 GB15 GB21 GB23 GD13 HA02 HA35 4C060 EE02 EE21 EE30 GG01 GG21 MM24 MM26 4C061 AA00 AA24 BB00 CC00 DD01 GG15 GG27 HH21 HH56 JJ11──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl.7 Identification code FI Theme coat ゛ (Reference) G02B 21/32 G02B 21/32 // A61B 17/00 320 A61B 17/00 320 B25J 7/00 B25J 7 / 00 F term (reference) 2H052 AF19 3F059 AA00 AA10 BA10 CA06 CA08 DA02 DA05 DA08 EA02 3F060 AA00 AA10 FA06 GA05 GA13 GB15 GB21 GB23 GD13 HA02 HA35 4C060 EE02 EE21 EE30 GG01 GG21 MM24 MM26 4C061A00 GG00 GG00
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000159188AJP3613551B2 (en) | 2000-03-31 | 2000-03-31 | Medical manipulator |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000159188AJP3613551B2 (en) | 2000-03-31 | 2000-03-31 | Medical manipulator |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2004262882ADivisionJP4022534B2 (en) | 2004-09-09 | 2004-09-09 | Medical manipulator |
| Publication Number | Publication Date |
|---|---|
| JP2001277157Atrue JP2001277157A (en) | 2001-10-09 |
| JP3613551B2 JP3613551B2 (en) | 2005-01-26 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000159188AExpired - LifetimeJP3613551B2 (en) | 2000-03-31 | 2000-03-31 | Medical manipulator |
| Country | Link |
|---|---|
| JP (1) | JP3613551B2 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005028146A (en)* | 2003-07-09 | 2005-02-03 | Ethicon Endo Surgery Inc | Surgical instrument incorporating articulation mechanism having rotation about longitudinal axis |
| US6994716B2 (en) | 2002-09-18 | 2006-02-07 | Kabushiki Kaisha Toshiba | Medical manipulator |
| JP2006191939A (en)* | 2005-01-11 | 2006-07-27 | Hitachi Ltd | Surgical device and manipulator used therefor |
| JP2006239280A (en)* | 2005-03-07 | 2006-09-14 | Nst:Kk | Medical tweezers |
| JP2006239279A (en)* | 2005-03-07 | 2006-09-14 | Nst:Kk | Medical tweezers |
| JP2006305717A (en)* | 2005-03-29 | 2006-11-09 | Toshiba Corp | manipulator |
| JP2008036793A (en)* | 2006-08-08 | 2008-02-21 | Terumo Corp | Working mechanism and manipulator |
| JP2008055165A (en)* | 2006-08-29 | 2008-03-13 | Ethicon Endo Surgery Inc | Articulated curved cutter stapler |
| JP2008161970A (en)* | 2006-12-28 | 2008-07-17 | Terumo Corp | manipulator |
| US7540867B2 (en) | 2005-03-29 | 2009-06-02 | Kabushiki Kaisha Toshiba | Manipulator |
| WO2010068003A3 (en)* | 2008-12-12 | 2010-09-23 | Rebo | Surgical instrument and coupling structure for surgical robot |
| JP2011530355A (en)* | 2008-08-14 | 2011-12-22 | モンテリス メディカル， インコーポレイテッド | Stereotaxic drive system |
| WO2013018897A1 (en) | 2011-08-04 | 2013-02-07 | オリンパス株式会社 | Surgical implement and medical treatment manipulator |
| WO2013062132A1 (en)* | 2011-10-25 | 2013-05-02 | Olympus Corporation | Medical manipulator |
| JP2015501697A (en)* | 2011-11-23 | 2015-01-19 | リブスメド インコーポレーテッド | Surgical instrument |
| JPWO2013018897A1 (en)* | 2011-08-04 | 2015-03-05 | オリンパス株式会社 | Surgical tools and medical manipulators |
| US9218053B2 (en) | 2011-08-04 | 2015-12-22 | Olympus Corporation | Surgical assistant system |
| US9244524B2 (en) | 2011-08-04 | 2016-01-26 | Olympus Corporation | Surgical instrument and control method thereof |
| US9244523B2 (en) | 2011-08-04 | 2016-01-26 | Olympus Corporation | Manipulator system |
| US9423869B2 (en) | 2011-08-04 | 2016-08-23 | Olympus Corporation | Operation support device |
| US9477301B2 (en) | 2011-08-04 | 2016-10-25 | Olympus Corporation | Operation support device and assembly method thereof |
| US9519341B2 (en) | 2011-08-04 | 2016-12-13 | Olympus Corporation | Medical manipulator and surgical support apparatus |
