JP6708768B2 - Robotic operating table and hybrid operating room - Google Patents

Description

The present invention relates to a robot operating table and a hybrid operating room.

2. Description of the Related Art Conventionally, there is known a patient positioning assembly that moves a table on which a patient is placed by a robot arm and positions the patient with respect to a radiation source for treatment (see, for example, Patent Document 1).

Further, conventionally, there is a demand for an operating table that can easily move a table on which a patient is placed in an operating room while suppressing interference with peripheral devices. Therefore, it is conceivable to apply the patient positioning assembly of Patent Document 1 to an operating table in an operating room and move a table on which a patient is placed using a robot arm. As a result, unlike the case where the operating table is moved using the casters, the table on which the patient is placed can be easily moved while suppressing interference with peripheral equipment.

JP, 2009-131718, A

However, since the patient positioning assembly as disclosed in Patent Document 1 aims to irradiate radiation for treatment, it is possible for a plurality of workers to work for a long time around the table on which the patient is placed. Generally, a large robot arm is used without consideration. For this reason, when the robot arm of Patent Document 1 is applied to an operating table, the space around the operating table is narrowed, which hinders medical personnel when performing surgery. In a hybrid operating room, the imaging position of X-ray imaging of blood vessels in the brain and the operating position are often close to each other. In this case, a space is ensured so that the C-arm to which the X-ray irradiator and the X-ray detector are connected can enter under the table at the imaging position, and sufficient space around the table at the surgical position close to the imaging position. It is necessary to secure a space for medical staff.

The present invention provides a robot operating table and a hybrid operating room capable of ensuring a sufficient space under a patient table and a sufficient space around the table. Further, the present invention ensures the space under the table for X-ray imaging and the space around the table for surgery even when the imaging position of X-ray imaging and the surgical position are close to each other. The present invention provides a robot operating table and a hybrid operating room that can be performed.

A robot operating table according to a first aspect of the present invention includes a patient table and an articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table. The articulated robot arm includes a pitch rotation mechanism that supports the table and rotates the table about an axis in the lateral direction by a pitch, and the pitch rotation mechanism is arranged so that its axis extends in the vertical direction. A first ball screw, a second ball screw arranged so that its axis extends vertically, a first support member that is vertically moved by the first ball screw to support the table, and a second ball screw is vertically moved. A second support member for supporting the table, wherein the first support member and the second support member are arranged at a predetermined distance in a direction parallel to the longitudinal direction of the table, and the articulated robot arm is When the table is located at a predetermined position, the articulated robot arm configured to take a first posture to be stored under the table has a length in a direction parallel to the longitudinal direction of the table. Are arranged so as to fit within 1/2 of the length of the table in the longitudinal direction .

With the robot operating table according to the first aspect of the present invention, by configuring as described above, the table is easily pitched to a desired rotational angular position by driving the first ball screw and the second ball screw in conjunction with each other. It can be rotated.

In the robot operating table according to the first aspect, preferably, the pitch rotation mechanism has a first linear guide arranged so as to extend in a direction parallel to a direction in which the first ball screw extends, and a direction in which the second ball screw extends. A second linear guide arranged so as to extend in a parallel direction, the first support member is slidably attached to the first linear guide, and the second support member is attached to the second linear guide. It is mounted so that it can slide. According to this structure, the first linear guide allows the first support member to move linearly with high accuracy, and the second linear guide allows the second support member to move linearly with high accuracy. It can be moved by pitch rotation.

In the robot operating table according to the first aspect, preferably, the articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints and a vertical articulated assembly having a plurality of vertical joints. Has one end supported by the base, the other end supporting one end of the vertical articulated assembly, and the pitch rotation mechanism is supported by the other end of the vertical articulated assembly. With this configuration, it is possible to collectively arrange a plurality of horizontal joints on the base side and also a plurality of vertical joints on the table side. The horizontal joint can be driven, and the vertical movement can be performed by driving a plurality of vertical joints on the table side. Accordingly, since it is not necessary to drive the horizontal and vertical movements while interlocking the horizontal joint and the vertical joint, respectively, compared to the case where the vertical joint and the horizontal joint are alternately arranged, It is possible to prevent the drive control of the joint robot arm from becoming complicated. Further, since the pitch rotating mechanism can be provided on the table side of the vertical multi-joint assembly, the table can be easily rotated by the pitch rotating mechanism independently of the vertical multi-joint assembly. ..

In the robot operating table according to the first aspect, preferably , the articulated robot arm in the first posture has a length in a direction parallel to the longitudinal direction of the table of ½ or less of the length in the longitudinal direction of the table. In addition, in the direction parallel to the short side direction of the table, it is arranged so as to fit between both ends in the short side direction of the table. According to this structure, it is possible to secure a space of 1/2 or more in the longitudinal direction of the table below the table on the side opposite to the one end side of the table supported by the articulated robot arm. A sufficient space can be secured around the table for use. As a result, when applied to a hybrid operating room, the C-arm to which the X-ray irradiation unit and X-ray detection unit are connected can be put under the table, and the surgeon, assistant, nurse, medical technician, etc. The degree of freedom of access to the table for the medical staff can be increased. Further, since the multi-joint robot arm does not stick out in the lateral direction of the table, it is possible to effectively prevent the multi-joint robot arm from interfering with a medical staff or other equipment.

In the robot operating table configured such that the multi-joint robot arm takes the first posture, preferably, the multi-joint robot arm is different from the first posture in a plan view and is parallel to the lateral direction of the table. The articulated robot arm in the second posture has a length in a direction parallel to the longitudinal direction of the table, and the second posture is such that the length of the portion in the second posture is such that The length is ½ or less, and the length of the portion protruding from the short side direction of the table in the direction parallel to the short side direction of the table is equal to or smaller than the length in the short side direction of the table. According to this structure, by placing the articulated robot arm in the second posture, it is possible to prevent the articulated robot arm from largely protruding in the lateral direction of the table, and also to protrude to both sides of the table. Therefore, when applied to a hybrid operating room, it is possible to effectively prevent the articulated robot arm from interfering with a medical staff or other equipment. This is because when performing surgery, medical personnel, including the surgeon, are often located on one side of the table and, depending on the surgical procedure, the surgeon may be on the patient's head side (opposite the robot arm support in the longitudinal direction of the table). ), and the other medical personnel including the assistant are located on one side of the table, so that the table positioned by the robot arm in the second posture is sufficient.

