JP2019217025A - Operation tool - Google Patents

Abstract

To provide an operation tool capable of estimating external force accurately and reducing a size of a system.SOLUTION: An operation tool comprises: a main body 10; a shaft 20 which is a rod-shaped member extended from the main body 10, and which is rotatably supported to the main body 10 in an axial direction; a shaft side pulley 21 which is rotatably provided to the main body 10 with the shaft 20, on an end on the main body 10 side on the shaft 20, and to which a restiform body 22 for controlling rotation of the shaft 20 is wound; and a pair of main body side pulleys 31L, 31R each of which is provided on one of a pair of positions sandwiching therebetween the shaft side pulley 21 on the main body 10, in a rotatable state to the main body 10, and to which the restiform body 22 is wound.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a surgical instrument.

  For master-slave type surgical robots, a technology to transmit the external force acting on the robot forceps (operating tool) to the operator who operates the robot in an isolated place to improve safety and shorten the time required for doctors to learn the operation Requested. The external force transmitted to the surgeon is estimated based on information such as the position of the actuator and the driving force.

  The above-mentioned external force is desirably estimated with high accuracy, and for that purpose, it is required to reduce the mechanical driving load of the surgical robot. Further, by reducing the driving load, it is possible to set the maximum output of the driving unit that generates the driving force to be small. As a result, it is possible to reduce the size of the output actuator constituting the drive unit, and to reduce the size of the entire system. Various configurations of such a driving unit have been proposed (for example, see Patent Documents 1 and 2).

JP-A-2006-113496 Japanese Patent No. 6177364

  Patent Documents 1 and 2 disclose mechanisms for rotating a surgical instrument (surgical instrument) around a shaft axis direction. Specifically, a helical drive gear and a rotary pulley are arranged on one end side of the shaft. A configuration is disclosed in which the shaft and the shaft are connected to each other using a wire or the like so that the shaft is rotated around the shaft axis.

  However, when the configurations of Patent Documents 1 and 2 are used, if a large torque is required for rotation of the shaft, a large load acts on the shaft in the radial direction. This load increases the frictional force that hinders the rotation of the shaft, and generates a driving load. Therefore, there has been a problem that it is difficult to estimate a highly accurate external force and to reduce the size of the system.

  The present invention has been made in order to solve the above-described problems, and has as its object to provide a surgical instrument that can easily estimate an external force with high accuracy and reduce the size of the system.

In order to achieve the above object, the present invention provides the following means.
The surgical instrument of the present invention includes a main body, a rod-shaped member extending from the main body, a shaft rotatably supported around an axis with respect to the main body, and an end of the shaft on the main body side, A shaft-side pulley around which a cable-like body for controlling rotation of the shaft is wound, the shaft-side pulley being wound around the body together with a shaft, and a pair of positions of the body that sandwich the shaft-side pulley therebetween. Each is provided rotatably with respect to the main body, and is provided with a pair of main body side pulleys around which the cord-like body is wound.

  According to the surgical instrument of the present invention, the pair of main body-side pulleys is disposed so as to sandwich the shaft-side pulley disposed on the shaft, and the cord is wound around the shaft-side pulley and the pair of main body-side pulleys. By transmitting the driving force to this cord-like body, the shaft-side pulley and the shaft are rotated.

  A shaft-side pulley is disposed between a pair of body-side pulleys, a cord extending from one body-side pulley is wound around the shaft-side pulley, and then the cord is wound around the other body-side pulley. Therefore, it is easy to suppress a force acting on the shaft-side pulley and the shaft in a direction perpendicular to the axial direction of the shaft (in other words, a radial direction). As a result, the driving load for rotating the shaft can be easily reduced.

  Further, the area of the shaft-side pulley around which the cord-like body is wound can be easily reduced, in other words, the axial length of the shaft-side pulley can be easily reduced.

  In the above invention, at least one of the pair of main body side pulleys may be relatively movable with respect to the main body, and the pair of main body side pulleys may be arranged so as to be adjustable.

