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WO2012077672A1 - Connection unit and arm device - Google Patents

Connection unit and arm device Download PDF

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Publication number
WO2012077672A1
WO2012077672A1 PCT/JP2011/078167 JP2011078167W WO2012077672A1 WO 2012077672 A1 WO2012077672 A1 WO 2012077672A1 JP 2011078167 W JP2011078167 W JP 2011078167W WO 2012077672 A1 WO2012077672 A1 WO 2012077672A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
connection unit
rotation
intermediate arm
unit
Prior art date
Application number
PCT/JP2011/078167
Other languages
French (fr)
Japanese (ja)
Inventor
新田　一福
Original Assignee
株式会社メトラン
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2010007994U external-priority patent/JP3166092U/en
Priority claimed from JP2010273177A external-priority patent/JP2012120661A/en
Application filed by 株式会社メトラン filed Critical 株式会社メトラン
Publication of WO2012077672A1 publication Critical patent/WO2012077672A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M16/00—Devices for influencing the respiratory system of patients by gas treatment, e.g. ventilators; Tracheal tubes
    • A61M16/08—Bellows; Connecting tubes ; Water traps; Patient circuits
    • A61M16/0875—Connecting tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2209/00—Ancillary equipment
    • A61M2209/08—Supports for equipment
    • A61M2209/082—Mounting brackets, arm supports for equipment