In the robot operating table configured such that the multi-joint robot arm takes the first posture, preferably, the multi-joint robot arm in the first posture is arranged so as to be entirely hidden under the table in a plan view. According to this structure, the articulated robot arm does not protrude from the table in a plan view, and thus it is more effective that the articulated robot arm interferes with a medical staff when performing a medical procedure such as surgery. Can be suppressed.

In the robot operating table configured such that the articulated robot arm takes the first posture, preferably, the articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints and a vertical articulated assembly having a plurality of vertical joints. including. According to this structure, the table can be easily moved to a desired horizontal position by the horizontal multi-joint assembly having a plurality of horizontal joints. Further, the vertical articulated assembly having a plurality of vertical joints allows the table to be easily moved to a desired vertical position.

In this case, preferably the horizontal articulated assembly has three horizontal joints and the vertical articulated assembly has three vertical joints. With this configuration, in consideration of ensuring the length when the horizontal multi-joint assembly is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less horizontal joints are provided. Therefore, when the horizontal articulated assembly is folded and contracted, it can be made more compact. In addition, the device configuration can be simplified as compared with the case where four or more horizontal joints are provided. In consideration of ensuring the length when the vertical articulated assembly is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less vertical joints are provided. It can be made more compact when it is folded and contracted. Further, the device configuration can be simplified as compared with the case where four or more vertical joints are provided.

In the configuration in which the multi-joint robot arm includes a horizontal multi-joint assembly and a vertical multi-joint assembly, preferably, the multi-joint robot arm causes the table to yaw about the vertical axis by at least one horizontal joint. It is configured. According to this structure, the table can be easily yawed and moved to a desired position by one or more horizontal joints of the articulated robot arm.

In the configuration in which the articulated robot arm includes a horizontal articulated assembly and a vertical articulated assembly, preferably, the articulated robot arm uses the horizontal articulated assembly in a direction parallel to the lateral direction of the table from the first posture. It is configured to translate the table while maintaining the length. According to this structure, it is possible to prevent the articulated robot arm from jumping out in the lateral direction of the table during the horizontal movement of the table. It is possible to prevent the articulated robot arm from interfering with a medical staff located laterally.

In the configuration in which the multi-joint robot arm includes a horizontal multi-joint assembly and a vertical multi-joint assembly, preferably, the multi-joint robot arm moves the table vertically while maintaining the first posture by the vertical multi-joint assembly. Is configured to let. With this configuration, it is possible to prevent the articulated robot arm from jumping out in the horizontal direction during the movement of the table in the vertical direction. It is possible to prevent the articulated robot arm from interfering with a person.

In a configuration in which the articulated robot arm includes a horizontal articulated assembly and a vertical articulated assembly, preferably, the articulated robot arm causes at least one vertical joint to roll the table about a longitudinal axis. Is configured. According to this structure, the table can be easily roll-rotated to the desired rotation angle position by the one or more vertical joints of the multi-joint robot arm.

In the robot operating table according to the first aspect, preferably, the table includes an X-ray transmission part and a support part supporting the X-ray transmission part, and the other end of the articulated robot arm is near one end of the table. Supports the support. According to this structure, by arranging the articulated robot arm on the support portion side and setting it in the first posture, it is possible to secure a sufficient space below the X-ray transmission portion of the table. An apparatus for X-ray imaging can be easily inserted below the section to perform X-ray imaging.
In the robot operating table according to the first aspect, preferably, the first supporting member includes a single rotating shaft having a rotating axis in the lateral direction of the table, and the second supporting member includes the lateral surface of the table. A plurality of pivots having a pivot axis in a direction.

A hybrid operating room according to a second aspect of the present invention is a robot operating table according to the first aspect, an X-ray imaging apparatus for capturing an X-ray projection image of a patient, and a magnetic resonance imaging for capturing a magnetic resonance image of the patient. At least one of the devices.

According to the present invention, it is possible to provide a robot operating table and a hybrid operating room capable of ensuring a sufficient space around a patient table. Further, even when the imaging position of X-ray imaging and the surgery position are close to each other, it is possible to secure a space under the table for X-ray imaging and a space around the table for surgery. A robot operating table and a hybrid operating room can be provided.

FIG. 1 is a schematic view of a hybrid operating room including a robot operating table according to an embodiment. FIG. 6 is a plan view showing a robot operating table in a second posture according to one embodiment. FIG. 6 is a plan view showing a first example of the robot operating table in the first posture according to the embodiment. FIG. 8 is a plan view showing a second example of the robot operating table in the first posture according to one embodiment. FIG. 9 is a plan view showing a third example of the robot operating table in the first posture according to one embodiment. FIG. 9 is a plan view showing a fourth example of the robot operating table in the first posture according to one embodiment. It is a side view for explaining the maximum imageable range of the 2nd example of the robot operating table by one embodiment. It is a side view for explaining the maximum imageable range of the 3rd example of the robot operating table by one embodiment. It is a side view for explaining the minimum imaging range of the 4th example of the robot operating table by one embodiment. FIG. 6 is a front view for explaining roll rotation of the robot operating table according to the embodiment. FIG. 6 is a side view showing a pitch rotation mechanism of the robot operating table according to one embodiment. FIG. 6 is a perspective view for explaining pitch rotation of the robot operating table according to one embodiment. FIG. 6 is a side view for explaining pitch rotation of the robot operating table according to one embodiment.

Embodiments will be described below with reference to the drawings.

(Structure of robot operating table)
The outline of the robot operating table 100 according to the present embodiment will be described with reference to FIGS. 1 to 13.

As shown in FIG. 1, the robot operating table 100 is provided in a hybrid operating room 200. The hybrid operating room 200 is provided with an X-ray imaging apparatus 300 that captures an X-ray projection image of the patient 10. The robot operating table 100 is used as an operating table used in, for example, surgery and internal medicine. The robot operating table 100 moves to a mounting position where the patient 10 is mounted on the table 1, and while the patient 10 is mounted on the table 1, an anesthesia position, a surgical position, an inspection position, a treatment position, and X-ray imaging. It is possible to move the patient 10 to a position or the like. Further, the robot operating table 100 can tilt the patient 10 with the patient 10 placed on the table 1.

