Surgical instrument, surgical assisting system, and surgical operating unit

Abstract

A surgical instrument having an open-close end effector is provided. The surgical instrument is equipped with a shaft, a wrist rotatably coupled to the tip of the shaft about a first axis, a first jaw member and a second jaw member each rotatably supported on the wrist about a second axis, a first ring cable set and a second ring cable set transmitting force so as to rotate the first jaw member and the second jaw member about the second axis, and a rotation action unit generating a rotation action of the wrist about the first axis such that pre-tension in the first ring cable set and the second ring cable set does not change.

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 robot, 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 operators, such as surgeons, to manipulate one or more surgical instruments included in the slave device from the master side. Furthermore, as a known method for controlling master-slave systems, a bilateral method exists, in which the autonomous device operates the slave device while the slave device's status is fed back to the master device (e.g., see Patent Document 1).

[0003] An end effector with an opening and closing mechanism (e.g., forceps) is provided at the end of a surgical instrument mounted in the device. Furthermore, assuming the surgical instrument will be used in surgeries inside body cavities, on the body surface, etc., it is strongly desirable for the end of the surgical instrument to have multiple degrees of freedom, a small diameter, small size, and light weight. Specifically, it is desirable for the end of the surgical instrument 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 the surgical instrument, a cable-driven method is often used when handling the end of the surgical instrument (see, for example, Patent Documents 2 to 4).

[0004] Citation List

[0005] Patent documents

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

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

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

[0009] Patent Document 4: JP 2019-501699 W Summary of the Invention

[0010] The problem to be solved by the present invention

[0011] The purpose of this disclosure is to provide a surgical tool having an opening and closing end effector, such as forceps, designed to be small in size and lightweight, and for use in a surgical support system, and to provide a surgical robot and a surgical operation unit.

[0012] Solution to the problem

[0013] The first aspect of the technology according to this disclosure is...

[0014] A surgical instrument, comprising:

[0015] axis;

[0016] A wrist, which is connected to one end of a shaft and is rotatable about a first axis;

[0017] A first clamping member and a second clamping member, wherein the first clamping member and the second clamping member are rotatably supported about a second axis for the wrist;

[0018] A first forward and backward cable group that transmits a force for rotating a first clamping member about a second axis;

[0019] A second forward and backward cable assembly, the second forward and backward cable assembly transmitting force for rotating the second clamping member about a second axis; and

[0020] A rotating motion unit generates a rotational motion of the wrist around a first axis, so that the pretension of the first forward and backward cable group and the second forward and backward cable group remains unchanged.

[0021] The rotational motion unit generates a rotational motion of the wrist about a first axis by moving one of a first forward and backward cable group and a second forward and backward cable group backward, while the other moves forward in the longitudinal direction of the axis.

[0022] Alternatively, the rotational motion unit includes: a wrist winch disposed on the wrist and having a first axis as its axis of rotation, around which a third set of forward and backward cables are wound; and a third actuator that rotates a third drive winch and pulls the third set of cables. The rotational motion unit causes rotational movement of the wrist about the first axis while adjusting the pretension of the first and second sets of forward and backward cables. However, the first actuator and the first drive winch, as well as the second actuator and the second drive winch, are fixed to the axis.

[0023] Furthermore, a second aspect of the technology according to this disclosure is

[0024] A surgical support system includes surgical instruments and an arm for connecting the surgical instruments.

[0025] The surgical instruments include:

[0026] axis;

[0027] A wrist, which is connected to one end of a shaft and is rotatable about a first axis;

[0028] A first clamping member and a second clamping member, the first clamping member and the second clamping member being rotatably supported relative to the wrist about a second axis;

[0029] A first forward and backward cable group that transmits a force for rotating a first clamping member about a second axis;

[0030] A second forward and backward cable assembly, the second forward and backward cable assembly transmitting force for rotating the second clamping member about a second axis; and

[0031] A rotating motion unit generates a rotational motion of the wrist around a first axis, so that the pretension of the first forward and backward cable group and the second forward and backward cable group remains unchanged.

[0032] Furthermore, a third aspect of the technology according to this disclosure is

[0033] A surgical operating unit includes surgical instruments and a handle unit for connecting the surgical instruments.

