WO2018207809A1

WO2018207809A1 - Wire operation device and restraining method for wire

Info

Publication number: WO2018207809A1
Application number: PCT/JP2018/017890
Authority: WO
Inventors: 耕太郎只野; 大輔原口
Original assignee: リバーフィールド株式会社
Priority date: 2017-05-11
Filing date: 2018-05-09
Publication date: 2018-11-15
Also published as: JP2018187744A

Abstract

This wire operation device (K), which acts as a result of the operation of wires (w1, w2), comprises: action parts (1a, 1b) that perform an action; wires (w1, w2) that operate the action parts (1a, 1b); guidance parts (8, 9, 10, 11) that guide the wires (w1, w2); and a guidance-parts base (6) on which the guidance parts (8, 9, 10, 11) are provided. The guidance-parts base (6) is rotatably supported on a support member (4). Alternatively, the guidance-parts base (6) may be rotated using force from the wires (w1, w2) or rotated in a direction that reduces tensile force on the wires (w1, w2).

Description

Wire operating device and method for restraining the wire

The present invention relates to a wire operating device and a method for restraining the wire.

Recently, medical treatments using robots (manipulators) have been proposed in order to reduce the burden on the surgeon and save labor in medical facilities. In the field of surgery, proposals have been made regarding a surgical manipulator system in which an operator operates a surgical manipulator that can be remotely operated to treat a patient. (For example, see Patent Document 2.)

Surgical manipulator systems use multi-degree-of-freedom forceps with multiple joints to treat the affected area of a patient, and work on multi-degree-of-freedom forceps to improve safety and shorten operation acquisition time There is a demand for estimating an external force with high accuracy and transmitting it to an operator who operates an isolated operation unit. Here, since a multi-degree-of-freedom forceps needs to transmit a driving force across a joint, a mechanism using a flexible wire is often employed.

In order to estimate the external force with high accuracy, in the development of a wire mechanism that moves the multi-degree-of-freedom forceps, it is necessary to minimize the interference between the joints due to the bending operation of the forceps. Here, the interference means that when a certain joint is bent in a multi-degree-of-freedom forceps, the path length of the wire that drives the other joint changes across the joint, thereby operating the other joint. It means that the relationship between the pulling force of the wire and the driving amount of the joint changes. When the interference between the joints becomes large, the tension acting on the wire is affected by the angle at which each joint bends, and it becomes a hindrance to accurately estimate the external force acting on the forceps from the wire tension, and the path length change cannot be suppressed.

Therefore, the wire that drives the first joint on the hand side of the forceps (first joint from the tip of the hand of the forceps) passes over the rotation center of the second joint (second joint from the tip of the hand of the forceps). A configuration in which two guide portions are sandwiched and constrained is conceivable. When this configuration is adopted, even if the forceps is bent at the second joint, the wire always passes over the center of rotation, and the wire does not bend with a curvature, but the path is bent on the center of rotation. The path length does not change. However, in actuality, when the first joint wire is displaced, the first joint wire slides on the two guide portions. Therefore, the surface of the guide portion serving as the wire sliding surface is reduced to reduce friction. It is necessary to increase the curvature radius or to configure the guide unit with a guide roller that can freely rotate.

U.S.Patent June4,1991 5,020,388 Wire Guide Apparatus (FIG.2 etc.) Patent No. 5903418 (FIGS. 8a and 8b, paragraphs 0066-0067)

As described in the upper part, the guide portion has a large radius of curvature, and the guide roller has a constant radius, so that the first joint wire path has its rotation axis as the bending angle of the second joint increases. If it deviates from the top or follows the curvature of the guide part, the path length changes and interference increases.
On the other hand, in the endowrist in the daVinci (registered trademark) system, a wire path that explicitly interferes is configured, and control is performed while correcting changes in the wire path length. From the kinematic point of view, control that compensates for the displacement relationship in this way is possible, but high servo rigidity is required. Further, the change in the wire path length also causes mechanical interference, that is, the torque when the wire is pulled for a predetermined length changes, which is not desirable when estimating the force acting on the tip from the tension of the wire.

FIG. 12 is a partially enlarged view of the wire guide of Patent Document 1.
In the configuration of Patent Document 1, the

guide roller sets

112 and 114 c of the wire 108 are rotatable coaxially with the rotation shaft 105 of the arm 115 (or in the case of an eccentric shaft). The rotational force of the

guide roller sets

112 and 114c is not passively moved to the minimum energy, but is controlled to be actively moved by the gear 121 so that the change in the length of the wire 108 is minimized by the gear 122.