The robot operating table 100 includes a table 1 for placing a patient, an articulated robot arm 2, and a controller 3. The table 1 includes an X-ray transmission part 11 and a support part 12 that supports the X-ray transmission part 11. The articulated robot arm 2 includes a base 21, a horizontal articulated assembly 22, a vertical articulated assembly 23, and a pitch rotation mechanism 24. Horizontal articulated assembly 22 includes horizontal joints 221, 222 and 223. Vertical articulated assembly 23 includes vertical joints 231, 232 and 233. The X-ray imaging apparatus 300 includes an X-ray irradiation unit 301, an X-ray detection unit 302, and a C arm 303.

As shown in FIG. 1, the table 1 is formed in a substantially rectangular flat plate shape. Moreover, the upper surface of the table 1 is formed to be substantially flat. The table 1 has a longitudinal direction in the X direction and a lateral direction in the Y direction. The table 1 is rotatable about an axis in the vertical direction (Z direction), but here, the horizontal direction along the longitudinal direction of the table 1 is the X direction, and the horizontal direction along the lateral direction of the table 1 is the horizontal direction. The direction is the Y direction. That is, the X direction and the Y direction indicate the directions with reference to the table 1. As shown in FIG. 2, the table 1 has a length of L1 in the longitudinal direction (X direction). The support portion 12 on the X2 direction side of the table 1 has a length of L2 in the lateral direction (Y direction). Further, the X-ray transmission portion 11 on the X1 direction side of the table 1 has a length L3 smaller than L2 in the lateral direction (Y direction). For example, L1 is 2800 mm, L2 is 740 mm, and L3 is 500 mm. It is preferable that L1 is set to 2000 mm or more and 3000 mm or less, L2 is set to 500 mm or more and 800 mm or less, L3 is set to 500 mm or more and 800 mm or less, and L3 is more preferably 500 mm or more and 700 mm or less.

As shown in FIG. 1, the patient 10 is placed on the X-ray transmission unit 11 of the table 1. The X-ray transmission part 11 is arranged in the X1 direction. The X-ray transmission part 11 is formed in a substantially rectangular shape. The X-ray transmissive portion 11 is formed of a material that easily transmits X-rays. The X-ray transmission part 11 is made of, for example, a carbon material (graphite). The X-ray transmission part 11 is formed of, for example, carbon fiber reinforced plastic (CFRP). This makes it possible to capture an X-ray image of the patient 10 with the patient 10 placed on the X-ray transmission unit 11.

The support portion 12 of the table 1 is connected to the articulated robot arm 2. The support portion 12 is arranged in the X2 direction. The support portion 12 is formed in a substantially rectangular shape. The support portion 12 supports the X-ray transmission portion 11. The support portion 12 is made of a material having a smaller X-ray transmittance than the X-ray transmission portion 11. The support portion 12 is made of, for example, metal. The support 12 is made of, for example, an iron material or an aluminum material.

The table 1 is configured to be moved by an articulated robot arm 2. Specifically, the table 1 is configured to be movable in a horizontal X direction, a horizontal Y direction orthogonal to the X direction, and a vertical Z direction which is orthogonal to the X and Y directions. There is. Further, the table 1 is configured to be rotatable (rollable) around an axis line in the X direction. Further, the table 1 is configured to be rotatable (pitch) about an axis line in the Y direction. In addition, the table 1 is configured to be rotatable (yaw) about the axis line in the Z direction.

The articulated robot arm 2 is configured to move the table 1. As shown in FIG. 1, the articulated robot arm 2 has one end supported by a base 21 fixed to the floor and the other end movably supporting the table 1. Specifically, the articulated robot arm 2 is supported by the base 21 so as to be rotatable about an axis line in the vertical direction (Z direction). The articulated robot arm 2 is configured to support the vicinity of one end of the table 1 on the X2 direction side in the longitudinal direction (X direction). In other words, the other end of the articulated robot arm 2 supports the support portion 12 near one end of the table 1.

The articulated robot arm 2 is configured to move the table 1 with seven degrees of freedom. Specifically, the multi-joint robot arm 2 is rotated by the horizontal multi-joint assembly 22 about a vertical rotation axis A1, a vertical rotation axis A2, and a vertical rotation. It has three degrees of freedom of rotation around the axis A3. Further, the multi-joint robot arm 2 is rotated by the vertical multi-joint assembly 23 around the horizontal rotation axis B1, around the horizontal rotation axis B2, and around the horizontal rotation axis B3. It has 3 degrees of freedom of rotation. Further, the articulated robot arm 2 has a degree of freedom of 1 for causing the pitch rotation mechanism 24 to perform pitch rotation (see FIGS. 12 and 13) around the rotation axis of the table 1 in the lateral direction (Y direction). is doing.

The base 21 is embedded and fixed in the floor. The base 21 is provided in the vicinity of the center of the moving range of the table 1 in plan view (as viewed in the Z direction).

One end of the horizontal articulated assembly 22 is supported by the base 21. The other end of the horizontal articulated assembly 22 supports one end of the vertical articulated assembly 23. The horizontal joint 221 of the horizontal multi-joint assembly 22 is configured to rotate about the rotation axis A1 in the Z direction. The horizontal joint 222 of the horizontal multi-joint assembly 22 is configured to rotate about the rotation axis A2 in the Z direction. The horizontal joint 223 of the horizontal multi-joint assembly 22 is configured to rotate about the rotation axis A3 in the Z direction.

The vertical articulated assembly 23 is supported at one end on the horizontal articulated assembly 22. The other end of the vertical articulated assembly 23 supports the pitch rotation mechanism 24. The vertical joint 231 of the vertical multi-joint assembly 23 is configured to rotate about the rotation axis B1 in the X direction. The vertical joint 232 of the vertical multi-joint assembly 23 is configured to rotate about the rotation axis B2 in the X direction. The vertical joint 233 of the vertical multi-joint assembly 23 is configured to rotate about the rotation axis B3 in the X direction.