  Since the distance between the pair of body-side pulleys is adjustable as described above, it is easy to adjust the tension (tension) acting on the cord-like body wound around the pair of body-side pulleys. Furthermore, since the adjustment of the tension is facilitated, it is easy to suppress the occurrence of variation when assembling the surgical tool. Further, the accuracy of external force estimation can be easily increased.

  In the above invention, the main body is provided with a plurality of movable parts arranged so as to be relatively movable in a linear direction with respect to the main body, and one of the movable parts is movable with the relative movement of the movable part. It is preferable that another cord is attached, and the other cord is wound around at least the main body side pulley.

  By transmitting the movement of the movable part in the linear direction to the main body side pulley via another cord-like body in this manner, the loss generated when converting the linear movement of the movable part into the rotational movement of the shaft is reduced. It becomes easy to control.

  In the above invention, the plurality of movable parts are arranged side by side in a direction intersecting with the axis, and the other cord-like body is arranged at an end of the plurality of movable parts arranged side by side. Preferably, it is attached to a movable part.

  By attaching another cable-like body to the movable part arranged at the end of the plurality of movable parts arranged side by side in this way, compared with the case where another cable-like body is attached to the other movable part. This makes it easier to make the surgical tool more compact.

  In the above invention, the main body side pulley around which the cord-like body and the other cord-like body are wound is provided with a large-diameter pulley portion having a relatively large diameter, and a small-diameter pulley portion having a relatively small diameter, One of the cord and the other cord is wound around the large-diameter pulley, and the other of the cord and the other cord is wound around the small-diameter pulley. Is preferred.

  As described above, one of the cord and the other cord is wound around the large-diameter pulley portion, and the other is wound around the small-diameter pulley portion, whereby the ratio of the moving amount of the movable portion in the linear direction to the rotation amount of the shaft is obtained. Is easily adjusted to a desired value.

  According to the surgical instrument of the present invention, a pair of main body-side pulleys are arranged so as to sandwich a shaft-side pulley arranged on a shaft, and the cord is wound around the shaft-side pulley and the pair of main body-side pulleys. There is an effect that it is easy to achieve high external force estimation and downsizing of the system.

FIG. 2 is a partial perspective view illustrating an internal configuration of the surgical instrument according to the first embodiment of the present invention. FIG. 2 is a partial top view illustrating the internal configuration of the surgical instrument in FIG. 1. It is a partial top view explaining the internal configuration of the surgical instrument according to the second embodiment of the present invention. FIG. 4 is a partial perspective view illustrating an internal configuration of the surgical instrument in FIG. 3.

[First Embodiment]
Hereinafter, a surgical instrument 1 according to a first embodiment of the present invention will be described with reference to FIGS. The surgical instrument 1 of the present embodiment is used for a master-slave type surgical robot, and will be described as applied to, for example, an example in which forceps are used at a distal end.

  As shown in FIGS. 1 and 2, the surgical instrument 1 includes a main body 10, a shaft 20, a shaft side pulley 21, a main body side pulley 31, a driving pulley 32, a forceps pulley 41, and a guide pulley 42. And the movable part 51 are mainly provided.

  In the present embodiment, in order to facilitate the description, the direction of the axis L of the shaft 20 is defined as the front-rear direction, and is a direction orthogonal to the front-rear direction and in which the pair of main body side pulleys 31L and 31R are arranged side by side. Is defined as a left-right direction, and a direction orthogonal to the front-rear direction and the left-right direction is described as a vertical direction.

  The main body 10 forms the outer shape of the surgical instrument 1 together with the shaft 20. The main body 10 is formed in a rectangular parallelepiped shape in which the shaft side pulley 21, the pair of main body side pulleys 31L and 31R, the driving pulley 32, the forceps pulley 41, the guide pulley 42, the movable portion 51 and the like are housed. is there. 1 and 2, the shaft-side pulley 21, the pair of main-body pulleys 31L and 31R, the driving pulley 32, the forceps pulley 41, the guide pulley 42, the movable portion 51, and the like, which are arranged inside the main body 10, will be described. For simplicity, only the substrate 11 and the top plate 15 of the main body 10 are illustrated, and members surrounding the periphery are not illustrated.