In the configuration of Patent Document 1, there is a problem that an actuator and a control configuration are required because the number of parts is large and the occupied space is large. With the forceps of the surgical robot, the space occupied is limited, so the configuration of Patent Document 1 does not contain parts and cannot be assembled. Therefore, the configuration of Patent Document 1 cannot be applied to the forceps of a surgical robot.
As described above, in the conventional two-degree-of-freedom wire-driven forceps, the device for avoiding the mutual interference of the wires has been complicated.

Patent Document 2 describes the following configuration for guiding a control cable (corresponding to a wire) in a forceps.
A fourth pulley surface 114 and a fifth pulley surface 116 with a curved arc shape relative to the second axis 90 are defined as described in FIGS. 8a, 8b, paragraph 0067. Then, it is described that a control cable (corresponding to a wire) is guided by the fourth pulley surface 114 and the fifth pulley surface 116 when the end effector body rotates with respect to the intermediate body 80 around the second shaft 90. Has been.

However, in Patent Document 2, each pulley surface has a curved arc shape, and as the rotation angle of the end effector body around the second shaft 90 increases, the control cable is moved from above the rotation shaft (second shaft 90). The path length changes due to the disconnection and the control cable along the fourth pulley surface 114 and the fifth pulley surface 116. That is, there is a problem that the path length of the control cable is influenced by the angle at which the joint bends and interference between the joints occurs.

The present invention has been devised in view of the above circumstances, and an object of the present invention is to provide a wire operating device and a method for restraining the wire that can suppress a change in the path length of the wire with a simple configuration.

In order to solve the above-described problem, a wire operating device according to a first aspect of the present invention is a wire operating device that operates by operating a wire, and includes an operating unit that performs the operation, a wire that operates the operating unit, and guides the wire. And a guide part base on which the guide part is provided. The guide part base is rotatably supported by a support member.

A wire operating device according to a second aspect of the present invention is a wire operating device that operates by operating a wire, the operating unit responsible for the operation, the wire that operates the operating unit, the guide unit that guides the wire, and the guide A guide portion base provided with a portion, and the guide portion base is rotated by the force of the wire.

A wire operation device according to a third aspect of the present invention is a wire operation device that operates by operating a wire, and includes an operation unit that performs the operation, a wire that operates the operation unit, and a guide unit that restrains and guides the wire. And a guide portion base provided with the guide portion, and the guide portion base rotates in a direction in which the tension of the wire is reduced.

According to a fourth aspect of the present invention, there is provided a wire operating method comprising: an operation part that performs an operation; a wire that operates the operation part; a guide part that guides the wire; and a guide part base provided with the guide part And a support member on which the guide base is supported, the wire restraining method of the wire operating device, wherein the guide base is rotated independently of the support member when the wire is guided is doing.

According to a fifth aspect of the present invention, there is provided a wire operating method, comprising: an operation unit that performs an operation; a wire that operates the operation unit; a guide unit that guides the wire; and a guide unit base provided with the guide unit And a support member for supporting the guide part base, the wire restraining method of the wire operating device, wherein the guide part base is rotated so that the path of the wire is shortened.

According to the present invention, it is possible to provide a wire operating device that can suppress a change in the path length of the wire and a method for restraining the wire.

The perspective view which looked at the forceps apparatus of embodiment which concerns on this invention. The I direction arrow directional view of FIG. 1 of the forceps apparatus of embodiment which concerns on this invention. The II direction arrow directional view of FIG. 1 of the forceps apparatus of embodiment which concerns on this invention. The III direction arrow directional view of FIG. 1 of the forceps apparatus of embodiment which concerns on this invention. FIG. 6 is a perspective view showing a roller base and first to fourth guide rollers. FIG. 4 is a view in the direction of arrow IV in FIG. The figure which shows the state which the 1st joint bent from the state of FIG. 6A. In the first joint, the change in the path length of the wire when the second arm is bent by the angle θ1 with respect to the first arm is provided when the conventional guide roller is fixed, and the guide roller of the present embodiment is provided. The schematic diagram which compared the case where the roller base 6 was freely rotatable. The V direction arrow directional view of the roller base carrying the 1st, 2nd guide roller of FIG. The V direction arrow directional view of FIG. 1 of the roller base which mounts the 1st, 2nd guide roller of the modification 1 is shown. The V direction arrow directional view of FIG. 1 of the roller base carrying the guide wall of the modification 2 is shown. The V direction arrow directional view of FIG. 1 of the roller base carrying the guide wall of the other example of the modification 2 is shown. The schematic diagram which shows the 1st guide roller of the modification 3, a 2nd guide roller, and the roller base in which these are mounted. The partial enlarged view of the wire guide device of patent document 1. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
The present invention relates to a wire restraining method that minimizes interference between joints in a multi-degree-of-freedom forceps, for example.