The distance between adjacent joints is smaller than the length of the table 1 in the lateral direction (Y direction). That is, the distance between the rotation axis A1 and the rotation axis A2, the distance between the rotation axis A2 and the rotation axis A3, the distance between the rotation axis A3 and the rotation axis B1, the rotation axis B1 and the rotation axis B2. And the interval between the rotation axis B2 and the rotation axis B3 are each smaller than the length L3 of the table 1 in the lateral direction.

Each of the horizontal joints 221 to 223 and the vertical joints 231 to 233 has a servo motor, a speed reducer for decelerating and transmitting the rotation of the servo motor, and an electromagnetic brake. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are rotated around the rotation axis lines by driving the respective servo motors.

Here, in the present embodiment, as shown in FIGS. 3 to 6, in the articulated robot arm 2, the length in the direction parallel to the longitudinal direction of the table 1 (X direction) is the longitudinal length of the table 1. It is configured to be able to take the first posture that is less than or equal to 1/2 of the height. Specifically, in the articulated robot arm 2 in the first posture, the length in the direction parallel to the longitudinal direction of the table 1 (X direction) is 1/2 or less of the length of the table 1 in the longitudinal direction. In addition, in the direction (Y direction) parallel to the short-side direction of the table 1, the table 1 is arranged so as to fit between both ends in the short-side direction of the table 1.

FIG. 3 shows the articulated robot arm 2 in the first posture when the table 1 is positioned at the reference position. FIG. 4 shows the articulated robot arm 2 in the first posture when the table 1 is moved to the maximum in the horizontal X1 direction from the reference position. FIG. 5 shows that the horizontal articulated assembly 22 and the vertical articulated assembly 23 completely overlap each other in a plan view (viewed in the Z direction) and the longitudinal direction of the table 1 of the articulated robot arm 2 in the first posture. The state where the length in the parallel direction (X direction) is minimized is shown. FIG. 6 shows the articulated robot arm 2 in the first posture when the table 1 is moved to the maximum in the horizontal X2 direction from the reference position.

As shown in FIGS. 3, 5 and 6, preferably, the articulated robot arm 2 in the first posture is arranged so as to be entirely hidden under the table 1 in a plan view (viewed in the Z direction). Has been done. For example, the multi-joint robot arm 2 is configured to take a first posture in which it is housed in a housing space which is a space below the table 1 when the table 1 is located at the surgical position. That is, the articulated robot arm 2 is folded when viewed from the plan view (when viewed in the Z direction) when the table 1 is moved to a position where surgery or treatment is performed on the patient 10 placed on the table 1. ), it is configured to be completely hidden under the table 1. In order to secure the space under the table 1, the articulated robot arm 2 in the first posture preferably has a length in the direction parallel to the longitudinal direction of the table 1 (X direction) that is the longitudinal direction of the table 1. It is 2/5 or less of the length in the direction. From the viewpoint of strength, the length of the articulated robot arm 2 in the first posture in the direction parallel to the longitudinal direction of the table 1 (X direction) is preferably the length of the table 1 in the longitudinal direction. Is 1/4 or more.

Further, in the present embodiment, as shown in FIG. 2, the articulated robot arm 2 is configured to be able to take a second posture different from the first posture in a plan view (viewed in the Z direction). There is. The articulated robot arm 2 in the second posture has a length in the direction parallel to the longitudinal direction of the table 1 (X direction) that is ½ or less of the longitudinal length of the table 1 and is in plan view. In (when viewed in the Z direction), the length of the portion protruding from the table 1 in the direction parallel to the lateral direction of the table 1 (Y direction) is configured to be equal to or less than the length of the table 1 in the lateral direction. ing.

In the example shown in FIG. 2, the articulated robot arm 2 has a length L4 in the X direction and a length L5 in the Y direction. The length L4 is 1/2 or less of the length L1 of the table 1 in the X direction. Further, the length L5 is not more than twice the length L2 of the table 1 in the Y direction. In the example shown in FIG. 2, the articulated robot arm 2 protrudes from the table 1 by a length L6 in the X direction. The length L6 is less than or equal to the length L2 of the table 1 in the Y direction. The length L6 is less than or equal to the length L3 of the table 1 in the Y direction.

The articulated robot arm 2 translates the table 1 by the horizontal articulated assembly 22 while maintaining the length in the direction (Y direction) parallel to the lateral direction of the table 1 from the first posture or the second posture. Is configured. In the examples shown in FIGS. 3 to 6, the table 1 is moved in the X direction. In this case, the horizontal articulated assembly 22 is driven so as to fit within both ends of the table 1 in the Y direction, and the table 1 is translated.

The multi-joint robot arm 2 is configured to move the table 1 in the vertical direction (Z direction) by the vertical multi-joint assembly 23 while maintaining the first posture or the second posture. Specifically, the vertical articulated assembly 23 is arranged so as to be completely hidden under the table 1 in any posture in plan view, and therefore, when only the vertical articulated assembly 23 is driven, The articulated robot arm 2 can move the table 1 in the vertical direction while maintaining the first posture or the second posture. The articulated robot arm 2 of the present embodiment can lower the height of the table 1 to 500 mm while maintaining the first posture or the second posture. This makes it possible to handle surgery performed while sitting on a chair. Further, the articulated robot arm 2 can raise the height of the table 1 to 1100 mm while maintaining the first posture or the second posture.

7 is a side view of the articulated robot arm 2 of FIG. 4, and FIG. 8 is a side view of the articulated robot arm 2 of FIG. As shown in FIGS. 7 and 8, in the present embodiment, when the articulated robot arm 2 is arranged close to the X2 side of the table 1, X-ray imaging is performed by the distance D1 in the X direction as the maximum imageable range. Imaging can be performed by the device 300. That is, when the articulated robot arm 2 is arranged close to the X2 side of the table 1, a space corresponding to the distance D1 is secured below the table 1 in the X direction. The distance D1 is, for example, substantially equal to the length of the X-ray transmissive portion 11 in the X direction. That is, with the robot operating table 100 of the present embodiment, it is possible to image the substantially entire body of the patient 10 with the X-ray imaging apparatus 300.

