Surgical tool, surgical support system, and surgical operating unit

Abstract

A surgical tool having an open-close end effector is provided. The surgical tool has a shaft, a wrist portion connected so as to be rotatable about a first axis, a first jaw member and a second jaw member each supported so as to be rotatable about a second axis, and an elastic body that exerts a repulsive force between the first jaw member and the second jaw member. The surgical tool further includes a first jaw winch disposed so as to fit the shape of the first jaw member, a first cable that pulls the first jaw member, a second jaw winch disposed so as to fit the shape of the second jaw member, and a second cable that pulls the second jaw member.

Description

Technical Field

[0001] The technology disclosed in this specification (hereinafter referred to as "this disclosure") relates to a surgical tool used in a surgical support system, such as a surgical support system and a surgical operation unit. Background Technology

[0002] In recent years, the advancement of robotics technology has been remarkable, and robots are now widely used in workplaces across various industrial sectors. For example, in the medical field, master-slave surgical robots are becoming increasingly common. These surgical robots are designed to allow an operator, such as a surgeon, to manipulate one or more surgical tools included in a slave device from the master side. Furthermore, as a known method for controlling a master-slave system, there exists a bidirectional method where the master device operates the slave device, while the state of the slave device is fed back to the master device (e.g., see Patent Document 1). An end effector with an opening and closing mechanism (e.g., forceps) is provided at the end of the surgical tool mounted in the slave device. Furthermore, assuming the surgical tool will be used in surgeries within body cavities, on the body surface, etc., it is strongly desirable for the end of the surgical tool to have multiple degrees of freedom, a small diameter, small size, and light weight. Specifically, it is desirable for the end of the surgical tool to have a total of three degrees of freedom: two rotational degrees of freedom and one opening and closing degree of freedom. Moreover, for the miniaturization of surgical tools, a cable-driven method is often employed when handling the end of the surgical tool (e.g., see Patent Documents 2 to 4).

[0003] Citation List

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-34002

[0006] Patent Document 2: Japanese Patent Application Publication No. 09-542671

[0007] Patent Document 3: JP 2018-534100 W

[0008] Patent Document 4: JP 2019-501699 W Summary of the Invention

[0009] The problem to be solved by the present invention

[0010] The purpose of this disclosure is to provide a surgical tool having an openable / closeable end effector, such as forceps, at its end, designed to be small in size and lightweight, and for use in a surgical support system, and to provide a surgical support system and a surgical operation unit.

[0011] Solution to the problem

[0012] The first aspect of the technology according to this disclosure is...

[0013] A surgical instrument, comprising:

[0014] axis;

[0015] A wrist, which is rotatably connected to one end of a shaft about a first axis;

[0016] A first clamping member and a second clamping member, each clamping member being rotatably supported relative to the wrist about a second axis; and

[0017] An elastic member that applies a repulsive force between a first clamping member and a second clamping member.

[0018] The surgical tool according to the first aspect further includes: a first clamping winch disposed on a first clamping member and using a second axis as its rotation axis; a first cable wound around the first clamping winch; a second clamping winch disposed on a second clamping member and using a second axis as its rotation axis; and a second cable wound around the second clamping winch. Furthermore, the first clamping member rotates toward the second clamping member by pulling the first cable, and the second clamping member rotates toward the first clamping member by pulling the second cable.

[0019] The surgical tool according to the first aspect also includes: a wrist winch disposed at the wrist and using a first axis as its rotation axis; a third cable including a forward cable and a backward cable wound around the wrist winch in opposite directions; a first actuator that pulls the first cable; a second actuator that pulls the second cable; and a third actuator that pulls the third cable.

[0020] Furthermore, a second aspect of the technology according to this disclosure is

[0021] A surgical support system includes surgical instruments and an arm for attaching the surgical instruments.

[0022] The surgical instruments include:

[0023] axis;

[0024] A wrist, which is rotatably connected to one end of a shaft about a first axis;

[0025] A first clamping member and a second clamping member, each clamping member being rotatably supported relative to the wrist about a second axis; and

[0026] An elastic member that applies a repulsive force between a first clamping member and a second clamping member.

[0027] Furthermore, a third aspect of the technology according to this disclosure is

[0028] A surgical operating unit includes surgical instruments and a handle unit for attaching the surgical instruments.

[0029] The surgical instruments include:

[0030] axis;

[0031] A wrist, which is rotatably connected to one end of a shaft about a first axis;

[0032] A first clamping member and a second clamping member, each clamping member being rotatably supported relative to the wrist about a second axis; and

[0033] An elastic member that applies a repulsive force between a first clamping member and a second clamping member.

[0034] Effects of the present invention

[0035] According to the technology disclosed herein, a surgical tool may be provided having an openable / closeable end effector, such as forceps, at its end, comprising a few components, having a small diameter, and for use in a surgical support system, and a surgical support system and a surgical operation unit may also be provided.

[0036] Note that the beneficial effects described in this specification are merely examples, and the beneficial effects brought about by the technology according to this disclosure are not limited thereto. Furthermore, in some cases, the technology according to this disclosure may exhibit additional beneficial effects beyond those described above.

[0037] Other objects, features, and advantages of the technology according to this disclosure will become apparent from the following description of the embodiments and the detailed description with reference to the accompanying drawings. Attached Figure Description

[0038] [ Figure 1 ] Figure 1 This is a diagram showing an example configuration of the surgical tool unit 100;

[0039] [ Figure 2 ] Figure 2 This is an enlarged view of each relevant part of the surgical tool unit end 101 and the surgical tool unit drive unit 103 of the surgical tool unit 100;

[0040] [ Figure 3 ] Figure 3 This is an enlarged view of the end portion 101 of the surgical tool unit;

[0041] [ Figure 4 ] Figure 4This is a diagram showing an example configuration of the surgical tool unit 100;

[0042] [ Figure 5 ] Figure 5 This is a diagram showing the surgical tool unit 100 as viewed from above;

[0043] [ Figure 6 ] Figure 6 This is an enlarged view of the end portion 101 of the surgical tool unit;

[0044] [ Figure 7 ] Figure 7 This is a diagram showing the unfolded view of the end portion 101 of the surgical tool unit;

[0045] [ Figure 8 ] Figure 8 This is a diagram showing another example configuration of the surgical tool unit end 101;

[0046] [ Figure 9 ] Figure 9 This is a diagram illustrating another example of the degree-of-freedom configuration of the surgical tool unit 100;

[0047] [ Figure 10 ] Figure 10 This is a diagram showing an example configuration including the first idler wheel P1x with a switching unit;

[0048] [ Figure 11 ] Figure 11 This is a diagram showing the open / closed state (without pretension) of the first clamping member J1 and the second clamping member J2;

[0049] [ Figure 12 ] Figure 12 It is a diagram showing the open / closed state (with pretension) of the first clamping member J1 and the second clamping member J2;

[0050] [ Figure 13 ] Figure 13 This is a diagram illustrating an example operation of the wrist component WE rotating about a first axis;

[0051] [ Figure 14 ] Figure 14 This is a diagram illustrating an example operation of the end effector rotating about a second axis;

[0052] [ Figure 15 ] Figure 15 This is a diagram illustrating an example operation of the end effector rotating about a second axis;

[0053] [ Figure 16 ] Figure 16 This is a diagram illustrating an example of the opening and closing of an end effector and its rotary motion about a second axis;

[0054] [ Figure 17 ] Figure 17 This is a diagram illustrating an example of the opening and closing of an end effector and its rotary motion about a second axis;

[0055] [ Figure 18 ] Figure 18 This is a diagram illustrating an example of the opening and closing of an end effector and its rotary motion about a second axis;