Definitions

  • the present invention relates to an arm device in which a plurality of arms are connected in a row, and more particularly to a connecting unit that rotatably connects two arms to each other.
  • arm devices for holding medical devices such as a respirator and a lighting device for illuminating a hand during surgery at a desired position are used.
  • the arm device is provided between two arms arranged in a row and between the two arms, and one arm can be vertically pivoted about a pivot axis in the horizontal direction with respect to the other arm And a holding unit provided at the tip of the arm rotating in the vertical direction and holding the medical device (see, for example, Japanese Patent Application Laid-Open No. 07-016272).
  • the medical device held at the tip of the arm can be easily moved to the desired position by manually rotating the arm. After the hand is released from the arm device, the rotation of the arm is restricted by the friction of the connecting portion, and the posture of the arm is maintained. Thus, the medical device is held in the desired position.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a connecting unit and an arm device in which it is easy to manually turn an arm.
  • connection unit includes a connection portion that rotatably connects the arm, a lock portion that permits rotation of the arm in one direction and restricts rotation in the other direction, and release restriction by the lock portion. And a release portion for permitting rotation of the arm in the other direction.
  • connection unit of the present invention since the lock portion allows rotation of the arm in one direction, when the medical device is held at the tip of the arm, the arm is manually rotated. The medical device can be easily moved to the desired position.
  • the locking portion restricts the pivoting movement of the arm in the other direction, if the pivoting movement of the arm is restricted, a heavy medical device is held at the tip of the arm. Even if it does, the gravity of the medical device does not cause the arm to pivot unexpectedly.
  • rotation in the other direction of the arm is permitted, and the arm can be manually rotated in the other direction.
  • the lock portion allows rotation of the arm in a first direction and restricts rotation in a second direction opposite to the first direction.
  • the arm device comprises a plurality of arms connected in a row, a connecting unit of the plurality of means respectively provided on the proximal end portion of the arms, and a connecting unit disposed along the arms and arranged for each connecting unit And an interlocking member which interlocks the releaser and interlocks the releasers of the connection units with each other.
  • the present invention is also characterized in that, in the arm device of the above-mentioned means, the pivot shaft of the connecting portion is disposed in the horizontal direction.
  • the present invention is also characterized in that, in the arm device of the above-described means, a holder provided on the arm or the connection unit and holding a medical device.
  • the present invention is also characterized in that, in the arm device of the above-described means, an operation unit provided on the connection unit closest to the holding unit among the plurality of connection units and operating the release unit is provided. .
  • the present invention is also characterized in that in the arm device of the above means, the arm is formed hollow, and the interlocking member is a thread-like member passing through the inside of the arm.
  • the arm device of the present invention is a plurality of arms connected in a row, and a plurality of units rotatably connecting the arms, and has a gear and a meshing member meshing with the gear, and the meshing member is the gear
  • a plurality of connection units that restrict bi-directional rotation of the arm when meshing with the gear and allow bi-directional rotation of the arm when meshing of the meshing member with the gear is released;
  • An interlocking member disposed along the arm to connect the meshing members of each connection unit and interlocking the meshing members of the connection units with each other, provided on the arm or the connection unit to hold a medical device And a holding unit.
  • the arm device of the present invention since the bi-directional rotation of the arm is restricted by the connecting unit, even if the heavy medical device is held or fixed at the tip of the arm, the weight of the medical device Does not cause the arm to pivot unexpectedly. Also, by releasing the restriction by the connection unit, bidirectional rotation of the arm is permitted, and the arm can be manually rotated. Furthermore, since the interlocking member is provided, by disengaging the meshing member from the gear in one connection unit, the meshing of the meshing member to all the gears in all the coupling units can be released simultaneously.
  • the present invention is also characterized in that, in the arm device of the above means, the pivot shaft of the connection unit is disposed in the horizontal direction.
  • an operation unit which is provided in the connection unit closest to the holding unit among the plurality of connection units and releases the meshing of the meshing member to the gear. And the like.
  • the present invention is also characterized in that in the arm device of the above means, the arm is formed hollow, and the interlocking member is a thread-like member passing through the inside of the arm.
  • connection unit and the arm device of the present invention it is easy to turn the arm manually.
  • FIG. 3B is a part of an exploded perspective view of the connection unit shown in FIG. 2 and a set of FIG. 3B.
  • Fig. 3A is a part of an exploded perspective view of the connection unit shown in Fig. 2 and a set of Fig. 3A.
  • FIG. 7A is a part of an exploded perspective view of the connection unit in the arm device shown in FIG. 6, which is a set of diagrams together with FIG. 9B, showing a connection unit different from the connection unit shown in FIGS. 7A and 7B.
  • FIG. 7A is a part of an exploded perspective view of the connection unit in the arm device shown in FIG.
  • FIG. 9A is a set of FIG. 9A and a connection unit different from the connection units shown in FIGS. 7A and 7B. It is sectional drawing of the connection unit shown to FIG. 9A and FIG. 9B, and the state which restrained rotation of the arm is shown.
  • FIG. 13 is a part of the exploded perspective view of the connection unit shown in FIG. 12 and a set of FIGS. 13A and 13C.
  • FIG. 13 is a part of the exploded perspective view of the connection unit shown in FIG. 12 and a set of FIGS. 13A and 13C. It is sectional drawing of the connection unit shown in FIG. 12, (A) shows the state which controlled rotation of one direction of an arm, and (B) shows the state which controlled rotation of the other direction of an arm. It is sectional drawing of the connection unit shown in FIG. 12, (A) shows the state which permitted the rotation of one direction of an arm, and (B) shows the state which permitted the rotation of the other direction of an arm. It is sectional drawing of the connection unit in the arm apparatus of 4th Embodiment which concerns on this invention, and shows the state which controlled rotation of the arm.
  • FIG. 17 is a cross-sectional view of the connection unit shown in FIG.
  • FIG. 16 shows a state where rotation of an arm is permitted.
  • FIG. 19 is a cross-sectional view of the connection unit shown in FIG. 18, showing a state in which rotation of an arm in one direction is permitted.
  • FIG. 19 is a cross-sectional view of the connection unit shown in FIG. 18, in which the arm is allowed to rotate in the other direction.
  • It is a front view of an arm device of a 6th embodiment concerning the present invention.
  • FIG. 25 is a cross-sectional view of the connection unit shown in FIG. 24, showing a state in which rotation of the arm is permitted.
  • FIG. 24 is an exploded perspective view of the connection unit in the arm device shown in FIG. 23 and shows a connection unit different from the connection unit shown in FIG. 24.
  • FIG. 29 is a cross-sectional view of the connection unit shown in FIG. 28, showing a state in which rotation of an arm is restricted.
  • FIG. 29 is a cross-sectional view of the connection unit shown in FIG. 28, showing a state in which rotation of the arm is permitted.
  • It is a front view of an arm device of a 9th embodiment concerning the present invention. It is a front view of an arm device of a 10th embodiment concerning the present invention.
  • FIG. 1 is a front view of an arm device 10.
  • FIG. 2 is an external perspective view of the connection unit 14.
  • 3A and 3B are exploded perspective views of the connection unit 14.
  • FIG. 4 and FIG. 5 please refer to FIG. 4 and FIG. 5 as needed.
  • the arm device 10 shown in FIG. 1 holds medical devices (not shown) such as an artificial respirator and a lighting device for illuminating the hand in surgery at a desired position in a medical facility such as a hospital or clinic. It is operated manually.
  • medical devices such as an artificial respirator and a lighting device for illuminating the hand in surgery at a desired position in a medical facility such as a hospital or clinic. It is operated manually.
  • the arm device 10 has a base 11 as a base, a rotary base 12 rotatably mounted on the upper surface of the base 11 about a vertical axis, and a base arm 13 mounted on the rotary base 12.
  • a connecting unit 14 attached to the end of the base arm 13, an intermediate arm 15 connected to the base arm 13 via the connecting unit 14, and a connecting unit 16 attached to the end of the intermediate arm 15.
  • An arm 19 and a holding unit 20 fixed to the distal end arm 19 and detachably holding a medical device (not shown) are provided. Each component will be described below.
  • the base arm 13, the intermediate arms 15, 17 and the tip arm 19 are formed hollow with a stainless steel square tube or the like and arranged in a line.
  • the adjacent arms of the base arm 13, the intermediate arms 15 and 17, and the tip arm 19 are rotatably connected by any of the connection units 14, 16 and 18.
  • a base end of the base arm 13 is attached to the pivot base 12.
  • the base arm 13 rotates integrally with the rotary base 12 about a vertical axis.
  • the intermediate arm 15 is connected to the base arm 13 via the connection unit 14 so that the intermediate arm 15 pivots up and down around a horizontal rotation axis with respect to the base arm 13.
  • the intermediate arm 15 rotates integrally with the pivot base 12 and the base arm 13 about a vertical axis.
  • the intermediate arm 17 is connected to the intermediate arm 15 via the connection unit 16 so that the intermediate arm 17 pivots up and down around the horizontal pivot axis with respect to the intermediate arm 15.
  • the intermediate arm 17 integrally with the pivot base 12, the base arm 13 and the intermediate arm 15 rotates about a vertical axis.
  • the distal end arm 19 is connected to the intermediate arm 17 via the connection unit 18, so that the distal end arm 19 pivots up and down around the horizontal pivot axis with respect to the intermediate arm 17.
  • the distal end arm 19 rotates integrally with the pivot base 12, the base arm 13 and the intermediate arms 15 and 17 about a vertical axis.
  • the holding portion 20 rotates the intermediate arm 15 up and down about the rotation axis in the horizontal direction with respect to the base arm 13.
  • the intermediate arm 17 rotates in the horizontal direction with respect to the intermediate arm 15.
  • the tip arm 19 is moved in the vertical direction by being pivoted in the vertical direction about the motion axis, or by pivoting in the vertical direction about the pivot axis in the horizontal direction with respect to the intermediate arm 17.
  • the holding unit 20 pivots about a vertical axis when the pivot base 12, the base arm 13, the intermediate arms 15, 17 and the tip arm 19 integrally rotate about the vertical axis.
  • connection unit 14 connects the intermediate arm 15 to the base arm 13 so as to be rotatable about a horizontal rotation axis.
  • the connecting unit 14 permits leftward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts rightward rotation.
  • the connection unit 14 includes a lock release lever 21 that unlocks the rightward rotation of the intermediate arm 15 relative to the base arm 13.
  • the connection unit 14 allows the rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever 21 in a predetermined direction.
  • the connecting unit 16 rotatably connects the intermediate arm 17 to the intermediate arm 15 about a horizontal rotation axis.
  • the connection unit 16 permits leftward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and locks and restricts rightward rotation.
  • the connection unit 16 includes a lock release lever 22 that unlocks the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15.
  • the connection unit 16 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 22 in a predetermined direction.
  • the connecting unit 18 rotatably connects the distal end arm 19 to the intermediate arm 17 around a horizontal rotation axis.
  • the connecting unit 18 permits leftward rotation of the distal end arm 19 with respect to the intermediate arm 17 and locks and restricts rightward rotation.
  • the connection unit 18 includes a lock release lever 23 that unlocks the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17.
  • the connection unit 18 allows the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 23 in a predetermined direction.
  • connection unit 14 has a bottomed cylinder 25 fixed to the base arm 13, a bottomed cylinder 26 fixed to the intermediate arm 15, and these bottomed cylinders 25. , 26, a shaft bolt 28 rotatably attaching the bottomed cylinder 25 to the bottomed cylinder 26, a ratchet gear 29 fixed to the bottomed cylinder 26, and the ratchet gear 29.
  • the bottomed cylinders 25, 26 have an inner diameter that is slightly larger than the outer diameter of the cylinder 27.
  • the bottomed cylinders 25, 26 cover the both sides of the cylinder 27 to form a housing together with the cylinder 27.
  • the bottomed cylinder 25 has a shaft hole 25a for the shaft bolt 28, a bolt hole 25b for the shaft bolt 35, a bolt hole 25c for the fixing bolt 38, and a fixing hole 25d to which one end of the coil spring 32 is fixed. , Is formed.
  • the bottomed cylinder 26 is formed with a bolt hole 26 a for the fixing bolt 33 and a bolt hole 26 b for the fixing bolt 40.
  • the cylinder 27 is formed with a notch 27 a for releasing the lock release lever 21.
  • the ratchet gear 29 is a gear in which obliquely inclined teeth are formed over the entire circumference.
  • the ratchet gear 29 is allowed to rotate in one direction while the rotation in the other direction is restricted, when the pawl 31 is engaged.
  • the ratchet gear 29 is allowed to rotate in one direction and also in the other direction, when the engagement of the pawl 31 is released.
  • the ratchet gear 29 is formed with a bolt hole 29 a for the fixing bolt 34 and a bolt hole 29 b for the shaft bolt 28.
  • a bolt hole 30a for the fixing bolt 33 is formed on the surface on the bottomed cylinder 26 side, and a bolt hole 30b for the fixing bolt 34 is formed on the surface on the ratchet gear 29 side.
  • the fixing bolt 33 fixes the spacer 30 to the bottomed cylinder 26 by screwing in order of the bolt hole 26 a and the bolt hole 30 a.
  • the fixing bolt 34 fixes the ratchet gear 29 to the spacer 30 by screwing in order of the bolt hole 29 a and the bolt hole 30 b.
  • the ratchet gear 29 is fixed to the bottomed cylinder 26 via the spacer 30.
  • the axial bolt 28 is a middle bolt which is threaded at its distal end and unthreaded at its proximal end.
  • the shaft bolt 28 is inserted into the shaft hole 25 a and then screwed into the bolt hole 29 b, thereby rotatably fixing the bottomed cylinder 25 to the ratchet gear 29.
  • the bottomed cylinder 25 is rotatably fixed to the bottomed cylinder 26.
  • the pawl 31 bites into the ratchet gear 29 to allow rotation of the ratchet gear 29 in one direction and lock and restrict rotation in the other direction.
  • the pawl 31 is formed with a shaft hole 31a for the shaft bolt 35, a bolt hole 31b for the fixing bolt 36, and a fixing hole 31c to which the other end of the coil spring 32 is fixed.
  • the lock release lever 21 is formed with a bolt hole 21 a for the fixing bolt 36.
  • the axial bolt 35 is a special bolt in which the proximal end portion is threaded and the distal end portion is not threaded.
  • the axial bolt 35 is screwed into the bolt hole 25 b from the outside of the bottomed cylinder 25, thereby causing the tip portion to protrude inside the bottomed cylinder 25.
  • the tip end portion of the shaft bolt 35 constitutes a pivot shaft of the pawl 31.
  • the pawl 31 pivots about a shaft bolt 35 inserted into the shaft hole 31a.
  • the pawl 31 is rotated by the biasing force of the coil spring 32 and is engaged with the ratchet gear 29.
  • the fixing bolt 36 fixes the lock release lever 21 to the pawl 31 by screwing in order of the bolt hole 21 a and the bolt hole 31 b.
  • the pawl 31 is turned against the biasing force of the coil spring 32 by the operation of the lock release lever 21, and it becomes possible to release the biting of the pawl 31 to the ratchet gear 29.
  • the fixing member 37 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees and the base arm 13 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 25 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape.
  • a bolt hole 37a for the fixing bolt 38 is formed in the second piece of the fixing member 37.
  • a bolt hole 37b for the fixing bolt 38 is formed in the third piece of the fixing member 37.
  • bolt holes 13 a for the fixing bolt 38 are formed.
  • the fixing bolt 38 fixes the fixing member 37 to the base arm 13 by screwing in order of the bolt hole 37a and the bolt hole 13a, and by fixing in order of the bolt hole 37b and the bolt hole 25c, the fixing member 37 is provided. It is fixed to the bottom cylinder 25. Thereby, the base arm 13 is fixed to the bottomed cylinder 25.
  • the fixing member 39 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees, and the intermediate arm 15 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 26 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape.
  • a bolt hole 39 a for the fixing bolt 40 is formed in the second piece of the fixing member 39.
  • a bolt hole 39b for the fixing bolt 40 is formed in the third piece of the fixing member 39.
  • the intermediate arm 15 is formed with a bolt hole 15 a for the fixing bolt 40.
  • the fixing bolt 40 fixes the fixing member 39 to the intermediate arm 15 by screwing in order of the bolt hole 39a and the bolt hole 15a, and by fixing in order of the bolt hole 39b and the bolt hole 26b, the fixing member 39 is provided. It is fixed to the bottom cylinder 26. Thus, the intermediate arm 15 is fixed to the bottomed cylinder 26.
  • the connecting unit 14 described above is mainly configured of the bottomed cylinders 25 and 26 and the shaft bolt 28 and is a connecting portion that rotatably connects the intermediate arm 15 to the base arm 13 about a horizontal rotation axis.
  • the connection unit 14 mainly includes the ratchet gear 29, the pawl 31, the coil spring 32, and the shaft bolt 35, and allows rotation of the intermediate arm 15 relative to the base arm 13 in one direction and locks rotation in the other direction. Function as a lock that regulates the Furthermore, the connection unit 14 functions mainly as the pawl 31 and the lock release lever 21 and functions as a release portion that releases the restriction by the lock portion and allows the intermediate arm 15 to rotate in the other direction with respect to the base arm 13.
  • the specific structure of the connection units 16 and 18 is the same as that of the connection unit 14, The description is abbreviate
  • FIG. 4 is a cross-sectional view of the connection unit 14 and shows a state in which the rotation of the intermediate arm 15 is restricted.
  • FIG. 5 is a cross-sectional view of the connection unit 14 and shows a state in which the intermediate arm 15 is allowed to rotate.
  • the pawl 31 is biased toward the ratchet gear 29 by the coil spring 32 and is engaged with the ratchet gear 29.
  • the bottomed cylinder 26 (see FIGS. 2, 3A and 3B) to which the ratchet gear 29 is attached and the intermediate arm 15 is fixed has the pawl 31 attached and the base arm 13 is fixed.
  • the leftward rotation is permitted, and the rightward rotation is locked and restricted.
  • connection units 16 and 18 The specific operation of the connection units 16 and 18 is the same as the operation of the connection unit 14, and the description thereof will be omitted.
  • the upward rotation of the intermediate arm 15 with respect to the base arm 13 the upward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and the upward direction of the distal arm 19 with respect to the intermediate arm 15.
  • the medical device (not shown) held at the tip of the tip arm 19 can be easily simplified by manually pivoting any one of the intermediate arms 15 and 17 and the tip arm 19. It is moved to the desired position.
  • FIG. 6 is a front view of the arm device 42.
  • FIG. 7A and 7B are exploded perspective views of the connection unit 43.
  • FIG. 8 is a cross-sectional view of the connection unit 43 and shows a state in which the rotation of the intermediate arm 15 is restricted.
  • 9A and 9B are exploded perspective views of the connecting unit 44.
  • FIG. FIG. 10 is a cross-sectional view of the connection unit 44, showing a state in which the rotation of the intermediate arm 17 is restricted.
  • the arm device 42 is provided with connecting units 43 to 45 instead of the connecting units 14, 16, 18.
  • the arm device 42 further includes an interlocking member 46 that interlocks the connecting units 43 to 45.
  • the interlocking member 46 is a thread-like member such as a fishing line, and is disposed along the intermediate arms 15 and 17. Specifically, the interlocking member 46 is connected from the inside of the connecting unit 43 to the inside of the connecting unit 44 through the inside of the intermediate arm 15 and from the inside of the connecting unit 44 through the inside of the intermediate arm 17 to the connecting unit It is connected to the inside of 45.
  • the interlocking member 46 is pulled when the lock release lever 21 is operated in a predetermined direction, and regulation of the pivoting of the arm by the coupling units 44 and 45 and its release are regulation of the pivoting of the arm by the coupling unit 43 and In conjunction with the release.
  • connection unit 43 is a component substantially similar to the connection unit 14 of the first embodiment.
  • connection unit 44 does not include the unlocking lever 22 as compared to the connection unit 16 of the first embodiment.
  • the connection unit 44 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 21 in the connection unit 43 in a predetermined direction.
  • connection unit 45 does not include the unlocking lever 23 as compared to the connection unit 18 of the first embodiment.
  • the connection unit 45 allows rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 21 in the connection unit 43 in a predetermined direction.
  • the connecting unit 43 includes a cylinder 47 instead of the cylinder 27 as compared to the connecting unit 14 of the first embodiment.
  • the connection unit 43 further includes a substantially semicircular guide member 48 for guiding the interlocking member 46.
  • the cylinder 47 has a large diameter portion 47a having an outer diameter one size smaller than the inner diameter of the bottomed cylinders 25 and 26, and a small diameter portion having an outer diameter one size smaller than the outer diameter of the large diameter portion 47a. And 47b. In the cylinder 47, a notch 47c for releasing the lock release lever 21 is formed in the small diameter portion 47b.
  • the cylinders 47, together with the bottomed cylinders 25 and 26 on both sides thereof, constitute a housing together with the bottomed cylinders 25 and 26.
  • a gap (reference numeral omitted) through which the interlocking member 46 passes is formed between the outer peripheral surface of the small diameter portion 47 b and the inner peripheral surface of the bottomed cylinder 25.
  • the guide member 48 is integrally formed with a projection 48a for winding the interlocking member 46, and a groove 48b for guiding the interlocking member 46 is formed along the entire arc from the projection 48a.
  • a bolt hole 48c for the fixing bolt 36 is formed in the guide member 48.
  • the fixing bolt 36 fixes the guide member 48 to the pawl 31 together with the unlocking lever 21 by screwing in order of the bolt hole 48 c, the bolt hole 21 a, and the bolt hole 31 b.
  • the guide member 48 can be rotated by the operation of the lock release lever 21 and the interlocking member 46 can be pulled.
  • the interlocking member 46 is guided by the groove 48b of the guide member 48 with the projection 48a of the guide member 48 at the base end, and passes from the lower part between the bottomed cylinder 25 and the small diameter portion 47b of the cylinder 47 from below It is eaten.
  • the connecting unit 44 includes a cylinder 47 instead of the cylinder 27 as compared with the connecting unit 16 of the first embodiment.
  • the connection unit 44 further includes a substantially semicircular guide member 49 for guiding the interlocking member 46. Furthermore, the connection unit 44 does not include the unlocking lever 22.
  • illustration of a part of the interlocking member 46 is omitted. Specifically, from the guide member 49, the gap between the bottomed cylinder 25 and the small diameter portion 47b of the cylinder 47 is passed from below, and the portion guided to the intermediate arm 17 is not shown.
  • the guide member 49 is integrally formed with two projections 49a for winding the interlocking member 46, and a groove 49b for guiding the interlocking member 46 from one projection 49a to the other projection 49a along the entire arc. It is formed. In the guide member 49, a bolt hole 49c for the fixing bolt 36 is formed.
  • the fixing bolt 36 fixes the guide member 49 to the pawl 31 by screwing in the order of the bolt hole 49 c and the bolt hole 31 b.
  • the pawl 31 rotates against the biasing force of the coil spring 32, and it becomes possible to release the engagement of the pawl 31 with the ratchet gear 29.
  • the guide member 49 is pivoted integrally with the pawl 31, and it becomes possible to pull the interlocking member 46 (a portion not shown) guided to the intermediate arm 17.
  • the intermediate arm 15 is formed with a bolt hole 15 b for the fixing bolt 38.
  • the fixing bolt 38 fixes the fixing member 37 to the intermediate arm 15 by screwing in order of the bolt hole 37a and the bolt hole 15b, and by fixing in order of the bolt hole 37b and the bolt hole 25c, the fixing member 37 is provided. It is fixed to the bottom cylinder 25. Thereby, the intermediate arm 15 is fixed to the bottomed cylinder 25.
  • the intermediate arm 17 is formed with a bolt hole 17 a for the fixing bolt 40.
  • the fixing bolt 40 fixes the fixing member 39 to the intermediate arm 17 by screwing in order of the bolt hole 39a and the bolt hole 17a, and by fixing in order of the bolt hole 39b and the bolt hole 26b, the fixing member 39 is provided. It is fixed to the bottom cylinder 26. Thus, the intermediate arm 17 is fixed to the bottomed cylinder 26.
  • the interlocking member 46 passes from the intermediate arm 15 through the gap between the bottomed cylinder 25 and the small diameter portion 47 b of the cylinder 47 and is guided to the guide member 49 from above the gap. Then, the interlocking member 46 is guided by the groove 49b of the guide member 49, and sequentially wound around the lower protrusion 49a and the upper protrusion 49a. Further, the interlocking member 46 is guided by the groove 49 b of the guide member 49, passes from the lower part between the bottomed cylinder 25 and the small diameter portion 47 b of the cylinder 47 from the lower side, and is guided to the intermediate arm 17.
  • connection unit 45 The specific configuration of the connection unit 45 is the same as that of the connection unit 44, and the description thereof will be omitted.
  • the state of the connection unit 43 shown in FIG. 8 is a state in which the pawl 31 is engaged with the ratchet gear 29 to lock and restrict the rightward rotation of the intermediate arm 15 with respect to the base arm 13. Further, in the state of the connection unit 44 shown in FIG. 10, the pawl 31 is engaged with the ratchet gear 29 and locks and regulates the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15.
  • the lock release lever 21 is operated in a predetermined direction from these states, the pawls 31 in the connection unit 43 rotate against the biasing force of the coil spring 32.
  • the guide member 48 rotates integrally with the pawl 31 and pulls the interlocking member 46.
  • the interlocking member 46 is a gap between the bottomed cylinder 25 and the small diameter portion 47b of the cylinder 47 in the coupling unit 43, with the projection 48a of the guide member 48 in the coupling unit 43 as a base end.
  • the arm 15, through the gap between the bottomed cylinder 25 in the connecting unit 44 and the small diameter portion 47b of the cylinder 47, is guided to the guide member 49 in the connecting unit 44 in this order.
  • the connecting member 46 is guided from the connecting unit 44 to the connecting unit 45 through the intermediate arm 17 in the same manner as the flow to the connecting unit 44.
  • the interlocking member 46 since the interlocking member 46 is provided, the engagement of the pawl 31 in all the connection units 43 to 45 with the ratchet gear 29 is performed by the operation of the lock release lever 21 at one place. Can be released simultaneously.
  • FIG. 11 is a front view of the arm device 51.
  • FIG. 12 is an external perspective view of the connection unit 52.
  • FIG. 13A, 13B and 13C are exploded perspective views of the connecting unit 52.
  • the arm device 51 is provided with connecting units 52 to 54 instead of the connecting units 14, 16, 18.
  • connection unit 52 rotatably connects the intermediate arm 15 to the base arm 13 about a horizontal rotation axis.
  • the connecting unit 52 locks and restricts rightward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts leftward rotation.
  • the connection unit 52 includes a lock release lever 21 for releasing the lock of the rightward rotation of the intermediate arm 15 with respect to the base arm 13 and a lock release lever 55 for releasing the lock of the left rotation.
  • the connection unit 52 allows the rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever 21 in a predetermined direction. Further, the connection unit 52 allows leftward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever 55 in a predetermined direction.
  • the connecting unit 53 rotatably connects the intermediate arm 17 to the intermediate arm 15 about a horizontal rotation axis.
  • the connecting unit 53 locks and restricts rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and locks and restricts leftward rotation.
  • the connection unit 53 includes a lock release lever 22 for releasing the lock of the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and a lock release lever 56 for releasing the lock of the left rotation.
  • the connection unit 53 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 22 in a predetermined direction. Further, the connection unit 53 allows leftward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 56 in a predetermined direction.
  • the connection unit 54 rotatably connects the distal end arm 19 to the intermediate arm 17 about a horizontal rotation axis.
  • the connecting unit 54 locks and restricts rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 and locks and restricts leftward rotation.
  • the connection unit 54 includes a lock release lever 23 for releasing the lock of the rightward rotation of the tip arm 19 with respect to the intermediate arm 17 and a lock release lever 57 for releasing the lock of the left rotation.
  • the connection unit 54 allows the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 23 in a predetermined direction. Further, the connection unit 54 allows leftward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 57 in a predetermined direction.
  • the connecting unit 52 includes a cylinder 58 instead of the cylinder 27 as compared to the connecting unit 14 of the first embodiment.
  • the connecting unit 52 also includes a ratchet gear 59 fixed to the bottomed cylinder 26, a pawl 60 constituting a ratchet with the ratchet gear 59, and a coil spring 61 biasing the pawl 60 toward the ratchet gear 59.
  • a fixing bolt 63 for fixing the lock release lever 55 to the pawl 60.
  • the bottomed cylinders 25, 26 have an inner diameter that is slightly larger than the outer diameter of the cylinder 58.
  • the bottomed cylinders 25 and 26 cover the both sides of the cylinder 58 to form a housing together with the cylinder 58.
  • the bottomed cylinder 25 is further formed with a bolt hole 25 e for the shaft bolt 62 and a fixing hole 25 f to which one end of the coil spring 61 is fixed.
  • the cylinder 58 is formed with a notch 58 a for releasing the lock release levers 21 and 55.
  • the ratchet gear 59 is a gear in which obliquely inclined teeth are formed over the entire circumference.
  • the teeth of the ratchet gear 59 are formed to be inclined in the opposite direction as compared with the teeth of the paired ratchet gear 29.
  • the ratchet gear 59 is allowed to rotate in the other direction and is restricted from rotating in one direction.
  • the ratchet gear 59 is allowed to rotate in one direction as well as in the other direction when the engagement of the pawl 60 is released.
  • a bolt hole 59a for the fixing bolt 34 is formed in the ratchet gear 59.
  • the fixing bolt 34 fixes the ratchet gears 29 and 59 to the spacer 30 by screwing in order of the bolt hole 29 a, the bolt hole 59 a and the bolt hole 30 b. Thereby, the ratchet gears 29 and 59 are fixed to the bottomed cylinder 26 via the spacer 30.
  • the pawl 60 bites into the ratchet gear 59 to allow rotation of the ratchet gear 59 in the other direction, and lock and restrict rotation in one direction.
  • the pawl 60 is formed with a shaft hole 60a for the shaft bolt 62, a bolt hole 60b for the fixing bolt 63, and a fixing hole 60c to which the other end of the coil spring 61 is fixed.
  • the lock release lever 55 is formed with a bolt hole 55 a for the fixing bolt 63.
  • the axial bolt 62 is a special bolt in which the proximal end portion is threaded and the distal end portion is not threaded.
  • the shaft bolt 62 is paired with the shaft bolt 35 and screwed into the bolt hole 25 e from the outside of the bottomed cylinder 25, thereby causing the tip portion to protrude inside the bottomed cylinder 25.
  • the tip portion of the shaft bolt 62 constitutes a pivot shaft of the pawl 60.
  • the pawl 60 pivots about an axial bolt 62 inserted into the axial hole 60a.
  • the pawl 60 is rotated by the biasing force of the coil spring 61 and is engaged with the ratchet gear 59.
  • the fixing bolt 63 fixes the unlocking lever 55 to the pawl 60 by screwing in order of the bolt hole 55 a and the bolt hole 60 b.
  • the pawl 60 is turned against the urging force of the coil spring 61 by the operation of the lock release lever 55, and it becomes possible to release the biting of the pawl 60 to the ratchet gear 59.
  • connection unit 52 corresponds to the connection unit 14 of the first embodiment in two-way rotation. Specifically, the connection unit 52 is connected to the base arm 13 so that the intermediate arm 15 can be pivoted about a horizontal rotation axis, with the cylinders 25 and 26 with a bottom and the shaft bolt 28 as main components. It functions as a connecting part. Further, the coupling unit 52 restricts bidirectional rotation of the intermediate arm 15 with respect to the base arm 13 with the ratchet gears 29, 59, the pawls 31, 60, the coil springs 32, 61 and the shaft bolts 35, 62 as main components. It functions as the first and second lock parts.
  • the coupling unit 52 is mainly configured of the pawls 31 and 60 and the lock release levers 21 and 55, and one of the pawls 31 and 60 operates to thereby release the restriction by the corresponding locking portion, It functions as first and second release parts that allow the intermediate arm 15 to pivot in one direction or the other.
  • the specific structure of the connection units 53 and 54 is the same as that of the connection unit 52, The description is abbreviate
  • FIG. 14 is a cross-sectional view of the connection unit 52, in which (A) shows a state in which rotation of the intermediate arm 15 is restricted in one direction, and (B) shows a state in which rotation in the other direction of the intermediate arm 15 is restricted.
  • FIG. 15 is a cross-sectional view of the connection unit 52, in which (A) shows a state in which the intermediate arm 15 is allowed to rotate in one direction, and (B) shows a state in which the intermediate arm 15 is allowed to rotate in the other direction.
  • the pawl 31 is biased toward the ratchet gear 29 by the coil spring 32, and is engaged with the ratchet gear 29.
  • the bottomed cylinder 26 (see FIGS. 12, 13A, 13B and 13C) to which the ratchet gear 29 is attached and the intermediate arm 15 is fixed has the pawl 31 attached and the base arm 13 is The rightward rotation is locked and restricted with respect to the fixed bottomed cylinder 25.
  • the pawl 60 is biased toward the ratchet gear 59 by the coil spring 61, and is engaged with the ratchet gear 59.
  • the bottomed cylinder 26 (see FIGS. 12, 13A, 13B and 13C) to which the ratchet gear 59 is attached and the intermediate arm 15 is fixed has the pawl 60 attached and the base arm 13 is The rotation in the left direction is locked and restricted with respect to the bottomed cylinder 25 which is fixed.
  • the biting of the pawl 31 into the ratchet gear 29 and the biting of the pawl 60 into the ratchet gear 59 lock and restrict bi-directional rotation of the intermediate arm 15 with respect to the base arm 13.
  • FIG. 15 (B) from the state shown in FIG. 14 (A) and FIG. 14 (B) in which the pawl 31 is engaged with the ratchet gear 29 and the pawl 60 is engaged with the ratchet gear 59.
  • the unlocking lever 55 is operated in a predetermined direction
  • the pawl 60 pivots against the biasing force of the coil spring 61, and the biting of the pawl 60 into the ratchet gear 59 is released.
  • the bottomed cylinder 26 see FIGS.
  • connecting units 53 and 54 The specific operation of the connecting units 53 and 54 is the same as that of the connecting unit 52, and the description thereof is omitted.
  • the arm device 51 bidirectional rotation of the intermediate arm 15 with respect to the base arm 13, bidirectional rotation of the intermediate arm 17 with respect to the intermediate arm 15, and bidirectional of the distal arm 19 with respect to the intermediate arm 17.
  • the arm device 51 or the medical device (not shown) held by the arm device 51 even when an external force is applied to the arm device 51, the intermediate arm 15, Either of 17 and tip arm 19 does not rotate.
  • FIG. 16 is a cross-sectional view of the connection unit 65, showing a state in which the rotation of the intermediate arm 15 is restricted.
  • FIG. 17 is a cross-sectional view of the connection unit 65 and shows a state in which the intermediate arm 15 is allowed to rotate.
  • the arm device (not shown) of the fourth embodiment includes a connecting unit 65 shown in FIGS. 16 and 17 in place of the connecting unit 14 as compared to the arm device 10 of the first embodiment. Further, the arm device of the fourth embodiment is provided with a connection unit (not shown) similar to the connection unit 65, instead of the connection units 16 and 18.
  • connection unit 65 connects the intermediate arm 15 to the base arm 13 so as to be rotatable about a horizontal rotation axis.
  • the connection unit 65 permits leftward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts rightward rotation.
  • the connection unit 65 includes a lock release lever (not shown) that unlocks the rightward rotation of the intermediate arm 15 relative to the base arm 13.
  • the connection unit 65 allows rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever in a predetermined direction.
  • the connecting unit 65 has a bottomed cylinder 66 fixed to the base arm 13, a bottomed cylinder (not shown) fixed to the intermediate arm 15, and the bottomed cylinder 66 can be rotated relative to the bottomed cylinder. And a rotation restricting roller 68 fixed to a bottomed cylinder (not shown) fixed to the intermediate arm 15.
  • the bottomed cylinder 66 and the bottomed cylinder fixed to the intermediate arm 15 constitute a housing of the connection unit 65.
  • an axial hole (not shown) for the axial bolt 67 is formed in the bottomed cylinder 66.
  • the rotation restricting roller 68 includes a cylindrical roller body 69, a ball 70 disposed along the inner peripheral surface of the bottomed cylinder 66, and biases the ball 70 toward the inner peripheral surface of the bottomed cylinder 66.
  • the roller body 69 has an outer diameter which is slightly smaller than the inner diameter of the bottomed cylinder 66.
  • the roller body 69 is formed with a groove 69 a for receiving the ball 70, the coil spring 71, and the spring fixing portion 72, and a bolt hole (reference numeral omitted) for the shaft bolt 67.
  • the groove 69a has a Y-shape extending inward from the outer peripheral surface of the roller main body 69 so as to narrow inward, and extending straight inward.
  • the ball 70, the coil spring 71, and the spring fixing portion 72 are disposed in this order from the outer peripheral surface of the roller main body 69 toward the inside.
  • One of the side surfaces constituting the groove 69 a is substantially orthogonal to the inner circumferential surface of the bottomed cylinder 66, and forms a right-angled space with the bottomed cylinder 66.
  • the other of the side surfaces constituting the groove 69 a obliquely contacts the inner circumferential surface of the bottomed cylinder 66 to form an acute-angled space with the bottomed cylinder 66.
  • the ball 70 is fixed to the tip of the coil spring 71.
  • the coil spring 71 connects the ball 70 and the spring fixing portion 72.
  • the spring fixing portion 72 takes the position shown in FIG. 16 apart from the back of the groove 69a as the initial position. In the initial position, the coil spring 71 biases the ball 70 toward the inner circumferential surface of the bottomed cylinder 66.
  • the spring fixing portion 72 moves to a position shown in FIG. 17 in contact with the back of the groove 69a in conjunction with the above-mentioned lock release lever (not shown). Thereby, the contact of the ball 70 with the inner circumferential surface of the bottomed cylinder 66 is released.
  • the rotation restricting roller 68 When the ball 70 is in contact with the inner peripheral surface of the bottomed cylinder 66, the rotation restricting roller 68 is allowed to rotate in one direction and is restricted from rotating in the other direction. On the other hand, when the rotation restricting roller 68 is released from the contact of the ball 70 with the inner peripheral surface of the bottomed cylinder 66, the rotation restricting roller 68 is permitted to rotate in one direction and turn in the other direction. Movement is also acceptable.
  • the shaft bolt 67 is a middle bolt which is threaded at its distal end and unthreaded at its proximal end.
  • the shaft bolt 67 is inserted into a shaft hole (not shown) of the bottomed cylinder 66 and then screwed into a bolt hole (reference numeral is omitted) of the roller main body 69 to turn the bottomed cylinder 66 to the roller main body 69 Fix it freely.
  • the bottomed cylinder 66 is rotatably fixed to a bottomed cylinder (not shown) fixed to the intermediate arm 15.
  • the above connecting unit 65 is mainly composed of a bottomed cylinder 66, a bottomed cylinder (not shown) fixed to the intermediate arm 15, and an axial bolt 67 as main components. It functions as a connecting portion that is connected rotatably around a rotating shaft.
  • the connection unit 65 mainly includes the ball 70, the coil spring 71, and the spring fixing portion 72, and allows rotation of the intermediate arm 15 in one direction with respect to the base arm 13 and locks rotation in the other direction by restriction. Function as a lock unit.
  • the connection unit 65 mainly comprises the ball 70, the coil spring 71, the spring fixing portion 72, the interlocking mechanism (not shown) and the lock release lever (not shown), and releases the restriction by the lock portion. Functions as a release unit that allows the intermediate arm 15 to rotate in the other direction.
  • the specific configuration of the connection unit (not shown) that replaces the connection units 16 and 18 is the same as that of the connection unit 65, and the description thereof will be omitted.
  • the ball 70 is urged against the inner peripheral surface of the bottomed cylinder 66 by the coil spring 71 and is in contact with the inner peripheral surface of the bottomed cylinder 66.
  • the bottomed cylinder (not shown) to which the rotation restricting roller 68 is attached and the intermediate arm 15 is fixed rotates in the left direction with respect to the bottomed cylinder 66 to which the base arm 13 is fixed. Is permitted and rightward pivoting is locked and restricted.
  • connection unit replacing the connection units 16 and 18 is the same as the operation of the connection unit 65, and the description thereof will be omitted.
  • FIG. 18 is a cross-sectional view of the connection unit 74, showing a state in which the rotation of the intermediate arm 15 is restricted.
  • FIG. 19 is a cross-sectional view of the connection unit 74, showing a state in which the intermediate arm 15 is allowed to rotate in one direction.
  • FIG. 20 is a cross-sectional view of the connection unit 74 and shows a state in which the intermediate arm 15 is allowed to rotate in the other direction.
  • the arm device (not shown) of the fifth embodiment includes a connecting unit 74 shown in FIGS. 18 to 20 in place of the connecting unit 65 as compared with the arm device (not shown) of the fourth embodiment. Moreover, the arm apparatus of 5th Embodiment is provided with the connection unit (illustration omitted) similar to the connection unit 74 also about the other connection unit.
  • connection unit 74 connects the intermediate arm 15 to the base arm 13 so as to be rotatable about a horizontal rotation axis.
  • the connecting unit 74 locks and restricts rightward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts leftward operation.
  • the connection unit 74 includes a lock release lever (not shown) that unlocks the rightward rotation or the leftward rotation of the intermediate arm 15 relative to the base arm 13 according to the operation direction. ing.
  • the connection unit 74 allows rightward rotation or leftward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever in a predetermined direction.
  • the connecting unit 74 includes a rotation restricting roller 75 instead of the rotation restricting roller 68 as compared to the connection unit 65 of the fourth embodiment.
  • the rotation restricting roller 75 is interlocked to interlock the cylindrical roller body 76, the ball 70, the coil spring 71, the spring fixing portion 72, and the spring fixing portion 72 with the above-mentioned unlocking lever (not shown). And a mechanism (not shown).
  • the roller body 76 has an outer diameter which is slightly smaller than the inner diameter of the bottomed cylinder 66.
  • the roller body 76 is formed with a groove 76 a for accommodating the ball 70, the coil spring 71, and the spring fixing portion 72, and a bolt hole (reference numeral omitted) for the shaft bolt 67.
  • the groove 76a extends inward from the outer peripheral surface of the roller body 76, and extends straight inward, and further extends toward the outer peripheral surface.
  • the ball 70, the coil spring 71, the spring fixing portion 72, the coil spring 71, and the ball 70 are disposed in this order in the groove 76a.
  • One of the side surfaces of the groove 76 a is substantially orthogonal to the inner circumferential surface of the bottomed cylinder 66, and forms a right-angled space with the bottomed cylinder 66.
  • the other of the side surfaces constituting the groove 76 a obliquely contacts the inner circumferential surface of the bottomed cylinder 66 and forms an acute-angled space with the bottomed cylinder 66.
  • the spring fixing portion 72 takes the center of the groove 76a as an initial position as shown in FIG. In the initial position, each coil spring 71 biases the ball 70 toward the inner circumferential surface of the bottomed cylinder 66.
  • the spring fixing portion 72 moves in a predetermined direction shown in FIG. 19 or 20 in conjunction with the above-mentioned lock release lever (not shown). Thereby, the contact of the one or the other ball 70 with the inner circumferential surface of the bottomed cylinder 66 is released.
  • the shaft bolt 67 is inserted into a shaft hole (not shown) of the bottomed cylinder 66, and then screwed into a bolt hole (reference numeral is omitted) of the roller main body 76. Fix to Thus, the bottomed cylinder 66 is rotatably fixed to a bottomed cylinder (not shown) fixed to the intermediate arm 15.
  • connection unit 74 corresponds to the connection unit 65 of the fourth embodiment in two-way rotation.
  • the connecting unit 74 has a bottomed cylinder 66, a bottomed cylinder (not shown) to which the intermediate arm 15 is fixed, and a shaft bolt 67 as main components, and the intermediate arm 15 with respect to the base arm 13 in the horizontal direction It functions as a connecting portion that is connected rotatably around the rotation shaft of Further, the connection unit 74 functions as a lock portion that restricts bidirectional rotation of the intermediate arm 15 with respect to the base arm 13 with the ball 70, the coil spring 71 and the spring fixing portion 72 as main components.
  • connection unit 74 mainly comprises the ball 70, the coil spring 71, the spring fixing portion 72, the interlocking mechanism (not shown) and the lock release lever (not shown), and releases the restriction by the lock portion. Functions as a release unit that allows the intermediate arm 15 to rotate in one direction or the other direction.
  • the specific configuration of the connection unit (not shown) that replaces the connection units 16 and 18 is the same as that of the connection unit 74, and the description thereof will be omitted.
  • each ball 70 is urged against the inner peripheral surface of the bottomed cylinder 66 by a coil spring 71 and is in contact with the inner peripheral surface of the bottomed cylinder 66.
  • the bottomed cylinder (not shown) to which the rotation restricting roller 75 is attached and the intermediate arm 15 is fixed rotates in both directions with respect to the bottomed cylinder 66 to which the base arm 13 is fixed. Is locked and regulated.
  • FIG. 21 is a front view of the arm device 78. As shown in FIG.
  • the arm device 78 includes a pivot base 79 in place of the pivot base 12, the base arm 13 and the connecting unit 14 as compared with the arm device 10 of the first embodiment.
  • the pivot base 79 is pivotably attached about the vertical axis, similarly to the pivot base 12.
  • the pivot base 79 includes a connection unit 80 similar to the connection unit 14.
  • the connection unit 80 rotatably connects the intermediate arm 15 to the rotation base 79 about a horizontal rotation axis.
  • the connection unit 80 permits leftward rotation of the intermediate arm 15 with respect to the rotation base 79, and locks and restricts rightward rotation.
  • the connection unit 80 includes a lock release lever 21 that unlocks the rightward rotation of the intermediate arm 15 with respect to the rotation base 79.
  • the connection unit 80 allows the rightward rotation of the intermediate arm 15 with respect to the rotation base 79 by operating the lock release lever 21 in a predetermined direction.
  • FIG. 22 is a front view of the arm device 82. As shown in FIG.
  • the arm device 82 includes connecting units 83 to 85 and an interlocking member 86 instead of the connecting units 43 to 45 and the interlocking member 46 as compared with the arm device 42 of the second embodiment. .
  • connection unit 83 does not include the lock release lever 21 as compared to the connection unit 43 of the second embodiment.
  • the connection unit 83 allows the rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating a lock release lever 87 (described later) in the connection unit 85 in a predetermined direction.
  • connection unit 84 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating a lock release lever 87 (described later) in the connection unit 85 in a predetermined direction.
  • connection unit 85 includes a lock release lever 87 that unlocks the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 as compared to the connection unit 45 of the second embodiment.
  • the interlocking member 86 is disposed along the intermediate arms 17 and 15 in the same manner as the interlocking member 46 of the second embodiment. Specifically, the interlocking member 86 is connected from the inside of the connecting unit 85 to the inside of the connecting unit 84 through the inside of the intermediate arm 17 and from the inside of the connecting unit 84 through the inside of the intermediate arm 15 to the connecting unit It is connected to the inside of 83.
  • the interlocking member 86 is pulled when the unlocking lever 87 is operated in a predetermined direction, and regulation of the pivoting of the arm by the coupling units 84 and 83 and its release are regulation of the pivoting of the arm by the coupling unit 85 and In conjunction with the release.
  • the lock release lever 87 is provided to the connection unit 85 having the shortest distance to the holding unit 20 among the plurality of connection units 83 to 85.
  • the lock release lever 87 can be operated while operating the medical device (not shown) or prior to operating the medical device. This allows the medical device to be moved to a desired position while operating the medical device or prior to operating the medical device.
  • FIG. FIG. 23 is a front view of the arm device 110.
  • FIG. 24 is an external perspective view of the connection unit 114.
  • FIG. 25 is an exploded perspective view of the connection unit 114.
  • FIG. 26 is a cross-sectional view of the connection unit 114, showing a state in which the rotation of the intermediate arm 115 is restricted.
  • FIG. 27 is a cross-sectional view of the connection unit 114 and shows a state in which the intermediate arm 115 is allowed to rotate.
  • FIG. 28 is an exploded perspective view of the connection unit 116. As shown in FIG. FIG. FIG.
  • FIG. 29 is a cross-sectional view of the connection unit 116, showing a state in which the rotation of the intermediate arm 117 is restricted.
  • FIG. 30 is a cross-sectional view of the connection unit 116 and shows a state in which the intermediate arm 117 is allowed to rotate.
  • the arm device 110 shown in FIG. 23 is mounted on a pedestal 111 serving as a base, a pivot base 112 rotatably mounted on the upper surface of the pedestal 111 about a vertical axis, and the pivot base 112
  • a base arm 113 a connection unit 114 attached to the tip of the base arm 113, an intermediate arm 115 connected to the base arm 113 via the connection unit 114, and a connection attached to the tip of the middle arm 115 Unit 116, an intermediate arm 117 coupled to the intermediate arm 115 via the coupling unit 116, a coupling unit 118 attached to the tip of the intermediate arm 117, and coupling to the intermediate arm 117 via the coupling unit 118
  • the medical device (not shown). Includes a holding portion 120 for detachably holding, the interlocking member 121 for interlocking the respective coupling units 114,16,18, the. Each component will be described below.
  • the base arm 113, the intermediate arms 115 and 17, and the tip arm 119 are formed hollow with a stainless steel square tube or the like and arranged in a line.
  • the adjacent arms of the base arm 113, the intermediate arms 115 and 117 and the tip arm 119 are rotatably connected by any of the connection units 114, 116 and 118.
  • a base end of the base arm 113 is attached to the pivot base 112.
  • the base arm 113 rotates integrally with the rotating base 112 about a vertical axis.
  • the intermediate arm 115 is connected to the base arm 113 via the connection unit 114, so that the middle arm 115 pivots up and down around a horizontal rotation axis with respect to the base arm 113.
  • the intermediate arm 115 rotates integrally with the pivot base 112 and the base arm 113 about a vertical axis.
  • the intermediate arm 117 is coupled to the intermediate arm 115 via the coupling unit 116, and thereby pivots in the vertical direction about a pivot axis in the horizontal direction with respect to the intermediate arm 115.
  • the intermediate arm 117 integrally rotates with the pivot base 112, the base arm 113, and the intermediate arm 115 about a vertical axis.
  • the distal end arm 119 is coupled to the intermediate arm 117 via the coupling unit 118, and thereby pivots in the vertical direction around a pivot axis in the horizontal direction with respect to the intermediate arm 117.
  • the distal end arm 119 rotates integrally with the pivot base 112, the base arm 113, and the intermediate arms 115 and 117 about a vertical axis.
  • the holding portion 120 rotates the intermediate arm 115 up and down with respect to the base arm 113 in the vertical direction about a rotation axis in the horizontal direction, and the intermediate arm 117 rotates in the horizontal direction with respect to the intermediate arm 115
  • the tip arm 119 moves vertically.
  • the holder 120 pivots about the vertical axis by the rotation base 112, the base arm 113, the intermediate arms 115 and 117, and the tip arm 119 integrally turning about the vertical axis.
  • connection unit 114 connects the intermediate arm 115 to the base arm 113 so as to be rotatable about a horizontal rotation axis.
  • the connection unit 114 locks and restricts bidirectional rotation of the intermediate arm 115 with respect to the base arm 113 by a lock mechanism 131 (see FIG. 25) described later.
  • the connection unit 114 includes a lock release lever 122 that unlocks the two-way rotation of the intermediate arm 115 with respect to the base arm 113.
  • the connection unit 114 allows bidirectional rotation of the intermediate arm 115 with respect to the base arm 113 by operating the lock release lever 122 in a predetermined direction.
  • the connecting unit 116 rotatably connects the intermediate arm 117 to the intermediate arm 115 about a horizontal rotation axis.
  • the connection unit 116 locks and restricts bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115 by a lock mechanism 131 (see FIG. 28) described later.
  • the coupling unit 116 interlocks with the interlock release of the lock release lever 122 in the coupling unit 114 in a predetermined direction by the interlocking member 121, and permits bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115.
  • the connecting unit 118 rotatably connects the distal end arm 119 to the intermediate arm 117 about a horizontal rotation axis.
  • the connection unit 118 locks and restricts bidirectional rotation of the distal end arm 119 with respect to the intermediate arm 117 by a lock mechanism (not shown) described later.
  • the connecting unit 118 interlocks with the operation of the lock release lever 122 in the connecting unit 114 in a predetermined direction by the interlocking member 121, and permits bidirectional rotation of the distal end arm 119 with respect to the intermediate arm 117.
  • the interlocking member 121 is a thread-like member such as a fishing line, and is disposed along the intermediate arms 115 and 117. Specifically, the interlocking member 121 is connected from the inside of the connecting unit 114 to the inside of the connecting unit 116 through the inside of the intermediate arm 115 and from the inside of the connecting unit 116 to the inside of the intermediate arm 117 It is connected to the inside of 118. The interlocking member 121 is pulled when the unlocking lever 122 is operated in a predetermined direction, so that the control of the rotation of the arm by the connection units 116 and 118 and the release thereof are restricted by the connection unit 114 and the rotation of the arm In conjunction with the release.
  • the connection unit 114 includes a bottomed cylinder 125 fixed to the base arm 113, a bottomed cylinder 126 fixed to the intermediate arm 115, and the bottomed cylinders 125 and 126.
  • a cylinder 127 interposed therebetween, a shaft bolt 128 rotatably attaching the bottomed cylinder 125 to the bottomed cylinder 126, a gear 129 fixed to the bottomed cylinder 126, the gear 129 and the bottomed cylinder 126 Fixed to the meshing member 132, a cylindrical spacer 130 interposed between them, a meshing member 132 constituting the lock mechanism 131 together with the gear 129, a coil spring 133 urging the meshing member 132 toward the gear 129, and Locking the spacer 130 to the bottomed cylinder 126 and the lock release lever 122, the guide member 134 for guiding the interlocking member 121, and the The fixing bolt 135, the fixing bolt 136 for fixing the gear 129 to the spacer
  • the bottomed cylinder 125 has a shaft hole 125a for the shaft bolt 128, a bolt hole 125b for the shaft bolt 137, a bolt hole 125c for the fixing bolt 140, and a fixing hole 125d to which one end of the coil spring 133 is fixed. , Is formed.
  • the bottomed cylinder 126 is formed with a bolt hole 126 a for the fixing bolt 135 and a bolt hole 126 b for the fixing bolt 142.
  • the cylinder 127 has a large diameter portion 127a having an outer diameter one size smaller than the inner diameter of the bottomed cylinder 125, 126, and a small diameter portion having an outer diameter one size smaller than the outer diameter of the large diameter portion 127a. And 127b. In the small diameter portion 127 b of the cylinder 127, a notch 127 c for releasing the lock release lever 122 is formed.
  • a gap (reference numeral omitted) through which the interlocking member 121 passes is formed between the outer peripheral surface of the small diameter portion 127 b and the inner peripheral surface of the bottomed cylinder 125.
  • the gear 129 is a gear in which angular teeth having a U-shape are formed over the entire circumference.
  • the gear 129 is restricted from rotating in both directions when the meshing member 132 is meshed. On the other hand, the gear 129 is allowed to rotate in both directions when the meshing member 132 is disengaged.
  • the gear 129 is formed with a bolt hole 129 a for the fixing bolt 136 and a bolt hole 129 b for the shaft bolt 128.
  • a bolt hole 130a for the fixing bolt 135 is formed on the surface on the bottomed cylinder 126 side, and a bolt hole 130b for the fixing bolt 136 is formed on the surface on the gear 129 side.
  • the fixing bolt 135 fixes the spacer 130 to the bottomed cylinder 126 by screwing in order of the bolt hole 126 a and the bolt hole 130 a.
  • the fixing bolt 136 fixes the gear 129 to the spacer 130 by screwing in order of the bolt hole 129 a and the bolt hole 130 b.
  • the gear 129 is fixed to the bottomed cylinder 126 via the spacer 130.
  • the axial bolt 128 is a middle bolt that is threaded at its distal end and unthreaded at its proximal end.
  • the shaft bolt 128 is inserted into the shaft hole 125a and then screwed into the bolt hole 129b, thereby rotatably fixing the bottomed cylinder 125 to the gear 129.
  • the bottomed cylinder 125 is rotatably fixed to the bottomed cylinder 126.
  • the meshing member 132 locks and regulates bi-directional rotation of the gear 129 by meshing with the gear 129.
  • the meshing member 132 is formed with a shaft hole 132a for the shaft bolt 137, a bolt hole 132b for the fixing bolt 138, and a fixing hole 132c to which the other end of the coil spring 133 is fixed.
  • the lock release lever 122 is formed with a bolt hole 122 a for the fixing bolt 138.
  • the guide member 134 has a substantially semicircular plate shape.
  • the guide member 134 is integrally formed with a projection 134a around which the interlocking member 121 is wound, and a groove 134b is formed along the entire arc from the projection 134a to guide the interlocking member 121.
  • bolt holes 134c for the fixing bolt 138 are formed in the guide member 134.
  • the axial bolt 137 is a special bolt in which the proximal end portion is threaded and the distal end portion is not threaded.
  • the axial bolt 137 is screwed into the bolt hole 125 b from the outside of the bottomed cylinder 125, thereby causing the tip portion to protrude inside the bottomed cylinder 125.
  • the tip end portion of the shaft bolt 137 constitutes a pivot shaft of the meshing member 132.
  • the meshing member 132 pivots about a shaft bolt 137 inserted into the shaft hole 132a.
  • the meshing member 132 is rotated by the biasing force of the coil spring 133 and is engaged with the gear 129.
  • the fixing bolt 138 fixes the guide member 134 together with the unlocking lever 122 to the meshing member 132 by screwing in order of the bolt hole 134c, the bolt hole 122a, and the bolt hole 132b.
  • the meshing member 132 is rotated against the biasing force of the coil spring 133 by the operation of the lock release lever 122, and it becomes possible to release the meshing of the meshing member 132 to the gear 129 and the guide member 134. Can be rotated, and the interlocking member 121 can be pulled.
  • the fixing member 139 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees and the base arm 113 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 125 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape.
  • a bolt hole 139a for the fixing bolt 140 is formed in the second piece of the fixing member 139.
  • a bolt hole 139 b for the fixing bolt 140 is formed in the third piece of the fixing member 139.
  • the base arm 113 is formed with a bolt hole 113 a for the fixing bolt 140.
  • the fixing bolt 140 fixes the fixing member 139 to the base arm 113 by screwing in order of the bolt hole 139a and the bolt hole 113a, and by fixing in order of the bolt hole 139b and the bolt hole 125c, the fixing member 139 is provided. It is fixed to the bottom cylinder 125. Thereby, the base arm 113 is fixed to the bottomed cylinder 125.
  • the fixing member 141 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees and the intermediate arm 115 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 126 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape.
  • a bolt hole 141a for the fixing bolt 142 is formed in a second piece of the fixing member 141.
  • a bolt hole 141b for the fixing bolt 142 is formed in the third piece of the fixing member 141.
  • the intermediate arm 115 is formed with a bolt hole 115 a for the fixing bolt 142.
  • the fixing bolt 142 fixes the fixing member 141 to the intermediate arm 115 by screwing in order of the bolt hole 141a and the bolt hole 115a, and by fixing in order of the bolt hole 141b and the bolt hole 126b, the fixing member 141 is provided. It is fixed to the bottom cylinder 126. Thus, the intermediate arm 115 is fixed to the bottomed cylinder 126.
  • the interlocking member 121 is guided by the groove 134b of the guide member 134 with the protrusion 134a of the guide member 134 at the base end, and passes from the lower part between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 from below to guide the intermediate arm 115 It is eaten.
  • connection unit 116 includes a guide member 144 instead of the guide member 134 as compared to the connection unit 114. Furthermore, the connection unit 116 does not have the unlocking lever 122.
  • the illustration of a part of the interlocking member 121 is omitted. Specifically, from the guide member 144, the gap between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 is passed from below, and the illustration of the portion guided to the intermediate arm 117 is omitted.
  • the guide member 144 is integrally formed with two protrusions 144a for winding the interlocking member 121, and a groove 144b for guiding the interlocking member 121 from one protrusion 144a to the other protrusion 144a along the entire arc. It is formed.
  • the guide member 144 is formed with a bolt hole 144 c for the fixing bolt 138.
  • the fixing bolt 138 fixes the guide member 144 to the meshing member 132 by screwing in order of the bolt hole 144 c and the bolt hole 132 b.
  • the meshing member 132 rotates against the biasing force of the coil spring 133, and the meshing member 132 can be released from meshing with the gear 129.
  • the guide member 144 is pivoted integrally with the meshing member 132, and it becomes possible to pull the interlocking member 121 (a portion not shown) guided to the intermediate arm 117.
  • the intermediate arm 115 is formed with a bolt hole 115 b for the fixing bolt 140.
  • the fixing bolt 140 fixes the fixing member 139 to the intermediate arm 115 by screwing in order of the bolt hole 139a and the bolt hole 115b, and by fixing in order of the bolt hole 139b and the bolt hole 125c, the fixing member 139 is provided. It is fixed to the bottom cylinder 125.
  • the intermediate arm 115 is fixed to the bottomed cylinder 125.
  • the intermediate arm 117 is formed with a bolt hole 17 a for the fixing bolt 142.
  • the fixing bolt 142 fixes the fixing member 141 to the intermediate arm 117 by screwing in order of the bolt hole 141a and the bolt hole 17a, and by fixing in order of the bolt hole 141b and the bolt hole 126b, the fixing member 141 is provided. It is fixed to the bottom cylinder 126.
  • the intermediate arm 117 is fixed to the bottomed cylinder 126.
  • the interlocking member 121 passes through the gap between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 from the intermediate arm 115, and is guided to the guide member 144 from the upper side of the gap. Then, the interlocking member 121 is guided by the groove 144b of the guide member 144, and sequentially wound around the lower protrusion 144a and the upper protrusion 144a. Further, the interlocking member 121 is guided by the groove 144b of the guide member 144, passes through the gap between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 from below, and is guided to the intermediate arm 117.
  • connection unit 114 functions mainly as the lock release lever 122, and functions as an operation unit for releasing the meshing member 132 from meshing with the gear 129.
  • the specific configuration of the connection unit 118 is the same as that of the connection unit 116, and the description thereof will be omitted.
  • the meshing member 132 in the coupling unit 114 is biased toward the gear 129 by the coil spring 133 and meshes with the gear 129.
  • the bottomed cylinder 126 (see FIGS. 24 and 25) to which the gear 129 is attached and the intermediate arm 115 is fixed is the bottomed to which the meshing member 132 is attached and the base arm 113 is fixed. Bidirectional rotation is locked and restricted with respect to the cylinder 125.
  • the meshing member 132 in the coupling unit 116 is biased toward the gear 129 by the coil spring 133, and is meshed with the gear 129.
  • the bottomed cylinder 126 (see FIG. 28) to which the gear 129 is attached and the intermediate arm 117 is fixed is attached to the bottomed cylinder 125 to which the meshing member 132 is attached and the intermediate arm 115 is fixed.
  • two-way pivoting is locked and restricted.
  • the interlocking member 121 uses the protrusion 134 a of the guide member 134 in the connection unit 114 as a base end, a gap between the bottomed cylinder 125 in the connection unit 114 and the small diameter portion 127 b of the cylinder 127, the intermediate arm 115, and the bottom cylinder in the connection unit 116.
  • the guide member 144 is guided to the guide member 144 in the connection unit 116 in the order of the clearance between the cylinder 125 and the small diameter portion 127 b of the cylinder 127.
  • the interlocking member 121 is guided from the connecting unit 116 to the connecting unit 118 through the intermediate arm 117 in the same manner as the flow to the connecting unit 116.
  • the arm device 110 bidirectional rotation of the intermediate arm 115 with respect to the base arm 113, bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115, and bidirectional of the tip arm 119 with respect to the intermediate arm 117.
  • a heavy medical device (not shown) is held at the distal end of the tip arm 119, because the rotation of the is locked and restricted by the coupling units 114, 116, 118.
  • the gravity does not cause any one of the intermediate arms 115 and 117 and the tip arm 119 to pivot unexpectedly.
  • the interlocking member 121 since the interlocking member 121 is provided, the meshing of the meshing members 132 of all the coupling units 114, 116 and 118 to the gear 129 can be simultaneously released by operating the lock release lever 122 at one place.
  • FIG. 31 is a front view of the arm device 146. As shown in FIG.
  • the arm device 146 is provided with a pivot base 147 in place of the pivot base 112, the base arm 113 and the connection unit 114 in comparison with the arm apparatus 110 of the eighth embodiment.
  • the pivoting table 147 is pivotably attached about the vertical axis, similarly to the pivoting table 112.
  • the pivot base 147 includes a connection unit 148 similar to the connection unit 114.
  • the connection unit 148 rotatably connects the intermediate arm 115 to the rotation base 147 around a horizontal rotation axis.
  • the connection unit 148 locks and restricts bidirectional rotation of the intermediate arm 115 with respect to the rotary table 147.
  • the connection unit 148 includes a lock release lever 149 that unlocks the bidirectional pivoting of the intermediate arm 115 with respect to the pivot base 147.
  • the connection unit 148 allows bidirectional rotation of the intermediate arm 115 with respect to the rotation base 147 by operating the lock release lever 149 in a predetermined direction.
  • FIG. 32 is a front view of the arm device 151. As shown in FIG.
  • the arm device 151 includes connecting units 152 to 154 and an interlocking member 155 instead of the connecting units 114, 116 and 118 and the interlocking member 121 as compared to the arm device 110 of the eighth embodiment. ing.
  • connection unit 152 does not include the lock release lever 122 as compared with the connection unit 114 of the eighth embodiment.
  • the connection unit 152 allows bidirectional rotation of the intermediate arm 115 with respect to the base arm 113 by operating a lock release lever 156 (described later) in the connection unit 154 in a predetermined direction.
  • connection unit 153 allows bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115 when a lock release lever 156 (described later) in the connection unit 154 is operated in a predetermined direction.
  • connection unit 154 includes an unlocking lever 156 that unlocks the bidirectional pivoting of the distal end arm 119 relative to the intermediate arm 117 as compared to the connection unit 118 of the eighth embodiment.
  • the interlocking member 155 is disposed along the intermediate arms 117 and 115 in the same manner as the interlocking member 121 of the eighth embodiment. Specifically, the interlocking member 155 is connected from the inside of the connecting unit 154 to the inside of the connecting unit 153 through the inside of the intermediate arm 117 and from the inside of the connecting unit 153 to the inside of the intermediate arm 115 It is connected to the inside of 152. The interlocking member 155 is pulled when the lock release lever 156 is operated in a predetermined direction, so that the control of the rotation of the arm by the connection units 153 and 152 and the release thereof are the control of the rotation of the arm by the connection unit 154 In conjunction with the release.
  • the lock release lever 156 is provided to the connection unit 154 closest to the holding unit 120 among the plurality of connection units 152 to 154, the lock unit 154 is held by the tip of the tip arm 119
  • the lock release lever 156 can be operated while operating the medical device (not shown) or prior to operating the medical device. This allows the medical device to be moved to a desired position while operating the medical device or prior to operating the medical device.
  • the holding unit for holding the medical device in an attachable manner may be provided without the holding unit for holding the medical device in a removable manner. Further, the holding unit may be provided to the connection unit.
  • the quantity of each component can be changed as appropriate.
  • the quantity of an intermediate arm, a connection unit, etc. is mentioned.
  • interlocking members may be provided as in the second embodiment to interlock the connection units.