FIG. 9 is a side view of the articulated robot arm 2 of FIG. As shown in FIG. 9, in the present embodiment, when the multi-joint robot arm 2 is extended in the horizontal X2 direction to the maximum extent, the X-ray imaging apparatus 300 causes the minimum imageable range by the distance D2 in the X direction. Imaging is possible. That is, when the articulated robot arm 2 is extended to the maximum in the horizontal X2 direction, a space corresponding to the distance D2 is secured below the table 1 in the X direction. The distance D2 is, for example, 1/2 or more of the length of the X-ray transmissive portion 11 in the X direction. That is, in the robot operating table 100 according to the present embodiment, at least half of the whole body of the patient 10 can be imaged by the X-ray imaging apparatus 300. In the present embodiment, for example, D1 is 1800 mm and D2 is 1540 mm.

Further, in the present embodiment, the articulated robot arm 2 causes the table 1 to yaw about the axis in the vertical direction (Z direction) by at least one horizontal joint (at least one of 221, 222, and 223). Is configured. For example, the articulated robot arm 2 is configured to yaw the table 1 by the lowermost horizontal joint 221 or the uppermost horizontal joint 223. Alternatively, the multi-joint robot arm 2 is configured to drive a plurality of horizontal joints in an interlocking manner to yaw the table 1.

Further, as shown in FIG. 10, the multi-joint robot arm 2 rolls the table 1 around the axis in the longitudinal direction (X direction) by at least one vertical joint (at least one of 231, 232 and 233). It is configured to move. For example, the multi-joint robot arm 2 is configured to roll the table 1 by the lowermost vertical joint 231 or the uppermost vertical joint 233. Alternatively, the articulated robot arm 2 is configured to drive a plurality of vertical joints in an interlocking manner to roll the table 1 in a roll manner. When the table 1 is viewed in the X direction, the articulated robot arm 2 can roll in the range of an angle θ1 clockwise with respect to the horizontal direction, and can rotate in the range of an angle θ1 counterclockwise with respect to the horizontal direction. The roll can be rotated. For example, θ1 is 30 degrees.

Further, as shown in FIGS. 12 and 13, the multi-joint robot arm 2 is configured to rotate the table 1 around the axis in the lateral direction (Y direction) by the pitch rotating mechanism 24. .. As shown in FIG. 11, the pitch rotation mechanism 24 includes a first support member 241, a second support member 242, a first ball screw 243, a second ball screw 244, a first linear guide 245, and a second linear guide 245. And a guide 246. The first support member 241 includes a connecting portion 241a, a rotating shaft 241b, and a slider 241c. The second support member 242 includes connecting portions 242a and 242b, rotating shafts 242c and 242d, and a slider 242e. The first ball screw 243 is connected to the motor 243a via the speed reducer 243b. The second ball screw 244 is connected to the motor 244a via the speed reducer 244b.

The pitch rotation mechanism 24 is supported at the other end of the vertical articulated assembly 23. The pitch rotation mechanism 24 is connected to the table 1 and supports the table 1 so as to be capable of pitch rotation. Specifically, the pitch rotation mechanism 24 supports the table 1 by the first support member 241 and the second support member 242 so that the table 1 can be rotated by the pitch. The first support member 241 and the second support member 242 are arranged at a predetermined distance along a direction (X direction) parallel to the longitudinal direction of the table 1. The first support member 241 is arranged on the X1 direction side. The second support member 242 is arranged on the X2 direction side. The pitch rotation mechanism 24 is arranged near one side of the table 1 in the lateral direction (Y direction). Specifically, the pitch rotation mechanism 24 is arranged near the end of the table 1 in the Y1 direction.

The connecting portion 241a of the first supporting member 241 is fixed to the table 1 and is rotatably supported by the rotating shaft 241b. The first support member 241 is configured to be moved in the vertical direction (Z direction) by driving the first ball screw 243. The first support member 241 is slidably attached to the first linear guide 245. Specifically, the first support member 241 is guided to move in the vertical direction by the slider 241c fixed to the first support member 241 engaging with the first linear guide 245.

The connecting portion 242a of the second support member 242 is fixed to the table 1 and is rotatably supported by the rotating shaft 242c. The connecting portion 242b is rotatably attached to the rotating shafts 242c and 242d. The second support member 242 is configured to be moved in the vertical direction (Z direction) by driving the second ball screw 244. The second support member 242 is slidably attached to the second linear guide 246. Specifically, the second support member 242 is guided to move in the vertical direction by the slider 242e fixed to the second support member 242 engaging the second linear guide 246.

The first ball screw 243 is arranged so that its axis extends in the vertical direction (Z direction). The first ball screw 243 is engaged with the first support member 241. The first ball screw 243 is rotated by driving the motor 243a and moves the first support member 241 in the vertical direction.

The second ball screw 244 is arranged so that its axis extends in the vertical direction (Z direction). The second ball screw 244 is engaged with the second support member 242. The second ball screw 244 is rotated by the drive of the motor 244a and moves the second support member 242 in the vertical direction.

The first linear guide 245 is arranged so as to extend in a direction substantially parallel to the direction in which the first ball screw 243 extends. That is, the first linear guide 245 is arranged so as to extend in the vertical direction (Z direction). The first linear guide 245 is configured to guide the vertical movement of the first support member 241 via the slider 241c.

The second linear guide 246 is arranged so as to extend in a direction substantially parallel to the direction in which the second ball screw 244 extends. That is, the second linear guide 246 is arranged so as to extend in the vertical direction (Z direction). The second linear guide 246 is configured to guide the vertical movement of the second support member 242 via the slider 242e.

When the first supporting member 241 is moved to a position lower than that of the second supporting member 242, the table 1 is pitch-rotated so that the X1 side becomes lower. On the other hand, when the first supporting member 241 is moved to a position higher than the second supporting member 242, the table 1 is pitch-rotated so that the X1 side becomes higher. Further, when the first support member 241 and the second support member 242 are moved to the same height position, the table 1 becomes horizontal in pitch rotation.

As shown in FIG. 13, the articulated robot arm 2 is rotatable in the range of an angle θ2 clockwise with respect to the horizontal direction when the table 1 is viewed in the Y direction, and is anti-horizontal. The pitch can be rotated clockwise in the range of the angle θ2. For example, θ2 is 15 degrees.