Embodiments described herein relate generally to a forceps device having wire-driven forceps for a surgical robot. Specifically, the present invention relates to a wire guide portion structure of a forceps manipulator having a multi-degree-of-freedom flexion joint. The forceps is one of surgical tools and is used to pinch tissues / foreign substances.
By the way, in order to avoid interference between the joints, the wire for driving the tip joint needs to pass through the rotation center of the joint in front of the wire. Further, the bent portion of the wire needs to be bent so as to be bent without having a curvature. This is because the path length of the wire can be made constant regardless of the bending angle of the joint by bending through the center of rotation and bending.

Also, in order to restrain the wire path without increasing the sliding friction of the wire at the joint, the radius of curvature of the guide portion of the wire is increased or a guide roller is required. However, since the radius of curvature of the guide and the radius of the guide roller have a finite size, it is not possible for the wire to bend along the radius of the guide or guide roller due to bending and bend without bending. Is possible. Therefore, in reality, a path length change due to bending cannot be completely avoided, but the present invention proposes a mechanism that minimizes the path length change.

The forceps device according to the embodiment of the present invention includes a roller base (guide portion base) that supports a guide roller (guide portion) that guides a wire in the vicinity of a joint portion to be bent or near the joint portion. The roller base is configured to rotate independently of components such as an arm and a joint constituting the forceps device.
Thereby, when a plurality of wires are controlled by the guide roller, interference between the wires due to bending is minimized.

<< Embodiment >>
FIG. 1 is a perspective view of a forceps device K according to an embodiment of the present invention.
FIG. 2 is a view in the direction of the arrow I in FIG. 1 of the forceps device K of the embodiment.
3 is a view in the direction of the arrow II in FIG. 1 of the forceps device K according to the embodiment.
FIG. 4 is a view of the forceps device K according to the embodiment as viewed in the direction of the arrow III in FIG.
The forceps device K according to the embodiment includes a pair of

gripping portions

1a and 1b on the distal end side, a first joint 2 on the root side, and a second joint 3 positioned in the middle.

The pair of

gripping portions

1a and 1b have a role of sandwiching or separating objects.
The first joint 2 is a joint between the first arm 4 on the base side and the second arm 5 at the intermediate position, and bears bending of the first arm 4 and the second arm 5. That is, the first arm 4 and the second arm 5 bend around the rotation center C1 of the first joint 2 (arrows α11 and α12 in FIGS. 1 and 2).

Therefore, the second arm pulley 5a formed at one end of the second arm 5 is rotatably supported around the rotation center C1 at the connecting portion 4a at one end of the first arm 4 on the root side. A second wire 53 that rotates the second arm 5 about the rotation center C1 is hung on the second arm pulley 5a integrated with the second arm 5. Since the second arm pulley 5a is rotatably supported around the rotation center C1, the relationship between the moving length of the third wire w3 and the rotation angle of the second arm 5 can be kept constant.

The second joint 3 sandwiches or separates the object by rotating the grip portion 1a and the grip portion 1b around the rotation center C2 with respect to the second arm 5, respectively. Specifically, the grip portion 1a is rotated around the rotation center C2 (arrows α21 and α22 in FIGS. 1 and 2), and the grip portion 1b is rotated around the rotation center C2 (arrows α31 and α32 in FIG. 1).

Therefore, the first pulley 3a is formed integrally with the grip portion 1a. And the holding | grip part 1a and the 1st pulley 3a are rotatably supported around the rotation center C2. The second pulley 3b is integrally formed with the grip portion 1b. The grip portion 1b and the second pulley 3b are supported so as to be rotatable around the rotation center C2.