[0034] The surgical instruments include:

[0035] axis;

[0036] A wrist, which is connected to one end of a shaft and is rotatable about a first axis;

[0037] A first clamping member and a second clamping member, wherein the first clamping member and the second clamping member are rotatably supported about a second axis for the wrist;

[0038] A first forward and backward cable group that transmits a force for rotating a first clamping member about a second axis;

[0039] A second forward and backward cable assembly, the second forward and backward cable assembly transmitting force for rotating the second clamping member about a second axis; and

[0040] The rotating motion unit generates a rotational motion of the wrist around the first axis, so that the pretension of the first forward and backward cable group and the second forward and backward cable group remains unchanged.

[0041] Effects of the present invention

[0042] According to the technology disclosed herein, a surgical tool can be provided having an opening and closing end effector, such as forceps, comprising a small number of parts, having a small diameter, and for use with a surgical robot, and a surgical support system and a surgical operation unit can also be provided.

[0043] 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.

[0044] 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

[0045] Figure 1 This is a diagram showing an example configuration of the surgical tool unit 100.

[0046] Figure 2 This is an enlarged view of the end of the surgical tool unit 101.

[0047] Figure 3 This is an enlarged view of the end of the surgical tool unit 101.

[0048] Figure 4 This is an enlarged view of the surgical tool unit drive unit 103.

[0049] Figure 5 This is an enlarged view of the surgical tool unit drive unit 103.

[0050] Figure 6 This is a diagram showing an example degree-of-freedom configuration of the surgical tool unit 100.

[0051] Figure 7 This is a diagram showing six views of the surgical tool unit 100.

[0052] Figure 8 This is a diagram showing a simplified example of the degree-of-freedom configuration of the surgical tool unit 100.

[0053] Figure 9 This is a diagram showing a simplified example of the degree-of-freedom configuration of the surgical tool unit 100.

[0054] Figure 10 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0055] Figure 11 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0056] Figure 12 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0057] Figure 13 This is a diagram illustrating an example operation of the wrist element WE rotating about a first axis.

[0058] Figure 14 This is a diagram illustrating an example operation of the end effector rotating about a second axis.

[0059] Figure 15 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0060] Figure 16 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0061] Figure 17 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0062] Figure 18 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0063] Figure 19 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0064] Figure 20 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0065] Figure 21 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0066] Figure 22 This is a diagram illustrating an example operation of the surgical tool unit end 101.

[0067] Figure 23 This is a diagram showing an example configuration of the surgical tool unit 2300.

[0068] Figure 24 This is an enlarged view of the surgical tool unit driver unit 2303.

[0069] Figure 25 This is an enlarged view of the surgical tool unit driver unit 2303.

[0070] Figure 26 This is a diagram showing an example configuration of the degrees of freedom of the surgical tool unit 2300.

[0071] Figure 27 This is a diagram showing six views of the surgical tool unit 2300.

[0072] Figure 28 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0073] Figure 29 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0074] Figure 30This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0075] Figure 31 This is a diagram showing an example configuration of the surgical tool unit 3100.

[0076] Figure 32 This is an enlarged view of the end of the surgical tool unit 3101.

[0077] Figure 33 This is an enlarged view of the end of the surgical tool unit 3101.

[0078] Figure 34 This is an enlarged view of the surgical tool unit drive unit 3103.

[0079] Figure 35 This is an enlarged view of the surgical tool unit drive unit 3103.

[0080] Figure 36 This is a diagram showing an example configuration of the degrees of freedom of the surgical tool unit 3100.

[0081] Figure 37 This is a diagram showing six views of the surgical tool unit 3100.

[0082] Figure 38 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0083] Figure 39 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0084] Figure 40 This is a diagram showing the state of the wrist component WE rotating about the first axis.

[0085] Figure 41 This is a diagram showing an example external configuration of the surgical support system 4100.

[0086] Figure 42 This is a diagram showing an example external configuration of the surgical operation unit 4200. Detailed Implementation

[0087] In the following description, the technology according to this disclosure will be explained with reference to the accompanying drawings in the following order.