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  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

An arm device (10) is constructed by connecting a base arm (13), intermediate arms (15, 17), and an end arm (19) by means of connection units (14, 16, 18). The connection units allow the arms to rotate in one direction and restrict the arms from rotating in the other direction. By operating lock-releasing levers (21, 22, 23) provided on the respective connection units, the arms are allowed to rotate in the other direction.

Description

連結ユニットおよびアーム装置Coupling unit and arm device
　本発明は、複数のアームが一列に連結されたアーム装置に関し、特に、二つのアームを相互に回動自在に連結する連結ユニットに関する。 BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an arm device in which a plurality of arms are connected in a row, and more particularly to a connecting unit that rotatably connects two arms to each other.
　病院や診療所などの医療施設において、人工呼吸器や、手術において手元を照らす照明装置、などの医療装置を所望の位置に保持するアーム装置が用いられている。アーム装置は、一列に配置される二つのアームと、これら二つのアームの間に設けられ、一方のアームを、他方のアームに対して水平方向の回動軸を中心に上下方向に回動自在に連結する連結ユニット（ヒンジ）と、上下方向に回動するアームの先端に設けられ、医療装置を保持する保持部と、を備えている（例えば、特開平０７－０１６２７２号公報参照）。 2. Description of the Related Art In medical facilities such as hospitals and clinics, arm devices for holding medical devices such as a respirator and a lighting device for illuminating a hand during surgery at a desired position are used. The arm device is provided between two arms arranged in a row and between the two arms, and one arm can be vertically pivoted about a pivot axis in the horizontal direction with respect to the other arm And a holding unit provided at the tip of the arm rotating in the vertical direction and holding the medical device (see, for example, Japanese Patent Application Laid-Open No. 07-016272).
　このアーム装置によれば、手動でアームを回動させることで、アームの先端に保持させた医療装置を簡単に所望の位置に移動させられる。アーム装置から手が離れた後は、連結部のフリクションによりアームの回動が規制され、アームの姿勢が保たれる。ひいては、医療装置が所望の位置に保持される。 According to this arm device, the medical device held at the tip of the arm can be easily moved to the desired position by manually rotating the arm. After the hand is released from the arm device, the rotation of the arm is restricted by the friction of the connecting portion, and the posture of the arm is maintained. Thus, the medical device is held in the desired position.
　このようなアーム装置では、不意にアームが回動することのないように、連結部におけるフリクションの力を、医療装置の重力に負けない大きさに設定する必要がある。しかし、重量のある医療装置を保持することに対応させる場合には、連結部におけるフリクションの力を大き目に設定することになるが、この場合、手動でアームを回動させることが困難になるという問題が生じる。 In such an arm device, it is necessary to set the friction force at the connecting portion to a size that is not inferior to the gravity of the medical device so that the arm does not rotate unexpectedly. However, in the case of holding a heavy medical device, the friction force at the connecting portion is set to a large value, but in this case, it is difficult to turn the arm manually. A problem arises.
　本発明は、上記課題を鑑みてなされたものであり、手動でアームを回動させることが簡単な連結ユニットおよびアーム装置を提供することを目的とする。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a connecting unit and an arm device in which it is easy to manually turn an arm.
　本発明の連結ユニットは、アームを回動自在に連結する連結部と、前記アームの一方向の回動を許容すると共に他方向の回動を規制するロック部と、前記ロック部による規制を解除して前記アームの他方向の回動を許容する解除部と、を備えることを特徴とする。 The connection unit according to the present invention includes a connection portion that rotatably connects the arm, a lock portion that permits rotation of the arm in one direction and restricts rotation in the other direction, and release restriction by the lock portion. And a release portion for permitting rotation of the arm in the other direction.
　本発明の連結ユニットによれば、ロック部によりアームの一方向の回動が許容されているから、アームの先端に医療装置を保持している場合には、手動でアームを回動させることで、医療装置を簡単に所望の位置に移動させられる。その一方で、ロック部によりアームの他方向の回動が規制されているから、アームの下方向の回動が規制されている場合には、たとえ重量のある医療装置がアームの先端に保持されているとしても、医療装置の重力によって不意にアームが回動することはない。また、ロック部による規制を解除することで、アームの他方向の回動が許容され、手動でアームを他方向へ回動させることができる。 According to the connection unit of the present invention, since the lock portion allows rotation of the arm in one direction, when the medical device is held at the tip of the arm, the arm is manually rotated. The medical device can be easily moved to the desired position. On the other hand, since the locking portion restricts the pivoting movement of the arm in the other direction, if the pivoting movement of the arm is restricted, a heavy medical device is held at the tip of the arm. Even if it does, the gravity of the medical device does not cause the arm to pivot unexpectedly. In addition, by releasing the restriction by the lock portion, rotation in the other direction of the arm is permitted, and the arm can be manually rotated in the other direction.
　本発明はまた、上記手段の連結ユニットにおいて、前記ロック部として、前記アームの第一の方向の回動を許容すると共に前記第一の方向と反対の第二の方向の回動を規制する第一のロック部と、前記アームの前記第一の方向の回動を規制すると共に前記第二の方向の回動を許容する第二のロック部と、を備え、前記解除部として、前記第一のロック部による規制を解除して前記アームの前記第二の方向の回動を許容する第一の解除部と、前記第二のロック部による規制を解除して前記アームの前記第一の方向の回動を許容する第二の解除部と、を備えることを特徴とする。 In the connection unit of the above-mentioned means according to the present invention, the lock portion allows rotation of the arm in a first direction and restricts rotation in a second direction opposite to the first direction. A first lock portion, and a second lock portion that restricts pivoting of the arm in the first direction and allows pivoting in the second direction; And a first release portion for permitting rotation of the arm in the second direction by releasing the restriction by the lock portion, and release of the restriction by the second lock portion to perform the first direction of the arm And a second release portion for permitting rotation of
　本発明のアーム装置は、一列に連結される複数のアームと、前記アームの基端部分にそれぞれ設けられる複数の上記手段の連結ユニットと、前記アームに沿って配置されて前記連結ユニット毎の前記解除部を繋ぎ、前記連結ユニット毎の前記解除部を相互に連動させる連動部材と、を備えることを特徴とする。 The arm device according to the present invention comprises a plurality of arms connected in a row, a connecting unit of the plurality of means respectively provided on the proximal end portion of the arms, and a connecting unit disposed along the arms and arranged for each connecting unit And an interlocking member which interlocks the releaser and interlocks the releasers of the connection units with each other.
　本発明はまた、上記手段のアーム装置において、前記連結部の回動軸は、水平方向に配置されることを特徴とする。 The present invention is also characterized in that, in the arm device of the above-mentioned means, the pivot shaft of the connecting portion is disposed in the horizontal direction.
　本発明はまた、上記手段のアーム装置において、前記アームまたは前記連結ユニットに設けられ、医療装置を保持する保持部を備えることを特徴とする。 The present invention is also characterized in that, in the arm device of the above-described means, a holder provided on the arm or the connection unit and holding a medical device.
　本発明はまた、上記手段のアーム装置において、複数の前記連結ユニットのうち前記保持部との距離が最も近い前記連結ユニットに設けられ、前記解除部を操作する操作部を備えることを特徴とする。 The present invention is also characterized in that, in the arm device of the above-described means, an operation unit provided on the connection unit closest to the holding unit among the plurality of connection units and operating the release unit is provided. .
　本発明はまた、上記手段のアーム装置において、前記アームは、中空に形成され、前記連動部材は、前記アームの内部を通る糸状部材であることを特徴とする。 The present invention is also characterized in that in the arm device of the above means, the arm is formed hollow, and the interlocking member is a thread-like member passing through the inside of the arm.
　本発明のアーム装置は、一列に連結される複数のアームと、前記アームを回動自在に連結する複数のユニットであり、歯車および前記歯車に噛み合う噛合部材を有し、前記噛合部材が前記歯車に噛み合う場合に前記アームの双方向の回動を規制すると共に、前記噛合部材の前記歯車への噛合いが解除された場合に前記アームの双方向の回動を許容する複数の連結ユニットと、前記アームに沿って配置されて前記連結ユニット毎の前記噛合部材を繋ぎ、前記連結ユニット毎の前記噛合部材を相互に連動させる連動部材と、前記アームまたは前記連結ユニットに設けられ、医療装置を保持する保持部と、を備えることを特徴とする。 The arm device of the present invention is a plurality of arms connected in a row, and a plurality of units rotatably connecting the arms, and has a gear and a meshing member meshing with the gear, and the meshing member is the gear A plurality of connection units that restrict bi-directional rotation of the arm when meshing with the gear and allow bi-directional rotation of the arm when meshing of the meshing member with the gear is released; An interlocking member disposed along the arm to connect the meshing members of each connection unit and interlocking the meshing members of the connection units with each other, provided on the arm or the connection unit to hold a medical device And a holding unit.
　本発明のアーム装置によれば、連結ユニットによりアームの双方向の回動が規制されているから、たとえ重量のある医療装置がアームの先端に保持または固定されているとしても、医療装置の重量によって不意にアームが回動することはない。また、連結ユニットによる規制を解除することで、アームの双方向の回動が許容され、手動でアームを回動させることができる。さらに、連動部材を備えているから、一か所の連結ユニットにおける噛合部材の歯車への噛合いを解除することで、全ての連結ユニットにおける噛合部材の歯車への噛合いを一斉に解除できる。 According to the arm device of the present invention, since the bi-directional rotation of the arm is restricted by the connecting unit, even if the heavy medical device is held or fixed at the tip of the arm, the weight of the medical device Does not cause the arm to pivot unexpectedly. Also, by releasing the restriction by the connection unit, bidirectional rotation of the arm is permitted, and the arm can be manually rotated. Furthermore, since the interlocking member is provided, by disengaging the meshing member from the gear in one connection unit, the meshing of the meshing member to all the gears in all the coupling units can be released simultaneously.
　本発明はまた、上記手段のアーム装置において、前記連結ユニットの回動軸は、水平方向に配置されることを特徴とする。 The present invention is also characterized in that, in the arm device of the above means, the pivot shaft of the connection unit is disposed in the horizontal direction.
　本発明はまた、上記手段のアーム装置において、複数の前記連結ユニットのうち前記保持部との距離が最も近い前記連結ユニットに設けられ、前記噛合部材の前記歯車への噛合いを解除する操作部を備えることを特徴とする。 Still further, according to the present invention, in the arm device of the above-described means, an operation unit which is provided in the connection unit closest to the holding unit among the plurality of connection units and releases the meshing of the meshing member to the gear. And the like.
　本発明はまた、上記手段のアーム装置において、前記アームは中空に形成され、前記連動部材は、前記アームの内部を通る糸状部材であることを特徴とする。 The present invention is also characterized in that in the arm device of the above means, the arm is formed hollow, and the interlocking member is a thread-like member passing through the inside of the arm.
　本発明の連結ユニットおよびアーム装置によれば、手動でアームを回動させることが簡単である。 According to the connection unit and the arm device of the present invention, it is easy to turn the arm manually.
本発明に係る第１実施形態のアーム装置の正面図である。It is a front view of an arm device of a 1st embodiment concerning the present invention. 図１に示すアーム装置における連結ユニットの外観斜視図である。It is an external appearance perspective view of the connection unit in the arm apparatus shown in FIG. 図２に示す連結ユニットの分解斜視図の一部であり、図３Ｂと一組の図である。FIG. 3B is a part of an exploded perspective view of the connection unit shown in FIG. 2 and a set of FIG. 3B. 図２に示す連結ユニットの分解斜視図の一部であり、図３Ａと一組の図である。Fig. 3A is a part of an exploded perspective view of the connection unit shown in Fig. 2 and a set of Fig. 3A. 図２に示す連結ユニットの断面図であり、アームの回動を規制した状態を示す。It is sectional drawing of the connection unit shown in FIG. 2, and shows the state which controlled rotation of the arm. 図２に示す連結ユニットの断面図であり、アームの回動を許容した状態を示す。It is sectional drawing of the connection unit shown in FIG. 2, and the state which accept | permitted the rotation of the arm is shown. 本発明に係る第２実施形態のアーム装置の正面図である。It is a front view of an arm device of a 2nd embodiment concerning the present invention. 図６に示すアーム装置における連結ユニットの分解斜視図の一部であり、図７Ｂと一組の図である。It is a part of exploded perspective view of the connection unit in the arm apparatus shown in FIG. 6, and it is a figure with FIG. 7B. 図６に示すアーム装置における連結ユニットの分解斜視図の一部であり、図７Ａと一組の図である。It is a part of exploded perspective view of the connection unit in the arm apparatus shown in FIG. 6, and it is a figure with FIG. 7A. 図７Ａおよび図７Ｂに示す連結ユニットの断面図であり、アームの回動を規制した状態を示す。It is sectional drawing of the connection unit shown to FIG. 7A and 7B, and the state which restrained rotation of the arm is shown. 図６に示すアーム装置における連結ユニットの分解斜視図の一部であって、図９Ｂと一組の図であり、図７Ａおよび図７Ｂに示す連結ユニットとは異なる連結ユニットを示す。FIG. 7A is a part of an exploded perspective view of the connection unit in the arm device shown in FIG. 6, which is a set of diagrams together with FIG. 9B, showing a connection unit different from the connection unit shown in FIGS. 7A and 7B. 図６に示すアーム装置における連結ユニットの分解斜視図の一部であって、図９Ａと一組の図であり、図７Ａおよび図７Ｂに示す連結ユニットとは異なる連結ユニットを示す。FIG. 7A is a part of an exploded perspective view of the connection unit in the arm device shown in FIG. 6, which is a set of FIG. 9A and a connection unit different from the connection units shown in FIGS. 7A and 7B. 図９Ａおよび図９Ｂに示す連結ユニットの断面図であり、アームの回動を規制した状態を示す。It is sectional drawing of the connection unit shown to FIG. 9A and FIG. 9B, and the state which restrained rotation of the arm is shown. 本発明に係る第３実施形態のアーム装置の正面図である。It is a front view of an arm device of a 3rd embodiment concerning the present invention. 図１１に示すアーム装置における連結ユニットの外観斜視図である。It is an external appearance perspective view of the connection unit in the arm apparatus shown in FIG. 図１２に示す連結ユニットの分解斜視図の一部であり、図１３Ｂおよび図１３Ｃと一組の図である。It is a part of disassembled perspective view of the connection unit shown in FIG. 12, and a figure of FIG. 13B and FIG. 13C. 図１２に示す連結ユニットの分解斜視図の一部であり、図１３Ａおよび図１３Ｃと一組の図である。FIG. 13 is a part of the exploded perspective view of the connection unit shown in FIG. 12 and a set of FIGS. 13A and 13C. 図１２に示す連結ユニットの分解斜視図の一部であり、図１３Ａおよび図１３Ｃと一組の図である。FIG. 13 is a part of the exploded perspective view of the connection unit shown in FIG. 12 and a set of FIGS. 13A and 13C. 図１２に示す連結ユニットの断面図であり、（Ａ）はアームの一方向の回動を規制した状態を示し、（Ｂ）はアームの他方向の回動を規制した状態を示す。It is sectional drawing of the connection unit shown in FIG. 12, (A) shows the state which controlled rotation of one direction of an arm, and (B) shows the state which controlled rotation of the other direction of an arm. 図１２に示す連結ユニットの断面図であり、（Ａ）はアームの一方向の回動を許容した状態を示し、（Ｂ）はアームの他方向の回動を許容した状態を示す。It is sectional drawing of the connection unit shown in FIG. 12, (A) shows the state which permitted the rotation of one direction of an arm, and (B) shows the state which permitted the rotation of the other direction of an arm. 本発明に係る第４実施形態のアーム装置における連結ユニットの断面図であり、アームの回動を規制した状態を示す。It is sectional drawing of the connection unit in the arm apparatus of 4th Embodiment which concerns on this invention, and shows the state which controlled rotation of the arm. 図１６に示す連結ユニットの断面図であり、アームの回動を許容した状態を示す。FIG. 17 is a cross-sectional view of the connection unit shown in FIG. 16, showing a state where rotation of an arm is permitted. 本発明に係る第５実施形態のアーム装置における連結ユニットの断面図であり、アームの回動を規制した状態を示す。It is sectional drawing of the connection unit in the arm apparatus of 5th Embodiment which concerns on this invention, and shows the state which controlled rotation of the arm. 図１８に示す連結ユニットの断面図であり、アームの一方向の回動を許容した状態を示す。FIG. 19 is a cross-sectional view of the connection unit shown in FIG. 18, showing a state in which rotation of an arm in one direction is permitted. 図１８に示す連結ユニットの断面図であり、アームの他方向の回動を許容した状態を示す。FIG. 19 is a cross-sectional view of the connection unit shown in FIG. 18, in which the arm is allowed to rotate in the other direction. 本発明に係る第６実施形態のアーム装置の正面図である。It is a front view of an arm device of a 6th embodiment concerning the present invention. 本発明に係る第７実施形態のアーム装置の正面図である。It is a front view of an arm device of a 7th embodiment concerning the present invention. 本発明に係る第８実施形態のアーム装置の正面図である。It is a front view of the arm apparatus of 8th Embodiment which concerns on this invention. 図２３に示すアーム装置における連結ユニットの外観斜視図である。It is an external appearance perspective view of the connection unit in the arm apparatus shown in FIG. 図２４に示す連結ユニットの分解斜視図である。It is a disassembled perspective view of the connection unit shown in FIG. 図２４に示す連結ユニットの断面図であり、アームの回動を規制した状態を示す。It is sectional drawing of the connection unit shown in FIG. 24, and shows the state which controlled rotation of the arm. 図２４に示す連結ユニットの断面図であり、アームの回動を許容した状態を示す。FIG. 25 is a cross-sectional view of the connection unit shown in FIG. 24, showing a state in which rotation of the arm is permitted. 図２３に示すアーム装置における連結ユニットの分解斜視図であり、図２４に示す連結ユニットとは異なる連結ユニットを示す。FIG. 24 is an exploded perspective view of the connection unit in the arm device shown in FIG. 23 and shows a connection unit different from the connection unit shown in FIG. 24. 図２８に示す連結ユニットの断面図であり、アームの回動を規制した状態を示す。FIG. 29 is a cross-sectional view of the connection unit shown in FIG. 28, showing a state in which rotation of an arm is restricted. 図２８に示す連結ユニットの断面図であり、アームの回動を許容した状態を示す。FIG. 29 is a cross-sectional view of the connection unit shown in FIG. 28, showing a state in which rotation of the arm is permitted. 本発明に係る第９実施形態のアーム装置の正面図である。It is a front view of an arm device of a 9th embodiment concerning the present invention. 本発明に係る第１０実施形態のアーム装置の正面図である。It is a front view of an arm device of a 10th embodiment concerning the present invention.
　以下、図面を参照して、本発明の第１～第１０実施形態に係るアーム装置について詳細に説明する。 Hereinafter, arm devices according to first to tenth embodiments of the present invention will be described in detail with reference to the drawings.
　［第１実施形態］まず、図１～図３を用いて、第１実施形態に係るアーム装置１０の構成について説明する。図１は、アーム装置１０の正面図である。図２は、連結ユニット１４の外観斜視図である。図３Ａおよび図３Ｂは、連結ユニット１４の分解斜視図である。なお、必要に応じて、図４および図５を参照されたい。 First Embodiment First, the structure of an arm device 10 according to the first embodiment will be described with reference to FIGS. 1 to 3. FIG. FIG. 1 is a front view of an arm device 10. FIG. 2 is an external perspective view of the connection unit 14. 3A and 3B are exploded perspective views of the connection unit 14. FIG. In addition, please refer to FIG. 4 and FIG. 5 as needed.
　また、各図において、図面の簡略化のため、説明に不要な構成要素などの図示は適宜省略する。また、以下の説明における右方向および左方向とは、特に説明がない限り、図面における方向をいう。 Further, in each drawing, in order to simplify the drawings, illustration of components unnecessary for the description and the like is appropriately omitted. Further, the rightward and leftward directions in the following description mean directions in the drawings unless otherwise described.
　図１に示すアーム装置１０は、病院や診療所などの医療施設において、人工呼吸器、手術において手元を照らす照明装置、などの医療装置（図示省略）を所望の位置に保持するものであり、手動で操作される。 The arm device 10 shown in FIG. 1 holds medical devices (not shown) such as an artificial respirator and a lighting device for illuminating the hand in surgery at a desired position in a medical facility such as a hospital or clinic. It is operated manually.
　このアーム装置１０は、基礎となる台座１１と、この台座１１の上面に、鉛直軸を中心に回動自在に取り付けられた回動台１２と、この回動台１２に取り付けられた基礎アーム１３と、この基礎アーム１３の先端に取り付けられた連結ユニット１４と、この連結ユニット１４を介して基礎アーム１３に連結された中間アーム１５と、この中間アーム１５の先端に取り付けられた連結ユニット１６と、この連結ユニット１６を介して中間アーム１５に連結された中間アーム１７と、この中間アーム１７の先端に取り付けられた連結ユニット１８と、この連結ユニット１８を介して中間アーム１７に連結された先端アーム１９と、この先端アーム１９に固定され、医療装置（図示省略）を着脱可能に保持する保持部２０と、を備えている。以下、各構成要素を説明する。 The arm device 10 has a base 11 as a base, a rotary base 12 rotatably mounted on the upper surface of the base 11 about a vertical axis, and a base arm 13 mounted on the rotary base 12. A connecting unit 14 attached to the end of the base arm 13, an intermediate arm 15 connected to the base arm 13 via the connecting unit 14, and a connecting unit 16 attached to the end of the intermediate arm 15. An intermediate arm 17 coupled to the intermediate arm 15 via the coupling unit 16, a coupling unit 18 attached to the tip of the intermediate arm 17, and a tip coupled to the intermediate arm 17 via the coupling unit 18 An arm 19 and a holding unit 20 fixed to the distal end arm 19 and detachably holding a medical device (not shown) are provided. Each component will be described below.
　（アーム）基礎アーム１３、中間アーム１５，１７および先端アーム１９は、ステンレス製の角管等で中空に形成され、一列に配置されている。これらの基礎アーム１３、中間アーム１５，１７および先端アーム１９は、隣り合うアームが、連結ユニット１４，１６，１８のいずれかによって回動自在に連結されている。 (Arm) The base arm 13, the intermediate arms 15, 17 and the tip arm 19 are formed hollow with a stainless steel square tube or the like and arranged in a line. The adjacent arms of the base arm 13, the intermediate arms 15 and 17, and the tip arm 19 are rotatably connected by any of the connection units 14, 16 and 18.
　基礎アーム１３は、基端が回動台１２に取り付けられている。この基礎アーム１３は、回動台１２と一体となって、鉛直軸を中心に回動する。 A base end of the base arm 13 is attached to the pivot base 12. The base arm 13 rotates integrally with the rotary base 12 about a vertical axis.
　中間アーム１５は、連結ユニット１４を介して基礎アーム１３に連結されることによって、基礎アーム１３に対して水平方向の回動軸を中心に上下方向に回動する。この中間アーム１５は、回動台１２および基礎アーム１３と一体となって、鉛直軸を中心に回動する。 The intermediate arm 15 is connected to the base arm 13 via the connection unit 14 so that the intermediate arm 15 pivots up and down around a horizontal rotation axis with respect to the base arm 13. The intermediate arm 15 rotates integrally with the pivot base 12 and the base arm 13 about a vertical axis.
　中間アーム１７は、連結ユニット１６を介して中間アーム１５に連結されることによって、中間アーム１５に対して水平方向の回動軸を中心に上下方向に回動する。この中間アーム１７は、回動台１２、基礎アーム１３および中間アーム１５と一体となって、鉛直軸を中心に回動する。 The intermediate arm 17 is connected to the intermediate arm 15 via the connection unit 16 so that the intermediate arm 17 pivots up and down around the horizontal pivot axis with respect to the intermediate arm 15. The intermediate arm 17 integrally with the pivot base 12, the base arm 13 and the intermediate arm 15 rotates about a vertical axis.
　先端アーム１９は、連結ユニット１８を介して中間アーム１７に連結されることによって、中間アーム１７に対して水平方向の回動軸を中心に上下方向に回動する。この先端アーム１９は、回動台１２、基礎アーム１３および中間アーム１５，１７と一体となって、鉛直軸を中心に回動する。 The distal end arm 19 is connected to the intermediate arm 17 via the connection unit 18, so that the distal end arm 19 pivots up and down around the horizontal pivot axis with respect to the intermediate arm 17. The distal end arm 19 rotates integrally with the pivot base 12, the base arm 13 and the intermediate arms 15 and 17 about a vertical axis.
　（保持部）保持部２０は、中間アーム１５が基礎アーム１３に対して水平方向の回動軸を中心に上下方向に回動すること、中間アーム１７が中間アーム１５に対して水平方向の回動軸を中心に上下方向に回動すること、あるいは、先端アーム１９が中間アーム１７に対して水平方向の回動軸を中心に上下方向に回動することによって、上下方向に移動する。この保持部２０は、回動台１２、基礎アーム１３、中間アーム１５，１７および先端アーム１９が一体となって鉛直軸を中心に回動することによって、鉛直軸を中心に旋回する。 (Holding portion) The holding portion 20 rotates the intermediate arm 15 up and down about the rotation axis in the horizontal direction with respect to the base arm 13. The intermediate arm 17 rotates in the horizontal direction with respect to the intermediate arm 15. The tip arm 19 is moved in the vertical direction by being pivoted in the vertical direction about the motion axis, or by pivoting in the vertical direction about the pivot axis in the horizontal direction with respect to the intermediate arm 17. The holding unit 20 pivots about a vertical axis when the pivot base 12, the base arm 13, the intermediate arms 15, 17 and the tip arm 19 integrally rotate about the vertical axis.
　（連結ユニット）連結ユニット１４は、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１４は、基礎アーム１３に対する中間アーム１５の左方向の回動を許容すると共に、右方向の回動をロックして規制する。連結ユニット１４は、基礎アーム１３に対する中間アーム１５の右方向の回動のロックを解除するロック解除レバー２１を備えている。連結ユニット１４は、ロック解除レバー２１が所定の方向に操作されることで、基礎アーム１３に対する中間アーム１５の右方向の回動を許容する。 (Connection Unit) The connection unit 14 connects the intermediate arm 15 to the base arm 13 so as to be rotatable about a horizontal rotation axis. The connecting unit 14 permits leftward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts rightward rotation. The connection unit 14 includes a lock release lever 21 that unlocks the rightward rotation of the intermediate arm 15 relative to the base arm 13. The connection unit 14 allows the rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever 21 in a predetermined direction.
　連結ユニット１６は、中間アーム１５に対して中間アーム１７を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１６は、中間アーム１５に対する中間アーム１７の左方向の回動を許容すると共に、右方向の回動をロックして規制する。連結ユニット１６は、中間アーム１５に対する中間アーム１７の右方向の回動のロックを解除するロック解除レバー２２を備えている。連結ユニット１６は、ロック解除レバー２２が所定の方向に操作されることで、中間アーム１５に対する中間アーム１７の右方向の回動を許容する。 The connecting unit 16 rotatably connects the intermediate arm 17 to the intermediate arm 15 about a horizontal rotation axis. The connection unit 16 permits leftward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and locks and restricts rightward rotation. The connection unit 16 includes a lock release lever 22 that unlocks the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15. The connection unit 16 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 22 in a predetermined direction.
　連結ユニット１８は、中間アーム１７に対して先端アーム１９を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１８は、中間アーム１７に対する先端アーム１９の左方向の回動を許容すると共に、右方向の回動をロックして規制する。連結ユニット１８は、中間アーム１７に対する先端アーム１９の右方向の回動のロックを解除するロック解除レバー２３を備えている。連結ユニット１８は、ロック解除レバー２３が所定の方向に操作されることで、中間アーム１７に対する先端アーム１９の右方向の回動を許容する。 The connecting unit 18 rotatably connects the distal end arm 19 to the intermediate arm 17 around a horizontal rotation axis. The connecting unit 18 permits leftward rotation of the distal end arm 19 with respect to the intermediate arm 17 and locks and restricts rightward rotation. The connection unit 18 includes a lock release lever 23 that unlocks the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17. The connection unit 18 allows the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 23 in a predetermined direction.
　図２、図３Ａおよび図３Ｂに示すように、連結ユニット１４は、基礎アーム１３に固定される有底円筒２５と、中間アーム１５に固定される有底円筒２６と、これらの有底円筒２５，２６の間に介在させる円筒２７と、有底円筒２５を有底円筒２６に対して回動自在に取り付ける軸ボルト２８と、有底円筒２６に固定されるラチェット歯車２９と、このラチェット歯車２９および有底円筒２６の間に介在させる円柱形状のスペーサ３０と、ラチェット歯車２９と共にラチェットを構成する歯止め３１と、この歯止め３１をラチェット歯車２９に向けて付勢するコイルスプリング３２と、歯止め３１に固定されるロック解除レバー２１と、有底円筒２６にスペーサ３０を固定する固定ボルト３３と、スペーサ３０にラチェット歯車２９を固定する固定ボルト３４と、有底円筒２５に歯止め３１を取り付ける軸ボルト３５と、歯止め３１にロック解除レバー２１を固定する固定ボルト３６と、有底円筒２５に基礎アーム１３を固定するための固定部材３７および固定ボルト３８と、有底円筒２６に中間アーム１５を固定するための固定部材３９および固定ボルト４０と、を備えている。 As shown in FIG. 2, FIG. 3A and FIG. 3B, the connection unit 14 has a bottomed cylinder 25 fixed to the base arm 13, a bottomed cylinder 26 fixed to the intermediate arm 15, and these bottomed cylinders 25. , 26, a shaft bolt 28 rotatably attaching the bottomed cylinder 25 to the bottomed cylinder 26, a ratchet gear 29 fixed to the bottomed cylinder 26, and the ratchet gear 29. And a cylindrical spacer 30 interposed between the bottomed cylinder 26, a pawl 31 constituting a ratchet with the ratchet gear 29, a coil spring 32 biasing the pawl 31 toward the ratchet gear 29, and a pawl 31 Lock release lever 21 fixed, fixing bolt 33 fixing spacer 30 to bottomed cylinder 26, and ratchet gear 29 fixed to spacer 30 Fixing bolt 34, a shaft bolt 35 for attaching the locking 31 to the bottomed cylinder 25, a fixing bolt 36 for fixing the unlocking lever 21 to the locking 31 and a fixing member for fixing the base arm 13 to the bottomed cylinder 25 37 and a fixing bolt 38, and a fixing member 39 and a fixing bolt 40 for fixing the intermediate arm 15 to the bottomed cylinder 26.
　有底円筒２５，２６は、円筒２７の外径と比較して一回り大きい内径を有している。有底円筒２５，２６は、円筒２７の両側に被さることで、円筒２７と共に筐体を構成する。 The bottomed cylinders 25, 26 have an inner diameter that is slightly larger than the outer diameter of the cylinder 27. The bottomed cylinders 25, 26 cover the both sides of the cylinder 27 to form a housing together with the cylinder 27.
　有底円筒２５には、軸ボルト２８用の軸孔２５ａと、軸ボルト３５用のボルト孔２５ｂと、固定ボルト３８用のボルト孔２５ｃと、コイルスプリング３２の一端が固定される固定穴２５ｄと、が形成されている。有底円筒２６には、固定ボルト３３用のボルト孔２６ａと、固定ボルト４０用のボルト孔２６ｂと、が形成されている。円筒２７には、ロック解除レバー２１を逃がす切欠き２７ａが形成されている。 The bottomed cylinder 25 has a shaft hole 25a for the shaft bolt 28, a bolt hole 25b for the shaft bolt 35, a bolt hole 25c for the fixing bolt 38, and a fixing hole 25d to which one end of the coil spring 32 is fixed. , Is formed. The bottomed cylinder 26 is formed with a bolt hole 26 a for the fixing bolt 33 and a bolt hole 26 b for the fixing bolt 40. The cylinder 27 is formed with a notch 27 a for releasing the lock release lever 21.
　ラチェット歯車２９は、斜めに傾いた歯が全周にわたって形成された歯車である。このラチェット歯車２９は、歯止め３１が噛み込んでいる場合には、一方向の回動が許容されると共に、他方向の回動が規制される。その一方で、ラチェット歯車２９は、歯止め３１の噛込みが解除されている場合には、一方向の回動が許容されると共に、他方向の回動も許容される。ラチェット歯車２９には、固定ボルト３４用のボルト孔２９ａと、軸ボルト２８用のボルト孔２９ｂと、が形成されている。 The ratchet gear 29 is a gear in which obliquely inclined teeth are formed over the entire circumference. The ratchet gear 29 is allowed to rotate in one direction while the rotation in the other direction is restricted, when the pawl 31 is engaged. On the other hand, the ratchet gear 29 is allowed to rotate in one direction and also in the other direction, when the engagement of the pawl 31 is released. The ratchet gear 29 is formed with a bolt hole 29 a for the fixing bolt 34 and a bolt hole 29 b for the shaft bolt 28.
　スペーサ３０は、有底円筒２６側の面に固定ボルト３３用のボルト穴３０ａが形成されていると共に、ラチェット歯車２９側の面に固定ボルト３４用のボルト穴３０ｂが形成されている。 In the spacer 30, a bolt hole 30a for the fixing bolt 33 is formed on the surface on the bottomed cylinder 26 side, and a bolt hole 30b for the fixing bolt 34 is formed on the surface on the ratchet gear 29 side.
　固定ボルト３３は、ボルト孔２６ａ、ボルト穴３０ａの順にねじ込まれることで、スペーサ３０を有底円筒２６に固定する。固定ボルト３４は、ボルト孔２９ａ、ボルト穴３０ｂの順にねじ込まれることで、ラチェット歯車２９をスペーサ３０に固定する。これにより、ラチェット歯車２９が、スペーサ３０を介して有底円筒２６に固定される。 The fixing bolt 33 fixes the spacer 30 to the bottomed cylinder 26 by screwing in order of the bolt hole 26 a and the bolt hole 30 a. The fixing bolt 34 fixes the ratchet gear 29 to the spacer 30 by screwing in order of the bolt hole 29 a and the bolt hole 30 b. Thus, the ratchet gear 29 is fixed to the bottomed cylinder 26 via the spacer 30.
　軸ボルト２８は、先端部分がねじ切られていると共に、基端部分がねじ切られていない中ボルトである。この軸ボルト２８は、軸孔２５ａに差し込まれてからボルト孔２９ｂにねじ込まれることで、有底円筒２５をラチェット歯車２９に回動自在に固定する。これにより、有底円筒２５が、有底円筒２６に対して回動自在に固定される。 The axial bolt 28 is a middle bolt which is threaded at its distal end and unthreaded at its proximal end. The shaft bolt 28 is inserted into the shaft hole 25 a and then screwed into the bolt hole 29 b, thereby rotatably fixing the bottomed cylinder 25 to the ratchet gear 29. Thus, the bottomed cylinder 25 is rotatably fixed to the bottomed cylinder 26.
　歯止め３１は、ラチェット歯車２９に噛み込むことで、ラチェット歯車２９の一方向の回動を許容すると共に、他方向の回動をロックして規制する。歯止め３１には、軸ボルト３５用の軸孔３１ａと、固定ボルト３６用のボルト穴３１ｂと、コイルスプリング３２の他端が固定される固定穴３１ｃと、が形成されている。ロック解除レバー２１には、固定ボルト３６用のボルト孔２１ａが形成されている。 The pawl 31 bites into the ratchet gear 29 to allow rotation of the ratchet gear 29 in one direction and lock and restrict rotation in the other direction. The pawl 31 is formed with a shaft hole 31a for the shaft bolt 35, a bolt hole 31b for the fixing bolt 36, and a fixing hole 31c to which the other end of the coil spring 32 is fixed. The lock release lever 21 is formed with a bolt hole 21 a for the fixing bolt 36.
　軸ボルト３５は、基端部分がねじ切られていると共に、先端部分がねじ切られていない特殊ボルトである。この軸ボルト３５は、有底円筒２５の外側からボルト孔２５ｂにねじ込まれることで、有底円筒２５の内側に先端部分を突出させる。軸ボルト３５の先端部分は、歯止め３１の回動軸を構成する。歯止め３１は、軸孔３１ａに差し込まれた軸ボルト３５を中心に回動する。この歯止め３１は、コイルスプリング３２の付勢力によって回動し、ラチェット歯車２９に噛み込まれる。 The axial bolt 35 is a special bolt in which the proximal end portion is threaded and the distal end portion is not threaded. The axial bolt 35 is screwed into the bolt hole 25 b from the outside of the bottomed cylinder 25, thereby causing the tip portion to protrude inside the bottomed cylinder 25. The tip end portion of the shaft bolt 35 constitutes a pivot shaft of the pawl 31. The pawl 31 pivots about a shaft bolt 35 inserted into the shaft hole 31a. The pawl 31 is rotated by the biasing force of the coil spring 32 and is engaged with the ratchet gear 29.
　固定ボルト３６は、ボルト孔２１ａ、ボルト穴３１ｂの順にねじ込まれることで、ロック解除レバー２１を歯止め３１に固定する。これにより、ロック解除レバー２１の操作によって、歯止め３１がコイルスプリング３２の付勢力に抗して回動し、歯止め３１のラチェット歯車２９への噛込みの解除が可能になる。 The fixing bolt 36 fixes the lock release lever 21 to the pawl 31 by screwing in order of the bolt hole 21 a and the bolt hole 31 b. As a result, the pawl 31 is turned against the biasing force of the coil spring 32 by the operation of the lock release lever 21, and it becomes possible to release the biting of the pawl 31 to the ratchet gear 29.
　固定部材３７は、第一片（符号省略）と、第一片の一端が９０度折り曲げられ、基礎アーム１３が固定される第二片（符号省略）と、第一片の他端が第二片とは反対側に９０度折り曲げられ、有底円筒２５が固定される第三片（符号省略）と、を備え、クランク状に構成される。固定部材３７の第二片には、固定ボルト３８用のボルト孔３７ａが形成されている。固定部材３７の第三片には、固定ボルト３８用のボルト孔３７ｂが形成されている。基礎アーム１３には、固定ボルト３８用のボルト孔１３ａが形成されている。 The fixing member 37 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees and the base arm 13 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 25 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape. In the second piece of the fixing member 37, a bolt hole 37a for the fixing bolt 38 is formed. In the third piece of the fixing member 37, a bolt hole 37b for the fixing bolt 38 is formed. In the base arm 13, bolt holes 13 a for the fixing bolt 38 are formed.
　固定ボルト３８は、ボルト孔３７ａ、ボルト孔１３ａの順にねじ込まれることで、固定部材３７を基礎アーム１３に固定すると共に、ボルト孔３７ｂ、ボルト孔２５ｃの順にねじ込まれることで、固定部材３７を有底円筒２５に固定する。これにより、有底円筒２５に基礎アーム１３が固定される。 The fixing bolt 38 fixes the fixing member 37 to the base arm 13 by screwing in order of the bolt hole 37a and the bolt hole 13a, and by fixing in order of the bolt hole 37b and the bolt hole 25c, the fixing member 37 is provided. It is fixed to the bottom cylinder 25. Thereby, the base arm 13 is fixed to the bottomed cylinder 25.
　固定部材３９は、第一片（符号省略）と、第一片の一端が９０度折り曲げられ、中間アーム１５が固定される第二片（符号省略）と、第一片の他端が第二片とは反対側に９０度折り曲げられ、有底円筒２６が固定される第三片（符号省略）と、を備え、クランク状に構成される。固定部材３９の第二片には、固定ボルト４０用のボルト孔３９ａが形成されている。固定部材３９の第三片には、固定ボルト４０用のボルト孔３９ｂが形成されている。中間アーム１５には、固定ボルト４０用のボルト孔１５ａが形成されている。 The fixing member 39 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees, and the intermediate arm 15 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 26 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape. A bolt hole 39 a for the fixing bolt 40 is formed in the second piece of the fixing member 39. In the third piece of the fixing member 39, a bolt hole 39b for the fixing bolt 40 is formed. The intermediate arm 15 is formed with a bolt hole 15 a for the fixing bolt 40.
　固定ボルト４０は、ボルト孔３９ａ、ボルト孔１５ａの順にねじ込まれることで、固定部材３９を中間アーム１５に固定すると共に、ボルト孔３９ｂ、ボルト孔２６ｂの順にねじ込まれることで、固定部材３９を有底円筒２６に固定する。これにより、有底円筒２６に中間アーム１５が固定される。 The fixing bolt 40 fixes the fixing member 39 to the intermediate arm 15 by screwing in order of the bolt hole 39a and the bolt hole 15a, and by fixing in order of the bolt hole 39b and the bolt hole 26b, the fixing member 39 is provided. It is fixed to the bottom cylinder 26. Thus, the intermediate arm 15 is fixed to the bottomed cylinder 26.
　以上の連結ユニット１４は、有底円筒２５，２６および軸ボルト２８を主構成として、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する連結部として機能する。また、連結ユニット１４は、ラチェット歯車２９、歯止め３１、コイルスプリング３２および軸ボルト３５を主構成として、基礎アーム１３に対する中間アーム１５の一方向の回動を許容すると共に他方向の回動をロックして規制するロック部として機能する。さらに、連結ユニット１４は、歯止め３１およびロック解除レバー２１を主構成として、ロック部による規制を解除して、基礎アーム１３に対する中間アーム１５の他方向の回動を許容する解除部として機能する。なお、連結ユニット１６，１８の具体的な構成は、連結ユニット１４と同様であり、その説明は省略する。 The connecting unit 14 described above is mainly configured of the bottomed cylinders 25 and 26 and the shaft bolt 28 and is a connecting portion that rotatably connects the intermediate arm 15 to the base arm 13 about a horizontal rotation axis. Act as. The connection unit 14 mainly includes the ratchet gear 29, the pawl 31, the coil spring 32, and the shaft bolt 35, and allows rotation of the intermediate arm 15 relative to the base arm 13 in one direction and locks rotation in the other direction. Function as a lock that regulates the Furthermore, the connection unit 14 functions mainly as the pawl 31 and the lock release lever 21 and functions as a release portion that releases the restriction by the lock portion and allows the intermediate arm 15 to rotate in the other direction with respect to the base arm 13. In addition, the specific structure of the connection units 16 and 18 is the same as that of the connection unit 14, The description is abbreviate | omitted.