[0056] [ Figure 19 ] Figure 19 This is a diagram illustrating an example of the opening and closing of an end effector and its rotary motion about a second axis;

[0057] [ Figure 20 ] Figure 20 This is a diagram illustrating an example of the opening and closing of an end effector and its rotary motion about a second axis;

[0058] [ Figure 21 ] Figure 21 This is a diagram illustrating an example of the opening and closing of an end effector and its rotary motion about a second axis;

[0059] [ Figure 22 ] Figure 22 This is a diagram illustrating an example of the rotational motion of the wrist element WE about a first axis and the rotational motion of the end effector about a second axis;

[0060] [ Figure 23 ] Figure 23 This is a diagram illustrating an example of the rotational motion of the wrist element WE about a first axis and the rotational motion of the end effector about a second axis;

[0061] [ Figure 24 ] Figure 24 This is a diagram illustrating an example of the rotational motion of the wrist element WE about a first axis and the rotational motion of the end effector about a second axis;

[0062] [ Figure 25 ] Figure 25 This is a diagram illustrating an example of the rotational motion of the wrist element WE about a first axis and the rotational motion of the end effector about a second axis;

[0063] [ Figure 26 ] Figure 26 This is a diagram showing a modification of the end 101 of the surgical tool unit (an example configuration using a helical compression spring to apply a repulsive force between the clamping members);

[0064] [ Figure 27 ] Figure 27This is a diagram showing a modification of the end 101 of the surgical tool unit (an example configuration using a helical compression spring to apply a repulsive force between the clamping members);

[0065] [ Figure 28 ] Figure 28 This is a diagram showing a modification of the end 101 of the surgical tool unit (an example configuration using a helical compression spring to apply a repulsive force between the clamping members);

[0066] [ Figure 29 ] Figure 29 This is a diagram showing a modification of the end 101 of the surgical tool unit (an example configuration using a helical compression spring to apply a repulsive force between the clamping members);

[0067] [ Figure 30 ] Figure 30 This is a diagram showing a modification of the end 101 of the surgical tool unit (an example configuration using a helical compression spring to apply a repulsive force between the clamping members);

[0068] [ Figure 31 ] Figure 31 This is a diagram showing a modification of the end 101 of the surgical tool unit (an example configuration using a helical compression spring to apply a repulsive force between the clamping members);

[0069] [ Figure 32 ] Figure 32 This is a diagram showing a modification of the surgical tool unit (an example configuration using a linear actuator to pull a cable);

[0070] [ Figure 33 ] Figure 33 This is a diagram illustrating an example external configuration of the surgical support system 3300;

[0071] [ Figure 34 ] Figure 34 This is a diagram showing an example external configuration of the surgical operation unit 3400. Detailed Implementation

[0072] In the following description, the technology according to this disclosure will be explained with reference to the accompanying drawings in the following order.

[0073] A. Problems with the surgical tool unit

[0074] B. Example configuration of the surgical tool unit

[0075] C. Operation of the surgical tool unit

[0076] D. Range of motion of the surgical tool unit

[0077] E. Modification of surgical tool unit

[0078] F. Application Examples of Surgical Tool Units

[0079] G. Effect

[0080] A. Problems with the surgical tool unit

[0081] Surgical tools for surgical support systems preferably have a total of three degrees of freedom: two rotational degrees of freedom and an opening and closing degree of freedom at the end. Specifically, such a surgical tool includes an opening and closing end effector formed by a pair of opposing clamping members, a wrist supporting the end effector, and a shaft having a longitudinal axis and connecting the wrist to its end. This surgical tool has a degree-of-freedom structure including: a first axis for, for example, rotating the wrist about a yaw axis relative to the end of the shaft; a second axis for, for example, rotating the direction of the end effector about a pitch axis relative to the wrist; and a third axis (opening and closing axis) for opening and closing the clamping members. In the following description, an embodiment where the second axis and the opening and closing axis are coaxial will be described.

[0082] For example, in laparoscopic surgery, the distal end of the shaft is typically used when inserting into the body cavity via a cannula, thus requiring a small diameter. Furthermore, in neurosurgery, treatment is performed in confined surgical areas, therefore, depending on the surgical instrument, it is necessary to minimize obstruction to the operator's field of vision. In this context, the driving force generated by an actuator (e.g., an electromagnetic rotary motor) located at the root (proximal) end of the shaft is essentially transmitted via cables to operate the surgical instruments. Specifically, a three-cable system is required to transmit power for rotating the wrist relative to the shaft end about a first axis, power for rotating the monitoring direction relative to the wrist about a second axis, and power for opening and closing the on / off end effector, and these cables are inserted through the shaft. Additionally, the power transmission mechanism using cables employs multiple pulleys, such as winches for applying power to the cables or converting force from the cables into axial force, and idler pulleys for adjusting the cable layout within the shaft and applying constant tension to the cables.

[0083] Here, a method utilizing idler wheels to adjust the cable layout achieves high slipability. This also results in excellent durability and reliability, and allows for high-precision torque control of the end effector. However, the number of components increases with the number of idler wheels. Consequently, the size of the surgical tools (e.g., the outer diameter of the shaft) becomes larger, increasing cost. Another method involves the cable sliding on an R-surface formed on a peripheral component without using any idler wheels. By eliminating idler wheels, the number of components can be reduced, resulting in a smaller size. However, the cable is prone to deterioration due to wear, and reliability deteriorates. Furthermore, the high coefficient of friction on the sliding surface causes disturbances. Consequently, torque control becomes difficult. A method can also be employed where the cable is inserted into a circular hole formed along the desired layout. However, when processing a cable inserted through the circular hole, backlash occurs.

[0084] In addition, cable loop type or separate cable traction type can usually be used as a method to drive the winch on the output side by using the cable traction force generated by the actuator.

[0085] In the former type of cable loop, the cable is arranged around an output-side winch and a drive-side winch, with the drive-side winch rotated by an actuator. Using a cable loop, the forward and backward cables can be controlled in an opposing manner with a single actuator, making it easier to reduce the size and weight of the drive unit. Furthermore, there is no need to use the actuator output to compensate for cable pretension, thus allowing for smaller actuators. However, in device configurations where the entire length of the loop cable fluctuates due to the axis angle of the controlled target and other axes, it is difficult to apply pretension fluctuations to the cable, making a cable loop design challenging. For example, when the drive wrist rotates about a first axis, the length of the corresponding cable used to drive the corresponding clamping member changes.

[0086] On the other hand, the latter type of single-cable traction has a configuration in which the forward and backward cables connected to the output-side winch are pulled by separate actuators, and the forward and backward cables can be controlled independently of each other. Therefore, the freedom in designing the configuration of surgical tools becomes greater. However, the pretension of the cables needs to be compensated for using the actuator output. Although coil springs, weights, etc., can also be used to compensate for the pretension, control becomes difficult because a corresponding spring force or inertial force is applied when the actuator performs the drive.

[0087] In both cable loop and individual cable traction types, each cable requires a traction motor. Installing as many heavy-duty and large motors as there are cables to compensate for cable preload increases the housing space and unit weight. Furthermore, in both cable loop and individual cable traction types, two cables (forward and backward) are used to rotate an output-side winch in both directions. Therefore, two idler pulleys are also required to adjust the cable layout, further increasing the number of components.

[0088] In view of the foregoing, this specification discloses a surgical tool that achieves a reduction in size and weight by adjusting the cable layout with a smaller number of idler wheels and by pulling the cable in a manner that facilitates the application of desired pretension. This specification also discloses a surgical support system and a surgical operating unit below.

