WO2022054212A1 - Forceps device - Google Patents

Forceps device Download PDF

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Publication number
WO2022054212A1
WO2022054212A1 PCT/JP2020/034368 JP2020034368W WO2022054212A1 WO 2022054212 A1 WO2022054212 A1 WO 2022054212A1 JP 2020034368 W JP2020034368 W JP 2020034368W WO 2022054212 A1 WO2022054212 A1 WO 2022054212A1
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Prior art keywords
pulley
pulleys
forceps device
pair
rotation axis
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PCT/JP2020/034368
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French (fr)
Japanese (ja)
Inventor
恭平 滝川
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リバーフィールド株式会社
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Priority to PCT/JP2020/034368 priority Critical patent/WO2022054212A1/en
Priority to JP2020572559A priority patent/JP6867073B1/en
Publication of WO2022054212A1 publication Critical patent/WO2022054212A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the present invention relates to a forceps device used in a manipulator of a surgical robot.
  • Patent Document 1 each of a plurality of pulleys wound in a predetermined order so as to realize opening and closing of a pair of jaws constituting the catching portion while realizing yaw movement and pitch movement of the catching tool.
  • a robot wrist that controls the drive of a cable is disclosed.
  • the above-mentioned robot wrist has a small diameter of the jaw pulley that rotates together when opening and closing a pair of jaws. Therefore, there is a limit to the increase in the operating torque (grip force) at the jaw.
  • the diameter of the jaw pulley is increased, the fleet angle of the cable from the guide pulley supported coaxially with the rotation axis of the yoke that rotatably supports the jaw pulley to the jaw pulley increases. Therefore, the forceps may not be controlled smoothly because the cable may come off the pulley or the edge of the pulley may interfere with the cable.
  • the present invention has been made in view of such a situation, and one of its exemplary purposes is to provide a new forceps device with good controllability.
  • the forceps device includes a pair of grip portions, a support that holds the pair of grip portions, and a first rotation shaft that rotatably supports the support. It includes a base component that holds the first rotation axis, and a plurality of first pulleys that are arranged coaxially with the first rotation axis. The first pulley is rotatably supported by the first rotation shaft so as to be inclined with respect to the first rotation shaft.
  • the tilting of the first pulley with respect to the first axis of rotation reduces the substantial fleet angle of the wire with respect to the first pulley and makes it less likely that the wire will interfere with the first pulley.
  • the first pulley is rotatably supported by the first rotation shaft not only when it is directly supported by the first rotation shaft, but also by another member (for example, a part of the support member). ) Includes the case where it is rotatably supported.
  • the first pulley slides relative to the centerline of the circular opening through which the first axis of rotation passes with respect to the first axis of rotation or the other annular portion into which the first axis of rotation is inserted.
  • the inner peripheral surface may be inclined. As a result, the first pulley is autonomously tilted by the force received from the wire having the fleet angle.
  • the first pulley may have an angle formed by the center line and the inner peripheral surface in the range of 3 ° to 7 °.
  • a second rotation axis that rotatably supports a pair of grips held by the support and is held by the support, and a plurality of second pulleys that are held coaxially with the second rotation axis.
  • a plurality of wires hung between the first pulley and the plurality of second pulleys may be provided.
  • the first pulley may be inclined with respect to the first rotation axis so that the plurality of hung wires extend outward toward the outer circumference of the second pulley. This makes it possible to suppress wire interference in the first pulley even if a second pulley having a large diameter that easily increases the operating torque in the pair of grips is used.
  • the base component is held by a pair of arms holding both ends of the first rotation shaft and a third rotation that is held by the pair of arms and rotatably supports a third pulley located upstream of the first pulley. It may have a shaft and.
  • the arm may have a thinner tip portion that holds the first rotation axis than a root portion that holds the third rotation axis. As a result, even when the wire having a fleet angle is bent around the first rotation axis together with the support, it is less likely to interfere with the arm.
  • the width of the tip part in the circumferential direction of the arm is narrower than that of the root part.
  • the outer diameter of the second pulley is larger than the distance between the roots of the pair of arms.
  • the plurality of first pulleys are arranged adjacent to each other on both sides of the support, and one of the two adjacent first pulleys abuts on the support in an inclined state and is adjacent to each other.
  • the other of the two first pulleys may abut on the base component in an inclined manner.
  • FIG. 3 is a front view of the forceps device of FIG. 1 as viewed from the A direction.
  • FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the B direction.
  • FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the C direction.
  • FIG. 3 is a cross-sectional view taken along the line DD of the forceps device 10 shown in FIG. It is an enlarged view of the area R of FIG. It is a front view of the guide pulley which concerns on this embodiment.
  • FIG. 7 is a cross-sectional view taken along the line EE of the guide pulley shown in FIG.
  • FIG. 1 is a perspective view of the forceps device according to the present embodiment.
  • FIG. 2 is a front view of the forceps device of FIG. 1 as viewed from the A direction.
  • FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the B direction.
  • FIG. 4 is a side view of the forceps device of FIG. 1 as viewed from the C direction.
  • the forceps device 10 shown in each figure includes a pair of grip portions 12a and 12b, a support 14 that holds the pair of grip portions 12a and 12b, and a first rotation shaft 16 that rotatably supports the support 14.