  The substrate 11 of the main body 10 is configured such that the shaft 20 and the shaft-side pulley 21 are rotatably supported around the axis L at the center of the front edge. A body-side pulley 31, a driving pulley 32, a forceps pulley 41, and a guide pulley 42 are rotatably arranged on the upper surface of the substrate 11.

  Further, the substrate 11 is provided with four slits 12 formed in a long hole shape extending in the front-rear direction and arranged at intervals in the left-right direction. In each of the four slits 12, one movable portion 51 is disposed so as to be relatively movable in the front-rear direction with respect to the substrate 11.

  The four slits 12 are a slit 12A, a slit 12B, a slit 12C, and a slit 12D from right to left. The slit 12A is formed longer in the front-rear direction than the other slits 12B, 12C, and 12D. The slits 12B, 12C, and 12D have the same length in the front-rear direction.

  The top plate 15 is a plate-like member attached to the column 13 extending upward from the substrate 11. The top plate 15 sandwiches and supports the body-side pulleys 31L, 31R, the drive pulley 32, the forceps pulley 41, and the guide pulley 42 between the board 11 and the body-side pulleys 31L, 31R, the drive pulley 32, and the forceps. The pulley 41 and the guide pulley 42 are rotatably supported.

  The shaft 20 is a cylindrical member extending forward from the main body 10, and is rotatably supported on the main body 10 around the axis L. A shaft-side pulley 21 that shares the axis L with the shaft 20 is provided at a rear end of the shaft 20. In the present embodiment, a description will be given by applying to an example in which forceps (not shown) are provided at a front end of the shaft 20.

  The shaft-side pulley 21 is a member formed in a cylindrical shape and provided at an end of the shaft 20 in the rearward direction (the main body 10 side) so as to be rotatable with respect to the main body 10 together with the shaft 20. A spiral groove around which a rotation wire (cord-like body) 22 for controlling the rotation of the shaft 20 is formed on the outer peripheral surface of the shaft-side pulley 21.

  The pair of main body-side pulleys 31 </ b> L and 31 </ b> R are rotatably arranged with respect to the main body 10 at positions on the substrate 11 of the main body 10 in the left-right direction with the shaft-side pulley 21 interposed therebetween. The main body-side pulleys 31L and 31R are formed in a disk shape or a column shape, and an annular groove around which the rotation wire 22 is wound is formed on an outer peripheral surface thereof. Note that the main body side pulley 31L is disposed on the left side, and the main body side pulley 31R is disposed on the right side.

  The rotation wire 22 is formed in a cord shape that transmits the rotation of the main body side pulley 31 </ b> R to the shaft side pulley 21 and the shaft 20. The rotation wire 22 is disposed annularly between the pair of body-side pulleys 31L and 31R, and is also wound around the outer peripheral surface of the shaft-side pulley 21.

  The drive pulley 32 is a pulley that is disposed on the substrate 11 of the main body 10 in the rear direction of the main body-side pulley 31R. The drive pulley 32 is formed in a disk shape or a column shape, and an annular groove around which a transmission wire (another cord-like body) 33 is wound is formed on an outer peripheral surface thereof.

  A slit 12A used for driving the shaft 20 to rotate is provided between the driving pulley 32 and the main body pulley 31R, and a movable portion 51A used for driving the shaft 20 to rotate is provided in the slit 12A.

  The transmission wire 33 is formed in a cord shape for transmitting the relative movement of the movable portion 51A in the front-rear direction with respect to the substrate 11 of the main body 10 to the main body side pulley 31R. The transmission wire 33 is annularly disposed between the drive pulley 32 and the main body side pulley 31R, and a part thereof is fixedly attached to the movable portion 51A.