The control unit 3 is installed in the base 21 and is configured to control the movement of the table 1 by the articulated robot arm 2. Specifically, the control unit 3 is configured to control the drive of the articulated robot arm 2 and move the table 1 based on an operation by a medical staff (operator).

The X-ray imaging apparatus 300 is configured to be able to capture an X-ray projection image of the patient 10 placed on the table 1. The X-ray irradiation unit 301 and the X-ray detection unit 302 are supported by the C arm 303. The X-ray irradiation unit 301 and the X-ray detection unit 302 are moved along with the movement of the C arm 303, and are arranged so as to sandwich the imaging position of the patient 10 during X-ray imaging. For example, one of the X-ray irradiation unit 301 and the X-ray detection unit 302 is arranged in the space above the table 1, and the other is arranged in the space below the table 1. Further, at the time of X-ray imaging, the C arm 303 supporting the X-ray irradiation unit 301 and the X-ray detection unit 302 is also arranged in the space above and below the table 1.

The X-ray irradiator 301 is arranged so as to face the X-ray detector 302, as shown in FIG. Further, the X-ray irradiation unit 301 is configured to be capable of irradiating the X-ray detection unit 302 with X-rays. The X-ray detection unit 302 is configured to detect the X-rays emitted by the X-ray irradiation unit 301. The X-ray detection unit 302 includes a flat panel detector (FPD). The X-ray detection unit 302 is configured to capture an X-ray image based on the detected X-ray. Specifically, the X-ray detection unit 302 converts the detected X-rays into an electric signal and transmits the electric signal to an image processing unit (not shown).

The C-arm 303 has one end connected to the X-ray irradiation unit 301 and the other end connected to the X-ray detection unit 302. The C arm 303 has a substantially C shape. Accordingly, it is possible to support the X-ray irradiation unit 301 and the X-ray detection unit 302 while wrapping around so as not to interfere with the table 1 and the patient 10 during X-ray imaging. The C arm 303 is configured to be movable relative to the table 1. Specifically, the C-arm 303 horizontally and vertically arranges the X-ray irradiation unit 301 and the X-ray detection unit 302 at desired positions with respect to the patient 10 placed on the table 1. It is movable and rotatable about a horizontal rotation axis and a vertical rotation axis. The C-arm 303 is moved by a drive unit (not shown) based on an operation by a medical staff (operator). The C-arm 303 is configured to be movable manually by a medical staff (operator).

(Effect of this embodiment)
In this embodiment, the following effects can be obtained.

In the present embodiment, as described above, the length of the articulated robot arm 2 in the direction parallel to the longitudinal direction of the table 1 (X direction) is 1/2 or less of the longitudinal length of the table 1. It is configured so that it can take the first posture. As a result, a space of ½ or more in the longitudinal direction of the table 1 can be secured below the table 1 on the opposite side (X1 direction side) from the one end side of the table 1 supported by the articulated robot arm 2. Therefore, a sufficient space can be secured below and around the patient mounting table 1. As a result, the C-arm 303 to which the X-ray irradiation unit 301 and the X-ray detection unit 302 are connected can be put under the table 1, and a table for medical personnel such as a surgeon, an assistant, a nurse, and a medical technologist. The degree of freedom in accessing 1 can be increased.

Further, in the present embodiment, as described above, the articulated robot arm 2 in the first posture is in a direction parallel to the lateral direction of the table 1 (Y direction) in plan view (as viewed in the Z direction). In, the table 1 is arranged so as to fit between both ends in the lateral direction. The length of the portion protruding from the table 1 in the direction parallel to the lateral direction of the table 1 (Y direction) is set to be equal to or less than the length of the table 1 in the lateral direction. Thus, by setting the articulated robot arm 2 in the first posture, the articulated robot arm 2 does not stick out in the lateral direction of the table 1, so that the articulated robot arm 2 can be used by medical personnel and other equipment. Interference can be effectively suppressed.

Further, in the present embodiment, as described above, the articulated robot arm 2 is configured to be able to take a second posture different from the first posture in a plan view (viewed in the Z direction). The length of the articulated robot arm 2 in the posture state in the direction parallel to the longitudinal direction of the table 1 (X direction) is 1/2 or less of the longitudinal length of the table 1 and the length of the table 1 is short. The length of the portion protruding from the table 1 in the direction parallel to the hand direction (Y direction) is set to be equal to or less than the length of the table 1 in the short direction. As a result, the multi-joint robot arm 2 can be prevented from largely protruding in the lateral direction of the table 1, so that the multi-joint robot arm 2 can be prevented from interfering with medical personnel and other equipment. .. Further, it is possible to set the first posture to the photographing position and the second posture to the surgical position, or to set the first posture to the surgical position and set the second posture to the photographing position, The degree of freedom in operating the operating room can be increased.

Further, in the present embodiment, as described above, the articulated robot arm 2 in the first posture is arranged so as to be entirely hidden under the table 1 in a plan view (viewed in the Z direction). As a result, the articulated robot arm 2 does not protrude from the table 1 in a plan view, so that it is more effective that the articulated robot arm 2 interferes with a medical staff when performing a medical procedure such as surgery. Can be suppressed to.

Further, in the present embodiment, as described above, the multi-joint robot arm 2 includes a horizontal multi-joint assembly 22 having a plurality of horizontal joints 221, 222 and 223 and a vertical multi-joint assembly having a plurality of vertical joints 231, 232 and 233. And a joint assembly 23. Thus, the horizontal articulated assembly 22 having the plurality of horizontal joints 221, 222, and 223 can easily move the table 1 to a desired horizontal position. Further, the vertical multi-joint assembly 23 having the plurality of vertical joints 231, 232 and 233 allows the table 1 to be easily moved to a desired position in the vertical direction (Z direction).