  • a base component 18 for holding the first rotating shaft 16, four guide pulleys 20 arranged coaxially with the first rotating shaft 16, and a pair of grip portions 12a and 12b are rotatably supported and supported.
  • the wires 26, 28, 30, 32 and the wires 38, 40 for rotating the support 14 about the first rotation shaft 16 are provided.
  • FIG. 5 is a DD cross-sectional view of the forceps device 10 shown in FIG.
  • FIG. 6 is an enlarged view of the region R of FIG.
  • the guide pulley 20 has a first rotation shaft via a cylindrical annular portion 14a that is a part of the support 14 so as to be inclined with respect to the first rotation shaft 16. It is rotatably supported by 16.
  • each of the wires 26, 28, 30, and 32 has a substantially smaller fleet angle with respect to the guide pulley 20, and is less likely to interfere with the edge 20b of the guide groove 20a of the guide pulley 20.
  • the guide pulley 20 may be directly supported by the first rotating shaft 16 without going through the support body 14.
  • FIG. 7 is a front view of the guide pulley 20 according to the present embodiment.
  • FIG. 8 is a cross-sectional view taken along the line EE of the guide pulley 20 shown in FIG.
  • the inner peripheral surface 20d is inclined with respect to the center line CL of the circular opening 20c through which the first rotation shaft 16 penetrates.
  • the inner peripheral surface 20d slides with respect to the annular portion 14a of the support 14 into which the first rotation shaft 16 is inserted.
  • the guide pulley 20 is autonomously tilted by the force received from the wire having the fleet angle.
  • the inner peripheral surface 20d of the guide pulley 20 slides directly on the outer peripheral surface of the first rotating shaft 16.
  • the inner peripheral surface 20d is formed so that the inner diameter d gradually expands as the guide pulley 20 is orthogonal to the center line CL and is separated from the plane P having the smallest inner diameter d along the center line CL. ing.
  • the inner peripheral surface 20d may be formed as a conical shape, a mortar shape, or a tapered surface.
  • the inner peripheral surface 20e on the opposite side of the flat surface P with the inner peripheral surface 20d is also processed into the same shape as the inner peripheral surface 20d.
  • the guide pulley 20 has an angle ⁇ formed by the inner peripheral surface 20d and the inner peripheral surface 20e and the center line CL in the range of 3 to 7 °. Further, one end surface 20f of the guide pulley 20 is inclined at an angle ⁇ with respect to the plane P, and the angle formed by the one end surface 20f and the inner peripheral surface 20d is 90 °. Further, the other end surface 20g of the guide pulley 20 is parallel to the plane P (orthogonal to the center line CL). Therefore, the guide pulley 20 is an annular member whose left and right sides are asymmetrical with the plane P in between.
  • two guide pulleys 20 are arranged adjacent to each other on both sides of the support 14. Then, as shown in FIG. 6, when the two guide pulleys 20 are arranged side by side and mounted on the annular portion 14a, the other end faces 20g are opposed to each other. As a result, one of the two adjacent guide pulleys 20 (guide pulley 20A) abuts on the support 14 in an inclined state, and the other of the two adjacent guide pulleys 20 (guide pulley 20B) is in an inclined state. It abuts on the base component 18. As a result, when the guide pulley 20 is tilted, the position of the guide pulley 20 in the first rotation axis direction X is accurately determined.
  • each guide pulley 20 is inclined with respect to the first rotation shaft 16 so that the plurality of hung wires 26 and 28 spread outward toward the outer circumference of the jaw pulley 24. ..
  • the interference of the wire in the guide pulley 20 can be suppressed.
  • the base component 18 As shown in FIGS. 2 and 5, the base component 18 according to the present embodiment is held by a pair of arms 18a and 18b that hold both ends of the first rotating shaft 16 and a pair of arms 18a and 18b. It has a third rotating shaft 36 that rotatably supports the four guide pulleys 34 located upstream of the guide pulley 20. The third rotating shaft 36 according to the present embodiment is provided on each of the pair of arms 18a and 18b.
  • the arms 18a and 18b have a thinner tip portion 18d that holds the first rotating shaft 16 than a root portion 18c that holds the third rotating shaft 36. In other words, the distance between the tip portions 18d is wider than the distance between the root portions 18c. As a result, as shown in FIG. 3, even when the wires 26 and 28 having the fleet angle are bent around the first rotation axis 16 together with the support 14 (in the direction of arrow F in FIG. 3), the arm 18a , 18b is less likely to interfere.
  • the circumferential width W1 of the tip portion 18d of the arm 18a (arm 18b) is narrower than the circumferential width W2 of the root portion 18c.
  • the width of the root portion 18c in the circumferential direction is made larger than the width of the tip portion 18d in the circumferential direction while forming a U-shaped relief portion in the tip portion 18d where interference with the wire needs to be considered. It is possible to suppress the decrease in the rigidity of the arm.
  • the outer diameter G1 of the jaw pulley 24 according to the present embodiment is larger than the distance G2 between the root portions 18c of the pair of arms 18a and 18b. That is, the forceps device 10 according to the present embodiment can adopt a jaw pulley 24 having a large outer diameter for the size of the inner diameter of the cylindrical base component 18.