| US9524022B2 (en) | 2011-08-04 | 2016-12-20 | Olympus Corporation | Medical equipment |
| US9568992B2 (en) | 2011-08-04 | 2017-02-14 | Olympus Corporation | Medical manipulator |
| US9632573B2 (en) | 2011-08-04 | 2017-04-25 | Olympus Corporation | Medical manipulator and method of controlling the same |
| US9632577B2 (en) | 2011-08-04 | 2017-04-25 | Olympus Corporation | Operation support device and control method thereof |
| US9671860B2 (en) | 2011-08-04 | 2017-06-06 | Olympus Corporation | Manipulation input device and manipulator system having the same |
| US9851782B2 (en) | 2011-08-04 | 2017-12-26 | Olympus Corporation | Operation support device and attachment and detachment method thereof |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59175963A (en)* | 1983-03-16 | 1984-10-05 | ユナイテッド キングドム アトミック エナ↓−ヂイ オ↓−ソリテイ | Manipulator |
| JPS6067889U (en)* | 1983-10-19 | 1985-05-14 | 株式会社明電舎 | Arm mechanism for robots |
| JPS60153791U (en)* | 1984-03-19 | 1985-10-14 | 株式会社明電舎 | Robot drive mechanism |
| JPS63102886A (en)* | 1986-10-17 | 1988-05-07 | 東京電力株式会社 | Rope driven manipulator |
| JPH0768484A (en)* | 1993-08-31 | 1995-03-14 | Kitagawa Iron Works Co Ltd | Robot hand device |
| JPH07136173A (en)* | 1993-11-15 | 1995-05-30 | Olympus Optical Co Ltd | Manipulator for operation |
| JPH07194610A (en)* | 1993-12-28 | 1995-08-01 | Olympus Optical Co Ltd | Medical tool |
| JPH08140985A (en)* | 1994-11-24 | 1996-06-04 | Olympus Optical Co Ltd | Operation forceps |
| JPH106269A (en)* | 1996-06-20 | 1998-01-13 | Tokico Ltd | Industrial robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59175963A (en)* | 1983-03-16 | 1984-10-05 | ユナイテッド キングドム アトミック エナ↓−ヂイ オ↓−ソリテイ | Manipulator |
| JPS6067889U (en)* | 1983-10-19 | 1985-05-14 | 株式会社明電舎 | Arm mechanism for robots |
| JPS60153791U (en)* | 1984-03-19 | 1985-10-14 | 株式会社明電舎 | Robot drive mechanism |
| JPS63102886A (en)* | 1986-10-17 | 1988-05-07 | 東京電力株式会社 | Rope driven manipulator |
| JPH0768484A (en)* | 1993-08-31 | 1995-03-14 | Kitagawa Iron Works Co Ltd | Robot hand device |
| JPH07136173A (en)* | 1993-11-15 | 1995-05-30 | Olympus Optical Co Ltd | Manipulator for operation |
| JPH07194610A (en)* | 1993-12-28 | 1995-08-01 | Olympus Optical Co Ltd | Medical tool |
| JPH08140985A (en)* | 1994-11-24 | 1996-06-04 | Olympus Optical Co Ltd | Operation forceps |
| JPH106269A (en)* | 1996-06-20 | 1998-01-13 | Tokico Ltd | Industrial robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7314473B2 (en) | 2002-09-18 | 2008-01-01 | Kabushiki Kaisha Toshiba | Medical manipulator |
| US6994716B2 (en) | 2002-09-18 | 2006-02-07 | Kabushiki Kaisha Toshiba | Medical manipulator |
| US7905234B2 (en) | 2002-09-18 | 2011-03-15 | Kabushiki Kaisha Toshiba | Medical manipulator |
| US7314472B2 (en) | 2002-09-18 | 2008-01-01 | Kabushiki Kaisha Toshiba | Medical manipulator |
| US7261726B2 (en) | 2002-09-18 | 2007-08-28 | Kabushiki Kaisha Toshiba | Medical manipulator |
| JP2005028146A (en)* | 2003-07-09 | 2005-02-03 | Ethicon Endo Surgery Inc | Surgical instrument incorporating articulation mechanism having rotation about longitudinal axis |
| JP2006191939A (en)* | 2005-01-11 | 2006-07-27 | Hitachi Ltd | Surgical device and manipulator used therefor |
| JP2006239279A (en)* | 2005-03-07 | 2006-09-14 | Nst:Kk | Medical tweezers |
| JP2006239280A (en)* | 2005-03-07 | 2006-09-14 | Nst:Kk | Medical tweezers |
| JP2006305717A (en)* | 2005-03-29 | 2006-11-09 | Toshiba Corp | manipulator |
| US7540867B2 (en) | 2005-03-29 | 2009-06-02 | Kabushiki Kaisha Toshiba | Manipulator |
| US8512316B2 (en) | 2005-03-29 | 2013-08-20 | Terumo Kabushiki Kaisha | Manipulator |