　次に、連結ユニット１４の動作について、図４および図５に基づいて説明する。図４は、連結ユニット１４の断面図であり、中間アーム１５の回動を規制した状態を示す。図５は、連結ユニット１４の断面図であり、中間アーム１５の回動を許容した状態を示す。 Next, the operation of the connecting unit 14 will be described based on FIG. 4 and FIG. FIG. 4 is a cross-sectional view of the connection unit 14 and shows a state in which the rotation of the intermediate arm 15 is restricted. FIG. 5 is a cross-sectional view of the connection unit 14 and shows a state in which the intermediate arm 15 is allowed to rotate.
　図４に示すように、歯止め３１は、コイルスプリング３２によってラチェット歯車２９に向けて付勢されており、ラチェット歯車２９に噛み込んでいる。これにより、ラチェット歯車２９が取り付けられ、かつ中間アーム１５が固定されている有底円筒２６（図２、図３Ａおよび図３Ｂ参照）は、歯止め３１が取り付けられ、かつ基礎アーム１３が固定されている有底円筒２５に対し、左方向の回動が許容されると共に、右方向の回動がロックされ規制される。 As shown in FIG. 4, the pawl 31 is biased toward the ratchet gear 29 by the coil spring 32 and is engaged with the ratchet gear 29. Thereby, the bottomed cylinder 26 (see FIGS. 2, 3A and 3B) to which the ratchet gear 29 is attached and the intermediate arm 15 is fixed has the pawl 31 attached and the base arm 13 is fixed. With respect to the bottomed cylinder 25, the leftward rotation is permitted, and the rightward rotation is locked and restricted.
　歯止め３１がラチェット歯車２９に噛み込んでいる図４に示す状態から、図５に示すようにロック解除レバー２１が所定の方向に操作されると、歯止め３１がコイルスプリング３２の付勢力に抗して回動し、歯止め３１のラチェット歯車２９への噛込みが解除される。これにより、ラチェット歯車２９が取り付けられ、かつ中間アーム１５が固定されている有底円筒２６（図２、図３Ａおよび図３Ｂ参照）は、歯止め３１が取り付けられ、かつ基礎アーム１３が固定されている有底円筒２５に対し、左方向の回動が許容されると共に、右方向の回動のロックが解除され、右方向の回動も許容される。 When the unlocking lever 21 is operated in a predetermined direction as shown in FIG. 5 from the state shown in FIG. 4 in which the pawl 31 is engaged with the ratchet gear 29, the pawl 31 resists the biasing force of the coil spring 32. Thus, the engagement of the pawl 31 with the ratchet gear 29 is released. Thereby, the bottomed cylinder 26 (see FIGS. 2, 3A and 3B) to which the ratchet gear 29 is attached and the intermediate arm 15 is fixed has the pawl 31 attached and the base arm 13 is fixed. With respect to the bottomed cylinder 25 that is rotating, the leftward rotation is permitted, the lock of the rightward rotation is released, and the rightward rotation is also permitted.
　なお、連結ユニット１６，１８の具体的な動作は、連結ユニット１４の動作と同様であり、その説明は省略する。 The specific operation of the connection units 16 and 18 is the same as the operation of the connection unit 14, and the description thereof will be omitted.
　このように、アーム装置１０によれば、基礎アーム１３に対する中間アーム１５の上方向の回動、中間アーム１５に対する中間アーム１７の上方向の回動、および中間アーム１５に対する先端アーム１９の上方向の回動が許容されているから、手動で、中間アーム１５，１７、および先端アーム１９のいずれかを回動させることで、先端アーム１９の先端に保持する医療装置（図示省略）を簡単に所望の位置に移動させられる。 Thus, according to the arm device 10, the upward rotation of the intermediate arm 15 with respect to the base arm 13, the upward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and the upward direction of the distal arm 19 with respect to the intermediate arm 15. The medical device (not shown) held at the tip of the tip arm 19 can be easily simplified by manually pivoting any one of the intermediate arms 15 and 17 and the tip arm 19. It is moved to the desired position.
　その一方で、基礎アーム１３に対する中間アーム１５の下方向の回動、中間アーム１５に対する中間アーム１７の下方向の回動、および中間アーム１７に対する先端アーム１９の下方向の回動がロックされて規制されているから、たとえ重量のある医療装置（図示省略）が先端アーム１９の先端に保持されているとしても、医療装置の重力によって不意に、中間アーム１５，１７および先端アーム１９のいずれかが回動することはない。 On the other hand, downward pivoting of the intermediate arm 15 relative to the base arm 13, downward pivoting of the intermediate arm 17 relative to the intermediate arm 15, and downward pivoting of the tip arm 19 relative to the intermediate arm 17 are locked. Even if a heavy medical device (not shown) is held at the tip of the tip arm 19 because it is restricted, either of the intermediate arms 15 and 17 and the tip arm 19 is unexpectedly caused by the gravity of the medical device. Does not rotate.
　また、ロック解除レバー２１～２３のいずれかを操作して、基礎アーム１３に対する中間アーム１５の下方向の回動のロック、中間アーム１５に対する中間アーム１７の下方向の回動のロック、および中間アーム１７に対する先端アーム１９の下方向の回動のロックのいずれかを解除することで、手動で、中間アーム１５，１７、および先端アーム１９のいずれかを下方向に回動させることが可能となり、先端アーム１９の先端に保持する医療装置（図示省略）を簡単に所望の位置に移動させられる。 Further, by operating any one of the lock release levers 21 to 23, locking of the downward rotation of the intermediate arm 15 with respect to the base arm 13, locking of the downward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and By unlocking any of the downward rotation lock of the distal end arm 19 with respect to the arm 17, it is possible to manually pivot either the intermediate arms 15, 17 and the distal end arm 19 downward. The medical device (not shown) held at the tip of the tip arm 19 can be easily moved to a desired position.
　［第２実施形態］次に、図６～図１０を用いて、第２実施形態に係るアーム装置４２の構成について説明する。図６は、アーム装置４２の正面図である。図７Ａおよび図７Ｂは、連結ユニット４３の分解斜視図である。図８は、連結ユニット４３の断面図であり、中間アーム１５の回動を規制した状態を示す。図９Ａおよび図９Ｂは、連結ユニット４４の分解斜視図である。図１０は、連結ユニット４４の断面図であり、中間アーム１７の回動を規制した状態を示す。 Second Embodiment Next, the configuration of an arm device 42 according to a second embodiment will be described with reference to FIG. 6 to FIG. FIG. 6 is a front view of the arm device 42. As shown in FIG. 7A and 7B are exploded perspective views of the connection unit 43. FIG. FIG. 8 is a cross-sectional view of the connection unit 43 and shows a state in which the rotation of the intermediate arm 15 is restricted. 9A and 9B are exploded perspective views of the connecting unit 44. FIG. FIG. 10 is a cross-sectional view of the connection unit 44, showing a state in which the rotation of the intermediate arm 17 is restricted.
　なお、第２実施形態に係るアーム装置４２の特徴部分のみを説明し、第１実施形態に係るアーム装置１０と同様の構成要素、作用、および効果についての説明は省略する。後述する第３～第１０実施形態についても、特徴部分のみを説明し、他の実施形態と同様の構成要素、作用および効果についての説明は省略する。 Only the characteristic parts of the arm device 42 according to the second embodiment will be described, and the description of the same components, actions, and effects as those of the arm device 10 according to the first embodiment will be omitted. Also in the third to tenth embodiments to be described later, only the characteristic portions will be described, and the description of the same components, operations, and effects as the other embodiments will be omitted.
　図６に示すように、アーム装置４２は、第１実施形態のアーム装置１０と比較すると、連結ユニット１４，１６，１８に代えて、連結ユニット４３～４５を備えている。また、アーム装置４２は、連結ユニット４３～４５を連動させる連動部材４６をさらに備えている。 As shown in FIG. 6, in comparison with the arm device 10 of the first embodiment, the arm device 42 is provided with connecting units 43 to 45 instead of the connecting units 14, 16, 18. The arm device 42 further includes an interlocking member 46 that interlocks the connecting units 43 to 45.
　（連動部材）連動部材４６は、釣糸などの糸状部材であり、中間アーム１５，１７に沿って配置されている。具体的に、連動部材４６は、連結ユニット４３の内部から中間アーム１５の内部を通って連結ユニット４４の内部に繋がっていると共に、連結ユニット４４の内部から中間アーム１７の内部を通って連結ユニット４５の内部に繋がっている。連動部材４６は、ロック解除レバー２１が所定の方向に操作されることで引っ張られ、連結ユニット４４，４５によるアームの回動の規制およびその解除を、連結ユニット４３によるアームの回動の規制およびその解除に連動させる。 The interlocking member 46 is a thread-like member such as a fishing line, and is disposed along the intermediate arms 15 and 17. Specifically, the interlocking member 46 is connected from the inside of the connecting unit 43 to the inside of the connecting unit 44 through the inside of the intermediate arm 15 and from the inside of the connecting unit 44 through the inside of the intermediate arm 17 to the connecting unit It is connected to the inside of 45. The interlocking member 46 is pulled when the lock release lever 21 is operated in a predetermined direction, and regulation of the pivoting of the arm by the coupling units 44 and 45 and its release are regulation of the pivoting of the arm by the coupling unit 43 and In conjunction with the release.
　（連結ユニット）連結ユニット４３は、第１実施形態の連結ユニット１４と略同様の構成要素である。 (Connection Unit) The connection unit 43 is a component substantially similar to the connection unit 14 of the first embodiment.
　連結ユニット４４は、第１実施形態の連結ユニット１６と比較すると、ロック解除レバー２２を備えていない。連結ユニット４４は、連結ユニット４３におけるロック解除レバー２１が所定の方向に操作されることで、中間アーム１５に対する中間アーム１７の右方向の回動を許容する。 The connection unit 44 does not include the unlocking lever 22 as compared to the connection unit 16 of the first embodiment. The connection unit 44 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 21 in the connection unit 43 in a predetermined direction.
　連結ユニット４５は、第１実施形態の連結ユニット１８と比較すると、ロック解除レバー２３を備えていない。連結ユニット４５は、連結ユニット４３におけるロック解除レバー２１が所定の方向に操作されることで、中間アーム１７に対する先端アーム１９の右方向の回動を許容する。 The connection unit 45 does not include the unlocking lever 23 as compared to the connection unit 18 of the first embodiment. The connection unit 45 allows rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 21 in the connection unit 43 in a predetermined direction.
　図７Ａ、図７Ｂおよび図８に示すように、連結ユニット４３は、第１実施形態の連結ユニット１４と比較すると、円筒２７に代えて、円筒４７を備えている。また、連結ユニット４３は、連動部材４６をガイドする略半円板状のガイド部材４８をさらに備えている。 As shown in FIGS. 7A, 7B and 8, the connecting unit 43 includes a cylinder 47 instead of the cylinder 27 as compared to the connecting unit 14 of the first embodiment. The connection unit 43 further includes a substantially semicircular guide member 48 for guiding the interlocking member 46.
　円筒４７は、有底円筒２５，２６の内径と比較して一回り小さい外径を有する大径部４７ａと、この大径部４７ａの外径と比較して一回り小さい外径を有する小径部４７ｂと、から構成される。円筒４７には、小径部４７ｂに、ロック解除レバー２１を逃がす切欠き４７ｃが形成されている。円筒４７は、その両側に有底円筒２５，２６が被せられることで、有底円筒２５，２６と共に筐体を構成する。小径部４７ｂの外周面と、有底円筒２５の内周面と、の間には、連動部材４６が通る隙間（符号省略）が形成される。 The cylinder 47 has a large diameter portion 47a having an outer diameter one size smaller than the inner diameter of the bottomed cylinders 25 and 26, and a small diameter portion having an outer diameter one size smaller than the outer diameter of the large diameter portion 47a. And 47b. In the cylinder 47, a notch 47c for releasing the lock release lever 21 is formed in the small diameter portion 47b. The cylinders 47, together with the bottomed cylinders 25 and 26 on both sides thereof, constitute a housing together with the bottomed cylinders 25 and 26. A gap (reference numeral omitted) through which the interlocking member 46 passes is formed between the outer peripheral surface of the small diameter portion 47 b and the inner peripheral surface of the bottomed cylinder 25.
　ガイド部材４８には、連動部材４６を巻き付ける突起４８ａが一体に形成されていると共に、その突起４８ａから円弧の全域に沿って、連動部材４６をガイドする溝４８ｂが形成されている。このガイド部材４８には、固定ボルト３６用のボルト孔４８ｃが形成されている。 The guide member 48 is integrally formed with a projection 48a for winding the interlocking member 46, and a groove 48b for guiding the interlocking member 46 is formed along the entire arc from the projection 48a. In the guide member 48, a bolt hole 48c for the fixing bolt 36 is formed.
　固定ボルト３６は、ボルト孔４８ｃ、ボルト孔２１ａ、ボルト穴３１ｂの順にねじ込まれることで、ロック解除レバー２１と共にガイド部材４８を歯止め３１に固定する。これにより、ロック解除レバー２１の操作によって、ガイド部材４８が回動し、連動部材４６を引っ張ることが可能になる。 The fixing bolt 36 fixes the guide member 48 to the pawl 31 together with the unlocking lever 21 by screwing in order of the bolt hole 48 c, the bolt hole 21 a, and the bolt hole 31 b. As a result, the guide member 48 can be rotated by the operation of the lock release lever 21 and the interlocking member 46 can be pulled.
　連動部材４６は、ガイド部材４８の突起４８ａを基端として、ガイド部材４８の溝４８ｂをガイドされ、有底円筒２５と円筒４７の小径部４７ｂとの隙間を下方から通り、中間アーム１５に導かれる。 The interlocking member 46 is guided by the groove 48b of the guide member 48 with the projection 48a of the guide member 48 at the base end, and passes from the lower part between the bottomed cylinder 25 and the small diameter portion 47b of the cylinder 47 from below It is eaten.
　図９Ａ、図９Ｂおよび図１０に示すように、連結ユニット４４は、第１実施形態の連結ユニット１６と比較すると、円筒２７に代えて円筒４７を備えている。この連結ユニット４４は、連動部材４６をガイドする略半円板状のガイド部材４９をさらに備えている。さらに、連結ユニット４４は、ロック解除レバー２２を備えていない。なお、図１０において、連動部材４６の一部分の図示を省略している。具体的には、ガイド部材４９から、有底円筒２５と円筒４７の小径部４７ｂとの隙間を下方から通り、中間アーム１７に導かれる部分の図示を省略している。 As shown in FIGS. 9A, 9B and 10, the connecting unit 44 includes a cylinder 47 instead of the cylinder 27 as compared with the connecting unit 16 of the first embodiment. The connection unit 44 further includes a substantially semicircular guide member 49 for guiding the interlocking member 46. Furthermore, the connection unit 44 does not include the unlocking lever 22. In FIG. 10, illustration of a part of the interlocking member 46 is omitted. Specifically, from the guide member 49, the gap between the bottomed cylinder 25 and the small diameter portion 47b of the cylinder 47 is passed from below, and the portion guided to the intermediate arm 17 is not shown.
　ガイド部材４９には、連動部材４６を巻き付ける二つの突起４９ａが一体に形成されていると共に、一方の突起４９ａから円弧の全域に沿って他方の突起４９ａまで、連動部材４６をガイドする溝４９ｂが形成されている。このガイド部材４９には、固定ボルト３６用のボルト孔４９ｃが形成されている。 The guide member 49 is integrally formed with two projections 49a for winding the interlocking member 46, and a groove 49b for guiding the interlocking member 46 from one projection 49a to the other projection 49a along the entire arc. It is formed. In the guide member 49, a bolt hole 49c for the fixing bolt 36 is formed.
　固定ボルト３６は、ボルト孔４９ｃ、ボルト穴３１ｂの順にねじ込まれることで、ガイド部材４９を歯止め３１に固定する。これにより、連動部材４６が引っ張られることによって、歯止め３１がコイルスプリング３２の付勢力に抗して回動し、歯止め３１のラチェット歯車２９への噛込みの解除が可能になる。また、歯止め３１と一体となってガイド部材４９が回動し、中間アーム１７に導かれている連動部材４６（図示が省略されている部分）を引っ張ることが可能になる。 The fixing bolt 36 fixes the guide member 49 to the pawl 31 by screwing in the order of the bolt hole 49 c and the bolt hole 31 b. As a result, when the interlocking member 46 is pulled, the pawl 31 rotates against the biasing force of the coil spring 32, and it becomes possible to release the engagement of the pawl 31 with the ratchet gear 29. Further, the guide member 49 is pivoted integrally with the pawl 31, and it becomes possible to pull the interlocking member 46 (a portion not shown) guided to the intermediate arm 17.
　中間アーム１５には、固定ボルト３８用のボルト孔１５ｂが形成されている。固定ボルト３８は、ボルト孔３７ａ、ボルト孔１５ｂの順にねじ込まれることで、固定部材３７を中間アーム１５に固定すると共に、ボルト孔３７ｂ、ボルト孔２５ｃの順にねじ込まれることで、固定部材３７を有底円筒２５に固定する。これにより、有底円筒２５に中間アーム１５が固定される。 The intermediate arm 15 is formed with a bolt hole 15 b for the fixing bolt 38. The fixing bolt 38 fixes the fixing member 37 to the intermediate arm 15 by screwing in order of the bolt hole 37a and the bolt hole 15b, and by fixing in order of the bolt hole 37b and the bolt hole 25c, the fixing member 37 is provided. It is fixed to the bottom cylinder 25. Thereby, the intermediate arm 15 is fixed to the bottomed cylinder 25.
　中間アーム１７には、固定ボルト４０用のボルト孔１７ａが形成されている。固定ボルト４０は、ボルト孔３９ａ、ボルト孔１７ａの順にねじ込まれることで、固定部材３９を中間アーム１７に固定すると共に、ボルト孔３９ｂ、ボルト孔２６ｂの順にねじ込まれることで、固定部材３９を有底円筒２６に固定する。これにより、有底円筒２６に中間アーム１７が固定される。 The intermediate arm 17 is formed with a bolt hole 17 a for the fixing bolt 40. The fixing bolt 40 fixes the fixing member 39 to the intermediate arm 17 by screwing in order of the bolt hole 39a and the bolt hole 17a, and by fixing in order of the bolt hole 39b and the bolt hole 26b, the fixing member 39 is provided. It is fixed to the bottom cylinder 26. Thus, the intermediate arm 17 is fixed to the bottomed cylinder 26.
　連動部材４６は、中間アーム１５から、有底円筒２５と円筒４７の小径部４７ｂとの隙間を通り、その隙間の上方からガイド部材４９に導かれる。そして、連動部材４６は、ガイド部材４９の溝４９ｂをガイドされ、下方の突起４９ａ、上方の突起４９ａに順次巻き付く。また、連動部材４６は、ガイド部材４９の溝４９ｂをガイドされ、有底円筒２５と円筒４７の小径部４７ｂとの隙間を下方から通り、中間アーム１７に導かれる。 The interlocking member 46 passes from the intermediate arm 15 through the gap between the bottomed cylinder 25 and the small diameter portion 47 b of the cylinder 47 and is guided to the guide member 49 from above the gap. Then, the interlocking member 46 is guided by the groove 49b of the guide member 49, and sequentially wound around the lower protrusion 49a and the upper protrusion 49a. Further, the interlocking member 46 is guided by the groove 49 b of the guide member 49, passes from the lower part between the bottomed cylinder 25 and the small diameter portion 47 b of the cylinder 47 from the lower side, and is guided to the intermediate arm 17.
　なお、連結ユニット４５の具体的構成は、連結ユニット４４と同様であり、その説明は省略する。 The specific configuration of the connection unit 45 is the same as that of the connection unit 44, and the description thereof will be omitted.
　次に、アーム装置４２の動作について、図８および図１０に基づいて説明する。 Next, the operation of the arm device 42 will be described based on FIG. 8 and FIG.
　図８に示す連結ユニット４３の状態は、歯止め３１がラチェット歯車２９に噛み込み、基礎アーム１３に対する中間アーム１５の右方向の回動をロックして規制している状態である。また、図１０に示す連結ユニット４４の状態は、歯止め３１がラチェット歯車２９に噛み込み、中間アーム１５に対する中間アーム１７の右方向の回動をロックして規制している状態である。これらの状態からロック解除レバー２１が所定の方向に操作されると、連結ユニット４３における歯止め３１がコイルスプリング３２の付勢力に抗して回動する。ガイド部材４８は、歯止め３１と一体となって回動し、連動部材４６を引っ張る。 The state of the connection unit 43 shown in FIG. 8 is a state in which the pawl 31 is engaged with the ratchet gear 29 to lock and restrict the rightward rotation of the intermediate arm 15 with respect to the base arm 13. Further, in the state of the connection unit 44 shown in FIG. 10, the pawl 31 is engaged with the ratchet gear 29 and locks and regulates the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15. When the lock release lever 21 is operated in a predetermined direction from these states, the pawls 31 in the connection unit 43 rotate against the biasing force of the coil spring 32. The guide member 48 rotates integrally with the pawl 31 and pulls the interlocking member 46.
　図８および図１０に示すように、連動部材４６は、連結ユニット４３におけるガイド部材４８の突起４８ａを基端として、連結ユニット４３における有底円筒２５と円筒４７の小径部４７ｂとの隙間、中間アーム１５、連結ユニット４４における有底円筒２５と円筒４７の小径部４７ｂとの隙間の順に通り、連結ユニット４４におけるガイド部材４９に導かれている。そして、連結部材４６は、連結ユニット４４までの流れと同様、連結ユニット４４から中間アーム１７を通り、連結ユニット４５に導かれている。 As shown in FIGS. 8 and 10, the interlocking member 46 is a gap between the bottomed cylinder 25 and the small diameter portion 47b of the cylinder 47 in the coupling unit 43, with the projection 48a of the guide member 48 in the coupling unit 43 as a base end. The arm 15, through the gap between the bottomed cylinder 25 in the connecting unit 44 and the small diameter portion 47b of the cylinder 47, is guided to the guide member 49 in the connecting unit 44 in this order. The connecting member 46 is guided from the connecting unit 44 to the connecting unit 45 through the intermediate arm 17 in the same manner as the flow to the connecting unit 44.
　このため、ガイド部材４８が連動部材４６を引っ張ると、ガイド部材４９が回動する。連結ユニット４４における歯止め３１は、ガイド部材４９と一体となって回動し、連結ユニット４４における歯止め３１のラチェット歯車２９への噛込みが解除される。同様に、連結ユニット４５における歯止め３１のラチェット歯車２９への噛込みが解除される。 Therefore, when the guide member 48 pulls the interlocking member 46, the guide member 49 rotates. The pawl 31 in the coupling unit 44 rotates integrally with the guide member 49, and the biting of the pawl 31 in the coupling unit 44 into the ratchet gear 29 is released. Similarly, the engagement of the pawl 31 in the coupling unit 45 with the ratchet gear 29 is released.
　このように、アーム装置４２によれば、連動部材４６を備えているから、一か所のロック解除レバー２１の操作によって、全ての連結ユニット４３～４５における歯止め３１のラチェット歯車２９への噛込みを一斉に解除できる。 Thus, according to the arm device 42, since the interlocking member 46 is provided, the engagement of the pawl 31 in all the connection units 43 to 45 with the ratchet gear 29 is performed by the operation of the lock release lever 21 at one place. Can be released simultaneously.
　［第３実施形態］次に、図１１～図１３を用いて、第３実施形態に係るアーム装置５１の構成について説明する。図１１は、アーム装置５１の正面図である。図１２は、連結ユニット５２の外観斜視図である。図１３Ａ、図１３Ｂおよび図１３Ｃは、連結ユニット５２の分解斜視図である。 Third Embodiment Next, the configuration of an arm device 51 according to a third embodiment will be described with reference to FIG. 11 to FIG. FIG. 11 is a front view of the arm device 51. As shown in FIG. FIG. 12 is an external perspective view of the connection unit 52. As shown in FIG. 13A, 13B and 13C are exploded perspective views of the connecting unit 52. FIG.
　図１１に示すように、アーム装置５１は、第１実施形態のアーム装置１０と比較すると、連結ユニット１４，１６，１８に代えて、連結ユニット５２～５４を備えている。 As shown in FIG. 11, in comparison with the arm device 10 of the first embodiment, the arm device 51 is provided with connecting units 52 to 54 instead of the connecting units 14, 16, 18.
　（連結ユニット）連結ユニット５２は、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット５２は、基礎アーム１３に対する中間アーム１５の右方向の回動をロックして規制すると共に、左方向の回動をロックして規制する。連結ユニット５２は、基礎アーム１３に対する中間アーム１５の右方向の回動のロックを解除するロック解除レバー２１と、左方向の回動のロックを解除するロック解除レバー５５と、を備えている。連結ユニット５２は、ロック解除レバー２１が所定の方向に操作されることで、基礎アーム１３に対する中間アーム１５の右方向の回動を許容する。また、連結ユニット５２は、ロック解除レバー５５が所定の方向に操作されることで、基礎アーム１３に対する中間アーム１５の左方向の回動を許容する。 (Connection Unit) The connection unit 52 rotatably connects the intermediate arm 15 to the base arm 13 about a horizontal rotation axis. The connecting unit 52 locks and restricts rightward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts leftward rotation. The connection unit 52 includes a lock release lever 21 for releasing the lock of the rightward rotation of the intermediate arm 15 with respect to the base arm 13 and a lock release lever 55 for releasing the lock of the left rotation. The connection unit 52 allows the rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever 21 in a predetermined direction. Further, the connection unit 52 allows leftward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever 55 in a predetermined direction.
　連結ユニット５３は、中間アーム１５に対して中間アーム１７を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット５３は、中間アーム１５に対する中間アーム１７の右方向の回動をロックして規制すると共に、左方向の回動をロックして規制する。連結ユニット５３は、中間アーム１５に対する中間アーム１７の右方向の回動のロックを解除するロック解除レバー２２と、左方向の回動のロックを解除するロック解除レバー５６と、を備えている。連結ユニット５３は、ロック解除レバー２２が所定の方向に操作されることで、中間アーム１５に対する中間アーム１７の右方向の回動を許容する。また、連結ユニット５３は、ロック解除レバー５６が所定の方向に操作されることで、中間アーム１５に対する中間アーム１７の左方向の回動を許容する。 The connecting unit 53 rotatably connects the intermediate arm 17 to the intermediate arm 15 about a horizontal rotation axis. The connecting unit 53 locks and restricts rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and locks and restricts leftward rotation. The connection unit 53 includes a lock release lever 22 for releasing the lock of the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and a lock release lever 56 for releasing the lock of the left rotation. The connection unit 53 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 22 in a predetermined direction. Further, the connection unit 53 allows leftward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating the lock release lever 56 in a predetermined direction.
　連結ユニット５４は、中間アーム１７に対して先端アーム１９を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット５４は、中間アーム１７に対する先端アーム１９の右方向の回動をロックして規制すると共に、左方向の回動をロックして規制する。連結ユニット５４は、中間アーム１７に対する先端アーム１９の右方向の回動のロックを解除するロック解除レバー２３と、左方向の回動のロックを解除するロック解除レバー５７と、を備えている。連結ユニット５４は、ロック解除レバー２３が所定の方向に操作されることで、中間アーム１７に対する先端アーム１９の右方向の回動を許容する。また、連結ユニット５４は、ロック解除レバー５７が所定の方向に操作されることで、中間アーム１７に対する先端アーム１９の左方向の回動を許容する。 The connection unit 54 rotatably connects the distal end arm 19 to the intermediate arm 17 about a horizontal rotation axis. The connecting unit 54 locks and restricts rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 and locks and restricts leftward rotation. The connection unit 54 includes a lock release lever 23 for releasing the lock of the rightward rotation of the tip arm 19 with respect to the intermediate arm 17 and a lock release lever 57 for releasing the lock of the left rotation. The connection unit 54 allows the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 23 in a predetermined direction. Further, the connection unit 54 allows leftward rotation of the distal end arm 19 with respect to the intermediate arm 17 by operating the lock release lever 57 in a predetermined direction.
　図１２および図１３に示すように、連結ユニット５２は、第１実施形態の連結ユニット１４と比較すると、円筒２７に代えて、円筒５８を備えている。また、連結ユニット５２は、有底円筒２６に固定されるラチェット歯車５９と、このラチェット歯車５９と共にラチェットを構成する歯止め６０と、この歯止め６０をラチェット歯車５９に向けて付勢するコイルスプリング６１と、有底円筒２５に歯止め６０を取り付ける軸ボルト６２と、歯止め６０にロック解除レバー５５を固定する固定ボルト６３と、をさらに備えている。 As shown in FIGS. 12 and 13, the connecting unit 52 includes a cylinder 58 instead of the cylinder 27 as compared to the connecting unit 14 of the first embodiment. The connecting unit 52 also includes a ratchet gear 59 fixed to the bottomed cylinder 26, a pawl 60 constituting a ratchet with the ratchet gear 59, and a coil spring 61 biasing the pawl 60 toward the ratchet gear 59. And a fixing bolt 63 for fixing the lock release lever 55 to the pawl 60.
　有底円筒２５，２６は、円筒５８の外径と比較して一回り大きい内径を有している。有底円筒２５，２６は、円筒５８の両側に被さることで、円筒５８と共に筐体を構成する。 The bottomed cylinders 25, 26 have an inner diameter that is slightly larger than the outer diameter of the cylinder 58. The bottomed cylinders 25 and 26 cover the both sides of the cylinder 58 to form a housing together with the cylinder 58.
　有底円筒２５には、軸ボルト６２用のボルト孔２５ｅと、コイルスプリング６１の一端が固定される固定穴２５ｆと、がさらに形成されている。円筒５８には、ロック解除レバー２１，５５を逃がす切欠き５８ａが形成されている。 The bottomed cylinder 25 is further formed with a bolt hole 25 e for the shaft bolt 62 and a fixing hole 25 f to which one end of the coil spring 61 is fixed. The cylinder 58 is formed with a notch 58 a for releasing the lock release levers 21 and 55.
　ラチェット歯車５９は、斜めに傾いた歯が全周にわたって形成された歯車である。ラチェット歯車５９の歯は、対となるラチェット歯車２９の歯と比較して、傾く方向が逆となるように形成されている。このラチェット歯車５９は、歯止め６０が噛み込んでいる場合には、他方向の回動が許容されると共に、一方向の回動が規制される。その一方で、ラチェット歯車５９は、歯止め６０の噛込みが解除されている場合には、一方向の回動が許容されると共に、他方向の回動も許容される。ラチェット歯車５９には、固定ボルト３４用のボルト孔５９ａが形成されている。 The ratchet gear 59 is a gear in which obliquely inclined teeth are formed over the entire circumference. The teeth of the ratchet gear 59 are formed to be inclined in the opposite direction as compared with the teeth of the paired ratchet gear 29. When the ratchet 60 is engaged, the ratchet gear 59 is allowed to rotate in the other direction and is restricted from rotating in one direction. On the other hand, the ratchet gear 59 is allowed to rotate in one direction as well as in the other direction when the engagement of the pawl 60 is released. In the ratchet gear 59, a bolt hole 59a for the fixing bolt 34 is formed.
　固定ボルト３４は、ボルト孔２９ａ、ボルト孔５９ａ、ボルト穴３０ｂの順にねじ込まれることで、ラチェット歯車２９，５９をスペーサ３０に固定する。これにより、ラチェット歯車２９，５９が、スペーサ３０を介して有底円筒２６に固定される。 The fixing bolt 34 fixes the ratchet gears 29 and 59 to the spacer 30 by screwing in order of the bolt hole 29 a, the bolt hole 59 a and the bolt hole 30 b. Thereby, the ratchet gears 29 and 59 are fixed to the bottomed cylinder 26 via the spacer 30.
　歯止め６０は、ラチェット歯車５９に噛み込むことで、ラチェット歯車５９の他方向の回動を許容すると共に、一方向の回動をロックして規制する。歯止め６０には、軸ボルト６２用の軸孔６０ａと、固定ボルト６３用のボルト穴６０ｂと、コイルスプリング６１の他端が固定される固定穴６０ｃと、が形成されている。ロック解除レバー５５には、固定ボルト６３用のボルト孔５５ａが形成されている。 The pawl 60 bites into the ratchet gear 59 to allow rotation of the ratchet gear 59 in the other direction, and lock and restrict rotation in one direction. The pawl 60 is formed with a shaft hole 60a for the shaft bolt 62, a bolt hole 60b for the fixing bolt 63, and a fixing hole 60c to which the other end of the coil spring 61 is fixed. The lock release lever 55 is formed with a bolt hole 55 a for the fixing bolt 63.
　軸ボルト６２は、基端部分がねじ切られていると共に、先端部分がねじ切られていない特殊ボルトである。この軸ボルト６２は、軸ボルト３５と対となって、有底円筒２５の外側からボルト孔２５ｅにねじ込まれることで、有底円筒２５の内側に先端部分を突出させる。軸ボルト６２の先端部分は、歯止め６０の回動軸を構成する。歯止め６０は、軸孔６０ａに差し込まれた軸ボルト６２を中心に回動する。この歯止め６０は、コイルスプリング６１の付勢力によって回動し、ラチェット歯車５９に噛み込まれる。 The axial bolt 62 is a special bolt in which the proximal end portion is threaded and the distal end portion is not threaded. The shaft bolt 62 is paired with the shaft bolt 35 and screwed into the bolt hole 25 e from the outside of the bottomed cylinder 25, thereby causing the tip portion to protrude inside the bottomed cylinder 25. The tip portion of the shaft bolt 62 constitutes a pivot shaft of the pawl 60. The pawl 60 pivots about an axial bolt 62 inserted into the axial hole 60a. The pawl 60 is rotated by the biasing force of the coil spring 61 and is engaged with the ratchet gear 59.
　固定ボルト６３は、ボルト孔５５ａ、ボルト穴６０ｂの順にねじ込まれることで、ロック解除レバー５５を歯止め６０に固定する。これにより、ロック解除レバー５５の操作によって、歯止め６０がコイルスプリング６１の付勢力に抗して回動し、歯止め６０のラチェット歯車５９への噛込みの解除が可能になる。 The fixing bolt 63 fixes the unlocking lever 55 to the pawl 60 by screwing in order of the bolt hole 55 a and the bolt hole 60 b. As a result, the pawl 60 is turned against the urging force of the coil spring 61 by the operation of the lock release lever 55, and it becomes possible to release the biting of the pawl 60 to the ratchet gear 59.
　以上の連結ユニット５２は、第１実施形態の連結ユニット１４を双方向の回動に対応させたものである。具体的に、連結ユニット５２は、有底円筒２５，２６および軸ボルト２８を主構成として、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する連結部として機能する。また、連結ユニット５２は、ラチェット歯車２９，５９、歯止め３１，６０、コイルスプリング３２，６１および軸ボルト３５，６２を主構成として、基礎アーム１３に対する中間アーム１５の双方向の回動を規制する第一および第二のロック部として機能する。さらに、連結ユニット５２は、歯止め３１，６０およびロック解除レバー２１，５５を主構成として、一方の歯止め３１，６０が動作することで、対応するロック部による規制を解除して、基礎アーム１３に対する中間アーム１５の一方向または他方向の回動を許容する第一および第二の解除部として機能する。なお、連結ユニット５３，５４の具体的な構成は、連結ユニット５２と同様であり、その説明は省略する。 The connection unit 52 described above corresponds to the connection unit 14 of the first embodiment in two-way rotation. Specifically, the connection unit 52 is connected to the base arm 13 so that the intermediate arm 15 can be pivoted about a horizontal rotation axis, with the cylinders 25 and 26 with a bottom and the shaft bolt 28 as main components. It functions as a connecting part. Further, the coupling unit 52 restricts bidirectional rotation of the intermediate arm 15 with respect to the base arm 13 with the ratchet gears 29, 59, the pawls 31, 60, the coil springs 32, 61 and the shaft bolts 35, 62 as main components. It functions as the first and second lock parts. Furthermore, the coupling unit 52 is mainly configured of the pawls 31 and 60 and the lock release levers 21 and 55, and one of the pawls 31 and 60 operates to thereby release the restriction by the corresponding locking portion, It functions as first and second release parts that allow the intermediate arm 15 to pivot in one direction or the other. In addition, the specific structure of the connection units 53 and 54 is the same as that of the connection unit 52, The description is abbreviate | omitted.
　次に、連結ユニット５２の動作について、図１４および図１５に基づいて説明する。図１４は、連結ユニット５２の断面図であり、（Ａ）は中間アーム１５の一方向の回動を規制した状態を示し、（Ｂ）は中間アーム１５の他方向の回動を規制した状態を示す。図１５は、連結ユニット５２の断面図であり、（Ａ）は中間アーム１５の一方向の回動を許容した状態を示し、（Ｂ）は中間アーム１５の他方向の回動を許容した状態を示す。 Next, the operation of the connecting unit 52 will be described based on FIG. 14 and FIG. FIG. 14 is a cross-sectional view of the connection unit 52, in which (A) shows a state in which rotation of the intermediate arm 15 is restricted in one direction, and (B) shows a state in which rotation in the other direction of the intermediate arm 15 is restricted. Indicates FIG. 15 is a cross-sectional view of the connection unit 52, in which (A) shows a state in which the intermediate arm 15 is allowed to rotate in one direction, and (B) shows a state in which the intermediate arm 15 is allowed to rotate in the other direction. Indicates
　図１４（Ａ）に示すように、歯止め３１は、コイルスプリング３２によってラチェット歯車２９に向けて付勢されており、ラチェット歯車２９に噛み込んでいる。これにより、ラチェット歯車２９が取り付けられ、かつ中間アーム１５が固定されている有底円筒２６（図１２、図１３Ａ、図１３Ｂおよび図１３Ｃ参照）は、歯止め３１が取り付けられ、かつ基礎アーム１３が固定されている有底円筒２５に対し、右方向の回動がロックされ規制される。 As shown in FIG. 14A, the pawl 31 is biased toward the ratchet gear 29 by the coil spring 32, and is engaged with the ratchet gear 29. Thereby, the bottomed cylinder 26 (see FIGS. 12, 13A, 13B and 13C) to which the ratchet gear 29 is attached and the intermediate arm 15 is fixed has the pawl 31 attached and the base arm 13 is The rightward rotation is locked and restricted with respect to the fixed bottomed cylinder 25.
　また、図１４（Ｂ）に示すように、歯止め６０は、コイルスプリング６１によってラチェット歯車５９に向けて付勢されており、ラチェット歯車５９に噛み込んでいる。これにより、ラチェット歯車５９が取り付けられ、かつ中間アーム１５が固定されている有底円筒２６（図１２、図１３Ａ、図１３Ｂおよび図１３Ｃ参照）は、歯止め６０が取り付けられ、かつ基礎アーム１３が固定されている有底円筒２５に対し、左方向の回動がロックされ規制される。 Further, as shown in FIG. 14B, the pawl 60 is biased toward the ratchet gear 59 by the coil spring 61, and is engaged with the ratchet gear 59. Thereby, the bottomed cylinder 26 (see FIGS. 12, 13A, 13B and 13C) to which the ratchet gear 59 is attached and the intermediate arm 15 is fixed has the pawl 60 attached and the base arm 13 is The rotation in the left direction is locked and restricted with respect to the bottomed cylinder 25 which is fixed.
　すなわち、歯止め３１のラチェット歯車２９への噛込み、および、歯止め６０のラチェット歯車５９への噛込みにより、基礎アーム１３に対する中間アーム１５の双方向の回動がロックされ規制される。 That is, the biting of the pawl 31 into the ratchet gear 29 and the biting of the pawl 60 into the ratchet gear 59 lock and restrict bi-directional rotation of the intermediate arm 15 with respect to the base arm 13.
　歯止め３１がラチェット歯車２９に噛み込んでおり、かつ、歯止め６０がラチェット歯車５９に噛み込んでいる図１４（Ａ）および図１４（Ｂ）に示す状態から、図１５（Ａ）に示すようにロック解除レバー２１が所定の方向に操作されると、歯止め３１がコイルスプリング３２の付勢力に抗して回動し、歯止め３１のラチェット歯車２９への噛込みが解除される。これにより、ラチェット歯車２９が取り付けられ、かつ中間アーム１５が固定されている有底円筒２６（図１２、図１３Ａ、図１３Ｂおよび図１３Ｃ参照）は、歯止め３１が取り付けられ、かつ基礎アーム１３が固定されている有底円筒２５に対し、右方向の回動のロックが解除され、右方向の回動が許容される。 From the state shown in FIGS. 14A and 14B in which the pawl 31 is engaged with the ratchet gear 29 and the pawl 60 is engaged with the ratchet gear 59, as shown in FIG. When the lock release lever 21 is operated in a predetermined direction, the pawl 31 pivots against the biasing force of the coil spring 32, and the engagement of the pawl 31 with the ratchet gear 29 is released. Thereby, the bottomed cylinder 26 (see FIGS. 12, 13A, 13B and 13C) to which the ratchet gear 29 is attached and the intermediate arm 15 is fixed has the pawl 31 attached and the base arm 13 is With respect to the bottomed cylinder 25 being fixed, the lock of the rightward rotation is released, and the rightward rotation is permitted.
　一方、歯止め３１がラチェット歯車２９に噛み込んでおり、かつ、歯止め６０がラチェット歯車５９に噛み込んでいる図１４（Ａ）および図１４（Ｂ）に示す状態から、図１５（Ｂ）に示すようにロック解除レバー５５が所定の方向に操作されると、歯止め６０がコイルスプリング６１の付勢力に抗して回動し、歯止め６０のラチェット歯車５９への噛込みが解除される。これにより、ラチェット歯車５９が取り付けられ、かつ中間アーム１５が固定されている有底円筒２６（図１２、図１３Ａ、図１３Ｂおよび図１３Ｃ参照）は、歯止め６０が取り付けられ、かつ基礎アーム１３が固定されている有底円筒２５に対し、左方向の回動のロックが解除され、左方向の回動が許容される。 On the other hand, as shown in FIG. 15 (B) from the state shown in FIG. 14 (A) and FIG. 14 (B) in which the pawl 31 is engaged with the ratchet gear 29 and the pawl 60 is engaged with the ratchet gear 59. Thus, when the unlocking lever 55 is operated in a predetermined direction, the pawl 60 pivots against the biasing force of the coil spring 61, and the biting of the pawl 60 into the ratchet gear 59 is released. Thereby, the bottomed cylinder 26 (see FIGS. 12, 13A, 13B and 13C) to which the ratchet gear 59 is attached and the intermediate arm 15 is fixed has the pawl 60 attached and the base arm 13 is With respect to the bottomed cylinder 25 being fixed, the lock of the leftward rotation is released, and the leftward rotation is permitted.
　なお、連結ユニット５３，５４の具体的な動作は、連結ユニット５２と同様であり、その説明は省略する。 The specific operation of the connecting units 53 and 54 is the same as that of the connecting unit 52, and the description thereof is omitted.
　このように、アーム装置５１によれば、基礎アーム１３に対する中間アーム１５の双方向の回動、中間アーム１５に対する中間アーム１７の双方向の回動、および中間アーム１７に対する先端アーム１９の双方向の回動がロックされて規制されているから、アーム装置５１、あるいはアーム装置５１が保持する医療装置（図示省略）に対して外力が加わった場合であっても、不意に、中間アーム１５，１７および先端アーム１９のいずれかが回動することはない。 Thus, according to the arm device 51, bidirectional rotation of the intermediate arm 15 with respect to the base arm 13, bidirectional rotation of the intermediate arm 17 with respect to the intermediate arm 15, and bidirectional of the distal arm 19 with respect to the intermediate arm 17. Of the arm device 51 or the medical device (not shown) held by the arm device 51, even when an external force is applied to the arm device 51, the intermediate arm 15, Either of 17 and tip arm 19 does not rotate.