In order to sandwich an object between the gripping portion 1a and the gripping portion 1b, the gripping portion 1a is rotated in the direction of arrow α21, and the gripping portion 1b is rotated in the direction of arrow α31. On the other hand, when the gripping portion 1a and the gripping portion 1b are separated from the state in which the object is sandwiched, the gripping portion 1a is rotated in the direction of arrow α22, and the gripping portion 1b is rotated in the direction of arrow α32.

Therefore, a first wire w1 for rotating the first pulley 3a in the directions of arrows α21 and α22 in FIGS. 1 and 2 is hung on the first pulley 3a. On the other hand, a second wire w2 for rotating the second pulley 3b in the directions of arrows α31 and α32 in FIG. 1 is hung on the second pulley 3b.
A cylindrical roller base 6 is rotatably supported on the connecting portion 4a of the first arm 4 constituting the first joint 2.

The roller base 6 is rotatably supported by a first guide roller 8a, a second guide roller 9a, a third guide roller 10a, and a fourth guide roller 11a that guide the first wire w1. The roller base 6 supports a first guide roller 8b, a second guide roller 9b, a third guide roller 10b, and a fourth guide roller 11b that guide the second wire w2 in a freely rotatable manner.

The roller base 6 is supported rotatably around the rotation center C1 of the first joint 2 or the vicinity thereof by sliding on the connecting portion 4a of the first arm 4 at the outer peripheral portion 6g. That is, the roller base 6 is configured to freely rotate independently of the operations of the first arm 4, the second arm 5, and the first joint 2.
The

first guide rollers

8a and 8b and the

second guide rollers

9a and 9b are rotatably supported on one bottom side of the cylindrical roller base 6. As shown in FIGS. 3 and 4,

third guide rollers

10 a and 10 b and

fourth guide rollers

11 a and 11 b are rotatably supported on the other bottom surface side of the roller base 6.

Here, the center 8O (see FIG. 8) for guiding the first and second wires w1, w2 between the guide rollers (8, 9) and / or the first and second wires w1 between the guide rollers (10, 11). , W2 guiding center 10O (see FIGS. 6A, 6B, and 8) coincides with or substantially coincides with the rotation center 6O of the roller base 6. Thereby, the change of the path length of a wire (w1, w2) can be suppressed.

<Roller base 6 and first to fourth guide rollers 8 to 11>
FIG. 5 is a perspective view showing the roller base 6 and the first to fourth guide rollers 8 to 11.
The roller base 6 is formed in a cylindrical shape using metal, resin, or the like.
A first insertion hole 6 a and a second insertion hole 6 b are provided along the axial direction of the roller base 6. The first insertion hole 6a is a hole for providing the first guide roller 8 (8a, 8b) and the third guide roller 10 (10a, 10b). The second insertion hole 6b is a hole for providing the second and fourth guide rollers 9 (9a, 9b), 11 (11a, 11b). For example, stainless steel is used for the guide rollers (8a to 11b). The guide rollers (8a to 11b) may be made of other metals, resins or the like as long as the conditions such as friction, weather resistance, and sterilization are satisfied.

The shaft portion 12b of the first support shaft 12 is inserted into the first insertion hole 6a through the

first guide rollers

8a and 8b and fixed by press-fitting or the like. The first support shaft 12 has a shaft portion 12b and a head portion 12a having a large diameter. The

first guide rollers

8 a and 8 b are rotatably supported through the shaft portion 12 b of the first support shaft 12. The

first guide rollers

8 a and 8 b are interposed between the roller base 6 and the head portion 12 a of the first support shaft 12.

Also, the shaft portion 14b of the third support shaft 14 is inserted through the

third guide rollers

10a and 10b into the first insertion hole 6a on the opposite side and fixed by press-fitting or the like. The third support shaft 14 has a shaft portion 14b and a head portion 14a having a large diameter. The

third guide rollers

10 a and 10 b are rotatably supported through the shaft portion 14 b of the third support shaft 14. The

third guide rollers

10 a and 10 b are interposed between the roller base 6 and the head portion 14 a of the third support shaft 14.

The shaft portion 13b of the second support shaft 13 is inserted into the second insertion hole 6b through the

second guide rollers

9a and 9b and fixed by press-fitting or the like. The second support shaft 13 has a shaft portion 13b and a head portion 13a having a large diameter. The

second guide rollers

9 a and 9 b are rotatably supported through the shaft portion 13 b of the second support shaft 13. The

second guide rollers

9 a and 9 b are interposed between the roller base 6 and the head portion 13 a of the second support shaft 13.

