Surgical tool, surgical support system, and surgical operating unit

Abstract

To provide a surgical tool having an open / close type end effector (e.g., forceps) and configured to be small in size and light in weight, the surgical tool is provided with a shaft (102), a pitch unit (401) connected to one end of the shaft (102) to be rotatable about a first axis, a roll unit (402) supported to be rotatable about a second axis with respect to the pitch unit (401), and a grip unit (403) supported to be linearly movable in the second axis direction with respect to the roll unit (402), and further includes a pair of jaws (405a, 405b) attached to a lower end of the roll unit (402) in the second axis direction and opened and closed in conjunction with the linear movement of the grip unit (403) in the second axis direction.

Description

TECHNICAL FIELD

[0001] The technology disclosed in this specification (hereinafter referred to as "the present disclosure") relates to a surgical tool used in a surgical robot, for example, a surgery support system and a surgery operation unit. BACKGROUND

[0002] In recent years, the progress of robot technology is remarkable, and robots are now widely used in work sites in various industrial fields. For example, in the medical field, master-slave surgical robots are becoming more and more common. Such a surgical robot is designed so that an operator such as a surgeon operates one or more surgical tools included in a slave device from a master side. In addition, as a known method for controlling a master-slave system, there is a bidirectional method in which a slave device is operated from a master device, while the state of the slave device is fed back to the master device (for example, see Patent Literature 1).

[0003] A distal end effector having an opening and closing mechanism (for example, forceps) is provided at the end portion of the surgical tool installed in the slave device. In addition, assuming that the surgical tool will be used in surgery in a body cavity, on a body surface, or the like, it is strongly desired that the end portion of the surgical tool has a plurality of degrees of freedom, has a small diameter, is small in size, and is light in weight. Specifically, it is desired that the end portion of the surgical tool has a total of three degrees of freedom, that is, two rotational degrees of freedom and one opening and closing degree of freedom. In addition, in order to miniaturize the surgical tool, a driving method using a cable is often employed in handling the end portion of the surgical tool (for example, see Patent Literatures 2 to 4).

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2019-34002

[0007] Patent Literature 2: Japanese Patent Application Publication No. 09-542671

[0008] Patent Literature 3: JP 2018-534100 W

[0009] Patent Literature 4: JP 2019-501699 W

[0010] Patent Literature 5: WO 2018 / 163680 SUMMARY

[0011] PROBLEMS TO BE SOLVED BY THE INVENTION

[0012] An object of the technology according to the present disclosure is to provide a surgical tool having an open-close end effector (e.g., forceps) that is designed to be small in size and light in weight and used in a surgical robot, and to provide a surgery support system and a surgery operation unit.

[0013] Solution to the problem

[0014] A first aspect of the technology according to the present disclosure is:

[0015] A surgical tool includes:

[0016] a shaft;

[0017] a pitch unit connected to a distal end of the shaft in a manner rotatable about a first axis;

[0018] a roll unit supported by the pitch unit in a manner rotatable about a second axis; and

[0019] a grip unit supported by the roll unit in a manner linearly movable in a direction of the second axis.

[0020] The surgical tool according to the first aspect further includes a pair of jaws attached to a lower end of the roll unit in the direction of the second axis and opened and closed in conjunction with the linear movement of the grip unit in the direction of the second axis.

[0021] When the first motor rotates the first drive winch, the grip unit linearly moves in the direction of the second axis by the pulling force generated in the first forward and backward cable sets, and then the pair of jaws are opened and closed in conjunction with the linear movement. Meanwhile, when the second motor rotates the second drive winch, the roll unit is rotated about the second axis by the pulling force generated in the second forward and backward cable sets.

[0022] Further, when the third motor rotates the third drive winch in a forward or reverse direction, one of the first forward and backward cable sets and the second forward and backward cable sets is pulled in the direction of the longitudinal axis of the shaft, and thus the pitch unit is rotated about the first axis.

[0023] Further, a second aspect of the technology according to the present disclosure is:

[0024] A surgery support system includes a surgical tool and an arm connecting the surgical tool,

[0025] The surgical tool includes:

[0026] a shaft;

[0027] a pitch unit connected to a distal end of the shaft in a manner rotatable about a first axis;

[0028] a rolling unit supported by the pitching unit so as to be rotatable about a second axis; and

[0029] a gripping unit supported by the rolling unit so as to be linearly movable in the direction of the second axis.

[0030] Further, a third aspect of the technology according to the present disclosure is:

[0031] a surgical tool and a handle unit connected to the surgical tool,

[0032] the surgical tool includes:

[0033] a shaft;

[0034] a pitching unit connected to a distal end of the shaft so as to be rotatable about a first axis;

[0035] a rolling unit supported by the pitching unit so as to be rotatable about a second axis; and

[0036] a gripping unit supported by the rolling unit so as to be linearly movable in the direction of the second axis.

[0037] Effects of the Invention

[0038] By the technology according to the present disclosure, it is possible to provide a surgical tool having an open / close end effector (e.g., forceps) at a distal end thereof, which includes a small number of components, has a small diameter, and is used for a surgical robot, and to provide a surgery support system and a surgery operation unit.

[0039] Note that the advantageous effects described in the present specification are merely examples and the advantageous effects to be brought about by the technology according to the present disclosure are not limited to them. Moreover, in some cases, the technology according to the present disclosure can exhibit additional advantageous effects in addition to the above-described advantageous effects.

[0040] Further objects, features and advantages of the technology according to the present disclosure will become apparent from the following detailed description of the embodiments described below and reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a diagram showing an example external configuration of the surgical tool unit 100;

[0042] Figure 2 is a diagram showing an example external configuration of the surgical tool unit 100;

[0043] Figure 3 is a six-face view of the surgical tool unit 100;

[0044] Figure 4is a close-up view of the surgical tool unit end 101;

[0045] Figure 5 is a close-up view of the surgical tool unit end 101;

[0046] Figure 6 is an exploded view of the surgical tool unit end 101;

[0047] Figure 7 is a close-up view of the surgical tool unit end 101 (pitch unit 401 and shaft 102 shown in transparent fashion);

[0048] Figure 8 is a six-face view of the surgical tool unit end 101;

[0049] Figure 9 is a diagram showing the roll unit 402, the grip unit, the rod 404, and a pair of jaws 405a and 405b;

[0050] Figure 10 is a diagram showing a cross-section of the roll unit 402, the grip unit, the rod 404, and a pair of jaws 405a and 405b;

[0051] Figure 11 is a close-up cross-sectional view of the lower end of the rod 404 and a pair of jaws 405a and 405b;

[0052] Figure 12 is a diagram showing a close-up view of a portion of the surgical tool unit end 101 in the vicinity of the first axis;

[0053] Figure 13 is a diagram showing the mechanism by which the first forward cable C1a and the first backward cable C1b set are fixed to the grip unit 403;

[0054] Figure 14 is a diagram showing the mechanism by which the second forward cable C2a and the second backward cable C2b set are fixed to the roll unit 402;

[0055] Figure 15 is a diagram showing an example layout of actuators in the surgical tool unit drive unit 103;

[0056] Figure 16 is a diagram showing the state in which the jaws 405a and 405b are open and closed;

[0057] Figure 17 is a diagram showing the state in which the jaws 405a and 405b are open and closed;

[0058] Figure 18 is a diagram showing the state in which the jaws 405a and 405b are open and closed;

[0059] Figure 19 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0060] Figure 20 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0061] Figure 21 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0062] Figure 22 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0063] Figure 23 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0064] Figure 24 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0065] Figure 25 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0066] Figure 26 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0067] Figure 27 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0068] Figure 28 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0069] Figure 29 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0070] Figure 30 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0071] Figure 31 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0072] Figure 32 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0073] Figure 33 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0074] Figure 34 FIG. 17 is a view showing a state in which the roll unit 402 is rotated around the second axis;

[0075] Figure 35 FIG. 12 is a diagram showing an example rotation operation of the jaw;

[0076] Figure 36 FIG. 12 is a diagram showing an example rotation operation of the jaw;

[0077] Figure 37 FIG. 17 is a diagram showing a cross section of the rolling unit 3700 according to a modification;

[0078] Figure 38 FIG. 18 is a diagram showing an example cross-sectional configuration of the rolling unit 3700 using an FBG sensor;

[0079] Figure 39 FIG. 23 is a diagram showing an example external configuration of the surgical robot 3900 using the surgical tool unit;

[0080] Figure 40 FIG. 26 is a diagram showing an example external configuration of the operation unit 4000. DETAILED DESCRIPTION

[0081] In the following description, the technology according to the present disclosure will be explained with reference to the accompanying drawings, in the following order.