[0088] A. Problems with the surgical tool unit

[0089] B. Example configuration of the surgical tool unit (1) (Reference) Figures 1 to 22 )

[0090] C. Example configuration of surgical tool unit (2) (Reference) Figures 23 to 30 )

[0091] D. Example configuration of surgical tool unit (3) (Reference) Figures 31 to 40 )

[0092] E. Modification of surgical tool unit

[0093] F. Example application of the surgical tool unit (reference) Figure 41 and 42 )

[0094] G. Effect

[0095] A. Problems with the surgical tool unit

[0096] Surgical tools for surgical robots preferably have a total of three degrees of freedom: two rotational degrees of freedom and an opening / closing degree of freedom at the end effector. Specifically, for example, such a surgical tool includes an opening / closing end effector formed by a pair of opposing clamping members, a wrist supporting the end effector, and an axis 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 rotating the wrist, for example, about a yaw axis relative to the end of the axis; a second axis for orienting the end effector, for example, about a pitch axis relative to the wrist; and a third axis (opening / closing axis) for opening / closing the clamping members. In the following description, an embodiment where the second axis and the opening / closing axis are coaxial will be described.

[0097] 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 needs to be performed within a narrow surgical field; therefore, depending on the surgical instrument, it is necessary to minimize obstruction to the operator's field of vision. In view of this, 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 instrument. 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 orientation relative to the wrist about a second axis, and power for opening and closing the end effector, and these cables are inserted through the shaft. Furthermore, in the cable-based power transmission mechanism, multiple pulleys are used, 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 a constant tension to the cables.

[0098] Here, high slippage is achieved by using idlers to adjust the cable layout. This also results in excellent durability and reliability, and allows for high-precision torque control of the end effector. On the other hand, the number of components increases with the number of idlers. Therefore, the size of the surgical tool (or, for example, the outer diameter of the shaft) becomes larger, increasing cost. According to one method, the cable slides on an R-surface formed on the peripheral component without using any idlers. By eliminating idlers, the number of components can be reduced and a smaller size can be achieved. However, the cable is prone to deterioration due to wear, and reliability deteriorates. Furthermore, the high coefficient of friction on the sliding surface leads to interference. As a result, torque control becomes difficult. Another method involves inserting the cable into a circular hole formed along the desired layout. However, side clearance occurs when processing a cable inserted through a circular hole.

[0099] In addition, cable loop type or separate cable traction type can usually be used as a method to drive the output side winch by using the cable traction force generated by the actuator.

[0100] In the former cable loop type, the cable is arranged around the output-side winch and the drive-side winch, with the drive-side winch driven to rotate by an actuator. Using the cable loop type, 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 the cable pretension, thus the actuator can be made smaller. However, in device configurations where the entire length of the loop cable fluctuates due to the axis angle of the controlled target and the influence of other axes, it is difficult to apply pretension fluctuations to the cable, making the cable loop type challenging. For example, when the drive wrist rotates about the first axis, the length of the corresponding cable used to drive the corresponding clamping member changes.

[0101] On the other hand, the latter type of single-cable traction has the following 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 cable needs to be compensated by the output of the actuator. 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.

[0102] 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 enclosure 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.

[0103] Furthermore, the yaw, pitch, and opening / closing operations of the end effector at the end of the surgical instrument need to be performed using a structure that does not cause cross-axis interference. For example, cross-axis interference will lead to the following events.

[0104] (1) When the yaw axis angle changes, the pitch axis rotates passively.

[0105] (2) The pretension of the cable fluctuates when the yaw axis angle changes.

[0106] 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 fewer number of idlers and by pulling the cable in a manner that facilitates the application of desired pretension. This specification also discloses a computer-assisted surgical system and a surgical manipulation unit below.

[0107] B. Example configuration of the surgical tool unit (1)

[0108] Figure 1 An exemplary configuration of a surgical tool unit applying the technology according to this disclosure is shown. The surgical tool unit 100 shown 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. The surgical tool unit end portion 101 includes a wrist element rotatable about a first axis parallel to a yaw axis relative to the shaft 102, 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 a pitch axis. The end effector is formed with a pair of opposing clamping members that rotate about the second axis and perform the opening and closing operations. However, the second axis is located offset from the first axis. Meanwhile, the surgical tool unit drive unit 103 includes two actuators for driving the corresponding clamping members in the surgical tool unit end portion 101 and one actuator for driving the wrist.