Also, the shaft portion 15b of the fourth support shaft 15 is inserted into the

fourth guide rollers

11a and 11b in the second insertion hole 6b on the opposite side and fixed by press-fitting or the like. The fourth support shaft 15 has a shaft portion 15b and a head portion 15a having a large diameter. The

fourth guide rollers

11 a and 11 b are rotatably supported through the shaft portion 15 b of the fourth support shaft 15. The

fourth guide rollers

11 a and 11 b are interposed between the roller base 6 and the head portion 15 a of the fourth support shaft 15.

As shown in FIG. 1, a first wire w1 is stretched between the first guide roller 8a and the second guide roller 9a. Then, the first wire w1 is hung on the first pulley 3a and sandwiched between the third guide roller 10a and the fourth guide roller 11a that are rotatably supported on the other side of the roller base 6 as shown in FIG. It is guided.

As shown in FIG. 2, a second wire w2 is stretched between the first guide roller 8b and the second guide roller 9b. Then, the second wire w2 is hung on the second pulley 3b and sandwiched between the third guide roller 10b and the fourth guide roller 11b, which are rotatably supported on the other side of the roller base 6, as shown in FIG. It is guided. The first wire w1 and the second wire w2 are disposed so as to pass through the rotation center C1 of the first joint 2 or the vicinity thereof.

<Bending operation of the forceps device K at the first joint 2>
With the above-described configuration, the forceps device K performs the following bending operation.
6A is a view taken in the direction of an arrow IV in FIG. 3, and FIG. 6B is a diagram illustrating a state in which the first joint 2 is bent from the state in FIG. 6A.
In the forceps device K, by pulling the wire w3 in the β31 direction of FIG. 6A from the state of FIG. 6A, the second arm pulley 5a rotates about the rotation center C1, and as shown in FIG. 6B, the second arm 5 Is rotated around the rotation center C1 with respect to the first arm 4 (in the direction of arrow α12 in FIG. 6A).

On the other hand, in the forceps device K, by pulling the wire w3 in the β32 direction of FIG. 6A from the state of FIG. 6A, the second arm pulley 5a is rotated about the rotation center C1, and the second arm 5 is moved to the first arm 4. On the other hand, it can be rotated around the rotation center C1 to the opposite side of the second arm 5 in FIG. 6B (in the direction of arrow α11 in FIG. 6A).

<Gripping operation of the forceps device K at the second joint 3>
In order to sandwich an object between the

gripping portions

1a and 1b, as shown in FIG. 1, the first wire w1 is moved in the direction of arrow β11, and the first pulley 3a and the gripping portion 1a are moved around the rotation center C2 in the direction of arrow α21. Rotate. Further, by moving the second wire w2 in the direction of arrow β21, the second pulley 3b and the gripping portion 1b are rotated around the rotation center C2 in the direction of arrow α31.

On the other hand, when moving away from the state where the object is sandwiched between the gripping part 1a and the gripping part 1b, the first pulley 3a and the gripping part are moved by moving the first wire w1 in the direction of arrow β12 as shown in FIG. 1a is rotated around the rotation center C2 in the direction of the arrow α22. Further, by moving the second wire w2 in the direction of arrow β22, the second pulley 3b and the grip portion 12 are rotated around the rotation center C2 in the direction of arrow α32.

<Focus point>
The focus points of the forceps device K configured as described above are as follows.
The rotation of the roller base 6 that supports the guide rollers (8a to 11b) is passive. Specifically, the roller base 6 on which the guide rollers (8a to 11b) are supported can freely rotate with respect to the supported first joint 2. For example, when the first joint 2 is bent, the roller base 6 moves passively. That is, the roller base 6 rotates independently of the movement of the first joint 2 by the force applied to the guide rollers (8a to 11b) by the wires (w1, w2) when the first joint 2 is bent. Thereby, as will be described below, changes (increases) in the path lengths of the wires (w1, w2) when the first joint 2 is bent are kept to a minimum.

FIG. 7 shows a change in the path length of the wires w1 and w2 when the second arm 5 is bent at an angle θ1 with respect to the first arm 4 in the first joint 2, and a conventional guide roller (guide unit) 111 is fixed. And a case where the roller base (guide unit base) 6 provided with the guide roller (guide unit) 8 of the present embodiment is made rotatable.