| JP2008036793A (en)* | 2006-08-08 | 2008-02-21 | Terumo Corp | Working mechanism and manipulator |
| US8137339B2 (en) | 2006-08-08 | 2012-03-20 | Terumo Kabushiki Kaisha | Working mechanism and manipulator |
| JP2008055165A (en)* | 2006-08-29 | 2008-03-13 | Ethicon Endo Surgery Inc | Articulated curved cutter stapler |
| JP2008161970A (en)* | 2006-12-28 | 2008-07-17 | Terumo Corp | manipulator |
| JP2011530355A (en)* | 2008-08-14 | 2011-12-22 | モンテリス メディカル， インコーポレイテッド | Stereotaxic drive system |
| WO2010068003A3 (en)* | 2008-12-12 | 2010-09-23 | Rebo | Surgical instrument and coupling structure for surgical robot |
| US9423869B2 (en) | 2011-08-04 | 2016-08-23 | Olympus Corporation | Operation support device |
| WO2013018897A1 (en) | 2011-08-04 | 2013-02-07 | オリンパス株式会社 | Surgical implement and medical treatment manipulator |
| US9851782B2 (en) | 2011-08-04 | 2017-12-26 | Olympus Corporation | Operation support device and attachment and detachment method thereof |
| US9671860B2 (en) | 2011-08-04 | 2017-06-06 | Olympus Corporation | Manipulation input device and manipulator system having the same |
| JPWO2013018897A1 (en)* | 2011-08-04 | 2015-03-05 | オリンパス株式会社 | Surgical tools and medical manipulators |
| US9161772B2 (en) | 2011-08-04 | 2015-10-20 | Olympus Corporation | Surgical instrument and medical manipulator |
| US9218053B2 (en) | 2011-08-04 | 2015-12-22 | Olympus Corporation | Surgical assistant system |
| US9244524B2 (en) | 2011-08-04 | 2016-01-26 | Olympus Corporation | Surgical instrument and control method thereof |
| US9244523B2 (en) | 2011-08-04 | 2016-01-26 | Olympus Corporation | Manipulator system |
| US9632577B2 (en) | 2011-08-04 | 2017-04-25 | Olympus Corporation | Operation support device and control method thereof |
| US9477301B2 (en) | 2011-08-04 | 2016-10-25 | Olympus Corporation | Operation support device and assembly method thereof |
| US9632573B2 (en) | 2011-08-04 | 2017-04-25 | Olympus Corporation | Medical manipulator and method of controlling the same |
| US9519341B2 (en) | 2011-08-04 | 2016-12-13 | Olympus Corporation | Medical manipulator and surgical support apparatus |
| US9524022B2 (en) | 2011-08-04 | 2016-12-20 | Olympus Corporation | Medical equipment |
| US9568992B2 (en) | 2011-08-04 | 2017-02-14 | Olympus Corporation | Medical manipulator |
| US9492236B2 (en) | 2011-10-25 | 2016-11-15 | Olympus Corporation | Medical manipulator |
| JP2013090728A (en)* | 2011-10-25 | 2013-05-16 | Olympus Corp | Medical manipulator |
| WO2013062132A1 (en)* | 2011-10-25 | 2013-05-02 | Olympus Corporation | Medical manipulator |
| JP2015501697A (en)* | 2011-11-23 | 2015-01-19 | リブスメド インコーポレーテッド | Surgical instrument |
| Publication number | Publication date |
|---|---|
| JP3613551B2 (en) | 2005-01-26 |
| Publication | Publication Date | Title |
|---|---|---|
| JP2001277157A (en) | Medical manipulator | |
| JP3631450B2 (en) | manipulator | |
| JP3610110B2 (en) | Medical manipulator | |
| CN113749777B (en) | Surgical instrument platform, instrument assembly and surgical instrument | |
| JP3476878B2 (en) | Surgical manipulator | |
| JP4014792B2 (en) | manipulator | |
| JP5610547B2 (en) | Multi-configuration telepresence system and method | |
| US9937007B2 (en) | Angled instrument shaft roll actuator | |
| US12343104B2 (en) | Surgical platform supported and controlled by multiple arms | |
| JP2002543865A (en) | Surgical instruments | |
| JP7096393B2 (en) | Surgical system and support device | |
| JP3628742B2 (en) | Medical manipulator | |
| JPH07328024A (en) | Medical manipulator device | |