[0109] Figure 2 and Figure 3 The end of the surgical tool unit 101 is shown in an enlarged view (however, Figure 2 and Figure 3 (The observation directions are different between them). Furthermore... Figure 4 and Figure 5 The surgical tool unit drive unit 103 is shown in an enlarged view (however, Figure 4 and Figure 5 (The observation directions are different between them). Furthermore... Figure 6 An example degree-of-freedom configuration of the surgical tool unit 100 is shown. Furthermore, Figure 7 Six-view views of the surgical tool unit 100 are shown. Furthermore, Figure 8 and Figure 9 A simplified configuration related to the degrees of freedom of the surgical tool unit 100 is shown.

[0110] The surgical tool unit end piece 101 includes a wrist element WE and an opening / closing 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, [link to relevant documentation]). Figure 2 and 3 The wrist element WE is supported near the root, allowing it to rotate at the end (distal end) 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. The first clamping member J1 and the second clamping member J2 open and close when the opening angle of the second axis, which serves as the opening and closing axis, changes.

[0111] 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 third motor M3 for driving the wrist element WE (see, for example, see...). Figure 4 , 5 And 6). Furthermore, the first to third motor winches MC1, MC2, and MC3, which serve as drive winches, are respectively attached to the output shafts of the first to third motors M1 to M3 (see, for example, see...). Figure 6 Although it is assumed that a rotary electric motor is used for each of the first to third motors M1 to M3, a motor with a speed reducer may also be used.

[0112] A first forward and backward cable group C1a and C1b is wound around a first motor winch MC1, and the first motor winch MC1 is rotated by a first motor M1, such that a first clamping member J1 is driven by a cable loop method. Furthermore, a second forward and backward cable group C2a and C2b is wound around a second motor winch MC2, and the second motor winch MC2 is rotated by a second motor M2, such that a second clamping member J2 is driven by a cable loop method.

[0113] refer to Figure 4 and Figure 5A first motor M1 is supported on a first sliding base SB1 that slides along the longitudinal axis of shaft 102, and a second motor M2 is supported on a second sliding base SB2 that slides along the longitudinal axis of shaft 102. Furthermore, a set of third forward and backward cables C3a and C3b are wound around a third motor winch MC3 via third idler pulleys P3a and P3b. 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. Then, the third motor M3 pulls the set of third forward and backward cables C3a and C3b using a cable loop method, allowing the first sliding base SB1 and the second sliding base SB2 to move forward and backward in opposite directions along the longitudinal axis of shaft 102 (e.g., see...). Figure 6 ).

[0114] refer to Figure 2 and Figure 3 The first clamping member J1 is supported by a wrist element WE at its base portion, allowing it to rotate about a second axis. Similarly, the second clamping member J2 is also supported by a wrist element WE at its base portion, allowing it to rotate about a second axis. 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). This performs the opening and closing operation of the end effector. 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 angle between the first clamping member J1 and the second clamping member J2 about the second axis to change). This performs the rotation operation of the end effector formed by the first clamping member J1 and the second clamping member J2 about the second axis.

[0115] refer to Figure 2 , 3 And 6, a first clamping winch JC1 having the aforementioned second axis as its rotation axis is disposed near the root of the first clamping member J1. The first forward and backward cables C1a and C1b are wound around the first clamping winch JC1. As... Figures 4 to 6 As shown, the first forward and backward cable groups C1a and C1b are wound around the first motor winch MC1 on the side of the surgical tool unit drive unit 103. Therefore, depending on the rotation direction of the first motor M1, the traction force acts on one of the cables C1a and C1b, and performs the rotation operation of the first clamping member J1 about the second axis. Since the first clamping member J1 is driven by using a cable loop method with a set of first forward and backward cables C1a and C1b, the range of motion of the first clamping member J1 can be wider.