Conventionally, the set of guide rollers 111 that restrain the wires (w1, w2) is fixed to the rotation shaft (rotation center C1) of the joint itself, and the rotation center C10 of the guide roller 111 does not move. Therefore, when the second arm 5 is bent by the angle θ1 with respect to the first arm 4, the wires w10 and w20 are wound around the guide roller 111, and the change in the path length of the wires w10 and w20 is shortened by s2.

On the other hand, the guide rollers (8 to 11) of the present embodiment, that is, the roller base 6, have a structure that can passively rotate around the rotation center 6O. Therefore, when the second arm 5 is bent at an angle θ1 with respect to the first arm 4, the set of guide rollers (8 to 11) is arranged around the rotation center 6O so that the tension is lowered by the tension of the wires w1 and w2. Rotate to. Therefore, the change (increase) in the path length of the wires (w1, w2) is kept to a minimum.

In the case of FIG. 7, since the roller base 6 rotates around the rotation center 6O, the guide roller 8 and the roller base 6 rotate around the rotation center 6O by an angle θ2, and the wires (w1, w2) wind around the guide roller 8. The change in the path length of the wires (w1, w2) is s1. Here, since the guide roller 8 of the present embodiment rotates when the second arm 5 is bent, the relationship of s1 <s2 is established. Note that s1 << s2 as the bending angle θ1 of the first joint 2 increases.

The guide center of the set of guide rollers (8a to 11b) of the forceps device K is the same as or near the rotation center C1 of the first joint 2, and the outer periphery of the roller base 6 on which the guide rollers (8a to 11b) are supported The forceps device K is downsized by sliding the part 6g with respect to the first joint 2 to be mounted.
This is because the roller base 6 supporting the guide rollers (8a to 11b) is rotatably supported by sliding of the outer peripheral portion 6g, so that the rotation mechanism of the roller base 6 needs to be arranged at the center of the roller base 6. There is no. Therefore, the guide rollers (8a to 11b) can be arranged at the center of the roller base 6. Therefore, a compact arrangement is possible.

As described above, according to the configuration of the forceps device K of the embodiment, since the roller base 6 slides on the outer peripheral portion 6g and is rotatable, the roller base 6 is rotated by the force of the first wire w1 and the second wire w2. . And it will be in an equilibrium state in the place where tension of the 1st wire w1 and the 2nd wire w2 is low. That is, the roller base 6 rotates so that the tension of the first wire w1 and the second wire w2 is minimized.

Since the rotation center C1 of the first and second arms of the first joint 2 and the rotation center 60 of the roller base 6 are coaxial, the bending operation of the first joint 2 of the first wire w1 and the second wire w2 The change in the path length due to is shortened.

Further, by using the guide rollers (8a to 11b) for the guide portions of the wires (w1, w2), the frictional force between the wires (w1, w2) and the guide portions can be reduced. The guide portions of the wires (w1, w2) may be fixed pins instead of the guide rollers (8a to 11b).

Guide center 10O (see FIG. 8) between the guide rollers (8, 9) of the guide unit and / or guide center 10O (see FIG. 8) between the guide rollers (10, 11) and the roller base 6 of the guide unit base When the roller base 6 rotates, the change in the path length of the wires (w1, w2) can be suppressed.

Therefore, a method of restraining the wires (w1, w2) that minimizes the interference between the joints (2, 3) in the multi-degree-of-freedom forceps can be obtained. Conventionally, as shown in FIG. 7, since the guide for guiding the wire through the joint has a fixed structure, the wire is wound around the guide roller 111 when the joint is bent, and the path length of the wire is changed. In addition, the friction and torque of the wire were increased.
On the other hand, in the configuration of the embodiment, the roller base 6 freely rotates, so that the displacement, frictional force, torque, etc. of the wires (w1, w2) can be automatically minimized or suppressed. There is.

By configuring the forceps device K to minimize or reduce the interference between joints, it is possible to prevent the tension acting on the wires from being influenced by the angle at which each joint bends, and accurately estimate the external force acting on the forceps from the wire tension. Is possible.
Therefore, an external force acting on the multi-degree-of-freedom forceps can be transmitted with high accuracy to an operator such as a doctor who operates the isolated operation unit. Therefore, more precise and safer treatment, surgery, and the like can be performed as compared with the prior art.