[0089] B. Example configuration of the surgical tool unit

[0090] Figure 1 An exemplary configuration of a surgical tool unit 100 applying the technology according to this disclosure is shown. The surgical tool unit 100 includes a hollow shaft 102 having a longitudinal axis, a surgical tool unit end portion 101 located at one end of the shaft 102, and a surgical tool unit drive unit 103 located at the other end of the shaft 102. As described below, the surgical tool unit end portion 101 includes a wrist element rotatable relative to the shaft 102 about a first axis parallel to the yaw axis, and an end effector located at the end of the wrist element. The end effector performs opening and closing operations using a second axis serving as an opening and closing axis, the second axis being parallel to the pitch axis. The end effector is formed with a pair of opposing clamping members that rotate about the second axis and perform opening and closing operations. Meanwhile, the surgical tool unit drive unit 103 includes an actuator that drives the wrist of the surgical tool unit end portion 101, two actuators that drive the corresponding clamping members, and a base member that attaches these actuators to a portion near the other end of the shaft 102. However, the second axis is located offset from the first axis.

[0091] exist Figure 2 The surgical tool unit end 101 and each relevant part of the surgical tool unit drive unit 103 of the surgical tool unit 100 are shown in enlarged view. Furthermore, Figure 3 The end of the surgical tool unit 101 is shown in enlarged view. Furthermore, Figure 4 An example degree-of-freedom configuration of the surgical tool unit 100 is shown. Furthermore, Figure 5 The surgical tool unit 100 is shown as viewed from above.

[0092] The surgical tool unit end piece 101 includes a wrist element WE and an open / close end effector. The end effector includes a pair of opposing clamping members: a first clamping member J1 and a second clamping member J2 (see, for example, [reference needed]). Figure 3 The wrist element WE is supported near the root, allowing it to rotate at the end (distal) of shaft 102 about a first axis parallel to the yaw axis. Furthermore, the first clamping member J1 and the second clamping member J2, constituting the end effector, are supported so that they can rotate at the end of the wrist element WE about a second axis parallel to the pitch axis. As the opening angle changes, the first clamping member J1 and the second clamping member J2 open and close, with the second axis serving as a switching axis.

[0093] Meanwhile, the surgical tool unit drive unit 103 includes a first motor M1 for driving the first clamping member J1, a second motor M2 for driving the second clamping member J2, and a motor M3 for driving the wrist element WE (see, for example, see...). Figure 2 Furthermore, motor winches MC1, MC2, and MC3, which act as drive winches, are respectively attached to the output shafts of these motors M1 to M3 (see, for example, see...). Figure 4 These motors M1 to M3 are then supported by a base member at one end (proximal end) of shaft 102. Although it is assumed in this embodiment that a rotary motor is used for each of motors M1 to M3, motors with reducers may also be used.

[0094] Near the base of the wrist element WE, a wrist winch WC is provided, using a first axis as its rotation axis. Furthermore, a third cable, inserted through shaft 102, is wound around the wrist winch WC and the third motor winch MC3. The driving force generated by the third motor M3 is then transmitted through the third cable, performing the rotational operation of the wrist element WE around the first axis.

[0095] exist Figure 4 In the example shown, the third cable is formed by a forward cable C3a and a backward cable C3b, and has a cable loop configuration, wherein the third motor winch MC3 on the drive side and the wrist winch WC on the output side form a loop. When the third motor M3 rotates, a tension difference is generated between the forward cable C3a and the backward cable C3b according to the direction of rotation. Therefore, the rotational torque based on the tension difference acts on the wrist winch WC, and the wrist element WE rotates about the first axis. Thus, the third motor M3 controls the forward cable C3a and the backward cable C3b in an opposing manner, enabling the wrist element WE to rotate about the first axis.

[0096] In addition, to prevent bending, a tension spring TS3, providing pretension, is inserted into a third cable formed by cables C3a and C3b. Figure 4 and Figure 5In the example shown, tension spring TS3 is inserted into the side of cable C3b. Alternatively, pretension can be provided by an additional idler pulley.

[0097] Note that the third cable does not have to be looped, and the forward cable C3a and the backward cable C3b can be pulled independently by different motors to rotate the wrist element WE around the first axis. However, the number of motors will increase.

[0098] The first clamping member J1 is supported by a wrist element WE near its root, thereby enabling it to rotate about a second axis (see, for example, see...). Figure 3 and Figure 4 Similarly, the second clamping member J2 is supported by a wrist element WE near the root, thereby enabling rotation about the second axis (see, for example, see...). Figure 3 and 4 Therefore, each of the first clamping member J1 and the second clamping member J2 rotates about the second axis, causing the opening angle of the first clamping member J1 and the second clamping member J2 to increase or decrease (in other words, causing the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis to change). Thus, the opening and closing operations of the end effector are performed. Furthermore, the first clamping member J1 and the second clamping member J2 rotate simultaneously about the second axis, while the opening angle of the first clamping member J1 and the second clamping member J2 remains constant (in other words, causing the sum of the angles of the first clamping member J1 and the second clamping member J2 about the second axis to change). Thus, the rotation operation of the end effector formed by the first clamping member J1 and the second clamping member J2 about the second axis is performed.

[0099] A first clamping winch JC1, having the aforementioned second axis as its rotation axis, is positioned near the root of the first clamping member J1. Then, a first cable C1 is wound around the first clamping winch JC1 and the first motor winch MC1, such that the driving force generated by the first motor M1 is transmitted through the first cable C1, and the first clamping member J1 performs a rotational operation about the second axis (see, for example, [reference needed]). Figure 4 Since the connection between the first clamping winch JC1 and the first cable C1 can be located at any position on the outer periphery of the first clamping winch JC1, the range of motion of the first clamping member J1 can be wider.

[0100] Furthermore, a second clamping winch JC2, having the aforementioned second axis as its rotation axis, is disposed near the root of the second clamping member J2. Then, a second cable C2 is wound around the second clamping winch JC2 and the second motor winch MC2, such that the driving force generated by the second motor M2 is transmitted through the second cable C2, and the rotational operation of the second clamping member J2 around the second axis is performed (for example, see...). Figure 4Since the connection between the second clamping winch JC2 and the second cable C2 can be located at any position on the outer periphery of the second clamping winch JC2, the range of motion of the second clamping member J2 can be wider.

[0101] Here, the first cable C1 and the second cable C2 are wound around the first clamping winch JC1 and the second clamping winch JC2 from opposite directions. Specifically, the first cable C1 is wound around the first clamping winch JC1 such that when the first cable C1 is pulled, the first clamping member J1 rotates in a direction approaching the second clamping member J2. Similarly, the second cable C2 is wound around the second clamping winch JC2 such that when the second cable C2 is pulled, the second clamping member J2 rotates in a direction approaching the first clamping member J1. Therefore, the traction force of the first cable C1 and the second cable C2 is controlled by the first motor M1 and the second motor M2, causing a change in the angle difference between the first clamping member J1 and the second clamping member J2 about the second axis. Thus, the opening and closing operations of the end effector formed by the first clamping member J1 and the second clamping member J2 can be performed. Furthermore, the traction force of the first cable C1 and the second cable C2 is controlled by the first motor M1 and the second motor M2, causing a change in the sum of the angles of the first clamping member J1 and the second clamping member J2 about the second axis. Therefore, the end effector formed by the first clamping member J1 and the second clamping member J2 can be rotated about the second axis.