  • the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and the present invention is not limited to the above-described embodiment, and the present invention may be a combination or substitution of the configurations of the embodiments as appropriate. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiment based on the knowledge of those skilled in the art, and to add modifications such as various design changes to the embodiments, and such modifications are added. The embodiments described above may also be included in the scope of the present invention.
  • the present invention can be used as a manipulator for a surgical robot.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

This forceps device 10 comprises: a pair of gripping sections 12a, 12b; a support body 14 for holding the pair of gripping sections; a first rotary shaft for rotatably supporting the support body 14; a base component 18 for holding the first rotary shaft; and a plurality of guide pulleys 20 disposed coaxially with the first rotary shaft. The guide pulleys 20 are rotatably supported on the first rotary shaft so as to be slanted with respect to the first rotary shaft.

Description

鉗子装置Forceps device
　本発明は、手術用ロボットのマニピュレータに用いられる鉗子装置に関する。 The present invention relates to a forceps device used in a manipulator of a surgical robot.
　近年、術者の負担軽減や、医療施設の省人化を図るためにロボット（マニピュレータ）を利用した医療処置の提案がされている。外科分野では、術者が遠隔操作可能な手術用マニピュレータを操作して患者の処置を行う、手術用マニピュレータシステムに関する提案が行われている。 In recent years, medical procedures using robots (manipulators) have been proposed in order to reduce the burden on surgeons and save labor in medical facilities. In the field of surgery, there are proposals for a surgical manipulator system in which a surgeon operates a remote-controlled surgical manipulator to treat a patient.
　例えば、特許文献１には、捕捉具のヨー運動やピッチ運動を実現しつつ、捕捉部を構成する一対の顎部の開閉を実現できるように、複数のプーリに所定の順番で巻き付けられた各ケーブルの駆動を制御するロボット手首部が開示されている。 For example, in Patent Document 1, each of a plurality of pulleys wound in a predetermined order so as to realize opening and closing of a pair of jaws constituting the catching portion while realizing yaw movement and pitch movement of the catching tool. A robot wrist that controls the drive of a cable is disclosed.
特表２０１６－５１８１６０号公報Special Table 2016-518160 Gazette
　しかしながら、前述のロボット手首部は、一対の顎部を開閉させる際に一緒に回転するジョー（Jaw）プーリの直径が小さい。そのため、顎部での操作トルク（把持力）の増大にも限界がある。一方、ジョープーリの直径を大きくすると、ジョープーリを回転可能に支持するヨークの回転軸と同軸に支持されているガイドプーリからジョープーリに向かうケーブルのフリートアングルが大きくなる。そのため、ケーブルがプーリから脱輪したり、プーリのエッジとケーブルとが干渉したりすることで、鉗子をスムーズに制御できないおそれがある。 However, the above-mentioned robot wrist has a small diameter of the jaw pulley that rotates together when opening and closing a pair of jaws. Therefore, there is a limit to the increase in the operating torque (grip force) at the jaw. On the other hand, when the diameter of the jaw pulley is increased, the fleet angle of the cable from the guide pulley supported coaxially with the rotation axis of the yoke that rotatably supports the jaw pulley to the jaw pulley increases. Therefore, the forceps may not be controlled smoothly because the cable may come off the pulley or the edge of the pulley may interfere with the cable.
　本発明はこうした状況に鑑みてなされたものであり、その例示的な目的の一つは、制御性の良好な新たな鉗子装置を提供することにある。 The present invention has been made in view of such a situation, and one of its exemplary purposes is to provide a new forceps device with good controllability.
　上記課題を解決するために、本発明のある態様の鉗子装置は、一対の把持部と、一対の把持部を保持する支持体と、支持体を回転可能に支持する第１の回転軸と、第１の回転軸を保持するベース部品と、第１の回転軸と同軸に配置されている複数の第１のプーリと、を備える。第１のプーリは、第１の回転軸に対して傾斜するように、該第１の回転軸に回転可能に支持されている。 In order to solve the above problems, the forceps device according to an embodiment of the present invention includes a pair of grip portions, a support that holds the pair of grip portions, and a first rotation shaft that rotatably supports the support. It includes a base component that holds the first rotation axis, and a plurality of first pulleys that are arranged coaxially with the first rotation axis. The first pulley is rotatably supported by the first rotation shaft so as to be inclined with respect to the first rotation shaft.
　この態様によると、第１のプーリが第１の回転軸に対して傾斜することで、第１のプーリに対するワイヤの実質的なフリートアングルが小さくなり、ワイヤが第１のプーリと干渉しにくくなる。なお、第１のプーリが第１の回転軸に回転可能に支持されているとは、第１の回転軸に直接支持されている場合だけでなく、他の部材（例えば、支持部材の一部）を介して回転可能に支持されている場合も含む。 According to this aspect, the tilting of the first pulley with respect to the first axis of rotation reduces the substantial fleet angle of the wire with respect to the first pulley and makes it less likely that the wire will interfere with the first pulley. .. The first pulley is rotatably supported by the first rotation shaft not only when it is directly supported by the first rotation shaft, but also by another member (for example, a part of the support member). ) Includes the case where it is rotatably supported.