　また、ロック解除レバー５５～５７のいずれかを操作して、基礎アーム１３に対する中間アーム１５の上方向の回動のロック、中間アーム１５に対する中間アーム１７の上方向の回動のロック、および中間アーム１７に対する先端アーム１９の上方向の回動のロックのいずれかを解除することで、手動で、中間アーム１５，１７、および先端アーム１９のいずれかを上方向に回動させることが可能となり、先端アーム１９の先端に保持する医療装置（図示省略）を簡単に所望の位置に移動させられる。 Further, by operating any one of the lock release levers 55 to 57, locking of upward rotation of the intermediate arm 15 with respect to the base arm 13, locking of upward rotation of the intermediate arm 17 with respect to the intermediate arm 15, and middle By unlocking any of the upward pivoting locks of the distal end arm 19 with respect to the arm 17, it is possible to manually pivot either the intermediate arms 15, 17 and the distal end arm 19 upward. The medical device (not shown) held at the tip of the tip arm 19 can be easily moved to a desired position.
　［第４実施形態］次に、図１６および図１７を用いて、第４実施形態に係るアーム装置の構成について説明する。図１６は、連結ユニット６５の断面図であり、中間アーム１５の回動を規制した状態を示す。図１７は、連結ユニット６５の断面図であり、中間アーム１５の回動を許容した状態を示す。 Fourth Embodiment Next, the configuration of an arm device according to a fourth embodiment will be described with reference to FIGS. 16 and 17. FIG. 16 is a cross-sectional view of the connection unit 65, showing a state in which the rotation of the intermediate arm 15 is restricted. FIG. 17 is a cross-sectional view of the connection unit 65 and shows a state in which the intermediate arm 15 is allowed to rotate.
　第４実施形態のアーム装置（図示省略）は、第１実施形態のアーム装置１０と比較すると、連結ユニット１４に代えて、図１６および図１７に示す連結ユニット６５を備えている。また、第４実施形態のアーム装置は、連結ユニット１６，１８に代えて、連結ユニット６５と同様の連結ユニット（図示省略）をそれぞれ備えている。 The arm device (not shown) of the fourth embodiment includes a connecting unit 65 shown in FIGS. 16 and 17 in place of the connecting unit 14 as compared to the arm device 10 of the first embodiment. Further, the arm device of the fourth embodiment is provided with a connection unit (not shown) similar to the connection unit 65, instead of the connection units 16 and 18.
　（連結ユニット）連結ユニット６５は、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット６５は、基礎アーム１３に対する中間アーム１５の左方向の回動を許容すると共に、右方向の回動をロックして規制する。連結ユニット６５は、基礎アーム１３に対する中間アーム１５の右方向の回動のロックを解除するロック解除レバー（図示省略）を備えている。連結ユニット６５は、ロック解除レバーが所定の方向に操作されることで、基礎アーム１３に対する中間アーム１５の右方向の回動を許容する。 (Connection Unit) The connection unit 65 connects the intermediate arm 15 to the base arm 13 so as to be rotatable about a horizontal rotation axis. The connection unit 65 permits leftward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts rightward rotation. The connection unit 65 includes a lock release lever (not shown) that unlocks the rightward rotation of the intermediate arm 15 relative to the base arm 13. The connection unit 65 allows rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever in a predetermined direction.
　連結ユニット６５は、基礎アーム１３に固定される有底円筒６６と、中間アーム１５に固定される有底円筒（図示省略）と、この有底円筒に対して、有底円筒６６を回動自在に取り付ける軸ボルト６７と、中間アーム１５に固定される有底円筒（図示省略）に固定される回動規制ローラ６８と、を備えている。 The connecting unit 65 has a bottomed cylinder 66 fixed to the base arm 13, a bottomed cylinder (not shown) fixed to the intermediate arm 15, and the bottomed cylinder 66 can be rotated relative to the bottomed cylinder. And a rotation restricting roller 68 fixed to a bottomed cylinder (not shown) fixed to the intermediate arm 15.
　有底円筒６６、および中間アーム１５に固定される有底円筒は、連結ユニット６５の筐体を構成する。有底円筒６６には、軸ボルト６７用の軸孔（図示省略）が形成されている。 The bottomed cylinder 66 and the bottomed cylinder fixed to the intermediate arm 15 constitute a housing of the connection unit 65. In the bottomed cylinder 66, an axial hole (not shown) for the axial bolt 67 is formed.
　回動規制ローラ６８は、円柱形状のローラ本体６９と、有底円筒６６の内周面に沿って配置されるボール７０と、このボール７０を有底円筒６６の内周面に向けて付勢するコイルスプリング７１と、このコイルスプリング７１の基端に固定されたスプリング固定部７２と、このスプリング固定部７２を、上記のロック解除レバー（図示省略）に連動させる連動機構（図示省略）と、を備えている。 The rotation restricting roller 68 includes a cylindrical roller body 69, a ball 70 disposed along the inner peripheral surface of the bottomed cylinder 66, and biases the ball 70 toward the inner peripheral surface of the bottomed cylinder 66. A coil spring 71, a spring fixing portion 72 fixed to the base end of the coil spring 71, and an interlocking mechanism (not shown) for interlocking the spring fixing portion 72 with the lock release lever (not shown); Is equipped.
　ローラ本体６９は、有底円筒６６の内径と比較して一回り小さい外径を有している。ローラ本体６９には、ボール７０、コイルスプリング７１、およびスプリング固定部７２を収容する溝６９ａと、軸ボルト６７用のボルト孔（符号省略）と、が形成されている。 The roller body 69 has an outer diameter which is slightly smaller than the inner diameter of the bottomed cylinder 66. The roller body 69 is formed with a groove 69 a for receiving the ball 70, the coil spring 71, and the spring fixing portion 72, and a bolt hole (reference numeral omitted) for the shaft bolt 67.
　溝６９ａは、ローラ本体６９の外周面から内側に向かって狭小となるように延び、さらに内側に向かって真っすぐに延びるＹ字形状を有する。この溝６９ａには、ローラ本体６９の外周面から内側に向かって、ボール７０、コイルスプリング７１、スプリング固定部７２がこの順に配置されている。 The groove 69a has a Y-shape extending inward from the outer peripheral surface of the roller main body 69 so as to narrow inward, and extending straight inward. In the groove 69a, the ball 70, the coil spring 71, and the spring fixing portion 72 are disposed in this order from the outer peripheral surface of the roller main body 69 toward the inside.
　溝６９ａを構成する側面の一方は、有底円筒６６の内周面に略直交するように当たり、有底円筒６６との間に、直角の空間を形成する。溝６９ａを構成する側面の他方は、有底円筒６６の内周面に斜めに当たり、有底円筒６６との間に、鋭角の空間を形成する。 One of the side surfaces constituting the groove 69 a is substantially orthogonal to the inner circumferential surface of the bottomed cylinder 66, and forms a right-angled space with the bottomed cylinder 66. The other of the side surfaces constituting the groove 69 a obliquely contacts the inner circumferential surface of the bottomed cylinder 66 to form an acute-angled space with the bottomed cylinder 66.
　ボール７０は、コイルスプリング７１の先端に固定されている。このボール７０は、コイルスプリング７１によって、有底円筒６６の内周面に向けて付勢される場合、有底円筒６６の内周面に当接する。コイルスプリング７１は、ボール７０とスプリング固定部７２とを連結する。スプリング固定部７２は、溝６９ａの奥から離れた図１６に示す位置を初期位置とする。初期位置において、コイルスプリング７１は、ボール７０を有底円筒６６の内周面に向けて付勢する。スプリング固定部７２は、上記のロック解除レバー（図示省略）に連動して溝６９ａの奥に当接する図１７に示す位置に移動する。これにより、ボール７０の有底円筒６６の内周面への当接が解除される。 The ball 70 is fixed to the tip of the coil spring 71. When the ball 70 is biased toward the inner peripheral surface of the bottomed cylinder 66 by the coil spring 71, the ball 70 abuts on the inner peripheral surface of the bottomed cylinder 66. The coil spring 71 connects the ball 70 and the spring fixing portion 72. The spring fixing portion 72 takes the position shown in FIG. 16 apart from the back of the groove 69a as the initial position. In the initial position, the coil spring 71 biases the ball 70 toward the inner circumferential surface of the bottomed cylinder 66. The spring fixing portion 72 moves to a position shown in FIG. 17 in contact with the back of the groove 69a in conjunction with the above-mentioned lock release lever (not shown). Thereby, the contact of the ball 70 with the inner circumferential surface of the bottomed cylinder 66 is released.
　以上の回動規制ローラ６８は、ボール７０が有底円筒６６の内周面に当接している場合には、一方向の回動が許容されると共に、他方向の回動が規制される。その一方で、回動規制ローラ６８は、ボール７０の有底円筒６６の内周面への当接が解除されている場合には、一方向の回動が許容されると共に、他方向の回動も許容される。 When the ball 70 is in contact with the inner peripheral surface of the bottomed cylinder 66, the rotation restricting roller 68 is allowed to rotate in one direction and is restricted from rotating in the other direction. On the other hand, when the rotation restricting roller 68 is released from the contact of the ball 70 with the inner peripheral surface of the bottomed cylinder 66, the rotation restricting roller 68 is permitted to rotate in one direction and turn in the other direction. Movement is also acceptable.
　軸ボルト６７は、先端部分がねじ切られていると共に、基端部分がねじ切られていない中ボルトである。この軸ボルト６７は、有底円筒６６の軸孔（図示省略）に差し込まれてから、ローラ本体６９のボルト孔（符号省略）にねじ込まれることで、有底円筒６６をローラ本体６９に回動自在に固定する。これにより、有底円筒６６が、中間アーム１５に固定される有底円筒（図示省略）に対して回動自在に固定される。 The shaft bolt 67 is a middle bolt which is threaded at its distal end and unthreaded at its proximal end. The shaft bolt 67 is inserted into a shaft hole (not shown) of the bottomed cylinder 66 and then screwed into a bolt hole (reference numeral is omitted) of the roller main body 69 to turn the bottomed cylinder 66 to the roller main body 69 Fix it freely. Thus, the bottomed cylinder 66 is rotatably fixed to a bottomed cylinder (not shown) fixed to the intermediate arm 15.
　以上の連結ユニット６５は、有底円筒６６、中間アーム１５に固定される有底円筒（図示省略）、および軸ボルト６７を主構成として、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する連結部として機能する。また、連結ユニット６５は、ボール７０、コイルスプリング７１およびスプリング固定部７２を主構成として、基礎アーム１３に対する中間アーム１５の一方向の回動を許容すると共に他方向の回動をロックして規制するロック部として機能する。さらに、連結ユニット６５は、ボール７０、コイルスプリング７１、スプリング固定部７２、連動機構（図示省略）およびロック解除レバー（図示省略）を主構成として、ロック部による規制を解除して、基礎アーム１３に対する中間アーム１５の他方向の回動を許容する解除部として機能する。なお、連結ユニット１６，１８に代わる連結ユニット（図示省略）の具体的な構成は、連結ユニット６５と同様であり、その説明は省略する。 The above connecting unit 65 is mainly composed of a bottomed cylinder 66, a bottomed cylinder (not shown) fixed to the intermediate arm 15, and an axial bolt 67 as main components. It functions as a connecting portion that is connected rotatably around a rotating shaft. The connection unit 65 mainly includes the ball 70, the coil spring 71, and the spring fixing portion 72, and allows rotation of the intermediate arm 15 in one direction with respect to the base arm 13 and locks rotation in the other direction by restriction. Function as a lock unit. Furthermore, the connection unit 65 mainly comprises the ball 70, the coil spring 71, the spring fixing portion 72, the interlocking mechanism (not shown) and the lock release lever (not shown), and releases the restriction by the lock portion. Functions as a release unit that allows the intermediate arm 15 to rotate in the other direction. The specific configuration of the connection unit (not shown) that replaces the connection units 16 and 18 is the same as that of the connection unit 65, and the description thereof will be omitted.
　次に、連結ユニット６５の動作について、図１６および図１７に基づいて説明する。 Next, the operation of the connecting unit 65 will be described based on FIG. 16 and FIG.
　図１６に示すように、ボール７０は、コイルスプリング７１によって有底円筒６６の内周面に付勢されており、有底円筒６６の内周面に当接している。これにより、回動規制ローラ６８が取り付けられ、かつ中間アーム１５が固定されている有底円筒（図示省略）は、基礎アーム１３が固定されている有底円筒６６に対し、左方向の回動が許容されると共に、右方向の回動がロックされ規制される。 As shown in FIG. 16, the ball 70 is urged against the inner peripheral surface of the bottomed cylinder 66 by the coil spring 71 and is in contact with the inner peripheral surface of the bottomed cylinder 66. Thus, the bottomed cylinder (not shown) to which the rotation restricting roller 68 is attached and the intermediate arm 15 is fixed rotates in the left direction with respect to the bottomed cylinder 66 to which the base arm 13 is fixed. Is permitted and rightward pivoting is locked and restricted.
　ボール７０が有底円筒６６の内周面に当接している図１６に示す状態から、上記のロック解除レバー（図示省略）が操作されると、図１７に示すように、ボール７０がスプリング固定部７２と一体となって溝６９ａの奥に移動し、ボール７０の有底円筒６６の内周面への当接が解除される。これにより、回動規制ローラ６８が取り付けられ、かつ中間アーム１５が固定されている有底円筒（図示省略）は、基礎アーム１３が固定されている有底円筒６６に対し、左方向の回動が許容されると共に、右方向の回動のロックが解除され、右方向の回動も許容される。 When the lock release lever (not shown) is operated from the state shown in FIG. 16 in which the ball 70 is in contact with the inner peripheral surface of the bottomed cylinder 66, as shown in FIG. By moving integrally with the portion 72 to the back of the groove 69a, the contact of the ball 70 with the inner circumferential surface of the bottomed cylinder 66 is released. Thus, the bottomed cylinder (not shown) to which the rotation restricting roller 68 is attached and the intermediate arm 15 is fixed rotates in the left direction with respect to the bottomed cylinder 66 to which the base arm 13 is fixed. Is permitted, and the rightward rotation is unlocked and rightward rotation is also permitted.
　なお、連結ユニット１６，１８に代わる連結ユニット（図示省略）の動作は、連結ユニット６５の動作と同様であり、その説明は省略する。 The operation of the connection unit (not shown) replacing the connection units 16 and 18 is the same as the operation of the connection unit 65, and the description thereof will be omitted.
　［第５実施形態］次に、図１８～図２０を用いて、第５実施形態に係るアーム装置の構成について説明する。図１８は、連結ユニット７４の断面図であり、中間アーム１５の回動を規制した状態を示す。図１９は、連結ユニット７４の断面図であり、中間アーム１５の一方向の回動を許容した状態を示す。図２０は、連結ユニット７４の断面図であり、中間アーム１５の他方向の回動を許容した状態を示す。 Fifth Embodiment Next, the configuration of an arm device according to a fifth embodiment will be described with reference to FIGS. 18 to 20. FIG. FIG. 18 is a cross-sectional view of the connection unit 74, showing a state in which the rotation of the intermediate arm 15 is restricted. FIG. 19 is a cross-sectional view of the connection unit 74, showing a state in which the intermediate arm 15 is allowed to rotate in one direction. FIG. 20 is a cross-sectional view of the connection unit 74 and shows a state in which the intermediate arm 15 is allowed to rotate in the other direction.
　第５実施形態のアーム装置（図示省略）は、第４実施形態のアーム装置（図示省略）と比較すると、連結ユニット６５に代えて、図１８～図２０に示す連結ユニット７４を備えている。また、第５実施形態のアーム装置は、他の連結ユニットについても、連結ユニット７４と同様の連結ユニット（図示省略）をそれぞれ備えている。 The arm device (not shown) of the fifth embodiment includes a connecting unit 74 shown in FIGS. 18 to 20 in place of the connecting unit 65 as compared with the arm device (not shown) of the fourth embodiment. Moreover, the arm apparatus of 5th Embodiment is provided with the connection unit (illustration omitted) similar to the connection unit 74 also about the other connection unit.
　（連結ユニット）連結ユニット７４は、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット７４は、基礎アーム１３に対する中間アーム１５の右方向の回動をロックして規制すると共に、左方向の稼働をロックして規制する。連結ユニット７４は、操作する方向に応じて、基礎アーム１３に対する中間アーム１５の右方向の回動のロック、あるいは左方向の回動のロックを解除するロック解除レバー（図示省略）と、を備えている。連結ユニット７４は、ロック解除レバーが所定の方向に操作されることで、基礎アーム１３に対する中間アーム１５の右方向の回動、あるいは左方向の回動を許容する。 (Connection Unit) The connection unit 74 connects the intermediate arm 15 to the base arm 13 so as to be rotatable about a horizontal rotation axis. The connecting unit 74 locks and restricts rightward rotation of the intermediate arm 15 with respect to the base arm 13 and locks and restricts leftward operation. The connection unit 74 includes a lock release lever (not shown) that unlocks the rightward rotation or the leftward rotation of the intermediate arm 15 relative to the base arm 13 according to the operation direction. ing. The connection unit 74 allows rightward rotation or leftward rotation of the intermediate arm 15 with respect to the base arm 13 by operating the lock release lever in a predetermined direction.
　連結ユニット７４は、第４実施形態の連結ユニット６５と比較すると、回動規制ローラ６８に代えて、回動規制ローラ７５を備えている。 The connecting unit 74 includes a rotation restricting roller 75 instead of the rotation restricting roller 68 as compared to the connection unit 65 of the fourth embodiment.
　回動規制ローラ７５は、円柱形状のローラ本体７６と、ボール７０と、コイルスプリング７１と、スプリング固定部７２と、このスプリング固定部７２を、上記のロック解除レバー（図示省略）に連動させる連動機構（図示省略）と、を備えている。 The rotation restricting roller 75 is interlocked to interlock the cylindrical roller body 76, the ball 70, the coil spring 71, the spring fixing portion 72, and the spring fixing portion 72 with the above-mentioned unlocking lever (not shown). And a mechanism (not shown).
　ローラ本体７６は、有底円筒６６の内径と比較して一回り小さい外径を有している。ローラ本体７６には、ボール７０、コイルスプリング７１、およびスプリング固定部７２を収容する溝７６ａと、軸ボルト６７用のボルト孔（符号省略）と、が形成されている。 The roller body 76 has an outer diameter which is slightly smaller than the inner diameter of the bottomed cylinder 66. The roller body 76 is formed with a groove 76 a for accommodating the ball 70, the coil spring 71, and the spring fixing portion 72, and a bolt hole (reference numeral omitted) for the shaft bolt 67.
　溝７６ａは、ローラ本体７６の外周面から内側に向かって狭小となるように延び、そして内側に向かって真っすぐに延び、さらに外周面に向かって広大となるように延びる形状を有する。この溝７６ａには、ボール７０、コイルスプリング７１、スプリング固定部７２、コイルスプリング７１、ボール７０がこの順に配置されている。 The groove 76a extends inward from the outer peripheral surface of the roller body 76, and extends straight inward, and further extends toward the outer peripheral surface. The ball 70, the coil spring 71, the spring fixing portion 72, the coil spring 71, and the ball 70 are disposed in this order in the groove 76a.
　溝７６ａを構成する側面の一方は、有底円筒６６の内周面に略直交するように当たり、有底円筒６６との間に、直角の空間を形成する。溝７６ａを構成する側面の他方は、有底円筒６６の内周面に斜めに当たり、有底円筒６６との間に、鋭角の空間を形成する。 One of the side surfaces of the groove 76 a is substantially orthogonal to the inner circumferential surface of the bottomed cylinder 66, and forms a right-angled space with the bottomed cylinder 66. The other of the side surfaces constituting the groove 76 a obliquely contacts the inner circumferential surface of the bottomed cylinder 66 and forms an acute-angled space with the bottomed cylinder 66.
　スプリング固定部７２は、第４実施形態とは異なり、図１８に示すように、溝７６ａの中央を初期位置とする。初期位置において、各コイルスプリング７１は、ボール７０を有底円筒６６の内周面に向けて付勢する。スプリング固定部７２は、上記のロック解除レバー（図示省略）に連動して、図１９または図２０に示す所定の方向に移動する。これにより、一方または他方のボール７０の有底円筒６６の内周面への当接が解除される。 Unlike the fourth embodiment, the spring fixing portion 72 takes the center of the groove 76a as an initial position as shown in FIG. In the initial position, each coil spring 71 biases the ball 70 toward the inner circumferential surface of the bottomed cylinder 66. The spring fixing portion 72 moves in a predetermined direction shown in FIG. 19 or 20 in conjunction with the above-mentioned lock release lever (not shown). Thereby, the contact of the one or the other ball 70 with the inner circumferential surface of the bottomed cylinder 66 is released.
　以上の回転規制ローラ７５は、双方のボール７０が有底円筒６６の内周面に当接している場合には、双方向の回動が規制される。その一方で、回動規制ローラ７５は、一方または他方のボール７０の有底円筒６６の内周面への当接が解除されている場合には、一方向または他方向の回動が規制されると共に、他方向または一方向の回動が許容される。 When the balls 70 are in contact with the inner circumferential surface of the bottomed cylinder 66, rotation of the rotation restricting roller 75 is restricted in both directions. On the other hand, when the rotation restricting roller 75 releases the contact of one or the other ball 70 with the inner peripheral surface of the bottomed cylinder 66, the rotation of the rotation restricting roller 75 is restricted in one or the other direction. And rotation in the other direction or in one direction is permitted.
　軸ボルト６７は、有底円筒６６の軸孔（図示省略）に差し込まれてから、ローラ本体７６のボルト孔（符号省略）にねじ込まれることで、有底円筒６６をローラ本体７６に回動自在に固定する。これにより、有底円筒６６が、中間アーム１５に固定される有底円筒（図示省略）に対して回動自在に固定される。 The shaft bolt 67 is inserted into a shaft hole (not shown) of the bottomed cylinder 66, and then screwed into a bolt hole (reference numeral is omitted) of the roller main body 76. Fix to Thus, the bottomed cylinder 66 is rotatably fixed to a bottomed cylinder (not shown) fixed to the intermediate arm 15.
　以上の連結ユニット７４は、第４実施形態の連結ユニット６５を双方向の回動に対応させたものである。具体的に、連結ユニット７４は、有底円筒６６、中間アーム１５が固定される有底円筒（図示省略）および軸ボルト６７を主構成として、基礎アーム１３に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する連結部として機能する。また、連結ユニット７４は、ボール７０、コイルスプリング７１およびスプリング固定部７２を主構成として、基礎アーム１３に対する中間アーム１５の双方向の回動を規制するロック部として機能する。さらに、連結ユニット７４は、ボール７０、コイルスプリング７１、スプリング固定部７２、連動機構（図示省略）およびロック解除レバー（図示省略）を主構成として、ロック部による規制を解除して、基礎アーム１３に対する中間アーム１５の一方向または他方向の回動を許容する解除部として機能する。なお、連結ユニット１６，１８に代わる連結ユニット（図示省略）の具体的な構成は、連結ユニット７４と同様であり、その説明は省略する。 The connection unit 74 described above corresponds to the connection unit 65 of the fourth embodiment in two-way rotation. Specifically, the connecting unit 74 has a bottomed cylinder 66, a bottomed cylinder (not shown) to which the intermediate arm 15 is fixed, and a shaft bolt 67 as main components, and the intermediate arm 15 with respect to the base arm 13 in the horizontal direction It functions as a connecting portion that is connected rotatably around the rotation shaft of Further, the connection unit 74 functions as a lock portion that restricts bidirectional rotation of the intermediate arm 15 with respect to the base arm 13 with the ball 70, the coil spring 71 and the spring fixing portion 72 as main components. Further, the connection unit 74 mainly comprises the ball 70, the coil spring 71, the spring fixing portion 72, the interlocking mechanism (not shown) and the lock release lever (not shown), and releases the restriction by the lock portion. Functions as a release unit that allows the intermediate arm 15 to rotate in one direction or the other direction. The specific configuration of the connection unit (not shown) that replaces the connection units 16 and 18 is the same as that of the connection unit 74, and the description thereof will be omitted.
　次に、連結ユニット７４の動作について、図１８～図２０に基づいて説明する。 Next, the operation of the connecting unit 74 will be described based on FIG. 18 to FIG.
　図１８に示すように、各ボール７０は、コイルスプリング７１によって有底円筒６６の内周面に付勢されており、有底円筒６６の内周面に当接している。これにより、回動規制ローラ７５が取り付けられ、かつ中間アーム１５が固定されている有底円筒（図示省略）は、基礎アーム１３が固定されている有底円筒６６に対し、双方向の回動がロックされ、規制される。 As shown in FIG. 18, each ball 70 is urged against the inner peripheral surface of the bottomed cylinder 66 by a coil spring 71 and is in contact with the inner peripheral surface of the bottomed cylinder 66. Thus, the bottomed cylinder (not shown) to which the rotation restricting roller 75 is attached and the intermediate arm 15 is fixed rotates in both directions with respect to the bottomed cylinder 66 to which the base arm 13 is fixed. Is locked and regulated.
　各ボール７０が有底円筒６６の内周面に当接している図１８に示す状態から、上記のロック解除レバー（図示省略）が操作されると、図１９または図２０に示すように、一方または他方のボール７０がスプリング固定部７２と一体となって溝７６ａの奥に移動し、ボール７０の有底円筒６６の内周面への当接が解除される。これにより、回動規制ローラ７５が取り付けられ、かつ中間アーム１５が固定されている有底円筒（図示省略）は、基礎アーム１３が固定されている有底円筒６６に対し、左方向または右方向の回動のロックが解除され、その方向の回動が許容される。 When the above-mentioned lock release lever (not shown) is operated from the state shown in FIG. 18 in which each ball 70 is in contact with the inner circumferential surface of the bottomed cylinder 66, as shown in FIG. Alternatively, the other ball 70 moves integrally with the spring fixing portion 72 to the back of the groove 76a, and the contact of the ball 70 with the inner circumferential surface of the bottomed cylinder 66 is released. Thereby, the bottomed cylinder (not shown) to which the rotation restricting roller 75 is attached and the intermediate arm 15 is fixed is leftward or rightward with respect to the bottomed cylinder 66 to which the base arm 13 is fixed. The lock of the rotation is released, and the rotation in that direction is permitted.
　［第６実施形態］次に、図２１を用いて第６実施形態に係るアーム装置７８の構成について説明する。図２１は、アーム装置７８の正面図である。 Sixth Embodiment Next, the configuration of an arm device 78 according to a sixth embodiment will be described with reference to FIG. FIG. 21 is a front view of the arm device 78. As shown in FIG.
　図２１に示すように、アーム装置７８は、第１実施形態のアーム装置１０と比較すると、回動台１２、基礎アーム１３および連結ユニット１４に代えて、回動台７９を備えている。 As shown in FIG. 21, the arm device 78 includes a pivot base 79 in place of the pivot base 12, the base arm 13 and the connecting unit 14 as compared with the arm device 10 of the first embodiment.
　回動台７９は、回動台１２と同様、鉛直軸を中心に回動自在に取り付けられている。この回動台７９は、連結ユニット１４と同様の連結ユニット８０を備えている。連結ユニット８０は、回動台７９に対して中間アーム１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット８０は、回動台７９に対する中間アーム１５の左方向の回動を許容すると共に、右方向の回動をロックして規制する。連結ユニット８０は、回動台７９に対する中間アーム１５の右方向の回動のロックを解除するロック解除レバー２１を備えている。連結ユニット８０は、ロック解除レバー２１が所定の方向に操作されることで、回動台７９に対する中間アーム１５の右方向の回動を許容する。 The pivot base 79 is pivotably attached about the vertical axis, similarly to the pivot base 12. The pivot base 79 includes a connection unit 80 similar to the connection unit 14. The connection unit 80 rotatably connects the intermediate arm 15 to the rotation base 79 about a horizontal rotation axis. The connection unit 80 permits leftward rotation of the intermediate arm 15 with respect to the rotation base 79, and locks and restricts rightward rotation. The connection unit 80 includes a lock release lever 21 that unlocks the rightward rotation of the intermediate arm 15 with respect to the rotation base 79. The connection unit 80 allows the rightward rotation of the intermediate arm 15 with respect to the rotation base 79 by operating the lock release lever 21 in a predetermined direction.
　［第７実施形態］次に、図２２を用いて第７実施形態に係るアーム装置８２の構成について説明する。図２２は、アーム装置８２の正面図である。 Seventh Embodiment Next, the configuration of an arm device 82 according to a seventh embodiment will be described with reference to FIG. FIG. 22 is a front view of the arm device 82. As shown in FIG.
　図２２に示すように、アーム装置８２は、第２実施形態のアーム装置４２と比較すると、連結ユニット４３～４５および連動部材４６に代えて、連結ユニット８３～８５および連動部材８６を備えている。 As shown in FIG. 22, the arm device 82 includes connecting units 83 to 85 and an interlocking member 86 instead of the connecting units 43 to 45 and the interlocking member 46 as compared with the arm device 42 of the second embodiment. .
　連結ユニット８３は、第２実施形態の連結ユニット４３と比較すると、ロック解除レバー２１を備えていない。連結ユニット８３は、連結ユニット８５におけるロック解除レバー８７（後述）が所定の方向に操作されることで、基礎アーム１３に対する中間アーム１５の右方向の回動を許容する。 The connection unit 83 does not include the lock release lever 21 as compared to the connection unit 43 of the second embodiment. The connection unit 83 allows the rightward rotation of the intermediate arm 15 with respect to the base arm 13 by operating a lock release lever 87 (described later) in the connection unit 85 in a predetermined direction.
　連結ユニット８４は、連結ユニット８５におけるロック解除レバー８７（後述）が所定の方向に操作されることで、中間アーム１５に対する中間アーム１７の右方向の回動を許容する。 The connection unit 84 allows the rightward rotation of the intermediate arm 17 with respect to the intermediate arm 15 by operating a lock release lever 87 (described later) in the connection unit 85 in a predetermined direction.
　連結ユニット８５は、第２実施形態の連結ユニット４５と比較すると、中間アーム１７に対する先端アーム１９の右方向の回動のロックを解除するロック解除レバー８７を備えている。 The connection unit 85 includes a lock release lever 87 that unlocks the rightward rotation of the distal end arm 19 with respect to the intermediate arm 17 as compared to the connection unit 45 of the second embodiment.
　連動部材８６は、第２実施形態の連動部材４６と同様、中間アーム１７，１５に沿って配置される。具体的に、連動部材８６は、連結ユニット８５の内部から中間アーム１７の内部を通って連結ユニット８４の内部に繋がっていると共に、連結ユニット８４の内部から中間アーム１５の内部を通って連結ユニット８３の内部に繋がっている。連動部材８６は、ロック解除レバー８７が所定の方向に操作されることで引っ張られ、連結ユニット８４，８３によるアームの回動の規制およびその解除を、連結ユニット８５によるアームの回動の規制およびその解除に連動させる。 The interlocking member 86 is disposed along the intermediate arms 17 and 15 in the same manner as the interlocking member 46 of the second embodiment. Specifically, the interlocking member 86 is connected from the inside of the connecting unit 85 to the inside of the connecting unit 84 through the inside of the intermediate arm 17 and from the inside of the connecting unit 84 through the inside of the intermediate arm 15 to the connecting unit It is connected to the inside of 83. The interlocking member 86 is pulled when the unlocking lever 87 is operated in a predetermined direction, and regulation of the pivoting of the arm by the coupling units 84 and 83 and its release are regulation of the pivoting of the arm by the coupling unit 85 and In conjunction with the release.
　このように、アーム装置８２によれば、複数の連結ユニット８３～８５のうち保持部２０との距離が最も近い連結ユニット８５に、ロック解除レバー８７を備えたから、先端アーム１９の先端に保持された医療装置（図示省略）を操作しながら、あるいは医療装置を操作するに先立ってロック解除レバー８７を操作することができる。これにより、医療装置を操作しながら、あるいは医療装置を操作するに先立って医療装置を所望の位置に移動させられる。 As described above, according to the arm device 82, the lock release lever 87 is provided to the connection unit 85 having the shortest distance to the holding unit 20 among the plurality of connection units 83 to 85. The lock release lever 87 can be operated while operating the medical device (not shown) or prior to operating the medical device. This allows the medical device to be moved to a desired position while operating the medical device or prior to operating the medical device.
　［第８実施形態］次に、図２３～図３０を用いて、第８実施形態に係るアーム装置１１０の構成について説明する。図２３はアーム装置１１０の正面図である。図２４は、連結ユニット１１４の外観斜視図である。図２５は、連結ユニット１１４の分解斜視図である。図２６は、連結ユニット１１４の断面図であり、中間アーム１１５の回動を規制した状態を示す。図２７は、連結ユニット１１４の断面図であり、中間アーム１１５の回動を許容した状態を示す。図２８は、連結ユニット１１６の分解斜視図である。図２９は、連結ユニット１１６の断面図であり、中間アーム１１７の回動を規制した状態を示す。図３０は、連結ユニット１１６の断面図であり、中間アーム１１７の回動を許容した状態を示す。 Eighth Embodiment Next, the configuration of an arm device 110 according to an eighth embodiment will be described with reference to FIGS. 23 to 30. FIG. FIG. 23 is a front view of the arm device 110. As shown in FIG. FIG. 24 is an external perspective view of the connection unit 114. As shown in FIG. FIG. 25 is an exploded perspective view of the connection unit 114. As shown in FIG. FIG. 26 is a cross-sectional view of the connection unit 114, showing a state in which the rotation of the intermediate arm 115 is restricted. FIG. 27 is a cross-sectional view of the connection unit 114 and shows a state in which the intermediate arm 115 is allowed to rotate. FIG. 28 is an exploded perspective view of the connection unit 116. As shown in FIG. FIG. 29 is a cross-sectional view of the connection unit 116, showing a state in which the rotation of the intermediate arm 117 is restricted. FIG. 30 is a cross-sectional view of the connection unit 116 and shows a state in which the intermediate arm 117 is allowed to rotate.
　図２３に示すアーム装置１１０は、基礎となる台座１１１と、この台座１１１の上面に、鉛直軸を中心に回動自在に取り付けられた回動台１１２と、この回動台１１２に取り付けられた基礎アーム１１３と、この基礎アーム１１３の先端に取り付けられた連結ユニット１１４と、この連結ユニット１１４を介して基礎アーム１１３に連結された中間アーム１１５と、この中間アーム１１５の先端に取り付けられた連結ユニット１１６と、この連結ユニット１１６を介して中間アーム１１５に連結された中間アーム１１７と、この中間アーム１１７の先端に取り付けられた連結ユニット１１８と、この連結ユニット１１８を介して中間アーム１１７に連結された先端アーム１１９と、この先端アーム１１９に固定され、医療装置（図示省略）を着脱可能に保持する保持部１２０と、各連結ユニット１１４，１６，１８を連動させる連動部材１２１と、を備えている。以下、各構成要素を説明する。 The arm device 110 shown in FIG. 23 is mounted on a pedestal 111 serving as a base, a pivot base 112 rotatably mounted on the upper surface of the pedestal 111 about a vertical axis, and the pivot base 112 A base arm 113, a connection unit 114 attached to the tip of the base arm 113, an intermediate arm 115 connected to the base arm 113 via the connection unit 114, and a connection attached to the tip of the middle arm 115 Unit 116, an intermediate arm 117 coupled to the intermediate arm 115 via the coupling unit 116, a coupling unit 118 attached to the tip of the intermediate arm 117, and coupling to the intermediate arm 117 via the coupling unit 118 And the medical device (not shown). Includes a holding portion 120 for detachably holding, the interlocking member 121 for interlocking the respective coupling units 114,16,18, the. Each component will be described below.
　（アーム）基礎アーム１１３、中間アーム１１５，１７および先端アーム１１９は、ステンレス製の角管等で中空に形成され、一列に配置されている。これらの基礎アーム１１３、中間アーム１１５，１１７および先端アーム１１９は、隣り合うアームが、連結ユニット１１４，１１６，１１８のいずれかによって回動自在に連結されている。 (Arm) The base arm 113, the intermediate arms 115 and 17, and the tip arm 119 are formed hollow with a stainless steel square tube or the like and arranged in a line. The adjacent arms of the base arm 113, the intermediate arms 115 and 117 and the tip arm 119 are rotatably connected by any of the connection units 114, 116 and 118.
　基礎アーム１１３は、基端が回動台１１２に取り付けられている。この基礎アーム１１３は、回動台１１２と一体となって、鉛直軸を中心に回動する。 A base end of the base arm 113 is attached to the pivot base 112. The base arm 113 rotates integrally with the rotating base 112 about a vertical axis.
　中間アーム１１５は、連結ユニット１１４を介して基礎アーム１１３に連結されることによって、基礎アーム１１３に対して水平方向の回動軸を中心に上下方向に回動する。この中間アーム１１５は、回動台１１２および基礎アーム１１３と一体となって、鉛直軸を中心に回動する。 The intermediate arm 115 is connected to the base arm 113 via the connection unit 114, so that the middle arm 115 pivots up and down around a horizontal rotation axis with respect to the base arm 113. The intermediate arm 115 rotates integrally with the pivot base 112 and the base arm 113 about a vertical axis.
　中間アーム１１７は、連結ユニット１１６を介して中間アーム１１５に連結されることによって、中間アーム１１５に対して水平方向の回動軸を中心に上下方向に回動する。この中間アーム１１７は、回動台１１２、基礎アーム１１３および中間アーム１１５と一体となって、鉛直軸を中心に回動する。 The intermediate arm 117 is coupled to the intermediate arm 115 via the coupling unit 116, and thereby pivots in the vertical direction about a pivot axis in the horizontal direction with respect to the intermediate arm 115. The intermediate arm 117 integrally rotates with the pivot base 112, the base arm 113, and the intermediate arm 115 about a vertical axis.
　先端アーム１１９は、連結ユニット１１８を介して中間アーム１１７に連結されることによって、中間アーム１１７に対して水平方向の回動軸を中心に上下方向に回動する。この先端アーム１１９は、回動台１１２、基礎アーム１１３および中間アーム１１５，１１７と一体となって、鉛直軸を中心に回動する。 The distal end arm 119 is coupled to the intermediate arm 117 via the coupling unit 118, and thereby pivots in the vertical direction around a pivot axis in the horizontal direction with respect to the intermediate arm 117. The distal end arm 119 rotates integrally with the pivot base 112, the base arm 113, and the intermediate arms 115 and 117 about a vertical axis.
　（保持部）保持部１２０は、中間アーム１１５が基礎アーム１１３に対して水平方向の回動軸を中心に上下方向に回動すること、中間アーム１１７が中間アーム１１５に対して水平方向の回動軸を中心に上下方向に回動すること、あるいは先端アーム１１９が中間アーム１１７に対して水平方向の回動軸を中心に上下方向に回動することによって、上下方向に移動する。この保持部１２０は、回動台１１２、基礎アーム１１３、中間アーム１１５，１１７および先端アーム１１９が一体となって鉛直軸を中心に回動することによって、鉛直軸を中心に旋回する。 (Holding portion) The holding portion 120 rotates the intermediate arm 115 up and down with respect to the base arm 113 in the vertical direction about a rotation axis in the horizontal direction, and the intermediate arm 117 rotates in the horizontal direction with respect to the intermediate arm 115 By vertically pivoting about the motion axis, or by pivoting the tip arm 119 vertically with respect to the intermediate arm 117 in the vertical direction, the tip arm 119 moves vertically. The holder 120 pivots about the vertical axis by the rotation base 112, the base arm 113, the intermediate arms 115 and 117, and the tip arm 119 integrally turning about the vertical axis.
　（連結ユニット）連結ユニット１１４は、基礎アーム１１３に対して中間アーム１１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１１４は、後述するロック機構１３１（図２５参照）によって、基礎アーム１１３に対する中間アーム１１５の双方向の回動をロックして規制する。連結ユニット１１４は、基礎アーム１１３に対する中間アーム１１５の双方向の回動のロックを解除するロック解除レバー１２２を備えている。連結ユニット１１４は、ロック解除レバー１２２が所定の方向に操作されることで、基礎アーム１１３に対する中間アーム１１５の双方向の回動を許容する。 (Connection Unit) The connection unit 114 connects the intermediate arm 115 to the base arm 113 so as to be rotatable about a horizontal rotation axis. The connection unit 114 locks and restricts bidirectional rotation of the intermediate arm 115 with respect to the base arm 113 by a lock mechanism 131 (see FIG. 25) described later. The connection unit 114 includes a lock release lever 122 that unlocks the two-way rotation of the intermediate arm 115 with respect to the base arm 113. The connection unit 114 allows bidirectional rotation of the intermediate arm 115 with respect to the base arm 113 by operating the lock release lever 122 in a predetermined direction.
　連結ユニット１１６は、中間アーム１１５に対して中間アーム１１７を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１１６は、後述するロック機構１３１（図２８参照）によって、中間アーム１１５に対する中間アーム１１７の双方向の回動をロックして規制する。連結ユニット１１６は、連動部材１２１によって、連結ユニット１１４におけるロック解除レバー１２２が所定の方向に操作されることに連動し、中間アーム１１５に対する中間アーム１１７の双方向の回動を許容する。 The connecting unit 116 rotatably connects the intermediate arm 117 to the intermediate arm 115 about a horizontal rotation axis. The connection unit 116 locks and restricts bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115 by a lock mechanism 131 (see FIG. 28) described later. The coupling unit 116 interlocks with the interlock release of the lock release lever 122 in the coupling unit 114 in a predetermined direction by the interlocking member 121, and permits bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115.
　連結ユニット１１８は、中間アーム１１７に対して先端アーム１１９を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１１８は、後述するロック機構（図示省略）によって、中間アーム１１７に対する先端アーム１１９の双方向の回動をロックして規制する。連結ユニット１１８は、連動部材１２１によって、連結ユニット１１４におけるロック解除レバー１２２が所定の方向に操作されることに連動し、中間アーム１１７に対する先端アーム１１９の双方向の回動を許容する。 The connecting unit 118 rotatably connects the distal end arm 119 to the intermediate arm 117 about a horizontal rotation axis. The connection unit 118 locks and restricts bidirectional rotation of the distal end arm 119 with respect to the intermediate arm 117 by a lock mechanism (not shown) described later. The connecting unit 118 interlocks with the operation of the lock release lever 122 in the connecting unit 114 in a predetermined direction by the interlocking member 121, and permits bidirectional rotation of the distal end arm 119 with respect to the intermediate arm 117.