[0102] Spring SP is positioned between the first clamping member J1 and the second clamping member J2, such that the repulsive force always acts in the opening direction (see, for example). Figure 4 ). Figure 6 An example of spring SP mounting is shown in a magnified view of the end 101 of the surgical tool unit. Furthermore, Figure 7 It shows Figure 6 The diagram shows the unfolded component layout of the end portion 101 of the surgical tool unit. Figure 6 and Figure 7 In the example shown, Figure 4 The spring SP shown is formed by a first torsion helical spring TCS1 and a second torsion helical spring TCS2. The first torsion helical spring is attached to a second axis at the end of the wrist element WE and applies rotational force to the first clamping member J1 in the opening direction from the second clamping member J2. The second torsion helical spring applies rotational force to the second clamping member J2 in the opening direction from the first clamping member J1. A torsion helical spring is a helical spring that applies torque about the central axis of a coil. Therefore, the preload always acts on the first clamping member J1 and the second clamping member J2 in the opening direction.

[0103] The first torsion spring TCS1 contacts only the first clamping member J1 and not the wrist element WE. Similarly, the second torsion spring TCS2 contacts only the second clamping member J2 and not the wrist element WE. Therefore, even if the opening angle between the first clamping member J1 and the second clamping member J2 remains constant, a constant repulsive force can be applied between the first clamping member J1 and the second clamping member J2 as the angle of the end effector about the first axis changes.

[0104] like Figure 6 and Figure 7 As shown, a torsion coil spring is preferably used for spring SP. Note that in Figure 6 and Figure 7 In the example shown, two torsion coil springs are used, but the number of springs used to generate the repulsive force is not limited to any particular number. Furthermore, instead of springs, magnets, etc., can be used to generate the repulsive force (e.g., the repulsive force between magnets of the same polarity).

[0105] As described above, due to the restoring force of the spring SP (or the first torsion spring TCS1 and the second torsion spring TCS2), a repulsive force acts between the first clamping member J1 and the second clamping member J2, and the pretension acts constantly in the opening direction. Therefore, when the first motor M1 pulls the first clamping member J1 in the closing direction using a single first cable C1 (in other words, only the forward first cable), and the second motor M2 pulls the second clamping member J2 in the closing direction using a single second cable C2 (in other words, only the forward second cable), the first clamping member J1 and the second clamping member J2 can be closed. Furthermore, when the traction of the first motor M1 and the second motor M2 stops, the first clamping member J1 and the second clamping member J2 open spontaneously due to the restoring force of the spring SP (or the first torsion spring TCS1 and the second torsion spring TCS2). That is, since the operation of opening the first clamping member J1 and the second clamping member J2 is performed using the elastic force of the torsion springs TCS1 and TCS2, a reverse cable for opening the clamping members is not required.

[0106] Therefore, a single cable pulled in the closing direction is used for each clamping member, and the tension of the cable and the repulsive force of the elastic member are controlled in an antagonistic manner by a single actuator located at the input end of each cable, allowing the clamping members to be opened and closed. In other words, the number of cables and actuators required to open and close the clamping members can be reduced.

[0107] Note that the spring SP has a natural length, wherein the repulsive force acts even at the maximum opening angle of the first clamping member J1 and the second clamping member J2. Alternatively, using the first torsion helical spring TCS1 and the second torsion helical spring TCS2, the repulsive force acts even at the maximum opening angle of the first clamping member J1 and the second clamping member J2.

[0108] The idler pulley is used to redirect each of the first cable C1 and the second cable C2 near the first axis, such that each cable passes through the shaft 102 and adjusts the layout of the corresponding cables in the shaft 102. As described above, it should be understood that because the cables used to pull each of the first clamping member J1 and the second clamping member J2 are reduced to only one forward cable, the necessary number of idler pulleys is also reduced, resulting in lower costs.

[0109] exist Figure 3 and Figure 4 In the example shown, the first cable C1 attached to the first clamping winch JC1 is pulled in a direction perpendicular to the second axis, but the first cable is switched to a direction perpendicular to the first axis by the first idler pulley P1a, which uses the first axis as its rotation axis. Furthermore, the first cable C1 passes through the shaft 102 via a first adjacent idler pulley P1b, which is adjacent to the first idler pulley P1a and has a rotation axis parallel to the first axis, switching to the longitudinal axis direction of the shaft 102, and then is wound around the first motor winch MC1 at the other end.

[0110] The first cable C1 is wound in the direction that minimizes the distance to the first idler pulley P1a. Furthermore, the first cable C1 is wound such that when the first cable C1 is pulled, the first idler pulley P1a and the first adjacent idler pulley P1b rotate in opposite directions. Additionally, when the first motor winch MC1 is rotated by the first motor M1 to generate a traction force for the first cable C1, a torque about the second axis is applied to the first clamping member J1, allowing the first clamping member J1 to rotate in the direction approaching the second clamping member J2 (the closing direction).

[0111] In addition, Figure 3 and Figure 4 In the example shown, the second cable C2, attached to the second clamping winch JC2, is pulled in a direction perpendicular to the second axis. However, the second cable is switched to a direction perpendicular to the first axis by the second idler pulley P2a, which uses the first axis as its rotation axis. Furthermore, the second cable C2 passes through the shaft 102 via a second adjacent idler pulley P2b, which is adjacent to the second idler pulley P2a and has a rotation axis parallel to the first axis, switching to the longitudinal axis direction of the shaft 102, and then is wound around the second motor winch MC2 at the other end.

[0112] The second cable C2 is wound in the direction that minimizes the distance to the second idler pulley P2a. Furthermore, the second cable C2 is wound such that when the second cable C2 is pulled, the second idler pulley P2a and the second adjacent idler pulley P2b rotate in opposite directions. Here, the direction in which the second cable C2 is wound around the second idler pulley P2a is opposite to the direction in which the first cable C1 is wound around the first idler pulley P1a. Additionally, when the second motor winch MC2 is rotated by the second motor M2 to generate a traction force for the second cable C2, a torque about the second axis is applied to the second clamping member J2, allowing the second clamping member J2 to rotate in a direction approaching the first clamping member J1 (the closing direction).

[0113] More specifically, relative to the second idler pulley P2a and the second adjacent idler pulley P2b, the direction of the second cable C2 wound around the second clamping winch JC2 switches to the longitudinal axis direction of the shaft 102 via a path symmetrical to the first cable C1. Furthermore, the first idler pulley P1a and the second idler pulley P2a preferably have the same diameter. The first adjacent idler pulley P1b and the second adjacent idler pulley P2b do not necessarily have the same diameter as the first idler pulley P1a and the second idler pulley P2a, but preferably have appropriate dimensions to allow each of the first cable C1 and the second cable C2 to pass through the interior of the shaft 102.

[0114] also, Figure 8 Another exemplary configuration of the surgical tool unit end 101 is shown. Figure 9 It is shown that the surgical tool unit has at the end 101 Figure 8 Another example of the degree of freedom configuration of the surgical tool unit 100 is shown in the configuration shown. Figure 8 and Figure 9 The exemplary configuration shown is Figure 3 and Figure 4 The difference in the exemplary degree-of-freedom configuration shown lies in the configuration of the idler wheels for the respective cables of the first cable C1 and the second cable C2.

[0115] exist Figure 8 and Figure 9In the example shown, the first cable C1 attached to the first clamping winch JC1 is pulled in a direction perpendicular to the second axis. However, since the first cable C1 is wound at least once around the first idler pulley P1x, which uses the first axis as its axis of rotation, the first cable C1 passes through the shaft 102 and is switched to the direction of pulling in the longitudinal axis direction of the shaft 102, and then wound around the first motor winch MC1 at the other end. The first cable C1 is wound from the direction with the shortest distance to the first idler pulley P1x. Furthermore, when the first motor winch MC1 is rotated by the first motor M1 to generate a traction force for the first cable C1, a torque about the second axis is applied to the first clamping member J1, allowing the first clamping member J1 to rotate in a direction close to the second clamping member J2 (closing direction).