　第１のプーリは、第１の回転軸が貫通する円形の開口部の中心線に対して、第１の回転軸又は第１の回転軸が挿入された他の環状部に対して摺動する内周面が傾斜していてもよい。これにより、フリートアングルがあるワイヤから受ける力で第１のプーリが自律的に傾斜する。 The first pulley slides relative to the centerline of the circular opening through which the first axis of rotation passes with respect to the first axis of rotation or the other annular portion into which the first axis of rotation is inserted. The inner peripheral surface may be inclined. As a result, the first pulley is autonomously tilted by the force received from the wire having the fleet angle.
　第１のプーリは、中心線と内周面とが成す角が３°～７°の範囲であってもよい。 The first pulley may have an angle formed by the center line and the inner peripheral surface in the range of 3 ° to 7 °.
　支持体が保持する、一対の把持部を回転可能に支持し、支持体に保持される第２の回転軸と、第２の回転軸と同軸に保持される複数の第２のプーリと、複数の第１のプーリと複数の第２のプーリとの間に掛けられた複数のワイヤと、を備えてもよい。第１のプーリは、掛けられた複数のワイヤが第２のプーリの外周に向けて外側に広がるように、第１の回転軸に対して傾斜していてもよい。これにより、一対の把持部での操作トルクを増大させやすい直径の大きな第２のプーリを用いても、第１のプーリにおけるワイヤの干渉を抑制できる。 A second rotation axis that rotatably supports a pair of grips held by the support and is held by the support, and a plurality of second pulleys that are held coaxially with the second rotation axis. A plurality of wires hung between the first pulley and the plurality of second pulleys may be provided. The first pulley may be inclined with respect to the first rotation axis so that the plurality of hung wires extend outward toward the outer circumference of the second pulley. This makes it possible to suppress wire interference in the first pulley even if a second pulley having a large diameter that easily increases the operating torque in the pair of grips is used.
　ベース部品は、第１の回転軸の両端を保持する一対のアームと、一対のアームに保持され、第１のプーリよりも上流側にある第３のプーリを回転可能に支持する第３の回転軸と、を有してもよい。アームは、第３の回転軸を保持する根本部分よりも第１の回転軸を保持する先端部分の方が薄肉であってもよい。これにより、フリートアングルのあるワイヤが支持体とともに第１の回転軸を中心に屈曲した場合であっても、アームと干渉しにくくなる。 The base component is held by a pair of arms holding both ends of the first rotation shaft and a third rotation that is held by the pair of arms and rotatably supports a third pulley located upstream of the first pulley. It may have a shaft and. The arm may have a thinner tip portion that holds the first rotation axis than a root portion that holds the third rotation axis. As a result, even when the wire having a fleet angle is bent around the first rotation axis together with the support, it is less likely to interfere with the arm.
　先端部分は、根本部分よりもアームの周方向の幅が狭い。 The width of the tip part in the circumferential direction of the arm is narrower than that of the root part.
　第２のプーリの外径は、一対のアームの根本部分同士の間隔より大きい。 The outer diameter of the second pulley is larger than the distance between the roots of the pair of arms.
　複数の第１のプーリは、支持体を挟んで両側に２つずつ隣接して配置されており、隣接する２つの第１のプーリの一方は、傾斜した状態で支持体に当接し、隣接する２つの第１のプーリの他方は、傾斜した状態でベース部品に当接してもよい。これにより、第１のプーリが傾斜した際に、第１のプーリの第１の回転軸方向への位置が精度良く決まる。 The plurality of first pulleys are arranged adjacent to each other on both sides of the support, and one of the two adjacent first pulleys abuts on the support in an inclined state and is adjacent to each other. The other of the two first pulleys may abut on the base component in an inclined manner. As a result, when the first pulley is tilted, the position of the first pulley in the first rotation axis direction is accurately determined.
　なお、以上の構成要素の任意の組合せ、本発明の表現を方法、装置、システム、などの間で変換したものもまた、本発明の態様として有効である。 It should be noted that any combination of the above components and the conversion of the expression of the present invention between methods, devices, systems, etc. are also effective as aspects of the present invention.
　本発明によれば、制御性の良好な新たな鉗子装置を提供できる。 According to the present invention, it is possible to provide a new forceps device with good controllability.
本実施の形態に係る鉗子装置の斜視図である。It is a perspective view of the forceps apparatus which concerns on this embodiment. 図１の鉗子装置をＡ方向から見た正面図である。FIG. 3 is a front view of the forceps device of FIG. 1 as viewed from the A direction. 図１の鉗子装置をＢ方向から見た側面図である。FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the B direction. 図１の鉗子装置をＣ方向から見た側面図である。FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the C direction. 図３に示す鉗子装置１０のＤ－Ｄ断面図である。FIG. 3 is a cross-sectional view taken along the line DD of the forceps device 10 shown in FIG. 図５の領域Ｒの拡大図である。It is an enlarged view of the area R of FIG. 本実施の形態に係るガイドプーリの正面図である。It is a front view of the guide pulley which concerns on this embodiment. 図７に示すガイドプーリのＥ－Ｅ断面図である。FIG. 7 is a cross-sectional view taken along the line EE of the guide pulley shown in FIG.