　（連動部材）連動部材１２１は、釣糸などの糸状部材であり、中間アーム１１５，１１７に沿って配置されている。具体的に、連動部材１２１は、連結ユニット１１４の内部から中間アーム１１５の内部を通って連結ユニット１１６の内部に繋がっていると共に、連結ユニット１１６の内部から中間アーム１１７の内部を通って連結ユニット１１８の内部に繋がっている。連動部材１２１は、ロック解除レバー１２２が所定の方向に操作されることで引っ張られ、連結ユニット１１６，１１８によるアームの回動の規制およびその解除を、連結ユニット１１４によるアームの回動の規制およびその解除に連動させる。 The interlocking member 121 is a thread-like member such as a fishing line, and is disposed along the intermediate arms 115 and 117. Specifically, the interlocking member 121 is connected from the inside of the connecting unit 114 to the inside of the connecting unit 116 through the inside of the intermediate arm 115 and from the inside of the connecting unit 116 to the inside of the intermediate arm 117 It is connected to the inside of 118. The interlocking member 121 is pulled when the unlocking lever 122 is operated in a predetermined direction, so that the control of the rotation of the arm by the connection units 116 and 118 and the release thereof are restricted by the connection unit 114 and the rotation of the arm In conjunction with the release.
　図２４～図２７に示すように、連結ユニット１１４は、基礎アーム１１３に固定される有底円筒１２５と、中間アーム１１５に固定される有底円筒１２６と、これらの有底円筒１２５，１２６の間に介在させる円筒１２７と、有底円筒１２５を有底円筒１２６に対して回動自在に取り付ける軸ボルト１２８と、有底円筒１２６に固定される歯車１２９と、この歯車１２９および有底円筒１２６の間に介在させる円柱形状のスペーサ１３０と、歯車１２９と共にロック機構１３１を構成する噛合部材１３２と、この噛合部材１３２を歯車１２９に向けて付勢するコイルスプリング１３３と、噛合部材１３２に固定されるロック解除レバー１２２と、連動部材１２１をガイドするガイド部材１３４と、有底円筒１２６にスペーサ１３０を固定する固定ボルト１３５と、スペーサ１３０に歯車１２９を固定する固定ボルト１３６と、有底円筒１２５に噛合部材１３２を取り付ける軸ボルト１３７と、噛合部材１３２にガイド部材１３４およびロック解除レバー１２２を固定する固定ボルト１３８と、有底円筒１２５に基礎アーム１１３を固定するための固定部材１３９および固定ボルト１４０と、有底円筒１２６に中間アーム１１５を固定するための固定部材１４１および固定ボルト１４２と、を備えている。 As shown in FIGS. 24 to 27, the connection unit 114 includes a bottomed cylinder 125 fixed to the base arm 113, a bottomed cylinder 126 fixed to the intermediate arm 115, and the bottomed cylinders 125 and 126. A cylinder 127 interposed therebetween, a shaft bolt 128 rotatably attaching the bottomed cylinder 125 to the bottomed cylinder 126, a gear 129 fixed to the bottomed cylinder 126, the gear 129 and the bottomed cylinder 126 Fixed to the meshing member 132, a cylindrical spacer 130 interposed between them, a meshing member 132 constituting the lock mechanism 131 together with the gear 129, a coil spring 133 urging the meshing member 132 toward the gear 129, and Locking the spacer 130 to the bottomed cylinder 126 and the lock release lever 122, the guide member 134 for guiding the interlocking member 121, and the The fixing bolt 135, the fixing bolt 136 for fixing the gear 129 to the spacer 130, the shaft bolt 137 for attaching the meshing member 132 to the bottomed cylinder 125, and the fixing bolt for fixing the guide member 134 and the unlocking lever 122 to the meshing member 132 138, a fixing member 139 and a fixing bolt 140 for fixing the base arm 113 to the bottomed cylinder 125, and a fixing member 141 and a fixing bolt 142 for fixing the intermediate arm 115 to the bottomed cylinder 126. There is.
　有底円筒１２５には、軸ボルト１２８用の軸孔１２５ａと、軸ボルト１３７用のボルト孔１２５ｂと、固定ボルト１４０用のボルト孔１２５ｃと、コイルスプリング１３３の一端が固定される固定穴１２５ｄと、が形成されている。有底円筒１２６には、固定ボルト１３５用のボルト孔１２６ａと、固定ボルト１４２用のボルト孔１２６ｂと、が形成されている。 The bottomed cylinder 125 has a shaft hole 125a for the shaft bolt 128, a bolt hole 125b for the shaft bolt 137, a bolt hole 125c for the fixing bolt 140, and a fixing hole 125d to which one end of the coil spring 133 is fixed. , Is formed. The bottomed cylinder 126 is formed with a bolt hole 126 a for the fixing bolt 135 and a bolt hole 126 b for the fixing bolt 142.
　円筒１２７は、有底円筒１２５，１２６の内径と比較して一回り小さい外径を有する大径部１２７ａと、この大径部１２７ａの外径と比較して一回り小さい外径を有する小径部１２７ｂと、から構成される。円筒１２７には、小径部１２７ｂに、ロック解除レバー１２２を逃がす切欠き１２７ｃが形成されている。円筒１２７は、その両側に有底円筒１２５，１２６が被せられることで、有底円筒１２５，１２６と共に筐体を構成する。小径部１２７ｂの外周面と、有底円筒１２５の内周面と、の間には、連動部材１２１が通る隙間（符号省略）が形成される。 The cylinder 127 has a large diameter portion 127a having an outer diameter one size smaller than the inner diameter of the bottomed cylinder 125, 126, and a small diameter portion having an outer diameter one size smaller than the outer diameter of the large diameter portion 127a. And 127b. In the small diameter portion 127 b of the cylinder 127, a notch 127 c for releasing the lock release lever 122 is formed. The cylinder 127, together with the bottomed cylinders 125 and 126 on both sides thereof, constitutes a housing together with the bottomed cylinders 125 and 126. A gap (reference numeral omitted) through which the interlocking member 121 passes is formed between the outer peripheral surface of the small diameter portion 127 b and the inner peripheral surface of the bottomed cylinder 125.
　歯車１２９は、コ型に角張った歯が全周にわたって形成された歯車である。この歯車１２９は、噛合部材１３２が噛み合っている場合には、双方向の回動が規制される。その一方で、歯車１２９は、噛合部材１３２の噛合いが解除されている場合には、双方向の回動が許容される。歯車１２９には、固定ボルト１３６用のボルト孔１２９ａと、軸ボルト１２８用のボルト孔１２９ｂと、が形成されている。 The gear 129 is a gear in which angular teeth having a U-shape are formed over the entire circumference. The gear 129 is restricted from rotating in both directions when the meshing member 132 is meshed. On the other hand, the gear 129 is allowed to rotate in both directions when the meshing member 132 is disengaged. The gear 129 is formed with a bolt hole 129 a for the fixing bolt 136 and a bolt hole 129 b for the shaft bolt 128.
　スペーサ１３０は、有底円筒１２６側の面に固定ボルト１３５用のボルト穴１３０ａが形成されていると共に、歯車１２９側の面に固定ボルト１３６用のボルト穴１３０ｂが形成されている。 In the spacer 130, a bolt hole 130a for the fixing bolt 135 is formed on the surface on the bottomed cylinder 126 side, and a bolt hole 130b for the fixing bolt 136 is formed on the surface on the gear 129 side.
　固定ボルト１３５は、ボルト孔１２６ａ、ボルト穴１３０ａの順にねじ込まれることで、スペーサ１３０を有底円筒１２６に固定する。固定ボルト１３６は、ボルト孔１２９ａ、ボルト穴１３０ｂの順にねじ込まれることで、歯車１２９をスペーサ１３０に固定する。これにより、歯車１２９が、スペーサ１３０を介して有底円筒１２６に固定される。 The fixing bolt 135 fixes the spacer 130 to the bottomed cylinder 126 by screwing in order of the bolt hole 126 a and the bolt hole 130 a. The fixing bolt 136 fixes the gear 129 to the spacer 130 by screwing in order of the bolt hole 129 a and the bolt hole 130 b. Thus, the gear 129 is fixed to the bottomed cylinder 126 via the spacer 130.
　軸ボルト１２８は、先端部分がねじ切られていると共に、基端部分がねじ切られていない中ボルトである。この軸ボルト１２８は、軸孔１２５ａに差し込まれてからボルト孔１２９ｂにねじ込まれることで、有底円筒１２５を歯車１２９に回動自在に固定する。これにより、有底円筒１２５が、有底円筒１２６に対して回動自在に固定される。 The axial bolt 128 is a middle bolt that is threaded at its distal end and unthreaded at its proximal end. The shaft bolt 128 is inserted into the shaft hole 125a and then screwed into the bolt hole 129b, thereby rotatably fixing the bottomed cylinder 125 to the gear 129. Thereby, the bottomed cylinder 125 is rotatably fixed to the bottomed cylinder 126.
　噛合部材１３２は、歯車１２９に噛み合うことで、歯車１２９の双方向の回動をロックして規制する。噛合部材１３２には、軸ボルト１３７用の軸孔１３２ａと、固定ボルト１３８用のボルト穴１３２ｂと、コイルスプリング１３３の他端が固定される固定穴１３２ｃと、が形成されている。ロック解除レバー１２２には、固定ボルト１３８用のボルト孔１２２ａが形成されている。 The meshing member 132 locks and regulates bi-directional rotation of the gear 129 by meshing with the gear 129. The meshing member 132 is formed with a shaft hole 132a for the shaft bolt 137, a bolt hole 132b for the fixing bolt 138, and a fixing hole 132c to which the other end of the coil spring 133 is fixed. The lock release lever 122 is formed with a bolt hole 122 a for the fixing bolt 138.
　ガイド部材１３４は、略半円板状を有している。ガイド部材１３４には、連動部材１２１を巻き付ける突起１３４ａが一体に形成されていると共に、その突起１３４ａから円弧の全域に沿って、連動部材１２１をガイドする溝１３４ｂが形成されている。このガイド部材１３４には、固定ボルト１３８用のボルト孔１３４ｃが形成されている。 The guide member 134 has a substantially semicircular plate shape. The guide member 134 is integrally formed with a projection 134a around which the interlocking member 121 is wound, and a groove 134b is formed along the entire arc from the projection 134a to guide the interlocking member 121. In the guide member 134, bolt holes 134c for the fixing bolt 138 are formed.
　軸ボルト１３７は、基端部分がねじ切られていると共に、先端部分がねじ切られていない特殊ボルトである。この軸ボルト１３７は、有底円筒１２５の外側からボルト孔１２５ｂにねじ込まれることで、有底円筒１２５の内側に先端部分を突出させる。軸ボルト１３７の先端部分は、噛合部材１３２の回動軸を構成する。噛合部材１３２は、軸孔１３２ａに差し込まれた軸ボルト１３７を中心に回動する。この噛合部材１３２は、コイルスプリング１３３の付勢力によって回動し、歯車１２９に噛み込まれる。 The axial bolt 137 is a special bolt in which the proximal end portion is threaded and the distal end portion is not threaded. The axial bolt 137 is screwed into the bolt hole 125 b from the outside of the bottomed cylinder 125, thereby causing the tip portion to protrude inside the bottomed cylinder 125. The tip end portion of the shaft bolt 137 constitutes a pivot shaft of the meshing member 132. The meshing member 132 pivots about a shaft bolt 137 inserted into the shaft hole 132a. The meshing member 132 is rotated by the biasing force of the coil spring 133 and is engaged with the gear 129.
　固定ボルト１３８は、ボルト孔１３４ｃ、ボルト孔１２２ａ、ボルト穴１３２ｂの順にねじ込まれることで、ロック解除レバー１２２と共にガイド部材１３４を噛合部材１３２に固定する。これにより、ロック解除レバー１２２の操作によって、噛合部材１３２がコイルスプリング１３３の付勢力に抗して回動し、噛合部材１３２の歯車１２９への噛合いの解除が可能になると共に、ガイド部材１３４が回動し、連動部材１２１を引っ張ることが可能になる。 The fixing bolt 138 fixes the guide member 134 together with the unlocking lever 122 to the meshing member 132 by screwing in order of the bolt hole 134c, the bolt hole 122a, and the bolt hole 132b. As a result, the meshing member 132 is rotated against the biasing force of the coil spring 133 by the operation of the lock release lever 122, and it becomes possible to release the meshing of the meshing member 132 to the gear 129 and the guide member 134. Can be rotated, and the interlocking member 121 can be pulled.
　固定部材１３９は、第一片（符号省略）と、第一片の一端が９０度折り曲げられ、基礎アーム１１３が固定される第二片（符号省略）と、第一片の他端が第二片とは反対側に９０度折り曲げられ、有底円筒１２５が固定される第三片（符号省略）と、を備え、クランク状に構成される。固定部材１３９の第二片には、固定ボルト１４０用のボルト孔１３９ａが形成されている。固定部材１３９の第三片には、固定ボルト１４０用のボルト孔１３９ｂが形成されている。基礎アーム１１３には、固定ボルト１４０用のボルト孔１１３ａが形成されている。 The fixing member 139 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees and the base arm 113 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 125 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape. In the second piece of the fixing member 139, a bolt hole 139a for the fixing bolt 140 is formed. A bolt hole 139 b for the fixing bolt 140 is formed in the third piece of the fixing member 139. The base arm 113 is formed with a bolt hole 113 a for the fixing bolt 140.
　固定ボルト１４０は、ボルト孔１３９ａ、ボルト孔１１３ａの順にねじ込まれることで、固定部材１３９を基礎アーム１１３に固定すると共に、ボルト孔１３９ｂ、ボルト孔１２５ｃの順にねじ込まれることで、固定部材１３９を有底円筒１２５に固定する。これにより、有底円筒１２５に基礎アーム１１３が固定される。 The fixing bolt 140 fixes the fixing member 139 to the base arm 113 by screwing in order of the bolt hole 139a and the bolt hole 113a, and by fixing in order of the bolt hole 139b and the bolt hole 125c, the fixing member 139 is provided. It is fixed to the bottom cylinder 125. Thereby, the base arm 113 is fixed to the bottomed cylinder 125.
　固定部材１４１は、第一片（符号省略）と、第一片の一端が９０度折り曲げられ、中間アーム１１５が固定される第二片（符号省略）と、第一片の他端が第二片とは反対側に９０度折り曲げられ、有底円筒１２６が固定される第三片（符号省略）と、を備え、クランク状に構成される。固定部材１４１の第二片には、固定ボルト１４２用のボルト孔１４１ａが形成されている。固定部材１４１の第三片には、固定ボルト１４２用のボルト孔１４１ｂが形成されている。中間アーム１１５には、固定ボルト１４２用のボルト孔１１５ａが形成されている。 The fixing member 141 includes a first piece (reference numeral omitted), a second piece (reference numeral omitted) in which one end of the first piece is bent 90 degrees and the intermediate arm 115 is fixed, and the other end of the first piece is second And a third piece (reference numeral omitted) to which the bottomed cylinder 126 is fixed by being bent 90 degrees on the opposite side to the piece, and is configured in a crank shape. In a second piece of the fixing member 141, a bolt hole 141a for the fixing bolt 142 is formed. In the third piece of the fixing member 141, a bolt hole 141b for the fixing bolt 142 is formed. The intermediate arm 115 is formed with a bolt hole 115 a for the fixing bolt 142.
　固定ボルト１４２は、ボルト孔１４１ａ、ボルト孔１１５ａの順にねじ込まれることで、固定部材１４１を中間アーム１１５に固定すると共に、ボルト孔１４１ｂ、ボルト孔１２６ｂの順にねじ込まれることで、固定部材１４１を有底円筒１２６に固定する。これにより、有底円筒１２６に中間アーム１１５が固定される。 The fixing bolt 142 fixes the fixing member 141 to the intermediate arm 115 by screwing in order of the bolt hole 141a and the bolt hole 115a, and by fixing in order of the bolt hole 141b and the bolt hole 126b, the fixing member 141 is provided. It is fixed to the bottom cylinder 126. Thus, the intermediate arm 115 is fixed to the bottomed cylinder 126.
　連動部材１２１は、ガイド部材１３４の突起１３４ａを基端として、ガイド部材１３４の溝１３４ｂをガイドされ、有底円筒１２５と円筒１２７の小径部１２７ｂとの隙間を下方から通り、中間アーム１１５に導かれる。 The interlocking member 121 is guided by the groove 134b of the guide member 134 with the protrusion 134a of the guide member 134 at the base end, and passes from the lower part between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 from below to guide the intermediate arm 115 It is eaten.
　図２８～図３０に示すように、連結ユニット１１６は、連結ユニット１１４と比較すると、ガイド部材１３４に代えてガイド部材１４４を備えている。さらに、連結ユニット１１６は、ロック解除レバー１２２を備えていない。なお、図２９および図３０において、連動部材１２１の一部分の図示を省略している。具体的には、ガイド部材１４４から、有底円筒１２５と円筒１２７の小径部１２７ｂとの隙間を下方から通り、中間アーム１１７に導かれる部分の図示を省略している。 As shown in FIGS. 28 to 30, the connection unit 116 includes a guide member 144 instead of the guide member 134 as compared to the connection unit 114. Furthermore, the connection unit 116 does not have the unlocking lever 122. In FIGS. 29 and 30, the illustration of a part of the interlocking member 121 is omitted. Specifically, from the guide member 144, the gap between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 is passed from below, and the illustration of the portion guided to the intermediate arm 117 is omitted.
　ガイド部材１４４には、連動部材１２１を巻き付ける二つの突起１４４ａが一体に形成されていると共に、一方の突起１４４ａから円弧の全域に沿って他方の突起１４４ａまで、連動部材１２１をガイドする溝１４４ｂが形成されている。このガイド部材１４４には、固定ボルト１３８用のボルト孔１４４ｃが形成されている。 The guide member 144 is integrally formed with two protrusions 144a for winding the interlocking member 121, and a groove 144b for guiding the interlocking member 121 from one protrusion 144a to the other protrusion 144a along the entire arc. It is formed. The guide member 144 is formed with a bolt hole 144 c for the fixing bolt 138.
　固定ボルト１３８は、ボルト孔１４４ｃ、ボルト穴１３２ｂの順にねじ込まれることで、ガイド部材１４４を噛合部材１３２に固定する。これにより、連動部材１２１が引っ張られることによって、噛合部材１３２がコイルスプリング１３３の付勢力に抗して回動し、噛合部材１３２の歯車１２９への噛合いの解除が可能になる。また、噛合部材１３２と一体となってガイド部材１４４が回動し、中間アーム１１７に導かれている連動部材１２１（図示が省略されている部分）を引っ張ることが可能になる。 The fixing bolt 138 fixes the guide member 144 to the meshing member 132 by screwing in order of the bolt hole 144 c and the bolt hole 132 b. As a result, when the interlocking member 121 is pulled, the meshing member 132 rotates against the biasing force of the coil spring 133, and the meshing member 132 can be released from meshing with the gear 129. Further, the guide member 144 is pivoted integrally with the meshing member 132, and it becomes possible to pull the interlocking member 121 (a portion not shown) guided to the intermediate arm 117.
　中間アーム１１５には、固定ボルト１４０用のボルト孔１１５ｂが形成されている。固定ボルト１４０は、ボルト孔１３９ａ、ボルト孔１１５ｂの順にねじ込まれることで、固定部材１３９を中間アーム１１５に固定すると共に、ボルト孔１３９ｂ、ボルト孔１２５ｃの順にねじ込まれることで、固定部材１３９を有底円筒１２５に固定する。これにより、有底円筒１２５に中間アーム１１５が固定される。 The intermediate arm 115 is formed with a bolt hole 115 b for the fixing bolt 140. The fixing bolt 140 fixes the fixing member 139 to the intermediate arm 115 by screwing in order of the bolt hole 139a and the bolt hole 115b, and by fixing in order of the bolt hole 139b and the bolt hole 125c, the fixing member 139 is provided. It is fixed to the bottom cylinder 125. Thus, the intermediate arm 115 is fixed to the bottomed cylinder 125.
　中間アーム１１７には、固定ボルト１４２用のボルト孔１７ａが形成されている。固定ボルト１４２は、ボルト孔１４１ａ、ボルト孔１７ａの順にねじ込まれることで、固定部材１４１を中間アーム１１７に固定すると共に、ボルト孔１４１ｂ、ボルト孔１２６ｂの順にねじ込まれることで、固定部材１４１を有底円筒１２６に固定する。これにより、有底円筒１２６に中間アーム１１７が固定される。 The intermediate arm 117 is formed with a bolt hole 17 a for the fixing bolt 142. The fixing bolt 142 fixes the fixing member 141 to the intermediate arm 117 by screwing in order of the bolt hole 141a and the bolt hole 17a, and by fixing in order of the bolt hole 141b and the bolt hole 126b, the fixing member 141 is provided. It is fixed to the bottom cylinder 126. Thus, the intermediate arm 117 is fixed to the bottomed cylinder 126.
　連動部材１２１は、中間アーム１１５から、有底円筒１２５と円筒１２７の小径部１２７ｂとの隙間を通り、その隙間の上方からガイド部材１４４に導かれる。そして、連動部材１２１は、ガイド部材１４４の溝１４４ｂをガイドされ、下方の突起１４４ａ、上方の突起１４４ａに順次巻き付く。また、連動部材１２１は、ガイド部材１４４の溝１４４ｂをガイドされ、有底円筒１２５と円筒１２７の小径部１２７ｂとの隙間を下方から通り、中間アーム１１７に導かれる。 The interlocking member 121 passes through the gap between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 from the intermediate arm 115, and is guided to the guide member 144 from the upper side of the gap. Then, the interlocking member 121 is guided by the groove 144b of the guide member 144, and sequentially wound around the lower protrusion 144a and the upper protrusion 144a. Further, the interlocking member 121 is guided by the groove 144b of the guide member 144, passes through the gap between the bottomed cylinder 125 and the small diameter portion 127b of the cylinder 127 from below, and is guided to the intermediate arm 117.
　以上の連結ユニット１１４は、ロック解除レバー１２２を主構成として、噛合部材１３２の歯車１２９への噛合いを解除する操作部として機能する。なお、連結ユニット１１８の具体的構成は、連結ユニット１１６と同様であり、その説明は省略する。 The connection unit 114 described above functions mainly as the lock release lever 122, and functions as an operation unit for releasing the meshing member 132 from meshing with the gear 129. The specific configuration of the connection unit 118 is the same as that of the connection unit 116, and the description thereof will be omitted.
　次に、アーム装置１１０の動作について、図２６、図２７、図２９および図３０に基づいて説明する。 Next, the operation of the arm device 110 will be described based on FIG. 26, FIG. 27, FIG. 29, and FIG.
　図２６に示すように、連結ユニット１１４における噛合部材１３２は、コイルスプリング１３３によって歯車１２９に向けて付勢されており、歯車１２９に噛み合っている。これにより、歯車１２９が取り付けられ、かつ中間アーム１１５が固定されている有底円筒１２６（図２４および図２５参照）は、噛合部材１３２が取り付けられ、かつ基礎アーム１１３が固定されている有底円筒１２５に対し、双方向の回動がロックされ規制される。 As shown in FIG. 26, the meshing member 132 in the coupling unit 114 is biased toward the gear 129 by the coil spring 133 and meshes with the gear 129. Thereby, the bottomed cylinder 126 (see FIGS. 24 and 25) to which the gear 129 is attached and the intermediate arm 115 is fixed is the bottomed to which the meshing member 132 is attached and the base arm 113 is fixed. Bidirectional rotation is locked and restricted with respect to the cylinder 125.
　また、図２９に示すように、連結ユニット１１６における噛合部材１３２は、コイルスプリング１３３によって歯車１２９に向けて付勢されており、歯車１２９に噛み合っている。これにより、歯車１２９が取り付けられ、かつ中間アーム１１７が固定されている有底円筒１２６（図２８参照）は、噛合部材１３２が取り付けられ、かつ中間アーム１１５が固定されている有底円筒１２５に対し、双方向の回動がロックされ規制される。 Further, as shown in FIG. 29, the meshing member 132 in the coupling unit 116 is biased toward the gear 129 by the coil spring 133, and is meshed with the gear 129. Thereby, the bottomed cylinder 126 (see FIG. 28) to which the gear 129 is attached and the intermediate arm 117 is fixed is attached to the bottomed cylinder 125 to which the meshing member 132 is attached and the intermediate arm 115 is fixed. In contrast, two-way pivoting is locked and restricted.
　連結ユニット１１４における噛合部材１３２が歯車１２９に噛み合っている図２６に示す状態から、図２７に示すようにロック解除レバー１２２が所定の方向に操作されると、噛合部材１３２がコイルスプリング１３３の付勢力に抗して回動し、噛合部材１３２の歯車１２９への噛合いが解除される。これにより、歯車１２９が取り付けられ、かつ中間アーム１１５が固定されている有底円筒１２６（図２４および図２５参照）は、噛合部材１３２が取り付けられ、かつ基礎アーム１１３が固定されている有底円筒１２５に対し、双方向の回動のロックが解除され、双方向の回動が許容される。ガイド部材１３４は、噛合部材１３２と一体となって回動し、連動部材１２１を引っ張る。 When the lock release lever 122 is operated in a predetermined direction as shown in FIG. 27 from the state shown in FIG. 26 in which the meshing member 132 in the coupling unit 114 meshes with the gear 129, the meshing member 132 is attached with the coil spring 133. It turns against the force and the meshing of the meshing member 132 to the gear 129 is released. Thereby, the bottomed cylinder 126 (see FIGS. 24 and 25) to which the gear 129 is attached and the intermediate arm 115 is fixed is the bottomed to which the meshing member 132 is attached and the base arm 113 is fixed. With respect to the cylinder 125, the locking of the two-way rotation is released, and the two-way rotation is permitted. The guide member 134 rotates integrally with the meshing member 132 and pulls the interlocking member 121.
　連動部材１２１は、連結ユニット１１４におけるガイド部材１３４の突起１３４ａを基端として、連結ユニット１１４における有底円筒１２５と円筒１２７の小径部１２７ｂとの隙間、中間アーム１１５、連結ユニット１１６における有底円筒１２５と円筒１２７の小径部１２７ｂとの隙間の順に通り、連結ユニット１１６におけるガイド部材１４４に導かれている。そして、連動部材１２１は、連結ユニット１１６までの流れと同様、連結ユニット１１６から中間アーム１１７を通り、連結ユニット１１８に導かれている。 The interlocking member 121 uses the protrusion 134 a of the guide member 134 in the connection unit 114 as a base end, a gap between the bottomed cylinder 125 in the connection unit 114 and the small diameter portion 127 b of the cylinder 127, the intermediate arm 115, and the bottom cylinder in the connection unit 116. The guide member 144 is guided to the guide member 144 in the connection unit 116 in the order of the clearance between the cylinder 125 and the small diameter portion 127 b of the cylinder 127. The interlocking member 121 is guided from the connecting unit 116 to the connecting unit 118 through the intermediate arm 117 in the same manner as the flow to the connecting unit 116.
　このため、図２７に示すようにガイド部材１３４が連動部材１２１を引っ張ると、図３０に示すようにガイド部材１４４が回動する。連結ユニット１１６における噛合部材１３２は、ガイド部材１４４と一体となって回動し、連結ユニット１１６における噛合部材１３２の歯車１２９への噛合いが解除される。これにより、歯車１２９が取り付けられ、かつ中間アーム１１７が固定されている有底円筒１２６（図２８参照）は、噛合部材１３２が取り付けられ、かつ中間アーム１１５が固定されている有底円筒１２５に対し、双方向の回動のロックが解除され、双方向の回動が許容される。 Therefore, when the guide member 134 pulls the interlocking member 121 as shown in FIG. 27, the guide member 144 pivots as shown in FIG. The meshing member 132 of the coupling unit 116 rotates integrally with the guide member 144, and the meshing member 132 of the coupling unit 116 is disengaged from the gear 129. Thereby, the bottomed cylinder 126 (see FIG. 28) to which the gear 129 is attached and the intermediate arm 117 is fixed is attached to the bottomed cylinder 125 to which the meshing member 132 is attached and the intermediate arm 115 is fixed. On the other hand, the lock of bi-directional rotation is released, and bi-directional rotation is allowed.
　同様に、連結ユニット１１８における噛合部材１３２の歯車１２９への噛合いが解除される。これにより、先端アーム１１９が固定されている有底円筒は、中間アーム１１７が固定されている有底円筒に対し、双方向の回動のロックが解除され、双方向の回動が許容される。 Similarly, the meshing of the meshing member 132 of the coupling unit 118 to the gear 129 is released. As a result, the bottomed cylinder to which the tip arm 119 is fixed is unlocked from bidirectional rotation with respect to the bottomed cylinder to which the intermediate arm 117 is fixed, and bidirectional rotation is permitted. .
　このように、アーム装置１１０によれば、基礎アーム１１３に対する中間アーム１１５の双方向の回動、中間アーム１１５に対する中間アーム１１７の双方向の回動、および中間アーム１１７に対する先端アーム１１９の双方向の回動が、連結ユニット１１４，１１６，１１８によってロックされて規制されているから、たとえ重量のある医療装置が（図示省略）が先端アーム１１９の先端に保持されているとしても、医療装置の重力によって不意に、中間アーム１１５，１１７および先端アーム１１９のいずれかが回動することはない。 Thus, according to the arm device 110, bidirectional rotation of the intermediate arm 115 with respect to the base arm 113, bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115, and bidirectional of the tip arm 119 with respect to the intermediate arm 117. Of the medical device, even if a heavy medical device (not shown) is held at the distal end of the tip arm 119, because the rotation of the is locked and restricted by the coupling units 114, 116, 118. The gravity does not cause any one of the intermediate arms 115 and 117 and the tip arm 119 to pivot unexpectedly.
　また、ロック解除レバー１２２を操作して、連結ユニット１１４，１１６，１１８による規制を解除することで、基礎アーム１１３に対する中間アーム１１５の双方向の回動、中間アーム１１５に対する中間アーム１１７の双方向の回動、および中間アーム１１７に対する先端アーム１１９の双方向の回動が許容され、手動で、中間アーム１１５，１１７、および先端アーム１１９を双方向に回動させることが可能となり、先端アーム１１９に保持する医療装置（図示省略）を簡単に所望の位置に移動させられる。 Further, by operating the lock release lever 122 to release the restriction by the connection units 114, 116, 118, bidirectional rotation of the intermediate arm 115 with respect to the base arm 113, bidirectional movement of the intermediate arm 117 with respect to the intermediate arm 115. Rotation of the tip arm 119 relative to the middle arm 117 is allowed, and it becomes possible to turn the middle arms 115 and 117 and the tip arm 119 in both directions manually. The medical device (not shown) held on the can be easily moved to the desired position.
　さらに、連動部材１２１を備えているから、一か所のロック解除レバー１２２の操作によって、全ての連結ユニット１１４，１１６，１１８における噛合部材１３２の歯車１２９への噛合いを一斉に解除できる。 Further, since the interlocking member 121 is provided, the meshing of the meshing members 132 of all the coupling units 114, 116 and 118 to the gear 129 can be simultaneously released by operating the lock release lever 122 at one place.
　［第９実施形態］次に、図３１を用いて、第９実施形態に係るアーム装置１４６の構成について説明する。図３１は、アーム装置１４６の正面図である。 Ninth Embodiment Next, the configuration of an arm device 146 according to a ninth embodiment will be described with reference to FIG. FIG. 31 is a front view of the arm device 146. As shown in FIG.
　図３１に示すように、アーム装置１４６は、第８実施形態のアーム装置１１０と比較すると、回動台１１２、基礎アーム１１３および連結ユニット１１４に代えて、回動台１４７を備えている。 As shown in FIG. 31, the arm device 146 is provided with a pivot base 147 in place of the pivot base 112, the base arm 113 and the connection unit 114 in comparison with the arm apparatus 110 of the eighth embodiment.
　回動台１４７は、回動台１１２と同様、鉛直軸を中心に回動自在に取り付けられている。この回動台１４７は、連結ユニット１１４と同様の連結ユニット１４８を備えている。連結ユニット１４８は、回動台１４７に対して中間アーム１１５を、水平方向の回動軸を中心に回動自在に連結する。この連結ユニット１４８は、回動台１４７に対する中間アーム１１５の双方向の回動をロックして規制する。連結ユニット１４８は、回動台１４７に対する中間アーム１１５の双方向の回動のロックを解除するロック解除レバー１４９を備えている。連結ユニット１４８は、ロック解除レバー１４９が所定の方向に操作されることで、回動台１４７に対する中間アーム１１５の双方向の回動を許容する。 The pivoting table 147 is pivotably attached about the vertical axis, similarly to the pivoting table 112. The pivot base 147 includes a connection unit 148 similar to the connection unit 114. The connection unit 148 rotatably connects the intermediate arm 115 to the rotation base 147 around a horizontal rotation axis. The connection unit 148 locks and restricts bidirectional rotation of the intermediate arm 115 with respect to the rotary table 147. The connection unit 148 includes a lock release lever 149 that unlocks the bidirectional pivoting of the intermediate arm 115 with respect to the pivot base 147. The connection unit 148 allows bidirectional rotation of the intermediate arm 115 with respect to the rotation base 147 by operating the lock release lever 149 in a predetermined direction.
　［第１０実施形態］次に、図３２を用いて、第１０実施形態に係るアーム装置１５１の構成について説明する。図３２は、アーム装置１５１の正面図である。 Tenth Embodiment Next, the configuration of an arm device 151 according to a tenth embodiment will be described with reference to FIG. FIG. 32 is a front view of the arm device 151. As shown in FIG.
　図３２に示すように、アーム装置１５１は、第８実施形態のアーム装置１１０と比較すると、連結ユニット１１４，１１６，１１８および連動部材１２１に代えて、連結ユニット１５２～１５４および連動部材１５５を備えている。 As shown in FIG. 32, the arm device 151 includes connecting units 152 to 154 and an interlocking member 155 instead of the connecting units 114, 116 and 118 and the interlocking member 121 as compared to the arm device 110 of the eighth embodiment. ing.
　連結ユニット１５２は、第８実施形態の連結ユニット１１４と比較すると、ロック解除レバー１２２を備えていない。連結ユニット１５２は、連結ユニット１５４におけるロック解除レバー１５６（後述）が所定の方向に操作されることで、基礎アーム１１３に対する中間アーム１１５の双方向の回動を許容する。 The connection unit 152 does not include the lock release lever 122 as compared with the connection unit 114 of the eighth embodiment. The connection unit 152 allows bidirectional rotation of the intermediate arm 115 with respect to the base arm 113 by operating a lock release lever 156 (described later) in the connection unit 154 in a predetermined direction.
　連結ユニット１５３は、連結ユニット１５４におけるロック解除レバー１５６（後述）が所定の方向に操作されることで、中間アーム１１５に対する中間アーム１１７の双方向の回動を許容する。 The connection unit 153 allows bidirectional rotation of the intermediate arm 117 with respect to the intermediate arm 115 when a lock release lever 156 (described later) in the connection unit 154 is operated in a predetermined direction.
　連結ユニット１５４は、第８実施形態の連結ユニット１１８と比較すると、中間アーム１１７に対する先端アーム１１９の双方向の回動のロックを解除するロック解除レバー１５６を備えている。 The connection unit 154 includes an unlocking lever 156 that unlocks the bidirectional pivoting of the distal end arm 119 relative to the intermediate arm 117 as compared to the connection unit 118 of the eighth embodiment.
　連動部材１５５は、第８実施形態の連動部材１２１と同様、中間アーム１１７，１１５に沿って配置される。具体的に、連動部材１５５は、連結ユニット１５４の内部から中間アーム１１７の内部を通って連結ユニット１５３の内部に繋がっていると共に、連結ユニット１５３の内部から中間アーム１１５の内部を通って連結ユニット１５２の内部に繋がっている。連動部材１５５は、ロック解除レバー１５６が所定の方向に操作されることで引っ張られ、連結ユニット１５３，１５２によるアームの回動の規制およびその解除を、連結ユニット１５４によるアームの回動の規制およびその解除に連動させる。 The interlocking member 155 is disposed along the intermediate arms 117 and 115 in the same manner as the interlocking member 121 of the eighth embodiment. Specifically, the interlocking member 155 is connected from the inside of the connecting unit 154 to the inside of the connecting unit 153 through the inside of the intermediate arm 117 and from the inside of the connecting unit 153 to the inside of the intermediate arm 115 It is connected to the inside of 152. The interlocking member 155 is pulled when the lock release lever 156 is operated in a predetermined direction, so that the control of the rotation of the arm by the connection units 153 and 152 and the release thereof are the control of the rotation of the arm by the connection unit 154 In conjunction with the release.
　このように、アーム装置１５１によれば、複数の連結ユニット１５２～１５４のうち保持部１２０との距離が最も近い連結ユニット１５４に、ロック解除レバー１５６を備えたから、先端アーム１１９の先端に保持された医療装置（図示省略）を操作しながら、あるいは医療装置を操作するに先立ってロック解除レバー１５６を操作することができる。これにより、医療装置を操作しながら、あるいは医療装置を操作するに先立って医療装置を所望の位置に移動させられる。 As described above, according to the arm device 151, since the lock release lever 156 is provided to the connection unit 154 closest to the holding unit 120 among the plurality of connection units 152 to 154, the lock unit 154 is held by the tip of the tip arm 119 The lock release lever 156 can be operated while operating the medical device (not shown) or prior to operating the medical device. This allows the medical device to be moved to a desired position while operating the medical device or prior to operating the medical device.
　本発明は、上記各実施形態に限られるものではなく、その趣旨および技術思想を逸脱しない範囲で種々の変形が可能である。 The present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit and the technical idea of the present invention.
　すなわち、上記各実施形態において、医療装置を着脱可能に保持する保持部２０，１２０を備えずに、医療装置を着脱不能に保持する保持部を備えるようにしてもよい。また、保持部は、連結ユニットに設けられるようにしてもよい。 That is, in each of the above-described embodiments, the holding unit for holding the medical device in an attachable manner may be provided without the holding unit for holding the medical device in a removable manner. Further, the holding unit may be provided to the connection unit.
　あるいは、上記各実施形態において、各構成要素の数量は適宜変更できる。例えば、中間アーム、連結ユニットなどの数量が挙げられる。 Alternatively, in each of the above embodiments, the quantity of each component can be changed as appropriate. For example, the quantity of an intermediate arm, a connection unit, etc. is mentioned.
　あるいは、上記第３～第６実施形態において、第２実施形態のように連動部材を設け、各連結ユニットを連動させるようにしてもよい。 Alternatively, in the third to sixth embodiments, interlocking members may be provided as in the second embodiment to interlock the connection units.
　あるいは、上記各実施形態の構成要素を、可能な範囲で他の実施形態に適用してもよい。 Alternatively, the components of the above-described embodiments may be applied to other embodiments as far as possible.
　１０　アーム装置
　１１　台座
　１２　回動台
　１３　基礎アーム
　１３ａ　ボルト孔
　１４　連結ユニット
　１５　中間アーム
　１５ａ　ボルト孔
　１６　連結ユニット
　１７　中間アーム
　１８　連結ユニット
　１９　先端アーム
　２０　保持部
　２１　ロック解除レバー
　２１ａ　ボルト孔
　２２　ロック解除レバー
　２３　ロック解除レバー
　２５　有底円筒
　２５ａ　軸孔
　２５ｂ　ボルト孔
　２５ｃ　ボルト孔
　２５ｄ　固定穴
　２６　有底円筒
　２６ａ　ボルト孔
　２６ｂ　ボルト孔
　２７　円筒
　２７ａ　切欠き
　２８　軸ボルト
　２９　ラチェット歯車
　２９ａ　ボルト孔
　２９ｂ　ボルト孔
　３０　スペーサ
　３０ａ　ボルト孔
　３０ｂ　ボルト孔
　３１　歯止め
　３１ａ　軸孔
　３１ｂ　ボルト穴
　３１ｃ　固定穴
　３２　コイルスプリング
　３３　固定ボルト
　３４　固定ボルト
　３５　軸ボルト
　３６　固定ボルト
　３７　固定部材
　３７ａ　ボルト孔
　３７ｂ　ボルト孔
　３８　固定ボルト
　３８ａ　ボルト孔
　３８ｂ　ボルト孔
　３９　固定部材
　３９ａ　ボルト孔
　３９ｂ　ボルト孔
　４０　固定ボルト
　４２　アーム装置
　４３～４５　連結ユニット
　４６　連動部材
　４７　円筒
　４７ａ　大径部
　４７ｂ　小径部
　４７ｃ　切欠き
　４８　ガイド部材
　４８ａ　突起
　４８ｂ　溝
　４８ｃ　ボルト孔
　４９　ガイド部材
　４９ａ　突起
　４９ｂ　溝
　４９ｃ　ボルト孔
　５１　アーム装置
　５２～５４　連結ユニット
　５５～５７　ロック解除レバー
　５８　円筒
　５８ａ　切欠き
　５９　ラチェット歯車
　５９ａ　ボルト孔
　６０　歯止め
　６０ａ　軸孔
　６０ｂ　ボルト穴
　６０ｃ　固定穴
　６１　コイルスプリング
　６２　軸ボルト
　６３　固定ボルト
　６５　連結ユニット
　６６　有底円筒
　６７　軸ボルト
　６８　回動規制ローラ
　６９　ローラ本体
　６９ａ　溝
　７０　ボール
　７１　コイルスプリング
　７２　スプリング固定部
　７４　連結ユニット
　７５　回転規制ローラ
　７６　ローラ本体
　７６ａ　溝
　７８　アーム装置
　７９　回動台
　８０　連結ユニット
　８２　アーム装置
　８３～８５　連結ユニット
　８６　連動部材
　８７　ロック解除レバー
　１１０　アーム装置
　１１１　台座
　１１２　回動台
　１１３　基礎アーム
　１１４　連結ユニット
　１１５　中間アーム
　１１６　連結ユニット
　１１７　中間アーム
　１１８　連結ユニット
　１１９　先端アーム
　１２０　保持部
　１２１　連動部材
　１２２　ロック解除レバー
　１２２ａ　ボルト孔
　１２５　有底円筒
　１２５ａ　軸孔
　１２５ｂ　ボルト孔
　１２５ｃ　ボルト孔
　１２５ｄ　固定穴
　１２６　有底円筒
　１２６ａ　ボルト孔
　１２６ｂ　ボルト孔
　１２７　円筒
　１２７ａ　大径部
　１２７ｂ　小径部
　１２７ｃ　切欠き
　１２８　軸ボルト
　１２９　歯車
　１２９ａ　ボルト孔
　１２９ｂ　ボルト孔
　１３０　スペーサ
　１３０ａ　ボルト穴
　１３０ｂ　ボルト穴
　１３１　ロック機構
　１３２　噛合部材
　１３２ａ　軸孔
　１３２ｂ　ボルト穴
　１３２ｃ　固定穴
　１３３　コイルスプリング
　１３４　ガイド部材
　１３４ａ　突起
　１３４ｂ　溝
　１３４ｃ　ボルト孔
　１３５　固定ボルト
　１３６　固定ボルト
　１３７　軸ボルト
　１３８　固定ボルト
　１３９　固定部材
　１３９ａ　ボルト孔
　１３９ｂ　ボルト孔
　１４０　固定ボルト
　１４１　固定部材
　１４１ａ　ボルト孔
　１４１ｂ　ボルト孔
　１４２　固定ボルト
　１４４　ガイド部材
　１４４ａ　突起
　１４４ｂ　溝
　１４４ｃ　ボルト孔
　１４６　アーム装置
　１４７　回動台
　１４９　ロック解除レバー
　１５１　アーム装置
　１５２～１５４　連結ユニット
　１５５　連動部材
　１５６　ロック解除レバー DESCRIPTION OF SYMBOLS 10 arm apparatus 11 base 12 rotation base 13 base arm 13a bolt hole 14 connection unit 15 intermediate arm 15a bolt hole 16 connection unit 17 intermediate arm 18 connection unit 19 tip arm 20 holding part 21 lock release lever 21 bolt hole 22 lock release lever 23 lock release lever 25 bottomed cylinder 25a shaft hole 25b bolt hole 25c bolt hole 25d fixing hole 26 bottomed cylinder 26a bolt hole 26b bolt hole 27 cylinder 27a notch 28 shaft bolt 29 ratchet gear 29a bolt hole 29b bolt hole 30 spacer 30a Bolt hole 30b Bolt hole 31 Locking 31a Shaft hole 31b Bolt hole 31c Fixing hole 32 Coil spring 33 Fixing bolt 34 Fixing bolt 35 Shaft bolt 36 Fixing bolt 37 Fixing member 37a Lut hole 37b bolt hole 38 fixing bolt 38a bolt hole 38b bolt hole 39 fixing member 39a bolt hole 39b bolt hole 40 fixing bolt 42 arm device 43 to 45 connection unit 46 interlocking member 47 cylinder 47a large diameter portion 47b small diameter portion 47c notch 48 Guide member 48a projection 48b groove 48c bolt hole 49 guide member 49a projection 49b groove 49c bolt hole 51 arm device 52 to 54 connection unit 55 to 57 lock release lever 58 cylinder 58a notch 59 ratchet gear 59a bolt hole 60 tooth stop 60a shaft hole 60b Bolt hole 60c Fixing hole 61 Coil spring 62 Shaft bolt 63 Fixing bolt 65 Connection unit 66 Bottomed cylinder 67 Shaft bolt 68 Rotation control roller 69 Roller body 69a Groove 70 Ball 71 coil Spring 72 Spring fixing portion 74 Coupling unit 75 Rotation regulating roller 76 Roller body 76a Groove 78 Arm device 79 Pivot table 80 Coupling unit 82 Arm device 83 to 85 Coupling unit 86 Interlocking member 87 Lock release lever 110 Arm device 111 Pedestal 112 Base 113 Foundation arm 114 Coupling unit 115 Intermediate arm 116 Coupling unit 117 Intermediate arm 118 Coupling unit 119 Tip arm 120 Holding part 121 Linking member 122 Locking lever 122a Bolt hole 125 Bottomed cylinder 125a Shaft hole 125b Bolt hole 125c Bolt hole 125d Fixing Hole 126 Bottomed cylinder 126a Bolt hole 126b Bolt hole 127 Cylinder 127a Large diameter part 127b Small diameter part 127c Notch 128 Shaft bolt 129 Gear 12 a bolt hole 129 b bolt hole 130 spacer 130 a bolt hole 130 b bolt hole 131 lock mechanism 132 meshing member 132 a shaft hole 132 b bolt hole 132 c fixing hole 133 coil spring 134 guide member 134 a protrusion 134 b groove 134 c bolt hole 135 fixing bolt 136 fixing bolt 137 axis Bolt 138 Fixing bolt 139 Fixing member 139a Bolt hole 139b Bolt hole 140 Fixing bolt 141 Fixing member 141a Bolt hole 141b Bolt hole 142 Fixing bolt 144 Guide member 144a Protrusion 144b Groove 144c Bolt hole 146 Arm device 147 Rotating base 149 Locking release lever 151 Arm device 152 to 154 Coupling unit 155 Interlocking member 156 Lock release lever