[0116] Note that a switching unit is provided on a portion of the outer periphery of the first idler wheel P1x. This switching unit switches the winding position in the direction of the first axis so that when the first cable C1 is wound around the outer periphery of the first idler wheel P1x, the cables do not overlap each other. Figure 10 An example configuration of the first idler wheel P1x, including the switching unit, is shown. Figure 10 In the example shown, the switching unit includes a protruding first boss 1001 and a second boss 1002 to provide different winding positions in the first axial direction. The first cable C1 switches its winding position in the first axial direction by passing between the first boss 1001 and the second boss 1002. As a result, the winding positions are different when the first cable C1 is wound around the first idler pulley P1x and when the first cable C1 is separated from the first idler pulley P1x, so that the cables do not overlap each other.

[0117] In addition, Figure 8 and Figure 9 In the example shown, the second cable C2, attached to the second clamping winch JC2, is pulled in a direction perpendicular to the second axis. However, since the second cable C2 is wound at least once around the second idler pulley P2x, which uses the first axis as its axis of rotation, the second cable C2 passes through the shaft 102 and is switched to the direction of pulling in the longitudinal axis direction of the shaft 102, and then wound around the second motor winch MC2 at the other end. The second cable C2 is wound from the direction with the shortest distance to the second idler pulley P2x. Furthermore, when the second motor winch MC2 is rotated by the second motor M2 to generate a traction force for the second cable C2, a torque about the second axis is applied to the second clamping member J2, allowing the second clamping member J2 to rotate in a direction close to the first clamping member J1 (closing direction).

[0118] Note that a switching unit is provided on a portion of the outer periphery of the second idler wheel P2x. This switching unit switches the winding position in the direction of the first axis so that the cables do not overlap each other when the second cable C2 is wound around the outer periphery of the second idler wheel P2x. The switching unit may have a similar design to... Figure 10 The configuration shown.

[0119] exist Figure 8 and Figure 9 In the exemplary configuration shown, with Figure 3 and Figure 4 Compared to the pulleys in the exemplary configuration shown, the idler pulleys for the first cable C1 and the second cable C2 can be smaller, which helps to make the diameter of the shaft 102 smaller.

[0120] Regardless of whether the idler wheel used to switch the direction of the first cable C1 and the second cable C2 passing through shaft 102 has (or is located near the first axis) Figure 3 and Figure 4 or Figure 8 and Figure 9 As shown in the configuration, the first cable C1, after passing through shaft 102, is switched to another direction via idler pulley P1c, and its end is wound around the first motor winch MC1, as shown. Figure 5 As shown. Similarly, after passing through shaft 102, the second cable C2 switches to another direction via idler pulley P2c and wraps its end around the second motor winch MC2. However, in Figure 4 and Figure 9 For convenience, idler wheels P1c and P2c are not shown in the diagram.

[0121] In addition, such as Figure 2 and Figure 5 As shown, the first cable C1 and the second cable C2 are wound around the first motor winch MC1 and the second motor winch MC2, respectively, and then connected via a tension spring TS1. Therefore, the pretension generated by the restoring force of the tension spring TS1 is applied to the first cable C1 and the second cable C2.

[0122] Here, the required pretension of the first cable C1 and the second cable C2 is discussed. Figure 11 The diagram shows the open and closed states of the first clamping member J1 and the second clamping member J2 before applying pretension to the first cable C1 and the second cable C2. Furthermore, Figure 12 The diagram illustrates the opening and closing states of the first clamping member J1 and the second clamping member J2 when pretension is applied to the first cable C1 and the second cable C2. Each figure also shows the state of the first torsion spring TCS1 and the second torsion spring TCS2 torsion about the central axis.

[0123] The spring constants of both the first torsion helical spring TCS1 and the second torsion helical spring TCS2 are expressed in k.j12 [N·mm / deg] represents the radius of both the first clamping winch JC1 and the second clamping winch JC2, expressed in R. j12 [mm] indicates. Furthermore, the angle between the first cable C1 and the second cable C2 before pretension is applied is denoted by α1, and the angle between the first cable C1 and the second cable C2 when pretension is applied is denoted by α2, where the pretension T... pre-tension As shown in equation (1) below.

[0124] [Mathematical Formula 1]

[0125]

[0126] Therefore, it is preferable to install a tension spring TS1 between cables C1' and C2', thereby generating a pretension T for the first cable C1 and the second cable C2. pre-tension .

[0127] C. Operation of the surgical tool unit

[0128] Next, the specific operation method of the surgical tool unit end 101 will be described.

[0129] Operations on the first axis:

[0130] A third cable, comprising a forward cable C3a and a backward cable C3b, is wound into a loop around a third motor winch MC3 and a wrist winch WC. Therefore, when the third motor winch MC3 is rotated by the third motor M3, a traction force is generated in the third cable, and the wrist winch WC can rotate about a first axis. Consequently, the wrist element WE and the end effector mounted on the wrist element WE can rotate about the first axis.

[0131] Operations on the second axis:

[0132] The average of the angles of the first clamping member J1 and the second clamping member J2 around the second axis is defined as the angle of the end effector around the second axis. When the first clamping winch JC1 and the second clamping winch JC2 rotate in the same direction and at the same speed, it causes the end effector to rotate around the second axis.

[0133] Operation of the end effector:

[0134] The end effector is formed by a pair of opposing clamping members: a first clamping member J1 and a second clamping member J2 (see, for example, [link to relevant documentation]). Figure 3 The opening angles of the first clamping member J1 and the second clamping member J2 are set to the switching angles of the end effector. When the first motor winch MC1 and the second motor winch MC2 rotate at the same speed in opposite directions, the end effector is opened and closed.

[0135] Figure 13 An example operation of the wrist element WE around a first axis is shown. Here, the figure is a view of the end 101 of the surgical tool unit, taken from a direction parallel to the first axis. As shown, the pulley radius of the wrist winch WC is represented by R. ψ The rotation angle of the wrist element WE around the first axis is represented by ψ.

[0136] also, Figure 14 and Figure 15 An example operation of the end effector around a second axis is shown. Here, each figure is a view of the end of the surgical tool unit 101 viewed from a direction parallel to the second axis. As shown, the pulley radii of both the first clamping winch JC1 and the second clamping winch JC2 are R. θ This indicates that the rotation angle of the first clamping member J1 about the second axis is θ. g1 The rotation angle of the second clamping member J2 about the second axis is θ. g2 The opening angle of the end effector is α, and the rotation angle of the end effector around the second axis is θ.

[0137] Furthermore, although not shown in the figure, the pulley radii of both the first motor winch MC1 and the second motor winch MC2 are determined by R. m12 This indicates that the pulley radius of the third motor winch MC3 is R. m3 The rotation angle of the first motor M1 is The rotation angle of the second motor M2 is The rotation angle of the third motor M3 is

[0138] Here, the rotation angle ψ of the wrist element WE about the first axis, the rotation angle θ of the end effector about the second axis, and the opening angle α of the end effector are respectively represented in the following equations (2) to (4).

[0139] [Mathematical Formula 2]

[0140]

[0141] [Mathematical Formula 3]

[0142]

[0143] [Mathematical Formula 4]

[0144] α=θ g1 -θ g2 …(4)

[0145] Meanwhile, the rotation angle θ of the first clamping member J1 about the second axis is represented in the following equations (5) and (6), respectively. g1 The rotation angle θ of the second clamping member J2 about the second axisg2 .

[0146] [Mathematical Formula 5]

[0147]

[0148] [Mathematical Formula 6]

[0149]

[0150] From equations (2) to (6) above, it can be seen that the rotation angle θ of the first clamping member J1 and the second clamping member J2 around the second axis is... g1 and θ g12 The rotation angle ψ of the wrist element WE around the first axis is not affected. On the other hand, the rotation angle ψ of the wrist element WE around the first axis affects the rotation angle θ of the first clamping member J1 and the second clamping member J2 around the second axis. g1 and θ g2 Therefore, by performing control to compensate for the effect of the rotation angle ψ of the wrist element WE around the first axis, the desired rotation angle θ and opening angle α of the target end effector around the second axis can be obtained.