[0082] A. Problems concerning the surgical tool unit

[0083] B. Example configuration of the surgical tool unit

[0084] C. Operation of the surgical tool unit

[0085] D. Modification of the rolling unit

[0086] E. Modification of the surgical tool unit

[0087] F. Application example of the surgical tool unit

[0088] G. Effects

[0089] A. Problems concerning the surgical tool unit

[0090] A surgical tool for a surgical robot preferably has a total of three degrees of freedom, i.e., two rotational degrees of freedom and one degree of freedom for opening and closing at the tip. For example, a surgical tool of a known type includes an open-close type tip end effector formed by a pair of jaws, a wrist portion that supports the tip end effector, and a shaft having a longitudinal axis and connecting the wrist portion to an end portion thereof. Such a surgical tool has a degree of freedom configuration including a first axis for turning the wrist portion around a yaw axis, for example, with respect to the end portion of the shaft, a second axis for turning the orientation of the tip end effector around a pitch axis, for example, with respect to the wrist portion, and a third axis (open-close axis) for opening and closing the pair of jaws (see, for example, Patent Documents 2 to 4). In the case of such a degree of freedom configuration, both the first axis and the second axis are limited to movement within approximately ±90° due to the limitation of the movement range of each link.

[0091] In the case where the surgical tool is inserted into a body cavity through a trocar, as in laparoscopic surgery, the diameter of the surgical tool needs to be reduced at the end portion thereof. Therefore, as described above, the surgical tool preferably has a configuration having, for example, a first axis for turning the wrist portion around a yaw axis with respect to the end portion of the shaft and, for example, a second axis for turning the orientation of the tip end effector around a pitch axis with respect to the wrist portion.

[0092] On the other hand, in the case where the surgical tool is used in surgery on or near the surface of the body, the limitation on the reduction of the end portion diameter is relaxed, but a greater range of movement is required.

[0093] Therefore, the present specification will suggest below a surgical tool unit having a total of three degrees of freedom, i.e., two rotational degrees of freedom and one degree of freedom for opening and closing at the tip, and achieving a greater range of movement. The surgical tool unit according to the present disclosure should be used, for example, in surgery on or near the surface of the body, but the purpose is to achieve a greater range of movement.

[0094] Specifically, the surgical tool unit according to the present disclosure includes a shaft having a longitudinal axis, a pitch unit, a roll unit, and a grip unit. The shaft supports the pitch unit at an end portion thereof such that the pitch unit is turnable around a first axis parallel to a pitch axis. Meanwhile, the pitch unit rotatably supports the roll unit around a second axis parallel to a roll axis. Further, the roll unit can support a grip unit formed by a pair of jaws that are openable and closable. Therefore, the surgical tool unit according to the present disclosure has three degrees of freedom: a rotational degree of freedom of the pitch unit turning around the first axis with respect to the end portion of the shaft; a rotational degree of freedom of turning around the second axis when the roll unit is supported by the pitch unit; and a degree of freedom of opening and closing the pair of jaws.

[0095] As will be described later, in the surgical tool unit according to the present disclosure, the pitch unit has a range of movement of ±80° about the first axis, and the roll unit has a range of movement of -140° to 150° about the second axis. For example, in the case where the surgical tool unit is used for a surgery on or near a body surface, it can be said that these ranges of movement are sufficiently wide. Note that, for example, the maximum opening and closing angle of the jaws is 20°.

[0096] In the embodiment described below, the traction force generated by the cable is used to drive the pitch unit, the roll unit, and the gripping unit (or the jaws). That is, the power of each actuator provided at the root side (proximal side) of the shaft is transmitted to the pitch unit, the roll unit, and the gripping unit at the tip side (distal side) through the cable.

[0097] Further, in the power transmission mechanism using the cable, a plurality of pulleys can be used, for example, a capstan for applying power to the cable or converting the force from the cable into an axial force, and an idler for adjusting the layout of the cable in the shaft and applying a constant tension to the cable.

[0098] B. Example configuration of surgical tool unit

[0099] Figure 1 and Figure 2 An example external configuration of a surgical tool unit according to the present disclosure is shown. Further, Figure 3 A six-face view of the surgical tool unit is shown. The surgical tool unit 100 shown in the figure includes a hollow shaft 102 having a longitudinal axis, a surgical tool unit end portion 101 at one end of the shaft 102, and a surgical tool unit drive unit 103 at the other end of the shaft 102. Figure 1 A perspective view of the surgical tool unit 100 is shown. Figure 2 The shaft 102 and the surgical tool unit drive unit 103 are shown in a transparent manner so that the inside thereof is visible.

[0100] The surgical tool unit end portion 101 includes a pitch unit rotatable about a first axis parallel to the pitch axis with respect to the shaft 102, a roll unit supported by the pitch unit in a manner rotatable about a second axis parallel to the roll axis, and a gripping unit supported by the roll unit. The gripping unit includes a pair of openable and closable jaws. However, the second axis is located at a position deviated from the first axis.

[0101] Each movable part of the surgical tool unit end portion 101 is driven by the traction force of the cable. Further, an actuator for pulling the corresponding cable is provided in the surgical tool unit drive unit 103. In this embodiment, an electromagnetic rotary motor is used as the actuator. As Figure 2As shown, a plurality of cables for driving the pitch unit, the roll unit, and the grip unit of the surgical tool unit end portion 101 are inserted through the shaft 102. Further, three motors are provided in the surgical tool unit driving unit 101 for pulling the respective cables for driving the pitch unit, the roll unit, and the grip unit.

[0102] Figure 4 and Figure 5 The surgical tool unit end portion 101 is shown in an enlarged manner (however, Figure 4 and Figure 5 the viewing direction is different). Further, Figure 6 An exploded view of the surgical tool unit end portion 101 is shown. As Figure 6 shown, the surgical tool unit end portion 101 comprises a pitch unit 401, a roll unit 402, a grip unit 403, a rod 404, a pair of jaws 405a and 405b attached to a lower end of the rod 404, a first forward cable C la and a first backward cable C lb set, and a second forward cable C2a and a second backward cable C2b set. For reference, in Figure 7 , the pitch unit 401 and the shaft 102 are shown in a transparent manner, and the layout of the respective cables in the vicinity of the surgical tool unit end portion 101 is made visible. Further, Figure 8 A six-face view of the surgical tool unit end portion 101 is shown. Note that respective actuators for pulling the first forward cable C la and the first backward cable C lb set, and the second forward cable C2a and the second backward cable C2b set are provided in the surgical tool unit driving unit 103, but this aspect will be described in detail later.

[0103] As shown in Figure 4 , the pitch unit 401 is supported at a portion in the vicinity of the end of the shaft 102 so as to be able to rotate about a first axis parallel to the pitch axis. From Figure 6 and Figure 7 it can be seen that the pitch unit 401 has a hollow cylindrical shape, the center of rotation of which is a second axis parallel to the roll axis. The roll unit 402 is then inserted into the hollow cylinder of the pitch unit 401. As a result, the roll unit 402 is supported by the pitch unit 401 so as to be able to rotate about the second axis. The roll unit 402 is rotated about the second axis by the traction force of the second forward cable C2a and the second backward cable C2b set, but this aspect will be described in detail later.

[0104] As shown in Figure 4As shown, a rail that restricts movement of the gripping unit 403 is provided on the back of the rolling unit 402 in the second axis direction. Thus, the gripping unit 403 can move in the second axis direction (or vertical direction) within a predetermined range along the rail. The gripping unit 403 moves in the second axis direction by the pulling force of the first forward cable C la and the first backward cable C lb set, but this aspect will be described in detail later.

[0105] Figure 9 The rolling unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b taken out from the end portion 101 of the surgical tool unit are shown. In addition, Figure 10 is a cross-sectional view of the rolling unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b taken along a plane perpendicular to the first axis and including the second axis.

[0106] The rolling unit 402 has a through-hole that penetrates in the second axis direction, and the rod 404 is inserted into the through-hole. The upper end portion of the rod 404 is supported by the gripping unit 403 so as to be rotatable by a bearing. The bearing has a structure that supports a load applied in the second axis direction. The rod 404 is rotatable about the second axis with respect to the gripping unit 403, but is not movable in the second axis direction with respect to the gripping unit 403. Thus, when the gripping unit 403 moves linearly in the second axis direction with respect to the rolling unit 402, the rod 404 also moves linearly in the second axis direction with respect to the rolling unit 402 together with the gripping unit 403.