[0116] In addition, refer to Figure 2 , 3 And 6, a second clamping winch JC2, having the aforementioned second shaft as its rotation axis, is disposed near the root of the second clamping member J2. The set of second forward and backward cables C2a and C2b are wound around the second clamping winch JC2. As... Figures 4 to 6 As shown, the second set of forward and backward cables C2a and C2b are wound around the second motor winch MC2 on the side of the surgical tool unit drive unit 103. Therefore, depending on the rotation direction of the second motor M2, the traction force acts on one of the cables C2a and C2b, and performs the rotation operation of the second clamping member J2 about the second axis. Since the second clamping member J2 is driven by the cable loop method of the second set of forward and backward cables C2a and C2b, the range of motion of the second clamping member J2 can be wider.

[0117] Next, the layout of the various cables in the surgical tool unit 100 and the specific methods for operating the surgical tool unit end 101 will be described.

[0118] The idler wheel is used to reorient each cable in the first set of forward and backward cables C1a and C1b and the second set of forward and backward cables C2a and C2b near the first shaft, such that each cable passes through the shaft 102 and adjusts the layout of the corresponding cables in the shaft 102.

[0119] like Figure 2 , 3 As shown in Figure 6, the first forward cable C1a is pulled in a direction orthogonal to the second axis. However, the direction of cable C1a is switched by the first idler wheel P11a to a direction orthogonal to the first axis, the first idler wheel P11a using the first axis as its axis of rotation. Furthermore, the layout is adjusted such that the first forward cable C1a is inserted through the shaft 102 by the first adjacent idler wheel P12a, the first adjacent idler wheel being adjacent to the first idler wheel P11a and having a rotation axis parallel to the first axis. Figure 5 As shown, after passing through shaft 102, the first forward cable C1a winds around the first motor winch MC1 via idler pulley P13a.

[0120] Simultaneously, the first backward cable C1b is pulled in a direction orthogonal to the second axis. However, the direction of cable C1b is switched by the first idler wheel P11b to a direction orthogonal to the first axis, with the first idler wheel P11b using the first axis as its axis of rotation. Furthermore, the layout is adjusted so that the first backward cable C1b is inserted through the shaft 102 by the first adjacent idler wheel P12b, which is adjacent to the first idler wheel P11b and has an axis of rotation parallel to the first axis. Figure 5As shown, after passing through shaft 102, the first backward cable C1b is then wound around the first motor winch MC1 in the opposite direction to the first forward cable C1a via idler pulley P13b.

[0121] In short, the first forward and backward cables C1a and C1b are arranged to perform power transmission between the first clamp winch JC1 and the first motor winch MC1 via a cable loop method. Therefore, from Figure 8 It can also be seen that the first motor winch MC1 is rotated by the first motor M1, so that the rotation of the first clamping winch JC1 can adjust the rotation angle of the first clamping component J1 around the second axis.

[0122] In addition, such as Figure 2 , 3 As shown in Figure 6, the second forward cable C2a is pulled in a direction orthogonal to the second axis. However, the direction of cable C2a is switched by the second idler wheel P21a to a direction orthogonal to the first axis, with the second idler wheel P21a using the first axis as its axis of rotation. Furthermore, the layout is adjusted such that the second forward cable C2a is inserted through the shaft 102 by the second adjacent idler wheel P22a, which is adjacent to the second idler wheel P21a and has an axis of rotation parallel to the first axis. Figure 5 As shown, after passing through shaft 102, the second forward cable C2a winds around the second motor winch MC2 via idler pulley P23a.

[0123] Simultaneously, the second backward cable C2b is pulled in a direction orthogonal to the second axis. However, the direction of cable C2b is switched by the second idler wheel P21b to a direction orthogonal to the first axis. The second idler wheel P21b uses the first axis as its axis of rotation. Furthermore, the layout is adjusted so that the second backward cable C2b is inserted through the shaft 102 by the second adjacent idler wheel P22b, which is adjacent to the second idler wheel P21b and has an axis of rotation parallel to the first axis. Figure 5 As shown, after passing through shaft 102, the first backward cable C1b is then wound around the second motor winch MC2 in the opposite direction to the second forward cable C2a via idler pulley P23b.