[0151] In short, by controlling the rotation angle of the third motor M3 The rotational movement of the wrist component WE around the first axis can be controlled. Furthermore, the rotation angles of the first motor M1, the second motor M2, and the third motor M3 can be controlled. and It can control the rotational motion and opening and closing motion of the end effector around the second axis.

[0152] D. Range of motion of the surgical tool unit

[0153] Next, the range of motion of the surgical tool unit end 101 will be described.

[0154] Figures 16 to 21 An example of the opening and closing of the end effector and its rotational motion about a second axis is shown.

[0155] Figure 16 and Figure 17 The image shows the end effector open at an angle θ = 0° around the second axis. Figure 16 The end of the surgical tool unit 101, as viewed from a direction parallel to the second axis, is shown. Figure 17 The end of the surgical tool unit 101 is shown as viewed from an oblique direction.

[0156] also, Figure 18 and Figure 19 The image shows the end effector open at an angle θ = 30° around the second axis. Figure 18The end of the surgical tool unit 101, as viewed from a direction parallel to the second axis, is shown. Figure 19 The end of the surgical tool unit 101 is shown as viewed from an oblique direction.

[0157] also, Figure 20 and Figure 21 The image shows the end effector closed with an angle θ = 30° around the second axis. Here, Figure 20 The end of the surgical tool unit 101, as viewed from a direction parallel to the second axis, is shown. Figure 21 The end of the surgical tool unit 101 is shown as viewed from an oblique direction.

[0158] Figures 22 to 25 An example is shown of the rotational motion of the wrist element WE about a first axis and the rotational motion of the end effector about a second axis. Here, in Figures 22 to 25 In any of them, the end effector is in the open state.

[0159] Figure 22 The diagram shows a state where the wrist element WE rotates at an angle ψ of 0° about the first axis, and the end effector rotates at an angle θ of 0° about the second axis. Furthermore, Figure 23 The diagram shows a state where the wrist element WE rotates at an angle ψ of 0° about the first axis, and the end effector rotates at an angle θ of 100° about the second axis. Furthermore, Figure 24 The diagram shows a state where the wrist element WE rotates at an angle ψ of 90° about the first axis, and the end effector rotates at an angle θ of 0° about the second axis. Furthermore, Figure 25 The diagram shows the state where the wrist element WE rotates at an angle ψ of 90° about the first axis and the end effector rotates at an angle θ of 100° about the second axis.

[0160] The cables used to pull the first clamp winch JC1 and the second clamp winch JC2 only require a single first cable C1 and a single second cable C2, respectively. The portion of the first cable C1 connected to the first clamp winch JC1 can be located at a point where the first cable C1 is wound around the outer circumference of the first clamp winch JC1 at a 90° or greater angle. The portion of the second cable C2 connected to the second clamp winch JC2 can also be located at a 90° or greater angle.

[0161] To maintain a greater range of motion of the end effector about the second axis, it is preferable to provide a section where the first cable C1 and the second cable C2 are connected to the first clamping winch JC1 and the second clamping winch JC2 respectively at a 150° winding position, while the wrist element WE rotates at an angle ψ of 0° about the first axis, and the end effector rotates at an angle θ of 0° about the second axis. This arrangement ensures a range of motion of 90° or greater for the end effector about the second axis.

[0162] E. Modification of surgical tool unit

[0163] E-1. Modification of the method for applying repulsive force between clamping components

[0164] Replace torsion coil springs (see) Figure 6 and Figure 7 A helical compression spring can be used for spring SP, which continuously applies a repulsive force between the first clamping member J1 and the second clamping member J2.

[0165] Figures 26 to 31 An exemplary configuration of a surgical tool unit end 101 is shown, which uses a helical compression spring to generate a repulsive force between a first clamping member J1 and a second clamping member J2, and the movement of an end effector opening / closing and rotating about a second axis is also shown.

[0166] Figure 26 and Figure 27 The image shows the end effector open with an angle θ = 0° around the second axis. Furthermore, Figure 28 and Figure 29 The image shows the end effector open at an angle θ = 30° around the second axis. Furthermore, Figure 30 and Figure 31 The end effector is shown in the closed state with a rotation angle θ = 30° around the second axis.

[0167] Here, Figure 26 , Figure 28 and Figure 30 The end of the surgical tool unit 101, as viewed from a direction parallel to the second axis, is shown. Figure 27 , Figure 29 and Figure 31 The end of the surgical tool unit 101 is shown as viewed from an oblique direction.

[0168] Note that the spring SP can be replaced by other elastic components or repulsive force generating devices that can apply a repulsive force between the clamping components, regardless of the orientation of the surgical instruments. For example, alternatives could be polymer elastic components, air-pressurized bellows, or tension springs attached to apply a repulsive force between the clamping components.

[0169] Alternatively, the first clamping member J1 and the second clamping member J2 can be integrally molded like tweezers formed from folded metal rods to obtain a structure with elasticity in the opening direction.

[0170] E-2. Modification of the method for driving cables

[0171] In the example above, a rotary motor is used as an actuator to pull the cable. A linear actuator can also be used as an actuator to pull the cable.

[0172] Figure 32 An example configuration of a surgical tool unit is shown, which is designed to pull the forward and backward cables C3a and C3b of the first cable C1, the second cable C2, and the third cable, respectively, using linear actuators LA1, LA2, LA3a, and LA3b. An enlarged view of the surgical tool unit drive unit 103 is also shown in the figures.

[0173] Pneumatic actuators can be used as linear actuators LA1, LA2, LA3a, and LA3b. Furthermore, examples of other modifications to actuators that pull cables may include the following.

[0174] - Piezoelectric linear motion ultrasonic motor

[0175] - Piezoelectric rotating ultrasonic motor

[0176] - Hydraulic linear motor

[0177] - Hydraulic rotary motor

[0178] - Polymer linear actuator

[0179] - Electromagnetic linear motor

[0180] - Shape memory alloy

[0181] Furthermore, regardless of the type of actuator used, the actuator can be equipped with a speed reducer, a position detector, and an emergency braking mechanism. Examples of speed reducers include gear reducers, wave gear reducers, planetary gear reducers, paradoxical planetary gear reducers, cable reducers, traction reducers, ball screws, sliding screws, and worm gears. Examples of position detectors include magnetic encoders, optical encoders, and potentiometers.

[0182] E-3. Modification of the shape of the clamping component

[0183] In each of the accompanying drawings, for simplicity, the first clamping member J1 and the second clamping member J2 are depicted with simple shapes. In reality, the shape of the clamping members can be changed depending on the intended use of the surgical tool unit. For example, the following forms may be adopted.

[0184] -tweezers

[0185] - Bipolar tweezers

[0186] -Scissors

[0187] -stapler

[0188] E-4. Axis Modification

[0189] Shaft 102 is ideally a rigid body, but can have a flexible configuration. Furthermore, for simplicity, each figure shows shaft 102 with a simple hollow cylindrical shape. However, the shaft does not necessarily have to be cylindrical. For example, the cross-section of shaft 102 can have a polygonal or elliptical shape, or its cross-sectional shape can change midway along the longitudinal axis.

[0190] E-5. Cable Modification

[0191] The cable can be a bundle of metal wires, a bundle of resin, or a mixture of multiple materials (e.g., metal wires and resin). Furthermore, a shaft 102 formed of a highly rigid metal can be used for cable portions disposed within the shaft 102 and not requiring bending, and connected to flexible cables used in bending portions. In this way, a cable can be formed. Examples of cable alternatives are shown below.