Claims (11)

  1. 　アームを回動自在に連結する連結部と、
    　前記アームの一方向の回動を許容すると共に他方向の回動を規制するロック部と、
    　前記ロック部による規制を解除して前記アームの他方向の回動を許容する解除部と、を備えることを特徴とする、
    　連結ユニット。     A connecting portion rotatably connecting the arms;
    A lock portion which permits rotation of the arm in one direction and restricts rotation in the other direction;
    And a release portion that releases the restriction by the lock portion to allow rotation in the other direction of the arm.
    Connection unit.
  2. 　前記ロック部として、前記アームの第一の方向の回動を許容すると共に前記第一の方向と反対の第二の方向の回動を規制する第一のロック部と、前記アームの前記第一の方向の回動を規制すると共に前記第二の方向の回動を許容する第二のロック部と、を備え、
    　前記解除部として、前記第一のロック部による規制を解除して前記アームの前記第二の方向の回動を許容する第一の解除部と、前記第二のロック部による規制を解除して前記アームの前記第一の方向の回動を許容する第二の解除部と、を備えることを特徴とする、
    　請求の範囲１に記載の連結ユニット。     As the lock portion, a first lock portion which permits rotation of the arm in a first direction and restricts rotation of a second direction opposite to the first direction; and the first portion of the arm And a second lock portion that restricts rotation in the second direction and allows rotation in the second direction,
    As the release portion, the first release portion which releases the restriction by the first lock portion to allow the arm to rotate in the second direction and the restriction by the second lock portion are released. And a second release portion for permitting rotation of the arm in the first direction.
    The connection unit according to claim 1.
  3. 　一列に連結される複数のアームと、
    　前記アームの基端部分にそれぞれ設けられる複数の請求の範囲１または２に記載の連結ユニットと、
    　前記アームに沿って配置されて前記連結ユニット毎の前記解除部を繋ぎ、前記連結ユニット毎の前記解除部を相互に連動させる連動部材と、を備えることを特徴とする、
    　アーム装置。     A plurality of arms connected in a row;
    The connection unit according to any one of claims 1 and 2 provided in the proximal end portion of the arm.
    And an interlocking member disposed along the arm to connect the release portions of the connection units and interlocking the release portions of the connection units with each other.
    Arm device.
  4. 　前記連結部の回動軸は、水平方向に配置されることを特徴とする、
    　請求の範囲３に記載のアーム装置。     The pivot shaft of the connection part is disposed in the horizontal direction,
    The arm device according to claim 3.
  5. 　前記アームまたは前記連結ユニットに設けられ、医療装置を保持する保持部を備えることを特徴とする、
    　請求の範囲３または４に記載のアーム装置。     And a holding unit provided on the arm or the connection unit for holding a medical device.
    The arm device according to claim 3 or 4.
  6. 　複数の前記連結ユニットのうち前記保持部との距離が最も近い前記連結ユニットに設けられ、前記解除部を操作する操作部を備えることを特徴とする、
    　請求の範囲５に記載のアーム装置。     Among the plurality of connection units, it is provided in the connection unit closest to the holding unit, and is equipped with an operation unit for operating the release unit.
    The arm device according to claim 5.
  7. 　前記アームは、中空に形成され、
    　前記連動部材は、前記アームの内部を通る糸状部材であることを特徴とする、
    　請求の範囲３～６のいずれかに記載のアーム装置。     The arm is formed hollow,
    The interlocking member is a thread-like member passing through the inside of the arm,
    The arm device according to any one of claims 3 to 6.
  8. 　一列に連結される複数のアームと、
    　前記アームを回動自在に連結する複数のユニットであり、歯車および前記歯車に噛み合う噛合部材を有し、前記噛合部材が前記歯車に噛み合う場合に前記アームの双方向の回動を規制すると共に、前記噛合部材の前記歯車への噛合いが解除された場合に前記アームの双方向の回動を許容する複数の連結ユニットと、
    　前記アームに沿って配置されて前記連結ユニット毎の前記噛合部材を繋ぎ、前記連結ユニット毎の前記噛合部材を相互に連動させる連動部材と、
    　前記アームまたは前記連結ユニットに設けられ、医療装置を保持する保持部と、を備えることを特徴とする、
    　アーム装置。     A plurality of arms connected in a row;
    A plurality of units rotatably connecting the arms, and having a gear and a meshing member meshing with the gear, restricting bidirectional rotation of the arm when the meshing member meshes with the gear, A plurality of connection units that allow bidirectional rotation of the arm when meshing of the meshing member with the gear is released;
    An interlocking member disposed along the arm to connect the meshing members of each of the coupling units and interlocking the meshing members of the coupling units with each other;
    And a holding unit provided on the arm or the connection unit and holding a medical device.
    Arm device.
  9. 　前記連結ユニットの回動軸は、水平方向に配置されることを特徴とする、
    　請求の範囲８に記載のアーム装置。     The pivot shaft of the connection unit may be disposed horizontally.
    The arm device according to claim 8.
  10. 　複数の前記連結ユニットのうち前記保持部との距離が最も近い前記連結ユニットに設けられ、前記噛合部材の前記歯車への噛合いを解除する操作部を備えることを特徴とする、
    　請求の範囲８または９に記載のアーム装置。     Among the plurality of connection units, the operation unit is provided in the connection unit closest to the holding unit, and includes an operation unit that releases the meshing member from meshing with the gear.
    The arm device according to claim 8 or 9.
  11. 　前記アームは、中空に形成され、
    　前記連動部材は、前記アームの内部を通る糸状部材であることを特徴とする、
    　請求の範囲８～１０のいずれかに記載のアーム装置。     The arm is formed hollow,
    The interlocking member is a thread-like member passing through the inside of the arm,
    An arm device according to any one of claims 8 to 10.
PCT/JP2011/078167 2010-12-08 2011-12-06 Connection unit and arm device WO2012077672A1 (en)