[0107] Figure 11 An enlarged cross-sectional view of the lower end of the rod 404 and the pair of jaws 405a and 405b is shown.

[0108] The jaws 405a and 405b have a shape that is substantially symmetrical about the second axis. Both the jaws 405a and 405b are capable of rotating about an opening / closing shaft 1101 formed at the end portion of the rolling unit 402. In addition, in each of the jaws 405a and 405b, an elongated hole groove 1102 is formed at the back of the opening / closing shaft 1101. In addition, a pin 1103 protruding from the end portion of the rod 404 is inserted into each of the elongated hole grooves 1102 of the jaws 405a and 405b. The longitudinal axes of the respective elongated hole grooves 1102 of the jaws 405a and 405b are inclined in directions opposite to each other with respect to the second axis, and the wall surface of each of the elongated grooves 1102 forms a cam that converts linear movement in the second axis direction into movement in the opening / closing direction of the jaws 405a and 405b.

[0109] As described above, the lever 404 moves linearly in the second axis direction with respect to the rolling unit 402 together with the gripping unit 403. The pin 1103 moves reciprocally in the second axis direction (the vertical direction of the paper surface) integrally with the lever 404. When the pin 1103 reciprocates so as to slide in each of the elongated slot holes 1102, the corresponding elongated slot hole 1102 needs to pass through the lever 404 (or the second axis) at the current position of the pin 1103. In addition, the longitudinal axis of the corresponding elongated slot hole 1102 of the jaws 405a and 405b is inclined in opposite directions with respect to the second axis, and the wall surface of each elongated slot hole 1102 forms a cam. Therefore, according to the linear movement of the pin 1103 in the second axis direction, the jaws 405a and 405b rotate in opposite directions around the opening and closing shaft 1101. This is a mechanism by which the jaws 405a and 405b are opened and closed by the linear movement of the lever 404 in the second axis direction. However, the opening and closing structure of the jaws 405a and 405b is not limited to this, and some other mechanism can be used to cause the opening and closing movement of the jaws 405a and 405b with the linear movement of the lever 404 in the second axis direction.

[0110] Next, the mechanism that causes the tilting movement of the tilting unit 401 around the first axis, the rotational movement of the rolling unit 402 around the second axis, and the opening and closing movement of the jaws 405a and 405b using the pulling force of the cables will be described in detail.

[0111] As Figure 4 to Figure 7 shown, the surgical tool unit 100 includes a first forward cable C1a and a first backward cable C1b set and a second forward cable C2a and a second backward cable C2b set. Respective actuators for pulling the first forward cable C1a and the first backward cable C1b set and the second forward cable C2a and the second backward cable C2b set are provided in the surgical tool unit driving unit 103, but this aspect will be described in detail later.

[0112] Figure 12 is a magnified view of a portion of the surgical tool unit end 101 through which the first forward cable C1a and the first backward cable C1b set and the second forward cable C2a and the second backward cable C2b set pass near the first axis. In addition, Figure 13 shows a mechanism in which the first forward cable C1a and the first backward cable C1b set are fixed to the gripping unit 403. In addition, Figure 14 shows a mechanism in which the second forward cable C2a and the second backward cable C2b set are fixed to the rolling unit 402.

[0113] Reference Figure 13, the first forward cable C1a and the first backward cable C1b group are fixed to the gripping unit 403 at a cable connection portion 1301 formed in the gripping unit 403. With reference to Figure 4 , Figure 6 and Figure 13 , the first forward cable C1a and the first backward cable C1b group are arranged to be wound around a gripping pulley GP rotatably supported on the back surface of the pitch unit 401 from opposite directions, and are folded back into a U-shape.

[0114] Further, with reference to Figure 12 , the first forward cable C1a is pulled in the second axis direction. However, the direction of the cable C1a is switched to a direction perpendicular to the first axis by a first idler pulley IP11a using the first axis as its axis of rotation, and further, the layout in the shaft 102 is adjusted so that the first forward cable C1a is inserted through the shaft 102 by a first adjacent idler pulley IP12a adjacent to the first idler pulley IP11a and having an axis of rotation parallel to the first axis. Likewise, the first backward cable C1b is pulled in the second axis direction. However, the direction of the cable C1b is switched to a direction perpendicular to the first axis by a first idler pulley IP11b using the first axis as its axis of rotation, and further, the layout is adjusted so that the first backward cable C1b is inserted through the shaft 102 by a first adjacent idler pulley IP12b adjacent to the first idler pulley IP11b and having an axis of rotation parallel to the first axis.

[0115] After being inserted through the shaft 102, the first forward cable C1a and the first backward cable C1b group are then pulled by an actuator provided in the surgical tool unit driving unit 103. In this embodiment, the first forward cable C1a and the first backward cable C1b group are driven by a single motor (first motor M1) by a cable loop method, which will be described in detail later. Alternatively, the first forward cable C1a and the first backward cable C1b can be designed to be pulled by separate motors.

[0116] The first forward cable C1a and the first backward cable C1b group are fixed to the gripping unit 403 at the cable connection portion 1301 (as described above). Therefore, when the first forward cable C1a is pulled, the gripping unit 403 is raised in the second axis direction along the track on the back surface of the pitch unit 401 (as described above). Further, when the first backward cable C1b is pulled, the gripping unit 403 is lowered in the second axis direction. The bar 404 is supported at the end by the gripping unit 403 (as described above), and moves reciprocally in the second axis direction with the gripping unit 403. Thus, the freedom of opening and closing of the jaws 405a and 405b is achieved.

[0117] The rolling unit 402 includes a rolling capstan RC near the middle in the second axis direction. Referring to Figure 6 and Figure 14 , the second forward cable C2a and the second backward cable C2b are wound around the rolling capstan RC from opposite directions from each other, and each is fixed to the rolling capstan 402 at the end. Specifically, referring to Figure 14 , the second forward cable C2a and the second backward cable C2b are wound around the rolling capstan RC so as to overlap each other by almost 180° about the second axis. Thus, a moving range of ±150° of the rolling unit 402 about the second axis is realized.

[0118] Here, as shown in Figure 12 , in the pitching unit 401, the portions of the second forward cable C2a and the second backward cable C2b near the points through which the pins protrude. The heights of the respective pins in the second axis direction are substantially the same. The second forward cable C2a is wound around the rolling capstan RC after passing above the pins, and the second backward cable C2b is wound around the rolling capstan RC after passing below the pins. Thus, the second forward cable C2a and the second backward cable C2b are wound around the rolling capstan RC so as to be separated from each other in the height direction of the second axis while not contacting each other, but to overlap each other by almost 180° about the second axis (see Figure 14 ). As a result, when the rolling unit 402 is driven ±150° about the second axis, the second forward cable C2a and the second backward cable C2b do not become entangled.

[0119] Further, referring to Figure 12 , the second forward cable C2a is pulled in a direction perpendicular to the second axis direction. However, the direction of the cable C2a is switched to a direction perpendicular to the first axis by the second idler IP21a, which uses the first axis as its axis of rotation, and further, the layout is adjusted so that the second forward cable C2a is inserted through the shaft 102 by the second adjacent idler IP22a, which is adjacent to the second idler IP21a and has an axis of rotation parallel to the first axis. Likewise, the second backward cable C2b is pulled in a direction perpendicular to the second axis direction. However, the direction of the cable C2b is switched to a direction perpendicular to the first axis by the second idler IP21b, which uses the first axis as its axis of rotation, and further, the layout is adjusted so that the second backward cable C2b is inserted through the shaft 102 by the second adjacent idler IP22b, which is adjacent to the second idler IP21b and has an axis of rotation parallel to the first axis.

[0120] After passing through the shaft 102, the second forward cable C2a and the second backward cable C2b group are then pulled by actuators provided in the surgical tool unit driving unit 103. In this embodiment, the second forward cable C2a and the second backward cable C2b group are driven by a single motor (second motor M2) by a cable loop method, which will be described in detail later. Alternatively, the second forward cable C2a and the second backward cable C2b can be designed to be pulled by separate motors.