[0192] - Metal wire or resin wire

[0193] - Threads obtained by weaving small-diameter metal or resin wires.

[0194] E-6. Modification of the idler wheel

[0195] In the example above, idler wheels are used to adjust the cable layout. Using idler wheels reduces sliding friction when pulling the cable and allows for smoother operation. With reduced sliding friction, idler wheels with rotating bearings can be used. However, the use of idler wheels increases the size of the mechanism and the number of parts becomes larger. Therefore, to further reduce the size of the surgical tool unit end 101, the cable can be arranged along a guide groove formed in the mechanism without any idler wheels.

[0196] E-7. Sensing

[0197] To detect cable tension, a strain sensor can be installed on each cable. Examples of strain sensors include variable resistance strain sensors and fiber Bragg grating (FBG) strain sensors. Alternatively, a torque sensor can be mounted on the actuator that pulls the cable.

[0198] F. Application Examples of Surgical Tool Units

[0199] F-1. Example Applications of Surgical Support Systems

[0200] Figure 33An example external configuration of a surgical support system 3300 using a surgical tool unit according to this embodiment is shown. The surgical support system 3300 shown in the figures includes an arm 3301 with a multi-link structure, and a surgical tool unit 3302 is attached to the end of the arm 3301. The surgical tool unit 3302 may be replaceable. The surgical support system 3300 is used for, for example, laparoscopic surgery, and the end 101 of the surgical tool unit is inserted into the abdominal cavity via a cannula (not shown) to perform operations such as grasping and cutting the affected area.

[0201] For example, the surgical support system 3300 shown in the figure serves as a slave device in a master-slave robot, and drives the arm 3301 and surgical tool unit 3302 according to instructions from the master device (not shown). Furthermore, for example, a bilateral control method is applied to this type of master-slave robot.

[0202] Note that arm 3301 can be any type of robot mechanism, such as a polar coordinate robot, cylindrical coordinate robot, Cartesian coordinate robot, vertical articulated robot, horizontal articulated robot, parallel link robot, or remote motion center (RCM) robot.

[0203] Furthermore, when the surgical support system 3300 is a surgical robot that supports laparoscopic surgery, the arm 3301 is preferably a vertical articulated arm or a remote center of motion (RCM) arm, whose remote rotation center is located away from the drive rotation center and performs pivoting (fixed-point) motion, thereby achieving the compactness of the mechanism, ease of generating pivoting motion at the cannula position, etc.

[0204] Furthermore, despite Figure 33 An example configuration of a surgical support system is shown, to which only one surgical tool unit can be attached. However, this technology can also be applied to surgical support systems to which multiple surgical tool units can be attached simultaneously to perform laparoscopic surgery.

[0205] F-2. Example Application of Surgical Operation Unit

[0206] Figure 34 An example external configuration of a surgical operation unit 3400 using a surgical tool unit according to this embodiment is shown. The surgical operation unit 3400 includes a handle unit 3401 that is directly held and operated by a user (operator) by hand, and a surgical tool unit 3402 is attached to the end of the handle unit 3401. The surgical tool unit 3402 may be replaceable.

[0207] Handle unit 3401 may include a joystick 3403, which can be operated with the thumb to specify a desired orientation of, for example, the surgical tool unit end of surgical tool unit 3402. Handle unit 3401 may also include a button 3404, which can be pushed with the index finger to issue a command to open and close the clamping member.

[0208] A controller (not shown) is installed in the handle unit 3401. Based on the input of the joystick 3403 or button 3404, the controller calculates the rotation angle of the wrist element WE around the first axis and the rotation and opening angle of the end effector around the second axis. The controller then converts these angles into the rotation amount of each motor and outputs control signals to the surgical tool unit drive unit 103.

[0209] G. Effect

[0210] According to the technology disclosed herein, the rotary motion (about a second axis) of the end effector comprising a pair of opposing clamping members and the opening and closing motion of the clamping members can be caused by two cables. Therefore, the number of idler wheels used to pull the cables can be reduced, and the diameter of the end of the surgical tool unit can be easily made smaller. In particular, the number of idler wheels arranged in series on the rotation axis (first axis) of the end effector is two, thus facilitating a smaller diameter.

[0211] Furthermore, by using the technology according to this disclosure, the number of cables and idlers used in the surgical tool unit is reduced, which helps to lower costs. As mentioned above, the structure of the surgical tool unit is simplified due to the reduced number of parts. Therefore, assembly costs can be reduced, and maintenance is easier.

[0212] Furthermore, according to the technology disclosed herein, each clamping member is pulled by a cable. However, the connection between the clamping winch and the cable can be positioned at any desired location on the clamping winch. Therefore, a wider range of motion can be achieved for each clamping member.

[0213] Furthermore, in the surgical tool unit applying the technology according to this disclosure, the wrist element and the end effector mounted on the wrist element and equipped with an opening and closing mechanism can be driven by three motors, and the number of cables is reduced. Therefore, the cable layout in the surgical tool unit drive unit can be simplified. Consequently, the surgical tool unit can be manufactured to be compact and lightweight.

[0214] Furthermore, in the surgical tool unit applying the technology according to this disclosure, no idler wheel is provided on the wrist element. Therefore, the distance from the first axis to the second axis can be shortened.

[0215] Industrial applicability

[0216] The technology according to this disclosure has been described in detail with reference to specific embodiments. However, it will be apparent to those skilled in the art that modifications and substitutions can be made to the embodiments without departing from the scope of the technology according to this disclosure.

[0217] This specification has primarily described embodiments of the application of the technology according to this disclosure to surgical tools used in surgical support systems. However, the subject matter of the technology according to this disclosure is not limited to these embodiments. The technology according to this disclosure can be applied to robots in various fields beyond healthcare, such as precision work robots. The technology according to this disclosure can also be applied to grasping surgical manipulators and precision work devices that can be operated by hand grasping.

[0218] In short, the technology according to this disclosure has been described by way of example, and the description in this specification should not be construed as limiting. The claims should be considered when understanding the subject matter of the technology according to this disclosure.

[0219] Note that the technology according to this disclosure can also be embodied in the configuration described below.

[0220] (1) A surgical tool, comprising:

[0221] axis;

[0222] A wrist, which is rotatably connected to one end of a shaft about a first axis;

[0223] A first clamping member and a second clamping member, each clamping member being rotatably supported relative to the wrist about a second axis; and

[0224] An elastic member that applies a repulsive force between a first clamping member and a second clamping member.

[0225] (2) The surgical tools according to (1), wherein,

[0226] The elastic member includes a first elastic member that applies a repulsive force to the first clamping member and a second elastic member that applies a repulsive force to the second clamping member.

[0227] (3) The surgical tools according to (1) further include:

[0228] The first clamping winch is disposed on the first clamping member and uses the second axis as the rotation axis;

[0229] A first cable, the first cable being wound around a first clamping winch;

[0230] A second clamping winch, the second clamping winch being disposed on a second clamping member and using a second axis as a rotation axis; and

[0231] The second cable, which is wound around the second clamping winch, wherein...

[0232] The first clamping member rotates toward the second clamping member by pulling the first cable, and the second clamping member rotates toward the first clamping member by pulling the second cable.

[0233] (4) The surgical tools according to (3) further include:

[0234] A wrist winch, wherein the wrist winch is disposed at the wrist and uses a first axis as a rotation axis; and

[0235] The third cable includes a forward cable and a backward cable wound in opposite directions around the wrist winch.

[0236] (5) The surgical tools according to (4) further include:

[0237] The first actuator pulls the first cable;

[0238] A second actuator pulls a second cable; and

[0239] The third actuator pulls the third cable.