<Modification 1>
FIG. 8 is a view in the direction of the arrow V of the roller base 6 on which the first and

second guide rollers

8a and 9a of FIG. 1 are mounted.
In the embodiment, as shown in FIG. 8, the rotation center 6O of the roller base 6, the guide center 8O of the first and

second guide rollers

8 and 9, and the guide center 10O of the third and

fourth guide rollers

10 and 11 are used. Were made to match or almost match.

FIG. 9 is a view in the direction of the arrow V in FIG. 1 of the roller base 26 on which the first and

second guide rollers

28a and 29a of the first modification are mounted.
As shown in FIG. 9, the roller base 26 of the first modification is configured by offsetting the guide center 28 </ b> O of the first and

second guide rollers

28 a and 29 a to the rotation center 26 </ b> O of the roller base 26.

According to the first modification, the second arm 5 is biased to one side by being offset with respect to the guide center 28O of the first and

second guide rollers

28a and 29a and the rotation center 26O of the roller base 26. For example, the tension and torque of the wires (w1, w2) can be suppressed.

<Modification 2>
10A is a view in the direction of the arrow V in FIG. 1 of the roller base 36 on which the guide walls 38 and 39 of Modification 2 are mounted, and FIG. 10B is mounted on the guide walls 38 and 39 of another example of Modification 2. It is a V direction arrow directional view of FIG. 1 of the roller base 36A.

In the roller base 36 of the second modification, as shown in FIG. 10A, the wires (w1, w2) are guided instead of the guide rollers (8, 9) on one side for restraining and guiding the wires (w1, w2). It comprises guide walls 38 and 39 having guide portions 38g and 39g having curvatures, respectively.
FIG. 10A illustrates a case where one side of the roller base 36 is constituted by guide walls 38 and 39 and the other side of the roller base 36 is constituted by guide rollers (10, 11). As shown in FIG. 5, the other side of the roller base 36A may be configured to use guide walls 38 and 39.

In the modified example 1 and the modified example 1 as well, the roller base 36 is slidable and rotatable on the outer peripheral part 36g, so that the displacement, frictional force, torque, etc. of the wires (w1, w2) can be suppressed. it can.

<Modification 3>
FIG. 11 is a schematic diagram illustrating the

first guide rollers

48a and 48b and the

second guide rollers

49a and 49b according to the third modification and the roller base 46 on which these are mounted.
In the third modification, the

first guide rollers

48a and 48b and the

second guide rollers

49a and 49b are inclined with respect to the bottom surface 46h of the roller base 46 so as to be close to the trajectory through which the wires (w1, w2) pass. Is.

When the trajectory through which the wires (w1, w2) pass is inclined with respect to the guide roller provided on the bottom surface 46h of the roller base 46, a large axial load is applied to the vertical guide roller.

Therefore, in Modification 3, the

first guide rollers

48a and 48b and the

second guide rollers

49a and 49b are inclined with respect to the bottom surface 46h of the roller base 46 so as to follow the trajectory through which the wires (w1, w2) pass. It is composed. Further, the third and fourth guide rollers on the other side may be inclined similarly to the

first guide rollers

48a and 48b and the

second guide rollers

49a and 49b. The third and fourth guide rollers on the other side may be configured without being inclined.

According to the third modification, the guide rollers (48a to 49b) are inclined along the direction in which the wires (w1, w2) are positioned, so that the axial load applied to the guide rollers (48a to 49b) is increased. Can be suppressed.

<< Other Embodiments >>
1. In the above embodiment, the guide rollers (8a, 9a, etc.) that restrain and guide the wires (w1, w2) are exemplified on both sides, but only one guide roller is provided on one side, for example, the

first guide rollers

8a, 8b only. It is good. It is particularly suitable when the wires (w1, w2) are bent to one side. As described above, the number of guide rollers for restraining the wires (w1, w2) may be singular or may be three or more.

2. In the above embodiment, the rotation center C1 of the first joint 2 and the rotation center 6O of the roller base 6 are coaxial or substantially coaxial. However, the rotation center 6O of the roller base 6 is rotated by the rotation of the first joint 2. It is good also as a structure provided in positions other than the vicinity of the center C1.