[0121] The second forward cable C2a and the second backward cable C2b are wound around the rolling unit 402 from directions opposite to each other (as described above). Therefore, when the second forward cable C2a is pulled, the rolling unit 402 can be caused to rotate forward around the second axis. Further, when the second backward cable C2b is pulled, the rolling unit 402 can be caused to rotate in the reverse direction around the second axis. Thus, a rotational degree of freedom of the surgical tool unit end portion 101 around the second axis is achieved.

[0122] Note that, from the perspective of the rolling unit 402, Figure 7 and Figure 12 It can be seen that the idler pulleys IP11a, IP11b, IP21a, and IP21b all use the first axis as a rotational axis. Meanwhile, the adjacent idler pulleys IP12a, IP12b, IP22a, and IP22b all have the same rotational axis parallel to the first axis. Further, in the shaft 102, the layout is adjusted by the above-described corresponding idler pulleys so that the first forward cable C1a and the first backward cable C1b group pass on the upper side, and the second forward cable C2a and the second backward cable C2b group pass on the lower side.

[0123] Further, with reference to Figure 4 , Figure 7 , Figure 12 etc., the second forward cable C2a and the second backward cable C2b group are wound around the idler pulleys IP21a and IP21b in directions opposite to the directions in which the first forward cable C1a and the first backward cable C1b group are wound around the idler pulleys IP11a and IP11b. Therefore, when the first forward cable C1a and the first backward cable C1b group are pulled (or moved backward in the longitudinal axis direction of the shaft 102), and when the second forward cable C2a and the second backward cable C2b group are moved backward, rotational forces in opposite directions around the first axis are applied to the pitch unit 401.

[0124] Thus, by selectively pulling one of the first forward cable C1a and the first backward cable C1b group and the second forward cable C2a and the second backward cable C2b group, a turning movement of the pitch unit 401 around the first axis can be caused, and a rotational degree of freedom of the surgical tool unit end portion 101 around the second axis is achieved.

[0125] C. Operation of the surgical tool unit

[0126] Figure 15 An exemplary layout of actuators in the surgical tool unit driving unit 103 and a method of pulling cables with respective actuators are shown.

[0127] As Figure 15 shown, a first motor M1, a second motor M2, and a third motor M3 are provided. Further, first to third motor capstans MC1, MC2, and MC3 that drive capstans are attached to output shafts of the first to third motors M1 to M3, respectively.

[0128] Although it is assumed herein that a rotary motor is used for each of the first to third motors M1 to M3, a motor with a reducer can also be used. The first to third motors M1 to M3 preferably use electromagnetic rotary motors. However, some other type of actuator that can rotate a capstan can also be used.

[0129] A first forward cable C1a and a first backward cable C1b group are wound around the first motor capstan MC1 via idler pulleys IP13a and IP13b. The first motor M1 can rotate the first motor capstan MC1 in a positive direction to apply a traction force to the first forward cable group C1a. In this case, the gripping unit 403 is raised with respect to the pitch unit 401 and the roll unit 402. Accordingly, the lever 404 can also be raised in the second axis direction, and can cause operation of the closing jaws 405a and 405b. Further, in a case where the first motor M1 rotates the first motor capstan MC1 in a negative direction to apply a traction force to the first forward and backward cable group C1b, the gripping unit 403 is lowered with respect to the pitch unit 401 and the roll unit 402. Accordingly, the lever 404 is also lowered in the second axis direction, and can cause operation of the opening jaws 405a and 405b. In short, the first motor M1 has the effect of opening and closing the jaws 405a and 405b.

[0130] Figure 16 to Figure 18 States in which the jaws 405a and 405b are open and closed are shown. In Figure 16 the example shown, the first motor capstan MC1 is maximally rotated in the positive direction by the first motor M1, and the gripping unit 403 and the lever 404 are maximally raised by the traction force of the first forward cable C1a, so that the jaws 405a and 405b are closed. Further, in Figure 17 the example shown, the gripping unit 403 and the lever 404 are slightly lowered, and the opening angle of the jaws 405a and 405b is 10°. Meanwhile, in Figure 18In the example shown, the first motor capstan MC1 is maximally rotated in the negative direction by the first motor M1, and the gripping unit 403 and the rod 404 are maximally lowered by the pulling force of the first backward cable C1b, so that the opening angle between the jaws 405a and 405b is 20°.

[0131] Further, with reference to Figure 15 , the second forward cable C2a and the second backward cable C2b group are wound around the second motor capstan MC2 by the idler pulleys IP23a and IP23b. Therefore, when the second motor M2 rotates the second motor capstan MC2 in the positive direction to apply a pulling force to the group of the second forward and backward cables C2a, the rolling unit 402 can be rotated in the positive direction about the second axis. Further, when the second motor M2 rotates the second motor capstan MC2 in the negative direction to apply a pulling force to the group of the second forward and backward cables C2a, the rolling unit 402 can be rotated in the opposite direction about the second axis. In short, the second motor M2 has the effect of rotating the rolling unit 402 about the second axis parallel to the rolling axis.

[0132] Figure 19 to Figure 23 The state in which the rolling unit 402 is rotated about the second axis is shown. In Figure 19 the example shown, the second motor capstan MC2 is maximally rotated in the positive direction by the second motor M2, and the rolling unit 402 is rotated 150° forward about the second axis by the pulling force of the second forward cable C2a. Meanwhile, in Figure 20 to Figure 22 the example shown, the second motor capstan MC2 is gradually rotated in the negative direction by the second motor M2, and the rolling unit 402 is gradually reduced in the rotation angle about the second axis to 75°, 0°, and -75° by the pulling force of the second backward cable C2b. Further, in Figure 23 the example shown, the second motor capstan MC2 is maximally rotated in the negative direction by the second motor M2, and the rolling unit 402 is rotated -140° in the opposite direction about the second axis by the pulling force of the second forward cable C2b.

[0133] The third motor M3 has the effect of rotating the pitching unit 401 about the first axis parallel to the pitching axis, but this aspect will be described in detail later.

[0134] As already mentioned, the second forward cable C2a and the second backward cable C2b group are wound around the idler pulleys IP21a and IP21b in a direction opposite to the direction in which the first forward cable C1a and the first backward cable C1b group wind the idler pulleys IP11a and IP11b. Thus, when the first forward cable C1a and the first backward cable C1b group are pulled (or moved rearward in the longitudinal axis direction of the shaft 102), and when the second forward cable C2a and the second backward cable C2b group are moved rearward, a rotational force in the opposite direction around the first axis is applied to the pitch unit 401.

[0135] Thus, by selectively pulling one of the first forward cable C1a and the first backward cable C1b group and the second forward cable C2a and the second backward cable C2b group, a rotational movement of the pitch unit 401 around the first axis can be induced, and a rotational degree of freedom of the surgical tool unit end 101 around the second axis is achieved.

[0136] With reference to Figure 15 , the first motor M1 is supported on a first sliding base SB1 that slides in the longitudinal axis direction of the shaft 102, and the second motor M2 is supported on a second sliding base SB2 that slides in the longitudinal axis direction of the shaft 102. Further, a third forward cable C3a and a third backward cable C3b group are wound around a third motor capstan MC3 by third idler pulleys IP3a and IP3b. Then, the other end of the third forward cable C3a is fixed to the first sliding base SB1, and the other end of the third backward cable C3b is fixed to the second sliding base SB2.

[0137] Thus, the third motor M3 can rotate the third motor capstan MC3 in the positive direction to apply a pulling force to the third forward cable C3a. In this case, the first sliding base SB1 moves rearward to the root side (i.e., the proximal end) of the shaft 102, and the second sliding base SB2 moves forward to the end side (i.e., the distal end) of the shaft 102. The first forward cable C1a and the first backward cable C1b group then move rearward, and the second forward cable C2a and the second backward cable C2b group move forward. As a result, the pitch unit 401 rotates in the positive direction around the first axis.

[0138] On the contrary, the third motor M3 can rotate the third motor capstan MC3 in the negative direction to apply a pulling force to the third backward cable C3b. In this case, the second sliding base SB2 moves rearward to the root side (i.e., the proximal end) of the shaft 102, and the first sliding base SB1 moves forward to the end side (i.e., the distal end) of the shaft 102. The first forward cable C1a and the first backward cable C1b group then move forward, and the second forward cable C2a and the second backward cable C2b group move rearward. As a result, the pitch unit 401 rotates in the negative direction around the first axis.