[0124] In short, the second set of forward and backward cables C2a and C2b are arranged to allow power transmission between the second clamp winch JC2 and the second motor winch MC2 via a cable loop method. Therefore, from Figure 8 It can also be seen that the second motor winch MC2 is rotated by the second motor M2, so the rotation of the second clamping winch JC2 can adjust the rotation angle of the second clamping component J2 around the second axis.

[0125] The traction forces of the first forward and backward cable groups C1a and C1b, and the second forward and backward cable groups C2a and C2b, are controlled by the first motor M1 and the second motor M2, causing a change in the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis. Therefore, the opening and closing operation of the end effector formed by the pair of clamping members J1 and J2 can be performed. The opening and closing angle is determined by the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis.

[0126] Furthermore, the traction forces of the first forward and backward cables C1a and C1b, and the second forward and backward cables C2a and C2b, are controlled by the first motor M1 and the second motor M2, causing changes in the angles of the first clamping member J1 and the second clamping member J2 about the second axis. Therefore, the end effector can be rotated about the second axis. The average value of the angles of the first clamping member J1 and the second clamping member J2 about the second axis is the rotation angle of the end effector about the second axis.

[0127] Simultaneously, the first motor M1, together with the first motor winch MC1 and each of the idler pulleys P13a and P13b, is fixed to the first sliding base SB1. Furthermore, the second motor M2, together with the second motor winch MC2 and each of the idler pulleys P23a and P23b, is fixed to the second sliding base SB2. Additionally, a third forward cable C3a is engaged to the first sliding base SB1 via idler pulley P3a. Furthermore, a third backward cable C3b is engaged to the second sliding base SB2 via third idler pulley P3b.

[0128] Note that the third forward cable C3a in the section from the first sliding base SB1 to the third idler wheel P3a and the third backward cable C3b in the section from the second sliding base SB2 to the third idler wheel P3b are preferably arranged parallel to the longitudinal axis of axis 102.

[0129] In short, the third forward and backward cables C3a and C3b are arranged to perform power transmission between the third motor winch MC3 and the first and second sliding bases SB1 and SB2. Therefore, from Figure 9 It can be seen that when the third motor winch MC3 is rotated by the third motor M3, the first sliding base SB1 and the second sliding base SB2 can move forward and backward in opposite directions along the longitudinal axis of shaft 102.

[0130] refer to Figure 6 and Figure 8From the direction opposite to that of the first forward and backward cables C1a and C1b winding around the first idler pulleys P11a and P11b, the second forward and backward cables C2a and C2b wind around the second idler pulleys P21a and P21b. Therefore, when the first forward and backward cables C1a and C1b move backward, and when the second forward and backward cables C2a and C2b move backward, a rotational force in opposite directions about the first axis is applied to the wrist element WE. Therefore, when the first sliding base SB1 moves forward to the end (i.e., the distal end) of the shaft 102, and the second sliding base SB2 moves backward to the root side (i.e., the proximal end) of the shaft 102, the first forward and backward cables C1a and C1b move forward, and the second forward and backward cables C2a and C2b move backward. As a result, the wrist element WE rotates forward about the first axis. Conversely, when the first sliding base SB1 moves backward and the second sliding base SB2 moves forward, the first set of forward and backward cables C1a and C1b moves backward, and the second set of forward and backward cables C2a and C2b moves forward. As a result, the wrist element WE rotates about the first axis in the negative direction. Here, it is assumed that the first set of forward and backward cables C1a and C1b and the second set of forward and backward cables C2a and C2b all have a constant total length.

[0131] Figures 10 to 12 Both depict the wrist component WE rotating about the first axis, driven by the third motor M3. From Figures 10 to 12 It can be seen that, driven by the third motor M3, the first sliding base SB1 on which the first motor M1 is mounted and the second sliding base SB2 on which the second motor M2 is mounted move forward and backward in the longitudinal direction of the shaft 102.

[0132] Driven by the rotation of the third motor M3, the second sliding base SB2 is pulled by the rearward cable C3b and moves backward toward the proximal side in the longitudinal axial direction of shaft 102. The wrist element WE is then pulled by the same set of second forward and rearward cables C2a and C2b and rotates 80 degrees about the first axis, as... Figure 10 As shown.