| Liu et al. | Development of a smart surgical robot with bended forceps for infant congenital esophageal atresia surgery | |
| US20190216296A1 (en) | Medical instrument and surgical system | |
| JP4022534B2 (en) | Medical manipulator | |
| JPH07328015A (en) | Surgical manipulator system | |
| JP2022181066A (en) | Surgical system and method of controlling a surgical system | |
| US11369442B2 (en) | Surgical system |
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal | Free format text:JAPANESE INTERMEDIATE CODE: A02 Effective date:20040713 | |
| A521 | Request for written amendment filed | Free format text:JAPANESE INTERMEDIATE CODE: A523 Effective date:20040909 | |
| A911 | Transfer to examiner for re-examination before appeal (zenchi) | Free format text:JAPANESE INTERMEDIATE CODE: A911 Effective date:20040916 | |
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) | Free format text:JAPANESE INTERMEDIATE CODE: A01 Effective date:20041022 | |
| A61 | First payment of annual fees (during grant procedure) | Free format text:JAPANESE INTERMEDIATE CODE: A61 Effective date:20041025 | |
| R151 | Written notification of patent or utility model registration | Ref document number:3613551 Country of ref document:JP Free format text:JAPANESE INTERMEDIATE CODE: R151 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20071105 Year of fee payment:3 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20081105 Year of fee payment:4 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20091105 Year of fee payment:5 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20101105 Year of fee payment:6 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20101105 Year of fee payment:6 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20111105 Year of fee payment:7 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20121105 Year of fee payment:8 | |
| S111 | Request for change of ownership or part of ownership | Free format text:JAPANESE INTERMEDIATE CODE: R313113 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20121105 Year of fee payment:8 | |
| R350 | Written notification of registration of transfer | Free format text:JAPANESE INTERMEDIATE CODE: R350 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20121105 Year of fee payment:8 | |
| FPAY | Renewal fee payment (event date is renewal date of database) | Free format text:PAYMENT UNTIL: 20131105 Year of fee payment:9 | |
| S111 | Request for change of ownership or part of ownership | Free format text:JAPANESE INTERMEDIATE CODE: R313113 | |
| R350 | Written notification of registration of transfer | Free format text:JAPANESE INTERMEDIATE CODE: R350 | |
| R250 | Receipt of annual fees | Free format text:JAPANESE INTERMEDIATE CODE: R250 | |
| R250 | Receipt of annual fees | Free format text:JAPANESE INTERMEDIATE CODE: R250 | |
| R250 | Receipt of annual fees | Free format text:JAPANESE INTERMEDIATE CODE: R250 | |
| R250 | Receipt of annual fees | Free format text:JAPANESE INTERMEDIATE CODE: R250 | |
| S531 | Written request for registration of change of domicile | Free format text:JAPANESE INTERMEDIATE CODE: R313531 | |
| S533 | Written request for registration of change of name | Free format text:JAPANESE INTERMEDIATE CODE: R313533 | |
| R350 | Written notification of registration of transfer | Free format text:JAPANESE INTERMEDIATE CODE: R350 | |
| R250 | Receipt of annual fees | Free format text:JAPANESE INTERMEDIATE CODE: R250 | |
| R250 | Receipt of annual fees | Free format text:JAPANESE INTERMEDIATE CODE: R250 | |
| EXPY | Cancellation because of completion of term |