[0240] (6) The surgical instrument according to any one of (1) to (5), wherein,

[0241] The elastic member has a natural length, at which the repulsive force is effective even at the maximum opening angle of the first clamping member and the second clamping member.

[0242] (7) The surgical tool according to any one of (3) to (6) further includes:

[0243] A first idler unit switches the first cable to a direction substantially parallel to the longitudinal axis of the shaft; and

[0244] The second idler unit switches the second cable to a direction substantially parallel to the longitudinal axis of the shaft.

[0245] (8) The surgical tools according to (7), wherein,

[0246] The first idler wheel unit includes a first idler wheel that rotates about a first axis and a first adjacent idler wheel that is adjacent to the first idler wheel and has a rotation axis parallel to the first axis.

[0247] The second idler unit includes a second idler that rotates about a first axis and a second adjacent idler that is adjacent to the second idler and has a rotation axis parallel to the first axis.

[0248] (9) The surgical tools according to (7), wherein,

[0249] The first idler unit includes a first idler wheel that rotates about a first axis, and the first cable is wound around the first idler wheel at least once.

[0250] The second idler unit includes a second idler that rotates about a first axis, and the second cable is wound around the second idler at least once.

[0251] (10) The surgical tool according to (9), wherein,

[0252] At least one of the first idler wheel and the second idler wheel includes a switching unit that switches the cable winding position in the first axial direction to avoid cable overlap when winding the first cable.

[0253] (11) The surgical tool according to any one of (3) to (10) further includes

[0254] A pretensioning unit that applies pretension to the first cable and the second cable.

[0255] (12) The surgical tool according to any one of (4) to (11) further includes

[0256] A pretensioning unit that applies pretension to the third cable.

[0257] (13) The surgical instrument according to any one of (4) to (11), wherein,

[0258] The wrist winch is subjected to rotational torque by the tension difference generated between the forward and backward cables by driving the third actuator, so that the wrist rotates about the first axis.

[0259] (14) The surgical tool according to any one of (3) to (13), wherein,

[0260] In order to cause a change in the angular difference between the first clamping member and the second clamping member about the second axis, the tension of the first cable and the second cable is controlled by driving the first actuator and the second actuator.

[0261] (15) The surgical tool according to any one of (3) to (13), wherein,

[0262] In order to cause a change in the sum of the angles of the first clamping member and the second clamping member about the second axis, the tension of the first cable and the second cable is controlled by driving the first actuator and the second actuator.

[0263] (16) A surgical support system, comprising surgical instruments and an arm for attaching the surgical instruments.

[0264] The surgical instruments include:

[0265] axis;

[0266] A wrist, which is rotatably connected to one end of a shaft about a first axis;

[0267] A first clamping member and a second clamping member, each clamping member being rotatably supported relative to the wrist about a second axis; and

[0268] An elastic member that applies a repulsive force between a first clamping member and a second clamping member.

[0269] (17) A surgical operation unit, comprising surgical instruments and a handle unit for attaching the surgical instruments.

[0270] The surgical instruments include:

[0271] axis;

[0272] A wrist, which is rotatably connected to one end of a shaft about a first axis;

[0273] A first clamping member and a second clamping member, each clamping member being rotatably supported relative to the wrist about a second axis; and

[0274] An elastic member that applies a repulsive force between a first clamping member and a second clamping member.

[0275] List of reference numerals

[0276] 100 Surgical Tool Units

[0277] 101 Surgical tool unit end

[0278] 102 shafts

[0279] 103 Surgical Tool Unit Drive Unit

[0280] 3300 Surgical Support System

[0281] 3301 arm

[0282] 3302 Surgical Tool Unit

[0283] 3400 surgical operation units

[0284] 3401 Handle Unit

[0285] 3402 Surgical Tool Unit

[0286] 3403 joystick

[0287] Button 3404.

Claims

1. A surgical instrument, comprising: axis; A wrist, which is rotatably connected to one end of a first axis; A first clamping member and a second clamping member, each of the first clamping member and the second clamping member being supported so as to be able to rotate about a second axis relative to the end of the wrist; An elastic member that applies a repulsive force between the first clamping member and the second clamping member; A wrist winch, wherein the wrist winch is disposed near the base of the wrist; as well as The third cable includes a forward cable and a backward cable wound in opposite directions around the wrist winch. The rotational torque based on the tension difference between the forward cable and the backward cable acts on the wrist winch, causing the wrist to rotate about the first axis relative to the wrist winch.

2. The surgical tool according to claim 1, wherein, The elastic member includes a first elastic member that applies the repulsive force to the first clamping member and a second elastic member that applies the repulsive force to the second clamping member.

3. The surgical instrument according to claim 1 further comprises: A first clamping winch is disposed on the first clamping member and uses the second axis as a rotation axis; A first cable, the first cable being wound around the first clamping winch; The second clamping winch is disposed on the second clamping member and uses the second axis as the rotation axis; as well as The second cable, the second cable being wound around the second clamping winch, wherein... The first clamping member rotates in the direction toward the second clamping member by pulling the first cable, and the second clamping member rotates in the direction toward the first clamping member by pulling the second cable.

4. The surgical instrument according to claim 3 further comprises: The first actuator pulls the first cable; The second actuator pulls the second cable; as well as A third actuator pulls the third cable.

5. The surgical tool according to claim 1, wherein, The elastic member has a natural length, at which the repulsive force works even at the maximum opening angle of the first clamping member and the second clamping member.

6. The surgical instrument according to claim 3, further comprising: A first idler unit switches the first cable to a direction substantially parallel to the longitudinal axis of the shaft; as well as The second idler unit switches the second cable to a direction substantially parallel to the longitudinal axis of the shaft.

7. The surgical instrument according to claim 6, wherein, The first idler wheel unit includes a first idler wheel that rotates about the first axis and a first adjacent idler wheel that is adjacent to the first idler wheel and has a rotation axis parallel to the first axis. The second idler unit includes a second idler that rotates about the first axis and a second adjacent idler that is adjacent to the second idler and has a rotation axis parallel to the first axis.

8. The surgical instrument according to claim 6, wherein, The first idler unit includes a first idler wheel that rotates about the first axis, and the first cable is wound around the first idler wheel at least once. The second idler unit includes a second idler that rotates about the first axis, and the second cable is wound around the second idler at least once.

9. The surgical instrument according to claim 8, wherein, At least one of the first idler wheel and the second idler wheel includes a switching unit that switches the cable winding position in the first axial direction to avoid cable overlap when winding the first cable.

10. The surgical instrument according to claim 3, further comprising: A pretensioning unit that applies pretension to the first cable and the second cable.

11. The surgical instrument according to claim 1, further comprising: A pretensioning unit that applies pretension to the third cable.

12. The surgical instrument according to claim 1, further comprising: A third actuator pulls the third cable. Specifically, the wrist winch is subjected to a rotational torque by driving the third actuator to generate a tension difference between the forward cable and the backward cable, so that the wrist rotates about the first axis.

13. The surgical tool according to claim 4, wherein, In order to cause a change in the angular difference between the first clamping member and the second clamping member about the second axis, the tension of the first cable and the second cable is controlled by driving the first actuator and the second actuator.

14. The surgical instrument according to claim 4, wherein, In order to cause a change in the sum of the angles of the first clamping member and the second clamping member about the second axis, the tension of the first cable and the second cable is controlled by driving the first actuator and the second actuator.

15. A surgical support system comprising a surgical instrument according to any one of claims 1-14 and an arm attached to said surgical instrument.

16. A surgical operation unit comprising a surgical instrument according to any one of claims 1-14 and a handle unit attached to said surgical instrument.

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