[0139] Figure 24 to Figure 28 A state in which the pitch unit 401 is rotated around the first axis is shown. In Figure 24 In the example shown, the third motor M3 is maximally rotated in the positive direction, and the first sliding base SB1 is maximally moved backward by the pulling force of the third forward cable C3a. As a result, the pitch unit 401 is rotated 80° around the first axis.

[0140] Meanwhile, in Figure 25 to Figure 27 the third motor M3 is gradually rotated in the negative direction by the third motor winch MC3, and the second sliding base SB2 is gradually moved backward by the pulling force of the third backward cable C3b. As a result, the pitch unit 401 is gradually rotated in the negative direction around the first axis, and the rotation angle is gradually reduced to 40°, 0°, and -40°.

[0141] Further, in Figure 28 In the example shown, the third motor M3 is maximally rotated in the negative direction, and the second sliding base SB2 is maximally moved backward by the pulling force of the third backward cable C3b. As a result, the pitch unit 401 is rotated -80° around the first axis.

[0142] Further, in the surgical tool unit end portion 101, the rotational movement of the pitch unit 401 around the first axis, the rotational movement of the roll unit 402 around the second axis, and the gripping movement of the pair of jaws 405a and 405b (or the linear movement of the gripping unit 403 in the second axis direction) do not interfere with each other, and the three axes can be simultaneously driven.

[0143] Figure 29 to Figure 31 A state in which the three axes are simultaneously driven in the surgical tool unit end portion 101 is shown.

[0144] In Figure 29 In the example shown, the third motor M3 is maximally rotated in the negative direction, and the second sliding base SB2 is maximally moved backward by the pulling force of the third backward cable C3b. As a result, the pitch unit 401 is rotated -80° around the first axis.

[0145] Meanwhile, in Figure 30 In the example shown, in a state in which the pitch unit 401 has been rotated 40° around the first axis, the jaws 405a and 405b are further opened to an opening angle of 20°. In this case, the first motor M1 rotates the first motor winch MC1 in the negative direction to pull the first backward cable group C1b backward. As a result, the lever 404 is lowered in the second axis direction, and thus, the opening movement of the jaws 405a and 405b is caused.

[0146] Further, in Figure 31In the example shown, the roll unit 402 is further rotated 45° in the positive direction about the second axis in a state in which the pitch unit 401 has been rotated 40° about the first axis and the jaws 405a and 405b are opened to an opening angle of 20°. In this case, the second motor capstan MC2 is rotated in the positive direction by the second motor M2, and the operation of rotating the roll unit 402 45° forward about the second axis is caused by the pulling force of the second forward cable C2a.

[0147] The operation method in the surgical tool unit end portion 101 is summarized as follows.

[0148] Operation on the first axis:

[0149] When the third motor capstan MC3 is rotated by the third motor M3, a pulling force is generated in one cable of the third forward cable C3a and third backward cable C3b group, and the first and second sliding bases SB1 and SB2 can be moved forward and backward in the longitudinal axis direction of the shaft 102. As a result, one of the first forward cable C1a and C1b group and the second forward cable C2a and second backward cable C2b group is moved forward, and the other is moved backward. Therefore, as shown, the pitch unit 401 can be rotated in the positive direction or the reverse direction about the first axis. Figure 24 to Figure 28

[0150] Operation on the second axis:

[0151] When the second motor capstan MC2 is rotated by the second motor M2, a pulling force is generated in one cable of the second forward cable C2a and second backward cable C2b group, and the roll unit 402 can be rotated in the positive direction and the reverse direction about the second axis. As a result, a rotation operation of the grip unit 403 about the second axis is caused.

[0152] Grip operation:

[0153] The jaws 405a and 405b are capable of rotating about the opening and closing shaft 1101 formed at the end of the roll unit 402, and rotating in opposite directions to each other about the opening and closing shaft 1101 according to the linear movement of the lever 404 in the second axis direction. When the first motor capstan MC1 is rotated by the first motor M1, a pulling force is generated in one cable of the first forward cable C1a and first backward cable C1b group to raise or lower the lever 404 in the second axis direction. Therefore, an opening and closing operation of the jaws 405a and 405b is caused.

[0154] Next, the relationship between the operations of the first to third motors M1 to M3 and the operations of the surgical tool unit end portion 101 is described.

[0155] Figure 32 ​FIG1 shows an example operation of the pitch unit 401 rotating about the first axis. Here, the figure is a view of the surgical tool unit end 101 viewed from a direction parallel to the first axis. As shown, the radius of each of the idler wheels P11a, P11b, P21a, and P21b using the first axis as the rotation axis is represented by R. pitch The rotation angle of the pitch unit 401 around the first axis is θ pitch Furthermore, the displacement amount of the cable from a predetermined reference position in the longitudinal axis direction of the shaft 102 is represented by X.

[0156] also, Figure 33 The example operation of the rolling unit 402 (or jaws 405a and 405b) rotating around the second axis is shown. Here, the figure is a view of the surgical tool unit end 101 viewed from a direction parallel to the second axis. As shown in the figure, the pulley radius of the rolling capstan RC is represented by R roll Indicates that the rotation angle of the rolling winch 402 around the second axis is θ roll .

[0157] also, Figure 34 An exemplary grasping operation is shown, wherein the jaws 405a and 405b rotate about the opening and closing axis to open and close. Here, the figure is a view of the surgical tool unit end 101 viewed from a direction parallel to the first axis. As already referred to Figure 11 As described above, the jaws 405a and 405b are opened and closed according to the linear movement of the rod 404 in the direction of the second axis. The opening angle of the jaws 405a and 405b is θ grip express.

[0158] Figure 35 The positional relationship between the opening and closing axis of the jaws and the pin provided at the end of the rod 404 and sliding in the elongated slot formed in the jaws is shown. Figure 35 In FIG. 4 , the entire jaws are shown in an enlarged manner on the left, and the portion near the opening and closing axis is shown on the right. Note that although the example of jaw 405a is shown in the figure, the same applies to jaw 405b. The figure shows a state where jaws 405a and 405b are closed. When jaws 405a and 405b are closed, the pin ( Figure 35 The distance (not shown) is represented by x0, and the inclination angle of the major axis of the elongated slot relative to the second axis is α0. In addition, L represents the height of a right triangle, the hypotenuse of which is a line segment connecting the center of the opening and closing axis and the pin at the end of the rod 404 at a distance x0.

[0159] The wall surface of the long slot hole formed in the jaw forms a cam surface, and the pin at the end of the lever 404 slides along the wall surface of the elongated slot hole. As described above, when the gripping unit 403 is raised, and the lever 404 is also raised in the second axis direction, the operation of closing the jaws 405a and 405b is performed. Conversely, when the gripping unit 403 is lowered, and the lever 404 is also lowered in the second axis direction, the operation of opening the jaws 405a and 405b is performed. Figure 36 The lever 404 Figure 36 is shown to be lowered in the second axis direction and the distance from the center of the opening and closing shaft to the pin at the end of the lever 404 is changed from x0 to x. In Figure 36 , the entire jaw is shown in an enlarged manner on the left side, and the portion near the opening and closing shaft is shown on the right side. The opening angle of the jaw at this time is represented by θ grip / 2, and the inclination angle of the long axis of the elongated slot hole with respect to the second axis is α. In addition, L represents the height of a right triangle having the distance x between the center of the opening and closing shaft and the pin at the end of the lever 404 as the hypotenuse. At this time, the displacement (x0-x) of the lever 404 in the second axis direction is represented by the following equation (1).

[0160] [mathematical formula 1]

[0161]

[0162] Referring back to Figure 32 to Figure 34 , the description will be continued. By the driving of the first to third motors M1 to M3, each of the first forward cable C1a and the first backward cable C1b group and the second forward cable C2a and the second backward cable C2b group moves forward and backward in the longitudinal axis direction of the shaft 102. In the following description, the displacement amount of the respective cables from a predetermined reference position in the longitudinal axis direction of the shaft 102 is represented by X C1a , X C1b , X C2a , and X C2b .

[0163] The relationship between the displacement amounts X C1a , X C1b , X C2a , and X C2b of the respective cables and the turning angle θ pitch of the pitch unit 401 around the first axis, the rotation angle θ roll of the roll unit 402 around the second axis, and the opening angle θ grip of the jaws 405a and 405b is shown in the following equations (2) to (5).