　以下、本発明を実施の形態をもとに図面を参照しながら説明する。各図面に示される同一又は同等の構成要素、部材、処理には、同一の符号を付するものとし、適宜重複した説明は省略する。また、実施の形態は、発明を限定するものではなく例示であって、実施の形態に記述される全ての特徴やその組合せは、必ずしも発明の本質的なものであるとは限らない。 Hereinafter, the present invention will be described with reference to the drawings based on the embodiments. The same or equivalent components, members, and processes shown in the drawings shall be designated by the same reference numerals, and duplicate description thereof will be omitted as appropriate. Further, the embodiment is not limited to the invention but is an example, and all the features and combinations thereof described in the embodiment are not necessarily essential to the invention.
　図１は、本実施の形態に係る鉗子装置の斜視図である。図２は、図１の鉗子装置をＡ方向から見た正面図である。図３は、図１の鉗子装置をＢ方向から見た側面図である。図４は、図１の鉗子装置をＣ方向から見た側面図である。 FIG. 1 is a perspective view of the forceps device according to the present embodiment. FIG. 2 is a front view of the forceps device of FIG. 1 as viewed from the A direction. FIG. 3 is a side view of the forceps device of FIG. 1 as viewed from the B direction. FIG. 4 is a side view of the forceps device of FIG. 1 as viewed from the C direction.
　各図に示す鉗子装置１０は、一対の把持部１２ａ，１２ｂと、一対の把持部１２ａ，１２ｂを保持する支持体１４と、支持体１４を回転可能に支持する第１の回転軸１６と、第１の回転軸１６を保持するベース部品１８と、第１の回転軸１６と同軸に配置されている４つのガイドプーリ２０と、一対の把持部１２ａ、１２ｂを回転可能に支持し、支持体１４に保持される第２の回転軸２２と、第２の回転軸２２と同軸に保持される４つのジョープーリ２４と、４つのガイドプーリ２０と４つのジョープーリ２４との間に掛けられた４本のワイヤ２６，２８，３０，３２と、支持体１４を第１の回転軸１６を中心に回転させるためのワイヤ３８，４０と、を備えている。 The forceps device 10 shown in each figure includes a pair of grip portions 12a and 12b, a support 14 that holds the pair of grip portions 12a and 12b, and a first rotation shaft 16 that rotatably supports the support 14. A base component 18 for holding the first rotating shaft 16, four guide pulleys 20 arranged coaxially with the first rotating shaft 16, and a pair of grip portions 12a and 12b are rotatably supported and supported. A second rotary shaft 22 held by 14, four jaw pulleys 24 held coaxially with the second rotary shaft 22, and four hooks hung between the four guide pulleys 20 and the four jaw pulleys 24. The wires 26, 28, 30, 32 and the wires 38, 40 for rotating the support 14 about the first rotation shaft 16 are provided.
　図５は、図３に示す鉗子装置１０のＤ－Ｄ断面図である。図６は、図５の領域Ｒの拡大図である。図５および図６に示すように、ガイドプーリ２０は、第１の回転軸１６に対して傾斜するように、支持体１４の一部である円筒の環状部１４ａを介して第１の回転軸１６に回転可能に支持されている。これにより、ワイヤ２６，２８，３０，３２のそれぞれは、ガイドプーリ２０に対する実質的なフリートアングルが小さくなり、ガイドプーリ２０のガイド溝２０ａのエッジ２０ｂと干渉しにくくなる。なお、ガイドプーリ２０は、支持体１４を介さずに第１の回転軸１６に直接支持されていてもよい。 FIG. 5 is a DD cross-sectional view of the forceps device 10 shown in FIG. FIG. 6 is an enlarged view of the region R of FIG. As shown in FIGS. 5 and 6, the guide pulley 20 has a first rotation shaft via a cylindrical annular portion 14a that is a part of the support 14 so as to be inclined with respect to the first rotation shaft 16. It is rotatably supported by 16. As a result, each of the wires 26, 28, 30, and 32 has a substantially smaller fleet angle with respect to the guide pulley 20, and is less likely to interfere with the edge 20b of the guide groove 20a of the guide pulley 20. The guide pulley 20 may be directly supported by the first rotating shaft 16 without going through the support body 14.
　図７は、本実施の形態に係るガイドプーリ２０の正面図である。図８は、図７に示すガイドプーリ２０のＥ－Ｅ断面図である。本実施の形態に係るガイドプーリ２０は、第１の回転軸１６が貫通する円形の開口部２０ｃの中心線ＣＬに対して、内周面２０ｄが傾斜している。内周面２０ｄは、第１の回転軸１６が挿入された支持体１４の環状部１４ａに対して摺動する。これにより、フリートアングルがあるワイヤから受ける力でガイドプーリ２０が自律的に傾斜する。なお、ガイドプーリ２０が直接第１の回転軸１６に支持されている場合、ガイドプーリ２０の内周面２０ｄは、第１の回転軸１６の外周面に直接摺動することになる。 FIG. 7 is a front view of the guide pulley 20 according to the present embodiment. FIG. 8 is a cross-sectional view taken along the line EE of the guide pulley 20 shown in FIG. In the guide pulley 20 according to the present embodiment, the inner peripheral surface 20d is inclined with respect to the center line CL of the circular opening 20c through which the first rotation shaft 16 penetrates. The inner peripheral surface 20d slides with respect to the annular portion 14a of the support 14 into which the first rotation shaft 16 is inserted. As a result, the guide pulley 20 is autonomously tilted by the force received from the wire having the fleet angle. When the guide pulley 20 is directly supported by the first rotating shaft 16, the inner peripheral surface 20d of the guide pulley 20 slides directly on the outer peripheral surface of the first rotating shaft 16.