  The forceps pulley 41 is a pulley disposed near the axis L of the substrate 11 of the main body 10 and disposed rearward. The forceps pulley 41 is formed in a disk shape or a column shape, and has an annular groove on the outer peripheral surface around which the forceps wire 43 is wound.

  A guide pulley 42, a slit 12B, and a slit 12C are arranged between the forceps pulley 41 and the shaft-side pulley 21. A movable portion 51C used for driving forceps is arranged in the slit 12C.

  The guide pulley 42 is a pulley that guides the forceps wire 43 to the inside of the shaft-side pulley 21 and the shaft 20. In the present embodiment, a description will be given by applying to an example in which four guide pulleys 42 are arranged between the slits 12B and 12C in the substrate 11 of the main body 10 and the shaft-side pulley 21. The guide pulley 42 is formed in a disk shape or a column shape, and an annular groove through which a forceps wire 43 is hung is formed on an outer peripheral surface thereof.

  The number of the guide pulleys 42 may be four, and may be more or less than four. Also, the relative arrangement relationship of the plurality of guide pulleys 42 is not particularly limited as long as it is an arrangement relationship in which the forceps wire 43 is guided to the inside of the shaft side pulley 21 and the shaft 20.

  The forceps wire 43 is formed in a cord shape for transmitting the relative movement of the movable portion 51C in the front-rear direction with respect to the substrate 11 of the main body 10 to forceps arranged at the front end of the shaft 20. The forceps wire 43 is annularly disposed between the forceps pulley 41 and the forceps, and a part thereof is fixedly attached to the movable portion 51C.

  In the present embodiment, the forceps wire 43 will be described as applied to an example in which the wire 43 is fixedly attached to the movable portion 51C. However, the forceps wire 43 may be fixedly attached to the movable portion 51B. It is not particularly limited.

  The movable portion 51 is disposed in each of the four slits 12 provided in the substrate 11 of the main body 10, and is disposed so as to be relatively movable in the front-rear direction along the slit 12 with respect to the substrate 11 of the main body 10. Is what is done. The movable portion 51 is moved by a driving force transmitted from a master-slave type surgical robot to which the surgical instrument 1 is attached.

  Of the four slits 12, the movable part 51A is arranged in the slit 12A, the movable part 51B is arranged in the slit 12B, the movable part 51C is arranged in the slit 12C, and the movable part 51D is arranged in the slit 12D.

Next, the operation of the surgical instrument 1 having the above configuration will be described. First, the operation of rotating the shaft 20 will be described, and then the operation of driving the forceps will be described.
When rotating the shaft 20, a driving force for moving the movable portion 51A forward or backward along the slit 12A is applied from the outside. For example, when the movable portion 51A moves forward, the portion of the transmission wire 33 attached to the movable portion 51A also moves forward.

  The annular transmission wire 33 moves in a direction to rotate counterclockwise when viewed from above. This movement of the transmission wire 33 rotates the main body side pulley 31R counterclockwise. The counterclockwise rotation of the main body side pulley 31R is transmitted to the rotation wire 22 wound around the main body side pulley 31R.

  The rotation wire 22 is rotated counterclockwise, the movement of the rotation wire 22 is transmitted to the shaft side pulley 21, and the shaft side pulley 21 is rotated around the axis L. The rotation direction of the shaft-side pulley 21 is determined based on the winding direction of the rotation wire 22 around the shaft-side pulley 21. When the movable portion 51A moves backward, it moves in the opposite direction to the above.

  Next, when driving the forceps, a driving force for moving the movable portion 51C forward or backward along the slit 12C is applied from the outside. For example, when the movable portion 51C moves forward, the portion of the forceps wire 43 attached to the movable portion 51C also moves forward.

  The annular forceps wire 43 moves in a direction to rotate clockwise when viewed from above. The movement of the forceps wire 43 is transmitted to the forceps to drive the forceps. For example, the forceps are driven in an opening direction. When the movable part 51C moves backward, the movement is in the opposite direction to the above.