[0164] [mathematical formula 2]

[0165]

[0166] [Mathematical formula 3]

[0167]

[0168] [Mathematical formula 4]

[0169]

[0170] [Mathematical formula 5]

[0171]

[0172] The second and third terms on the right sides of equations (2) and (3) shown above correspond to the displacement amount of the rod 404 in the second axis direction shown in equation (1) above.

[0173] In addition, the rotation angle θ of the pitch unit 401 around the first axis is pitc , the opening angle θ of the jaws 405a and 405b grip and the rotation angle θ of the rolling unit 402 around the second axis roll They are shown in the following equations (6) to (8) respectively.

[0174] [Mathematical formula 6]

[0175]

[0176] [Mathematical formula 7]

[0177]

[0178] [Mathematical formula 8]

[0179]

[0180] Therefore, by shifting the first forward and rearward cables C1a and C1b and the second forward and rearward cables C2a and C2b by predetermined amounts based on equations (6) to (8) above, a desired angle can be achieved on each axis.

[0181] From equation (7), it can be seen that the opening angle θ of the jaws 405a and 405b is grip The displacement X of the first forward cable C1a and the first backward cable C1b group is only involved. C1a and X C1b Similarly, from equation (8), it can be seen that when the rolling unit 402 rotates around the second axis, the angle θ roll The displacement X of the second forward cable C2a and the second rearward cable C2b group is only involved. C2a and X C2b .

[0182] Further, as can be seen from equation (6), the rotation angle θ of the pitch unit 401 around the first axis is determined by the difference between the displacement amounts X of the first forward cable C1a and the first backward cable C1b group pitch The displacement amounts X of the first forward cable C1a and the first backward cable C1b group C1a and X C1b The displacement amounts X of the second forward cable C2a and the second backward cable C2b group C2a and X C2b are determined.

[0183] D. Modification of the roll unit

[0184] Figure 37 A cross section of a roll unit 3700 according to the modification is shown. The roll unit 3700 shown in the figure is divided into an inner surgical tool shaft portion 3701 and an outer surgical tool cover portion 3702 in the above-described "roll unit 402". The surgical tool shaft portion 3701 has a hollow cylindrical shape, and the rod 404 is inserted therein. Meanwhile, the surgical tool cover portion 3702 has a hollow cylindrical shape, an inner diameter of which is equal to or greater than an inner diameter of the surgical tool shaft portion 3701, and the surgical tool shaft portion 3701 is inserted therein. Further, a roll capstan RC is formed on an outer periphery of the surgical tool cover portion 3702, and a second forward cable C2a and a second backward cable C2b group (not shown in the figure) are wound around the roll capstan RC. Further, in the Figure 37 surgical tool cover portion 3702, an outer periphery of the surgical tool shaft portion 3701 and an inner wall surface of the surgical tool cover portion 3702 are joined at a portion surrounded by a dotted circle. Through this joining portion, a rotational force around the second axis is transmitted from the surgical tool cover portion 3702 to the surgical tool shaft portion 3701. Figure 37

[0185] At an end side (distal end side) of the joining portion surrounded by the dotted circle, the outer periphery of the surgical tool shaft portion 3701 and the inner wall surface of the surgical tool cover portion 3702 are slightly separated from each other, and a space exists between them. With this space, strain detection elements 3703 are attached to several portions on the outer periphery of the surgical tool shaft portion 3701. Then, arithmetic processing is performed on detection signals of the respective strain detection elements 3703, so that an external force applied to the jaws 405a and 405b at the surgical tool tip end can be calculated. Since the outer periphery of the surgical tool shaft portion 3701 and the inner wall surface of the surgical tool cover portion 3702 do not come into contact with each other until reaching the joining portion surrounded by the dotted circle, no external force is applied to the attachment positions of the strain detection elements 3703 other than the jaws 405a and 405b at the surgical tool tip end.

[0186] In the Figure 37 ​In the illustrated example, a pair of strain detection elements 3703a and 3703b are attached to opposite sides on the surface of the surgical tool shaft portion 3701 in a direction perpendicular to the rolling axis ("Y direction"). In this case, arithmetic processing is performed on each of the detection signals of the pair of strain detection elements 3703a and 3703b, so that the amount of strain of the surgical tool shaft portion 3701 in the Y direction can be calculated. This amount of strain can be converted into an external force applied to the jaws 405a and 405b in the Y direction. Furthermore, in the case where an external force applied to the jaws 405a and 405b in the X direction is to be calculated, a pair of strain detection elements (not shown in the figure) are also attached to opposite sides in the X direction on the surface of the surgical tool shaft portion 3701 to perform measurement. Note that strain generating structures can be formed in the surgical tool shaft portion 3701 at the positions of the respective strain detection elements 3703a and 3703b. Figure 37

[0187] Here, the strain detection elements 3703a and 3703b can be detection elements known in the art, such as a capacitive sensor, a semiconductor strain gauge, or a foil strain gauge.

[0188] Alternatively, a fiber Bragg grating (FBG) sensor made of an optical fiber can be used for the strain detection elements 3703a and 3703b. Here, the FBG sensor is a sensor formed by cutting a diffraction grating (grating) along the long axis of an optical fiber, and is capable of detecting a change in the interval between the diffraction gratings due to expansion or contraction accompanying strain or temperature change caused by an external force, and taking the change in the interval as a change in the wavelength of reflected light of incident light of a predetermined wavelength band (Bragg wavelength). The wavelength change detected from the FBG sensor can be converted into a strain, stress, or temperature change, which is why. The FBG sensor using an optical fiber has a small transmission loss (or is not easily affected by noise from the outside), and thus, can maintain high detection accuracy in any conceivable environment. Furthermore, the FBG sensor also has the advantage of being able to cope with the sterilization and high magnetic field environment required for medical use (for example, see Patent Literature 5).

[0189] Figure 38 ​An exemplary cross-sectional configuration of the roll unit 3700 in a case where the FBG sensor is used as a strain detection element is shown. In the example shown in the figure, with the space between the outer periphery of the surgical tool shaft portion 3701 and the inner wall surface of the surgical tool cover portion 3702, two optical fibers 3801 and 3802 are inserted from the upper end surface of the roll unit 3700 in the roll axis direction. Then, the two optical fibers 3801 and 3802 are disposed on the opposite sides in the Y direction. Furthermore, in the respective optical fibers 3801 and 3802, gratings are formed in the portions indicated by reference numerals 3803 and 3804, respectively, and can be used as strain detection elements. Note that strain generating structures can be formed in the vicinity of the gratings 3803 and 3804 on the surgical tool shaft 3701.

[0190] E. Modification of the surgical tool unit

[0191] E-1. Modification of the drive cable method

[0192] It is preferable to use an electromagnetic rotary motor as the first to third motors M1 to M3. However, some other type of actuator capable of rotating a capstan can also be used. Examples of other modifications of the actuator that pulls the cable can include the following.

[0193] - Piezoelectric linear moving ultrasonic motor

[0194] - Piezoelectric rotary ultrasonic motor

[0195] - Hydraulic linear motor

[0196] - Hydraulic rotary motor

[0197] - Polymer linear actuator

[0198] - Electromagnetic linear motor

[0199] - Shape memory alloy

[0200] Furthermore, regardless of which actuator is employed, the actuator can be equipped with a speed reducer, a position detector, and an emergency brake mechanism. Here, examples of the speed reducer include a gear reducer, a wave gear reducer, a planetary gear reducer, a paradox planetary gear reducer, a cable reducer, a traction reducer, a ball screw, a slide screw, and a worm gear. Furthermore, examples of the position detector include a magnetic encoder, an optical encoder, and a potentiometer.

[0201] E-2. Modification of the jaw shape

[0202] In each figure, for convenience, the jaws are drawn in a relatively simple shape. In reality, the shape of the jaws can be changed depending on the purpose of use of the surgical tool unit. For example, the following forms can be employed.

[0203] - Tweezers

[0204] - bipolar forceps

[0205] - scissors

[0206] - stapler

[0207] E-3. Modification of shaft

[0208] The shaft 102 is desirably a rigid member, but can be an elastic member, for example, a flexible endoscope. Furthermore, in each of the drawings, the shaft 102 having a simple hollow cylindrical shape is shown for the sake of simplicity. However, the shaft is not necessarily cylindrical. For example, the cross section of the shaft 102 can have a polygonal shape or an elliptical shape, or its cross-sectional shape can change midway in the longitudinal axis direction.