　図８に示すように、ガイドプーリ２０は、中心線ＣＬと直交し内径ｄが最も小さい平面Ｐから中心線ＣＬに沿って離れるに従って、内径ｄが徐々に広がるように内周面２０ｄが形成されている。換言すると、内周面２０ｄは、円錐形状やすり鉢形状、あるいはテーパ面として形成されていてもよい。また、平面Ｐを挟んで内周面２０ｄと反対側の内周面２０ｅも、内周面２０ｄと同様の形状に加工されている。 As shown in FIG. 8, in the guide pulley 20, the inner peripheral surface 20d is formed so that the inner diameter d gradually expands as the guide pulley 20 is orthogonal to the center line CL and is separated from the plane P having the smallest inner diameter d along the center line CL. ing. In other words, the inner peripheral surface 20d may be formed as a conical shape, a mortar shape, or a tapered surface. Further, the inner peripheral surface 20e on the opposite side of the flat surface P with the inner peripheral surface 20d is also processed into the same shape as the inner peripheral surface 20d.
　なお、本実施の形態に係るガイドプーリ２０は、内周面２０ｄ及び内周面２０ｅと中心線ＣＬとが成す角αが３～７°の範囲である。また、ガイドプーリ２０の一方の端面２０ｆは、平面Ｐに対して角度α傾斜しており、一方の端面２０ｆと内周面２０ｄとの成す角は９０°である。また、ガイドプーリ２０の他方の端面２０ｇは、平面Ｐと平行である（中心線ＣＬに対して直交している）。したがって、ガイドプーリ２０は平面Ｐを挟んで左右が非対称の環状部材である。 The guide pulley 20 according to the present embodiment has an angle α formed by the inner peripheral surface 20d and the inner peripheral surface 20e and the center line CL in the range of 3 to 7 °. Further, one end surface 20f of the guide pulley 20 is inclined at an angle α with respect to the plane P, and the angle formed by the one end surface 20f and the inner peripheral surface 20d is 90 °. Further, the other end surface 20g of the guide pulley 20 is parallel to the plane P (orthogonal to the center line CL). Therefore, the guide pulley 20 is an annular member whose left and right sides are asymmetrical with the plane P in between.
　本実施の形態に係るガイドプーリ２０は、図５や図６に示すように、支持体１４を挟んで両側に２つずつ隣接して配置されている。そして、図６に示すように、２つのガイドプーリ２０を並べて環状部１４ａに装着する際には、他方の端面２０ｇ同士が向かい合わせになるようにしている。その結果、隣接する２つのガイドプーリ２０の一方（ガイドプーリ２０Ａ）は、傾斜した状態で支持体１４に当接し、隣接する２つのガイドプーリ２０の他方（ガイドプーリ２０Ｂ）は、傾斜した状態でベース部品１８に当接する。これにより、ガイドプーリ２０が傾斜した際に、ガイドプーリ２０の第１の回転軸方向Ｘへの位置が精度良く決まる。 As shown in FIGS. 5 and 6, two guide pulleys 20 according to the present embodiment are arranged adjacent to each other on both sides of the support 14. Then, as shown in FIG. 6, when the two guide pulleys 20 are arranged side by side and mounted on the annular portion 14a, the other end faces 20g are opposed to each other. As a result, one of the two adjacent guide pulleys 20 (guide pulley 20A) abuts on the support 14 in an inclined state, and the other of the two adjacent guide pulleys 20 (guide pulley 20B) is in an inclined state. It abuts on the base component 18. As a result, when the guide pulley 20 is tilted, the position of the guide pulley 20 in the first rotation axis direction X is accurately determined.
　それぞれのガイドプーリ２０は、図２に示すように、掛けられた複数のワイヤ２６，２８がジョープーリ２４の外周に向けて外側に広がるように、第１の回転軸１６に対して傾斜している。これにより、一対の把持部１２ａ，１２ｂでの操作トルクを増大させやすい直径の大きなジョープーリ２４を用いても、ガイドプーリ２０におけるワイヤの干渉を抑制できる。 As shown in FIG. 2, each guide pulley 20 is inclined with respect to the first rotation shaft 16 so that the plurality of hung wires 26 and 28 spread outward toward the outer circumference of the jaw pulley 24. .. As a result, even if a jaw pulley 24 having a large diameter that easily increases the operating torque of the pair of grip portions 12a and 12b is used, the interference of the wire in the guide pulley 20 can be suppressed.