Applications Claiming Priority (4)

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JP2010007994U JP3166092U (en) 2010-12-08 2010-12-08 Arm device
JP2010273177A JP2012120661A (en) 2010-12-08 2010-12-08 Connection unit, and arm device
JP2010-273177 2010-12-08
JP2010-007994U 2010-12-08

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GB2611360A (en) * 2021-10-04 2023-04-05 Prec Robotics Limited A joint locking mechanism

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JP2002172573A (en) * 2000-10-16 2002-06-18 Xerox Corp Ratchet mechanism
JP2004242942A (en) * 2003-02-14 2004-09-02 Nisshin Sangyo Kk Multi-articular medical appliance holding device

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JPS5859786A (en) * 1981-10-03 1983-04-08 株式会社東芝 Joint device for industrial robot
US5374019A (en) * 1992-10-05 1994-12-20 Fischer; Terry D. Multi-positionable, collapsible tool bench
JP2002172573A (en) * 2000-10-16 2002-06-18 Xerox Corp Ratchet mechanism
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DE202016001102U1 (en) * 2016-02-22 2017-02-24 Isys Medizintechnik Gmbh Holder for an instrument
WO2017144172A1 (en) * 2016-02-22 2017-08-31 Isys Medizintechnik Gmbh Mounting for an instrument
GB2611360A (en) * 2021-10-04 2023-04-05 Prec Robotics Limited A joint locking mechanism
WO2023057738A1 (en) * 2021-10-04 2023-04-13 Precision Robotics Limited A joint locking mechanism
GB2611360B (en) * 2021-10-04 2024-02-28 Prec Robotics Limited A joint locking mechanism
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