[0209] E-4. Modification of cable

[0210] The cable can be a bundle of metal wires, a bundle of resin, or a mixture of a plurality of materials (for example, metal wires and resin). Furthermore, a shaft 102 formed of metal having high rigidity can be used for a cable portion that does not need to be bent and is disposed inside the shaft 102 or the like, and is connected to a flexible cable used in a portion having a bend. In this way, one cable can be formed. Examples of a cable alternative are as follows.

[0211] - metal wire or resin wire

[0212] - wire obtained by braiding small-diameter metal or resin fine wires

[0213] E-5. Modification of idler

[0214] In the above example, the idler is used to adjust the layout of the cable. By using the idler, the sliding friction when pulling the cable can be reduced, and smooth operation can be performed. In the case where the sliding friction is reduced, an idler each having a rotary bearing can be used.

[0215] However, the use of the idler increases the size of the mechanism, and the number of components becomes larger. Therefore, in order to further reduce the size of the surgical tool unit end portion 101, the cable can be arranged along a guide groove formed in the mechanism without any idler.

[0216] F. Application example of surgical tool unit

[0217] F-1. Example application of surgical robot (computer-assisted surgery system)

[0218] Figure 39An example external configuration of a surgical robot 3900 using a surgical tool unit according to this embodiment is shown. The surgical robot 3900 shown in the figure includes an arm 3901 having a multi-link structure, and a surgical tool unit 3902 is attached to the end of the arm 3901. The surgical tool unit 3902 is replaceable. The surgical robot 3900 is used, for example, for laparoscopic surgery, and the surgical tool unit end 101 is inserted into the abdominal cavity through a trocar (not shown) to perform operations such as gripping and cutting the affected part.

[0219] For example, the surgical robot 3900 shown in the figure is used as a slave device in a master-slave system, and the arm 3901 and the surgical tool unit 3902 are driven in accordance with instructions from a master device (not shown). In addition, for example, a bilateral control method is applied to this type of master-slave system.

[0220] Note that the arm 3901 can be any mechanism type robot, for example, a polar coordinate robot, a cylindrical coordinate robot, a Cartesian coordinate robot, a vertical articulated robot, a horizontal articulated robot, a parallel link robot, or a remote center of motion (RCM) robot.

[0221] In addition, in the case of a surgical robot that is a surgical support system 3900 that supports laparoscopic surgery, the arm 3901 is preferably a vertical articulated arm or a remote center of motion (RCM) arm, which has a remote rotation center located at a position away from the driving rotation center and performs a pivoting (pointing) movement, thereby achieving compactness of the mechanism, ease of generation of a pivoting movement at the trocar position, and the like.

[0222] In addition, although Figure 39 An example configuration of a surgical robot to which only one surgical tool unit can be attached is shown, but the present technology can also be applied to a type of surgical robot to which a plurality of surgical tool units can be attached at the same time to perform laparoscopic surgery.

[0223] F-2. Applicability to an operating unit

[0224] Figure 40 An example external configuration of an operating unit 4000 using a surgical tool unit according to this embodiment is shown. The operating unit 4000 includes a handle unit 4001 that is directly gripped and operated by a user with a hand, and a surgical tool unit 4002 is attached to the end of the handle unit 4001. The surgical tool unit 4002 can be replaceable.

[0225] The handle unit 4001 may include a joystick 4003 that can be manipulated with the thumb to specify a desired orientation of the posture of the surgical tool unit end of the surgical tool unit 4002. The handle unit 4001 may also include a button 4004 that can be pressed with the index finger to issue instructions for jaw opening and closing operations.

[0226] A controller (not shown) may be installed in the handle unit 4001. The controller calculates the rotation angle θ of the pitch unit 401 around the first axis according to the amount of operation of the joystick 4003 or the button 4004. pitch , the rotation angle θ of the rolling unit 402 around the second axis roll and the opening angle θ of the jaws 405a and 405b grip These angles are converted into the rotation amounts of the corresponding motors, and control signals are output to the surgical tool unit driving unit 103 .

[0227] G. Effect

[0228] In the surgical tool unit 100 according to the present disclosure, rotation about a second axis parallel to the rolling axis of the rolling unit 402 is a degree of freedom of the distal end (but does not include the gripping freedom of the jaws). Therefore, a wider range of movement can be achieved. Specifically, the pitch unit 401 has a rotational freedom of approximately ±80° about a first axis parallel to the pitch axis, while the rolling unit 402 has a rotational freedom of approximately ±150° about a second axis.

[0229] Furthermore, in the surgical tool unit 200 according to the present disclosure, the opening angle θ of the pair of jaws 405a and 405b is grip is determined by the displacement difference between the first forward cable C1a and the first backward cable C1b in the longitudinal axis direction of the shaft 102 (eg, see equation (7) above). In addition, the rotation angle θ of the rolling unit 402 around the second axis is roll is determined by the displacement difference between the second forward cable C2a and the second rearward cable C2b in the longitudinal axis direction of the shaft 102 (for example, see the above equation (8)). In addition, the rotation angle θ of the pitch unit 401 around the first axis is pitch It is determined by the difference in the average displacements of the first forward and rearward cables C1a and C1b and the second forward and rearward cables C2a and C2b in the longitudinal axis direction of the shaft 102 (eg, see equation (6) above).

[0230] In short, the control model of the surgical tool unit 100 according to the present disclosure is simple. Therefore, when the surgical tool unit 100 is used for a surgical robot (see Figure 39 ), the control is easy. When the surgical tool unit 100 is used for the operation unit (seeFigure 40 ), the operator is easy to operate.

[0231] Further, the surgical tool unit 100 according to the present disclosure is equipped with a strain detection element (see Figure 37 and Figure 38 ), and thus can detect an external force applied to the jaws of the end portion. In this case, the distance from the first axis to the tip jaws can also be short.

[0232] Industrial applicability

[0233] So far, the technology according to the present disclosure has been described in detail with reference to specific embodiments. However, it is obvious that modifications and substitutions of the embodiments can be made by those skilled in the art without departing from the scope of the technology according to the present disclosure.

[0234] In the present specification, embodiments in which the technology according to the present disclosure is applied to a surgical tool used in a surgical robot have been mainly described. However, the subject matter of the technology according to the present disclosure is not limited to these embodiments. The technology according to the present disclosure can be applied to robots in various fields other than medical care, for example, precision work robots. The technology according to the present disclosure can also be applied to a gripping type operation unit and a precision work device that a user can operate while gripping with hands.

[0235] In short, the technology according to the present disclosure has been described by way of example, and the description in the present specification should not be interpreted in a limiting manner. In understanding the subject matter of the technology according to the present disclosure, the claims should be taken into account.

[0236] Note that the technology according to the present disclosure can also be embodied in configurations described below.

[0237] (1) A surgical tool comprising:

[0238] a shaft;

[0239] a pitch unit connected to a tip of the shaft in a manner capable of turning around a first axis;

[0240] a roll unit supported by the pitch unit in a manner capable of rotating around a second axis; and

[0241] a grip unit supported by the roll unit in a manner capable of linearly moving in the direction of the second axis.

[0242] (2) The surgical tool according to (1), wherein

[0243] the second axis is located at a position deviated from the first axis.

[0244] (3) The surgical tool according to any one of (1) and (2), further comprising

[0245] a pair of jaws attached to the lower end of the rolling unit in the second axis direction and opened and closed in conjunction with the linear movement of the gripping unit in the second axis direction.

[0246] (4) The surgical tool according to (3), wherein,

[0247] the gripping unit supports a rod that is inserted through the rolling unit in the second axis direction, and

[0248] the pair of jaws is supported by an opening and closing shaft near the lower end of the rolling unit and includes a cam that converts the linear movement of the rod in the second axis direction into movement in the opening direction and the closing direction.

[0249] (5) The surgical tool according to (4), further comprising:

[0250] a first forward and backward cable set that pulls the gripping unit in the second axis direction; and

[0251] a second forward and backward cable set that pulls the rolling unit around the second axis.

[0252] (6) The surgical tool according to (5), wherein,

[0253] a portion of the first forward and backward cable set is fixed to the gripping unit and is arranged to be folded back in the second axis direction via a gripping pulley provided on the rolling unit.

[0254] (7) The surgical tool according to (5) or (6), wherein,

[0255] the second forward and backward cable set is wound around a rolling capstan provided on the rolling unit.

[0256] (8) The surgical tool according to (7), wherein,

[0257] the forward cable and the backward cable in the second forward and backward cable set are wound around the rolling capstan so as to overlap each other by 180° from opposite directions around the second axis and not to contact each other while being separated in the height direction of the second axis.