　次に、ベース部品１８について説明する。本実施の形態に係るベース部品１８は、図２や図５に示すように、第１の回転軸１６の両端を保持する一対のアーム１８ａ，１８ｂと、一対のアーム１８ａ，１８ｂに保持され、ガイドプーリ２０よりも上流側にある４つのガイドプーリ３４を回転可能に支持する第３の回転軸３６とを有している。なお、本実施の形態に係る第３の回転軸３６は、一対のアーム１８ａ，１８ｂのそれぞれに設けられている。 Next, the base component 18 will be described. As shown in FIGS. 2 and 5, the base component 18 according to the present embodiment is held by a pair of arms 18a and 18b that hold both ends of the first rotating shaft 16 and a pair of arms 18a and 18b. It has a third rotating shaft 36 that rotatably supports the four guide pulleys 34 located upstream of the guide pulley 20. The third rotating shaft 36 according to the present embodiment is provided on each of the pair of arms 18a and 18b.
　アーム１８ａ，１８ｂは、第３の回転軸３６を保持する根本部分１８ｃよりも第１の回転軸１６を保持する先端部分１８ｄの方が薄肉である。換言すると、先端部分１８ｄ同士の間隔は、根本部分１８ｃ同士の間隔よりも広い。これにより、図３に示すように、フリートアングルのあるワイヤ２６，２８が支持体１４とともに第１の回転軸１６を中心に屈曲（図３の矢印Ｆ方向）した場合であっても、アーム１８ａ，１８ｂと干渉しにくくなる。 The arms 18a and 18b have a thinner tip portion 18d that holds the first rotating shaft 16 than a root portion 18c that holds the third rotating shaft 36. In other words, the distance between the tip portions 18d is wider than the distance between the root portions 18c. As a result, as shown in FIG. 3, even when the wires 26 and 28 having the fleet angle are bent around the first rotation axis 16 together with the support 14 (in the direction of arrow F in FIG. 3), the arm 18a , 18b is less likely to interfere.
　また、アーム１８ａ（アーム１８ｂ）の先端部分１８ｄの周方向の幅Ｗ１は、根本部分１８ｃの周方向の幅Ｗ２よりも狭い。これにより、ワイヤとの干渉を考慮する必要のある先端部分１８ｄにＵ字状の逃がし部を形成しつつ、先端部分１８ｄの周方向の幅よりも根本部分１８ｃの周方向の幅を大きくすることでアームの剛性の低下を抑えられる。 Further, the circumferential width W1 of the tip portion 18d of the arm 18a (arm 18b) is narrower than the circumferential width W2 of the root portion 18c. As a result, the width of the root portion 18c in the circumferential direction is made larger than the width of the tip portion 18d in the circumferential direction while forming a U-shaped relief portion in the tip portion 18d where interference with the wire needs to be considered. It is possible to suppress the decrease in the rigidity of the arm.
　また、図５に示すように、本実施の形態に係るジョープーリ２４の外径Ｇ１は、一対のアーム１８ａ，１８ｂの根本部分１８ｃ同士の間隔Ｇ２より大きい。つまり、本実施の形態に係る鉗子装置１０は、筒状のベース部品１８の内径の大きさの割に外径の大きなジョープーリ２４を採用することが可能となる。 Further, as shown in FIG. 5, the outer diameter G1 of the jaw pulley 24 according to the present embodiment is larger than the distance G2 between the root portions 18c of the pair of arms 18a and 18b. That is, the forceps device 10 according to the present embodiment can adopt a jaw pulley 24 having a large outer diameter for the size of the inner diameter of the cylindrical base component 18.
　以上、本発明を上述の実施の形態を参照して説明したが、本発明は上述の実施の形態に限定されるものではなく、実施の形態の構成を適宜組み合わせたものや置換したものについても本発明に含まれるものである。また、当業者の知識に基づいて実施の形態における組合せや処理の順番を適宜組み替えることや各種の設計変更等の変形を実施の形態に対して加えることも可能であり、そのような変形が加えられた実施の形態も本発明の範囲に含まれうる。 Although the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and the present invention is not limited to the above-described embodiment, and the present invention may be a combination or substitution of the configurations of the embodiments as appropriate. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiment based on the knowledge of those skilled in the art, and to add modifications such as various design changes to the embodiments, and such modifications are added. The embodiments described above may also be included in the scope of the present invention.
　本発明は、手術用ロボットのマニピュレータに利用できる。 The present invention can be used as a manipulator for a surgical robot.
　１０　鉗子装置、　１２ａ，１２ｂ　把持部、　１４　支持体、　１４ａ　環状部、　１６　第１の回転軸、　１８　ベース部品、　１８ａ，１８ｂ　アーム、　２０　ガイドプーリ、　２０ｅ，２０ｄ　内周面、　２２　第２の回転軸、　２４　ジョープーリ、　３６　第３の回転軸、　ＣＬ　中心線。 10 Forceps device, 12a, 12b grip part, 14 support, 14a annular part, 16 first rotation shaft, 18 base parts, 18a, 18b arm, 20 guide pulley, 20e, 20d inner peripheral surface, 22 second rotation Shaft, 24 jaw pulley, 36 third rotation shaft, CL center line.