Further, in the present embodiment, as described above, the horizontal multi-joint assembly 22 is provided with the three horizontal joints 221, 222 and 223. Accordingly, in consideration of ensuring the length when the horizontal multi-joint assembly 22 is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less horizontal joints are provided. It can be made more compact when the horizontal articulated assembly 22 is folded and contracted. In addition, the device configuration can be simplified as compared with the case where four or more horizontal joints are provided. The vertical articulated assembly 23 is provided with three vertical joints 231, 232 and 233. Accordingly, in consideration of ensuring the length when the vertical multi-joint assembly 23 is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less vertical joints are provided. When the vertical articulated assembly 23 is folded and contracted, it can be made more compact. Further, the device configuration can be simplified as compared with the case where four or more vertical joints are provided.

Further, in the present embodiment, as described above, the multi-joint robot arm 2 is rotated about the axis line in the vertical direction (Z direction) of the table 1 by at least one horizontal joint (at least one of 221, 222 and 223). It is configured to rotate yaw. This allows the table 1 to be easily yawed and moved to a desired position by one or more horizontal joints of the articulated robot arm 2.

In the present embodiment, as described above, the horizontal articulated assembly 22 maintains the length of the articulated robot arm 2 in the direction parallel to the lateral direction (Y direction) of the table 1 from the first posture. The table 1 is configured to move in translation in this state. This can prevent the articulated robot arm 2 from jumping out in the lateral direction of the table 1 during the horizontal movement of the table 1, so that the lateral direction of the table 1 can be reduced while the table 1 is moving. It is possible to prevent the multi-joint robot arm 2 from interfering with the medical staff located on the side of the.

Further, in the present embodiment, as described above, the multi-joint robot arm 2 is configured to move the table 1 in the vertical direction (Z direction) by the vertical multi-joint assembly 23 while maintaining the first posture. .. Thereby, the articulated robot arm 2 can be prevented from jumping out in the horizontal direction during the movement of the table 1 in the vertical direction. It is possible to prevent the articulated robot arm 2 from interfering with a person.

Further, in the present embodiment, as described above, the multi-joint robot arm 2 is rotated about the axis line in the longitudinal direction (X direction) of the table 1 by at least one vertical joint (at least one of 231, 232 and 233). It is configured to rotate the roll. Accordingly, the table 1 can be easily roll-rotated to the desired rotation angle position by one or more vertical joints of the multi-joint robot arm 2.

Further, in the present embodiment, as described above, the articulated robot arm 2 is provided with the pitch rotation mechanism 24 that supports the table 1 and rotates the table 1 about the axis in the lateral direction (Y direction). .. Then, in the pitch rotation mechanism 24, a first ball screw 243 arranged so that its axis extends in the vertical direction (Z direction), a second ball screw 244 arranged so that its axis extends in the vertical direction, A first support member 241 that is vertically moved by the one ball screw 243 to support the table 1 and a second support member 242 that is vertically moved by the second ball screw 244 and supports the table 1 are provided. Further, the first support member 241 and the second support member 242 are arranged at a predetermined distance in a direction (X direction) parallel to the longitudinal direction of the table 1. As a result, by driving the first ball screw 243 and the second ball screw 244 in conjunction with each other, the table 1 can be easily pitch-moved to a desired rotation angle position.

Further, in the present embodiment, as described above, the pitch rotation mechanism 24 includes the first linear guide 245 arranged to extend in the direction parallel to the direction in which the first ball screw 243 extends and the second ball screw 244 extend. And a second linear guide 246 arranged so as to extend in a direction parallel to the direction. Then, the first support member 241 is slidably attached to the first linear guide 245, and the second support member 242 is slidably attached to the second linear guide 246. As a result, the first linear guide 245 can move the first support member 241 linearly with high accuracy, and the second linear guide 246 can move the second support member 242 linearly with high accuracy, so that the table 1 can be moved. It is possible to accurately move the pitch.

Further, in the present embodiment, as described above, the horizontal articulated assembly 22 has one end supported by the base 21, the other end supports one end of the vertical articulated assembly 23, and the pitch rotation mechanism 24 includes: The vertical articulated assembly 23 is configured to be supported at the other end. Accordingly, since the plurality of horizontal joints 221, 222 and 223 can be collectively arranged on the base 21 side and the plurality of vertical joints 231, 232 and 233 can be collectively arranged on the table 1 side, the horizontal movement can be performed. For the above, the horizontal joints 221, 222 and 223 on the base 21 side are driven, and the vertical movement (Z direction) is performed by driving the vertical joints 231, 232 and 233 on the table 1 side. You can As a result, it is not necessary to drive the horizontal and vertical movements while interlocking the horizontal joints 221, 222 and 223 and the vertical joints 231, 232 and 233, respectively, so that the vertical joints and the horizontal joints alternate. It is possible to prevent the drive control of the articulated robot arm 2 from becoming complicated as compared with the case where the robots are arranged. Further, since the pitch rotating mechanism 24 can be provided on the table 1 side of the vertical multi-joint assembly 23, the pitch rotating mechanism 24 can easily rotate the table 1 independently of the vertical multi-joint assembly 23. It can be moved.

Further, in the present embodiment, as described above, the table 1 is provided with the X-ray transmissive portion 11 and the support portion 12 having a smaller X-ray transmissivity than the X-ray transmissive portion 11, and the multi-joint robot arm 2 includes The other end is configured to support the support portion 12 near one end of the table 1. Thus, by arranging the multi-joint robot arm 2 on the side of the support portion 12 and setting it in the first posture, a sufficient space can be secured below the X-ray transmission portion 11 of the table 1, so that X-ray transmission is possible. It is possible to easily insert the X-ray imaging apparatus 300 below the section 11 to perform X-ray imaging.

(Modification)
It should be considered that the embodiments disclosed this time are exemplifications in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and includes meanings equivalent to the scope of claims for patent and all modifications within the scope.

For example, in the above embodiment, an example of the configuration in which the X-ray imaging device is provided in the hybrid operating room has been shown, but the present invention is not limited to this. In the present invention, a magnetic resonance imaging apparatus for capturing a magnetic resonance image of a patient may be provided in the hybrid operating room. Both the X-ray imaging device and the magnetic resonance imaging device may be provided in the hybrid operating room.

Further, in the above embodiment, an example of the configuration in which one X-ray imaging device is provided in the hybrid operating room has been shown, but the present invention is not limited to this. In the present invention, a plurality of X-ray imaging devices may be provided in the hybrid operating room.