  According to the surgical instrument 1 having the above-described configuration, the pair of main body side pulleys 31L and 31R are arranged with the shaft side pulley 21 arranged on the shaft 20 interposed therebetween, and the shaft side pulley 21 and the pair of main body side pulleys 31L and 31L are arranged. The rotation wire 22 is wound around 31R. By transmitting the driving force to the rotation wire 22, the shaft-side pulley 21 and the shaft 20 are rotated.

  The shaft-side pulley 21 is disposed between the pair of body-side pulleys 31L and 31R, and a rotation wire 22 extending from one body-side pulley 31R is wound around the shaft-side pulley 21. Thereafter, the rotation wire 22 is connected to the other body-side pulley. It is wound around the pulley 31L. Therefore, it is easy to suppress the force acting on the shaft-side pulley 21 and the shaft 20 in the direction perpendicular to the axial direction of the shaft 20 (in other words, in the radial direction). As a result, the driving load for rotating the shaft 20 can be easily reduced.

  Also, the area of the shaft side pulley 21 around which the rotation wire 22 is wound can be easily reduced, in other words, the axial length of the shaft side pulley 21 can be easily reduced.

  By transmitting the movement of the movable part 51A in the linear direction to the main body side pulley 31 via the transmission wire 33, the loss generated when converting the linear movement of the movable part 51A into the rotational movement of the shaft 20 is reduced. It becomes easy to control.

  Of the plurality of movable parts 51A, 51B, 51C, 51D arranged side by side, by attaching the transmission wire 33 to the movable part 51A arranged at the end, the transmission is performed to the movable parts 51B, 51C arranged inside. As compared with the case where the wire 33 is attached, the surgical instrument 1 can be made more compact.

[Second embodiment]
Next, a surgical instrument according to a second embodiment of the present invention will be described with reference to FIGS. The basic configuration of the surgical instrument according to the present embodiment is the same as that of the first embodiment, but differs from the first embodiment in the configuration related to the pair of body-side pulleys. Therefore, in the present embodiment, the configuration relating to the pair of main body side pulleys will be described with reference to FIGS. 3 and 4, and description of other configurations and the like will be omitted.

  As shown in FIGS. 3 and 4, an adjustment unit 114 is provided on the substrate 111 of the main body 110 of the surgical instrument 101 of the present embodiment. The adjusting section 114 supports the main body side pulley 31L so as to be rotatable, and supports the main body side pulley 31L so as to be relatively movable in the left-right direction with respect to the substrate 111.

  In other words, the main body side pulley 31L is supported so as to be able to approach and separate from the main body side pulley 131R. The adjusting section 114 is provided with a long hole 115 extending in the left-right direction. The adjustment unit 114 is attached to the substrate 111 by a fixing member 116 such as a screw inserted into the long hole 115.

  Further, a large-diameter pulley portion 132 having a relatively large diameter and a small-diameter pulley portion 133 having a relatively small diameter are provided on the main body-side pulley 131R of the surgical instrument 101 of the present embodiment. The large-diameter pulley 132 is provided above the main body pulley 131R, and the small-diameter pulley 133 is provided below the main body pulley 131R.

  An annular groove around which the rotation wire 22 is wound is formed in the large-diameter pulley portion 132, and an annular groove around which the transmission wire 33 is wound is formed in the small-diameter pulley portion 133.

  In the present embodiment, the description has been made by applying to an example in which the diameter of the portion around which the rotation wire 22 is wound around the main body pulley 131R is relatively large, and the diameter of the portion around which the transmission wire 33 is wound is relatively small. The diameter of the portion where the rotation wire 22 is wound may be relatively small, and the diameter of the portion where the transmission wire 33 is wound may be relatively large.

  In the surgical instrument 101 having the above configuration, as shown in FIGS. 3 and 4, by loosening the fixing member 116 and moving the adjustment unit 114 in the left-right direction with respect to the substrate 111, the body-side pulley 31 </ b> L The distance between the pulley 131R and the main body side pulley 131R is adjusted. In other words, the tension of the rotation wire 22 is adjusted to a desired tension. By retightening the fixing member 116 after the adjustment, the adjustment unit 114 is fixed to the substrate 111, and the gap between the main body pulley 31L and the main body pulley 131R is fixed.