Claims (8)

  1. 　一対の把持部と、
    　前記一対の把持部を保持する支持体と、
    　前記支持体を回転可能に支持する第１の回転軸と、
    　前記第１の回転軸を保持するベース部品と、
    　前記第１の回転軸と同軸に配置されている複数の第１のプーリと、を備え、
    　前記第１のプーリは、前記第１の回転軸に対して傾斜するように、該第１の回転軸に回転可能に支持されていることを特徴とする鉗子装置。     A pair of grips and
    A support that holds the pair of grips and
    A first rotating shaft that rotatably supports the support,
    The base component that holds the first rotation axis and
    A plurality of first pulleys, which are arranged coaxially with the first rotation axis, are provided.
    The forceps device, wherein the first pulley is rotatably supported by the first rotation axis so as to be inclined with respect to the first rotation axis.
  2. 　前記第１のプーリは、前記第１の回転軸が貫通する円形の開口部の中心線に対して、前記第１の回転軸又は前記第１の回転軸が挿入された他の環状部材に対して摺動する内周面が傾斜していることを特徴とする請求項１に記載の鉗子装置。 The first pulley refers to the center line of the circular opening through which the first rotation shaft penetrates, with respect to the first rotation shaft or another annular member into which the first rotation shaft is inserted. The forceps device according to claim 1, wherein the inner peripheral surface that slides on the surface is inclined.
  3. 　前記第１のプーリは、前記中心線と前記内周面とが成す角が３°～７°の範囲であることを特徴とする請求項２に記載の鉗子装置。 The forceps device according to claim 2, wherein the first pulley has an angle formed by the center line and the inner peripheral surface in the range of 3 ° to 7 °.
  4. 　前記支持体が保持する、前記一対の把持部を回転可能に支持し、前記支持体に保持される第２の回転軸と、
    　前記第２の回転軸と同軸に保持される複数の第２のプーリと、
    　前記複数の第１のプーリと前記複数の第２のプーリとの間に掛けられた複数のワイヤと、を備え、
    　前記第１のプーリは、掛けられた前記複数のワイヤが前記第２のプーリの外周に向けて外側に広がるように、前記第１の回転軸に対して傾斜していることを特徴とする請求項１乃至３のいずれか１項に記載の鉗子装置。     A second rotating shaft that rotatably supports the pair of grips held by the support and is held by the support.
    A plurality of second pulleys held coaxially with the second rotation axis, and
    A plurality of wires hung between the plurality of first pulleys and the plurality of second pulleys are provided.
    The first pulley is characterized in that the plurality of hung wires are inclined with respect to the first rotation axis so as to spread outward toward the outer periphery of the second pulley. Item 3. The forceps device according to any one of Items 1 to 3.
  5. 　前記ベース部品は、前記第１の回転軸の両端を保持する一対のアームと、前記一対のアームに保持され、前記第１のプーリよりも上流側にある第３のプーリを回転可能に支持する第３の回転軸と、を有し、
    　前記アームは、前記第３の回転軸を保持する根本部分よりも前記第１の回転軸を保持する先端部分の方が薄肉であることを特徴とする請求項４に記載の鉗子装置。     The base component is held by a pair of arms holding both ends of the first rotating shaft and the pair of arms, and rotatably supports a third pulley on the upstream side of the first pulley. With a third axis of rotation,
    The forceps device according to claim 4, wherein the arm has a thinner tip portion that holds the first rotation axis than a root portion that holds the third rotation axis.
  6. 　前記先端部分は、前記根本部分よりもアームの周方向の幅が狭いことを特徴とする請求項５に記載の鉗子装置。 The forceps device according to claim 5, wherein the tip portion has a narrower width in the circumferential direction of the arm than the root portion.
  7. 　前記第２のプーリの外径は、前記一対のアームの前記根本部分同士の間隔より大きいことを特徴とする請求項５又は６に記載の鉗子装置。 The forceps device according to claim 5, wherein the outer diameter of the second pulley is larger than the distance between the root portions of the pair of arms.
  8. 　前記複数の第１のプーリは、前記支持体を挟んで両側に２つずつ隣接して配置されており、
    　隣接する２つの前記第１のプーリの一方は、傾斜した状態で前記支持体に当接し、
    　隣接する２つの前記第１のプーリの他方は、傾斜した状態で前記ベース部品に当接することを特徴とする請求項１乃至７のいずれか１項に記載の鉗子装置。     The plurality of first pulleys are arranged adjacent to each other on both sides of the support.
    One of the two adjacent first pulleys abuts on the support in an inclined state.
    The forceps device according to any one of claims 1 to 7, wherein the other of the two adjacent first pulleys abuts on the base component in an inclined state.
PCT/JP2020/034368 2020-09-10 2020-09-10 Forceps device WO2022054212A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018538065A (en) * 2015-12-10 2018-12-27 シーエムアール・サージカル・リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ Pulley mechanism for rotating surgical instruments
WO2020044994A1 (en) * 2018-08-28 2020-03-05 株式会社メディカロイド Robotic surgical apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018538065A (en) * 2015-12-10 2018-12-27 シーエムアール・サージカル・リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ Pulley mechanism for rotating surgical instruments
WO2020044994A1 (en) * 2018-08-28 2020-03-05 株式会社メディカロイド Robotic surgical apparatus

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