[0258] (9) The surgical tool according to any one of (5) to (8), further comprising:

[0259] a first idler unit that switches the first forward and backward cable set to the longitudinal axis direction of the shaft; and

[0260] a second idler unit that switches the second forward and backward cable set to the longitudinal axis direction of the shaft.

[0261] (10) The surgical tool according to (9), wherein,

[0262] The first idler unit includes a first idler that rotates around a first axis, and a first adjacent idler that is adjacent to the first idler and has a rotation axis parallel to the first axis, and

[0263] The second idler unit includes a second idler that rotates around 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.

[0264] (11) The surgical tool according to (10), wherein,

[0265] The second forward and backward cable set winds the second idler in a direction opposite to a direction in which the first forward and backward cable set winds the first idler.

[0266] (12) The surgical tool according to (11), further comprising:

[0267] a first actuator that rotates the first drive capstan and pulls the first forward and backward cable set in a longitudinal axis direction of the shaft; and

[0268] a second actuator that rotates the second drive capstan and pulls the second forward and backward cable set in the longitudinal axis direction of the shaft.

[0269] (13) The surgical tool according to (12), further comprising:

[0270] a first sliding base that fixes the first actuator and the first drive capstan and slides in the longitudinal axis direction of the shaft;

[0271] a second sliding base that fixes the second actuator and the second drive capstan and slides in the longitudinal axis direction of the shaft;

[0272] a third actuator that rotates a third drive capstan; and

[0273] a third forward and backward cable set that winds the third drive capstan, an end portion of a third forward cable being fixed to the first sliding base and an end portion of a third backward cable being fixed to the second sliding base, wherein,

[0274] forward movement and backward movement of the first sliding base and the second sliding base are caused by rotation of the third drive capstan.

[0275] (14) A surgical support system including a surgical tool and an arm that connects the surgical tool,

[0276] the surgical tool includes:

[0277] a shaft;

[0278] a pitch unit connected to a distal end of the shaft in a manner capable of turning around a first axis;

[0279] a rolling unit supported by the pitching unit so as to be rotatable about a second axis; and

[0280] a gripping unit supported by the rolling unit so as to be linearly movable in the direction of the second axis.

[0281] (15) A surgical operation unit including a surgical tool and a handle unit connected to the surgical tool,

[0282] a shaft;

[0283] a pitching unit connected to a distal end of the shaft so as to be rotatable about a first axis;

[0284] a rolling unit supported by the pitching unit so as to be rotatable about a second axis; and

[0285] a gripping unit supported by the rolling unit so as to be linearly movable in the direction of the second axis.

[0286] LIST OF REFERENCE NUMERALS

[0287] 100 surgical tool unit

[0288] 101 end of surgical tool unit

[0289] 102 shaft

[0290] 103 surgical tool unit drive unit

[0291] 3900 surgical robot

[0292] 3901 arm

[0293] 3902 surgical tool unit

[0294] 4000 operation unit

[0295] 4001 handle unit

[0296] 4002 surgical tool unit

[0297] 4003 joystick

[0298] 4004 button

Claims

1. A surgical tool comprising: a shaft; a pitch unit connected to a distal end of the shaft so as to be rotatable about a first axis; a roll unit supported by the pitch unit so as to be rotatable about a second axis; and a grip unit supported by the roll unit so as to be linearly movable in the direction of the second axis, a pair of jaws attached to a lower end of the roll unit in the direction of the second axis and opened and closed in conjunction with the linear movement of the grip unit in the direction of the second axis, wherein the grip unit supports a rod that is inserted through the roll unit in the direction of the second axis, and the pair of jaws are supported by an opening and closing shaft in the vicinity of the lower end of the roll unit and include a cam that converts the linear movement of the rod in the direction of the second axis into movement in an opening direction and a closing direction; a first forward and backward cable set pulling the grip unit in the direction of the second axis; and a second forward and backward cable set pulling the roll unit about the second axis, wherein a portion of the first forward and backward cable set is fixed to the grip unit and is arranged to be folded back in the direction of the second axis via a grip pulley provided on the roll unit.

2. The surgical tool according to claim 1, wherein the second axis is located at a position offset from the first axis.

3. The surgical tool according to claim 1, wherein the second forward and backward cable set is wound around a roll capstan provided on the roll unit.

4. The surgical tool according to claim 3, wherein 5. The surgical tool according to claim 1, further comprising: The forward and backward cables in the second forward and backward cable set are wound around the rolling capstan so as to overlap each other by 180 degrees around the second axis from opposite directions o and are separated from each other in the height direction of the second axis without contacting each other. a first idler unit switching the first forward and backward cable set to a longitudinal axis direction of the shaft; and a second idler unit switching the second forward and backward cable set to the longitudinal axis direction of the shaft.

6. The surgical tool according to claim 5, wherein the first idler unit includes a first idler that rotates about the first axis, and a first adjacent idler that is adjacent to the first idler and has a rotation axis parallel to the first axis, and 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.

7. The surgical tool according to claim 6, wherein the second forward and backward cable set is wound around the second idler in a direction opposite to a direction in which the first forward and backward cable set is wound around the first idler.

8. The surgical tool according to claim 7, further comprising: a first actuator that rotates a first drive capstan and pulls the first forward and backward cable set in the longitudinal axis direction of the shaft; and a second actuator that rotates a second drive capstan and pulls the second forward and backward cable set in the longitudinal axis direction of the shaft.

9. The surgical tool according to claim 8, further comprising: ​ ​ ​ a first sliding base that fixes the first actuator and the first drive winch and slides in the direction of the longitudinal axis of the shaft; a second sliding base that fixes the second actuator and the second drive winch and slides in the direction of the longitudinal axis of the shaft; a third actuator that rotates a third drive winch; and a third forward and backward cable set that winds the third drive winch, the end of a third forward cable being fixed to the first sliding base and the end of a third backward cable being fixed to the second sliding base, wherein forward and backward movement of the first sliding base and the second sliding base is caused by rotation of the third drive winch.

10. A surgical support system including a surgical tool and an arm to which the surgical tool is attached, the surgical tool including: a shaft; a pitch unit connected to the end of the shaft so as to be able to turn about a first axis; a roll unit supported by the pitch unit so as to be able to rotate about a second axis; and a grip unit supported by the roll unit so as to be able to linearly move in the direction of the second axis; a pair of jaws attached to the lower end of the roll unit in the direction of the second axis and opened and closed in conjunction with linear movement of the grip unit in the direction of the second axis, wherein the grip unit supports a rod that passes through the roll unit in the direction of the second axis, and the pair of jaws are supported by an opening and closing shaft near the lower end of the roll unit and include a cam that converts linear movement of the rod in the direction of the second axis into movement in an opening direction and a closing direction; a first forward and backward cable set that pulls the grip unit in the direction of the second axis; and a second forward and backward cable set that pulls the roll unit about the second axis, wherein a portion of the first forward and backward cable set is fixed to the grip unit and is arranged to be folded back in the direction of the second axis via a grip pulley provided on the roll unit.

11. A surgical operation unit including a surgical tool and a handle unit to which the surgical tool is attached, the surgical tool including: a shaft; a pitch unit connected to the end of the shaft so as to be able to turn about a first axis; a roll unit supported by the pitch unit so as to be able to rotate about a second axis; and a grip unit supported by the roll unit so as to be able to linearly move in the direction of the second axis; a pair of jaws attached to the lower end of the roll unit in the direction of the second axis and opened and closed in conjunction with linear movement of the grip unit in the direction of the second axis, wherein the grip unit supports a rod that passes through the roll unit in the direction of the second axis, and the pair of jaws are supported by an opening and closing shaft near the lower end of the roll unit and include a cam that converts linear movement of the rod in the direction of the second axis into movement in an opening direction and a closing direction; a first forward and backward cable set that pulls the grip unit in the direction of the second axis; and a second forward and backward cable set that pulls the roll unit about the second axis, wherein a portion of the first forward and backward cable set is fixed to the grip unit and is arranged to be folded back in the direction of the second axis via a grip pulley provided on the roll unit. ​ a second forward and backward cable set, pulling the rolling unit around the second axis, wherein a part of the first forward and backward cable set is fixed to the gripping unit and arranged to be folded back in the direction of the second axis via a gripping pulley provided on the rolling unit.

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