Further, in the above embodiment, the example in which the horizontal multi-joint assembly has three horizontal joints has been shown, but the present invention is not limited to this. In the present invention, the horizontal articulated assembly may have two horizontal joints or four or more horizontal joints.

Further, in the above embodiment, the example in which the vertical multi-joint assembly has three vertical joints is shown, but the present invention is not limited to this. In the present invention, the vertical articulated assembly may have two vertical joints, or four or more vertical joints.

Further, in the above embodiment, an example of the configuration in which the articulated robot arm has seven degrees of freedom is shown, but the present invention is not limited to this. In the present invention, the robot arm may have 6 or less degrees of freedom, or 8 or more degrees of freedom.

Further, in the above-described embodiment, an example of the C-arm type X-ray imaging device in which the X-ray irradiation unit and the X-ray detection unit are supported by the C-arm has been shown, but the present invention is not limited to this. In the present invention, for example, the X-ray imaging device may be arranged such that the X-ray irradiation unit and the X-ray detection unit are vertically opposed to each other and supported.

Further, in the above-described embodiment, the example in which the base is embedded and fixed in the floor is shown, but the present invention is not limited to this. In the present invention, the base may be fixed on the floor.

In the above embodiment, the horizontal joints 221 to 223 and the vertical joints 231 to 233 each have an example of a configuration having a servo motor, a speed reducer, and an electromagnetic brake. Not limited to In the present invention, each joint has a servo motor having a built-in first electromagnetic brake, a second electromagnetic brake attached to the rotary shaft of the servo motor, a first reduction gear, and a second reduction gear. May be. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are rotated around the rotation axis lines by driving the respective servo motors.

1: Table, 2: Articulated robot arm, 11: X-ray transmission part, 12: Support part, 21: Base, 22: Horizontal articulated assembly, 23: Vertical articulated assembly, 24: Pitch rotation mechanism, 100: Robot operating table, 200: Hybrid operating room, 221, 222, 223: Horizontal joint, 231, 232, 233: Vertical joint, 241: First support member, 242: Second support member, 243: First ball screw, 244: Second ball screw, 245: first linear guide, 246: second linear guide, 300: X-ray imaging device

Claims (15)

A table for patient placement,
An articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table;
The multi-joint robot arm includes a pitch rotation mechanism that supports the table and rotates the table about an axis in a lateral direction by pitch.
The pitch rotation mechanism has a first ball screw arranged so that its axis extends vertically, a second ball screw arranged so that its axis extends vertically, and moves vertically by the first ball screw. A first support member that supports the table, and a second support member that is vertically moved by the second ball screw to support the table,
The first support member and the second support member are arranged at a predetermined distance in a direction parallel to the longitudinal direction of the table ,
The multi-joint robot arm is configured to take a first posture to be stored under the table when the table is located at a predetermined position,
The robotic operating table in which the multi-joint robot arm in the first posture is arranged such that the length of the table in the direction parallel to the longitudinal direction of the table is within ½ or less of the length of the table in the longitudinal direction. .. The pitch rotation mechanism includes a first linear guide arranged to extend in a direction parallel to the extending direction of the first ball screw, and a first linear guide arranged to extend in a direction parallel to the extending direction of the second ball screw. Further having two linear guides,
The first support member is slidably attached to the first linear guide,
The robot operating table according to claim 1, wherein the second support member is slidably attached to the second linear guide. The articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints and a vertical articulated assembly having a plurality of vertical joints,
One end of the horizontal articulated assembly is supported by the base, and the other end supports one end of the vertical articulated assembly,
The robot operating table according to claim 1, wherein the pitch rotation mechanism is supported at the other end of the vertical articulated assembly. The articulated robot arm before Symbol first posture, a length in the direction parallel to the longitudinal direction of the table, equal to or less than half of the longitudinal length of said table, and, shorter in the table The robot operating table according to any one of claims 1 to 3, wherein the robot operating table is arranged so as to fit between both ends in the lateral direction of the table in a direction parallel to the direction. The articulated robot arm is configured so as to be able to assume a second posture, which is different from the first posture in plan view and partially protrudes from the table in a direction parallel to the lateral direction of the table. Cage,
The multi-joint robot arm in the second posture has a length in a direction parallel to the longitudinal direction of the table that is ½ or less of a length in the longitudinal direction of the table, and is in the lateral direction of the table. The robot operating table according to claim 4, wherein the length of the portion protruding from the table in the parallel direction is configured to be equal to or less than the length in the lateral direction of the table. The robot operating table according to claim 4, wherein the articulated robot arm in the first posture is arranged so as to be entirely hidden under the table in a plan view. The robot operating table according to claim 4, wherein the articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints and a vertical articulated assembly having a plurality of vertical joints. The robotic operating table of claim 7, wherein the horizontal articulated assembly has three horizontal joints and the vertical articulated assembly has three vertical joints. 9. The robot operating table according to claim 7, wherein the multi-joint robot arm is configured to yaw the table about a vertical axis by at least one of the horizontal joints. The multi-joint robot arm is configured to translate the table by the horizontal multi-joint assembly while maintaining a length in a direction parallel to the lateral direction of the table from the first posture, The robot operating table according to any one of claims 7 to 9. The said multi-joint robot arm is comprised by the said vertical multi-joint assembly so that the said table may be moved to a vertical direction with the said 1st attitude|position maintained. Robot operating table. The robotic surgery according to any one of claims 7 to 11, wherein the multi-joint robot arm is configured to roll the table around a longitudinal axis by at least one vertical joint. Stand. The table includes an X-ray transmissive portion and a support portion that supports the X-ray transmissive portion,
The robot operating table according to any one of claims 1 to 12, wherein the other end of the articulated robot arm supports the support portion near one end of the table. The first support member includes a single rotation shaft having a rotation axis in the lateral direction of the table,
The robot operating table according to claim 1, wherein the second support member includes a plurality of rotation shafts having a rotation axis line in a lateral direction of the table. At least one of the robot operating table according to any one of claims 1 to 14, an X-ray imaging apparatus that captures an X-ray projection image of a patient, and a magnetic resonance imaging apparatus that captures a magnetic resonance image of the patient. And a hybrid operating room.

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