  When a driving force for moving the movable portion 51A forward or backward along the slit 12A is applied from the outside, the transmission wire 33 rotates. By the movement of the transmission wire 33, the main body side pulley 31R also rotates and is transmitted to the rotation wire 22.

  At this time, the amount of movement of the transmission wire 33 is amplified according to the ratio of the diameter of the small-diameter pulley portion 133 around which the transmission wire 33 is wound to the large-diameter pulley portion 132 around which the rotation wire 22 is wound, and the rotation wire 22 is amplified. Is transmitted to.

  Although the present embodiment has been described with reference to an example in which the amount of movement of the transmission wire 33 is amplified and transmitted to the rotation wire 22, the diameter of the pulley around which the transmission wire 33 is wound and the rotation wire By changing the ratio of the diameter of the pulley portion around which the wire 22 is wound, in this embodiment, the amount of movement of the transmission wire 33 may be reduced and transmitted to the rotation wire 22.

  According to the above configuration, since the interval between the pair of main body side pulleys 31L and 131R can be adjusted, the tension (tension) acting on the rotating wire 22 wound between the pair of main body side pulleys 31L and 131R can be adjusted. ) Can be easily adjusted. Further, since the adjustment of the tension is facilitated, it is easy to suppress the occurrence of variation when assembling the surgical instrument 101. Further, the accuracy of external force estimation can be easily increased.

  By winding the rotation wire 22 around the large-diameter pulley portion 132 and winding the transmission wire 33 around the small-diameter pulley portion 133 in this manner, the ratio between the amount of movement of the 51A in the linear direction and the amount of rotation of the shaft 20 is desired. It becomes easy to adjust to the value of.

  Note that the technical scope of the present invention is not limited to the above-described embodiment, and various changes can be made without departing from the spirit of the present invention. For example, the present invention is not limited to the embodiments applied to the above embodiments, and may be applied to embodiments in which these embodiments are appropriately combined, and there is no particular limitation.

1, 101: surgical tool, 10, 110: main body, 20: shaft, 21: shaft side pulley, 22: rotating wire (cord), 31, 31L, 31R, 131R: main body side pulley, 51, 51A, 51B, 51C, 51D: movable part, 33: transmission wire (other cords)

Claims (5)

Body and
A rod-shaped member extending from the main body, the shaft being rotatably supported around the axis with respect to the main body,
A shaft-side pulley, which is provided at an end of the shaft on the main body side and is rotatable with respect to the main body together with the shaft, and around which a cord-like body for controlling rotation of the shaft is wound,
At each of a pair of positions sandwiching the shaft-side pulley in the body, a pair of body-side pulleys that are rotatably disposed with respect to the body, and around which the cord-like body is wound,
An operating tool, characterized by having an opening.   The surgical instrument according to claim 1, wherein at least one of the pair of main body side pulleys is relatively movable with respect to the main body, and the interval between the pair of main body side pulleys is adjustable. . The main body is provided with a plurality of movable parts arranged to be relatively movable in a linear direction with respect to the main body,
One of the movable parts is provided with another cable-like body movably with the relative movement of the movable part,
The surgical instrument according to claim 1, wherein the other cord-like body is wound around at least the main body-side pulley. The plurality of movable parts are arranged side by side in a direction intersecting with the axis,
The surgical instrument according to claim 3, wherein the other cord-like body is attached to the movable part disposed at an end of the plurality of movable parts arranged side by side. The main body side pulley around which the cord and the other cord are wound is provided with a large-diameter pulley having a relatively large diameter, and a small-diameter pulley having a relatively small diameter,
One of the cord and the other cord is wound around the large-diameter pulley,
The surgical instrument according to claim 3 or 4, wherein the other of the cord-like body and the other cord-like body is wound around the small-diameter pulley portion.