3. In the above embodiment, the outer

peripheral portions

6g, 26g, 36g, and 36Ag of the

roller bases

6, 26, 36, 36A, and 46 are illustrated as sliding bearings, but ball bearings or the like may be used. By using the ball bearing, the rotation of the roller base 6 and the like becomes smoother.

4). In the embodiment, the case where the wires (w1, w2) are guided and restrained by the guide rollers (8a to 11b) mounted on the roller base 6 and the fixed guide walls 38, 39 has been described. , W2) may be guided by other fixing pins (fixed objects) or a rotating body.

5). Moreover, although the case where the wire operation device was applied to the forceps device K has been described in the above-described embodiment, modification, etc., the wire operation device may be applied to devices other than the forceps device K.
That is, the present invention can be applied to general multi-degree-of-freedom end effector control using wires. Furthermore, it can be applied to general wire control such as heavy machinery. As a specific example, it can be applied to a robot, particularly a manipulator, in addition to a crane or the like.

6). The above-described embodiments, modifications, and the like are examples of the present invention, and various specific forms and modifications are possible within the scope of the claims.

1a, 1b Operation part (gripping part)
2 First joint (first joint)
4 First arm (support member)
5 Second arm 6 Roller base (guide section base)
6g Outer part 6O Roller base rotation center (Guide unit base rotation center)
8, 8a, 8b First guide roller (guide section, roller)
8O guide center (center of guidance between guides)
9, 9a, 9b Second guide roller (guide section, roller)
10, 10a, 10b Third guide roller (guide section, roller)
11, 11a, 11b 4th guide roller (guide part, roller)
38, 39 Guide wall (fixed)
48a, 48b First guide roller (inclined guide part)
49a, 49b Second guide roller (inclined guide part)
K forceps device (wire operation device)
C1 Center of rotation of the first joint w1 First wire (wire)
w2 Second wire (wire)

Claims

A wire operating device that operates by operating a wire,
An operation part responsible for the operation;
A wire for operating the moving part;
A guide for guiding the wire;
A guide unit base provided with the guide unit;
The wire operating device, wherein the guide portion base is rotatably supported by a support member.
A wire operating device that operates by operating a wire,
An operation part responsible for the operation;
A wire for operating the moving part;
A guide for guiding the wire;
A guide unit base provided with the guide unit;
The wire operating device, wherein the guide base is rotated by the force of the wire.
A wire operating device that operates by operating a wire,
An operation part responsible for the operation;
A wire for operating the moving part;
A guide unit for restraining and guiding the wire;
A guide unit base provided with the guide unit;
The guide unit base rotates in a direction in which the tension of the wire decreases.
The wire operation device according to any one of claims 1 to 3, wherein the outer periphery of the guide portion base slides and rotates.
A first arm;
A second arm;
A first joint portion to which the first arm and the second arm are coupled;
The rotation center of the first and second arms of the first joint part and the rotation center of the guide part base are on the same axis. 4. The wire operating device according to 1.
The guide section is plural,
Restraining and guiding the wire with a plurality of the guide portions,
4. The wire operating device according to claim 1, wherein a center of guidance between the plurality of guide portions coincides with a rotation center of the guide portion base. 5.
The guide section is plural,
Restraining and guiding the wire with a plurality of the guide portions,
4. The wire operation device according to claim 1, wherein a center of guidance of the plurality of guide portions and a rotation center of the guide portion base are at different positions. 5.
The wire operating device according to any one of claims 1 to 3, wherein the operation unit is forceps.
The wire operating device according to any one of claims 1 to 3, wherein the guide unit is a single roller or a plurality of rollers that contact and guide the wire.
The wire operating device according to any one of claims 1 to 3, wherein the guide unit is a single or a plurality of fixed objects that abut and guide the wire.
The wire operating device according to any one of claims 1 to 3, wherein the guide portion is inclined and is rotatably supported by a support member.
An operation part responsible for the operation;
A wire for operating the operating unit;
A guide for guiding the wire;
A guide base provided with the guide,
A wire restraining method of a wire operating device comprising a support member on which the guide portion base is supported,
The guide part base rotates independently of the support member when the wire is guided.
An operation part responsible for the operation;
A wire for operating the operating unit;
A guide for guiding the wire;
A guide base provided with the guide,
A wire restraining method of a wire operating device comprising a support member on which the guide portion base is supported,
The guide part base is rotated so that the path of the wire is shortened.