[0133] Furthermore, when the first sliding base SB1 and the second sliding base SB2 are positioned identically along the longitudinal axis of shaft 102, the wrist element WE rotates about the first axis at 0 degrees, as shown below. Figure 11 As shown.

[0134] Furthermore, driven by the rotation of the third motor M3 in the opposite direction, the first sliding base SB1 is pulled by the forward cable C3a and moves backward toward the proximal side in the longitudinal axial direction of axis 102. Then, the wrist element WE is pulled by the set of first forward and backward cables C1a and C1b and rotates -80 degrees around the first axis, as... Figure 12 As shown.

[0135] In this manner, the third motor M3 pulls the third forward and backward cable groups C3a and C3b, and the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b move forward and backward through the sliding operation of the first sliding base SB1 and the second sliding base SB2. Therefore, the wrist element WE can rotate about the first axis. Furthermore, when the wrist element WE rotates about the first axis, the pretension of the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b remains unchanged.

[0136] The operation methods of the surgical tool unit end 101 are summarized as follows.

[0137] Operations on the first axis:

[0138] When the third motor winch MC3 is rotated by the third motor M3, a traction force is generated in one cable of the third forward and backward cable groups C3a and C3b. As a result, as Figures 10 to 12 As shown, the wrist element WE and the end effector mounted on the wrist element WE can rotate about the first axis in either the forward or reverse direction.

[0139] Operations on the second axis:

[0140] 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 at the same speed, it causes the end effector to rotate around the second axis.

[0141] Operation of the end effector:

[0142] 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 2 The opening angles of the first clamping member J1 and the second clamping member J2 are set as the opening and closing 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 opening and closing operation of the end effector is triggered.

[0143] Next, the relationship between the operation of the first to third electric motors M1 to M3 and the operation of the surgical tool unit end 101 will be described.

[0144] Figure 13 An example operation of the wrist element WE around a first axis is shown. 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 rotating around the first axis is determined by R. ψ This indicates that the rotation angle of the wrist component WE around the first axis is ψ.

[0145] also, Figure 14 An example operation of the end effector 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, the pulley radius of the first clamping winch JC1 is determined by R. JC1 This indicates that the pulley radius of the second clamping winch JC2 is R. JC2 The first clamping component J1 rotates about the second axis by an angle θ. j1 The rotation angle of the second clamping member J2 about the second axis is θ. j2 The opening angle of the end effector is α, and the rotation angle of the end effector about the second axis is θ.

[0146] Furthermore, although not shown in the figure, the pulley radius of the first motor winch MC1 is determined by R. MC1 This indicates that the pulley radius of the second motor winch MC2 is R. MC2 The pulley radius of the third motor winch MC3 is R. MC3 The rotation angle of the first motor winch MC1 is... The rotation angle of the second motor winch MC2 is: The rotation angle of the third motor winch MC3 is:

[0147] 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 expressed by the following equations (1) to (3).

[0148] [Mathematical Formula 1]

[0149]

[0150] [Mathematical Formula 2]

[0151]

[0152] [Mathematical Formula 3]

[0153] α=θ j1 -θ j2 …(3)

[0154] Simultaneously, the first clamping member J1 rotates at an angle θ around the second axis. j1 The rotation angle θ of the second clamping member J2 about the second axis j2 It is represented by the following equations (4) and (5) respectively.

[0155] [Mathematical Formula 4]

[0156]

[0157] [Mathematical Formula 5]

[0158]

[0159] As can be seen from equations (1) to (5) above, the wrist component WE can be driven independently by the rotation angle ψ around the first axis, the end effector by the rotation angle θ around the second axis, and the end effector by the opening angle α, without affecting each other. Therefore, the surgical tool unit 100 has a structure that does not cause interference between the cross axes.

[0160] Next, the range of motion of the surgical tool unit end 101 will be described.

[0161] Figures 15 to 22 Examples of the rotation operation of the wrist element WE about a first axis, the rotation operation of the end effector about a second axis, and the opening and closing operation of the end effector are shown.

[0162] Figure 15 The diagram shows a state where the wrist component WE rotates by 0 degrees about the first axis, ψ, the end effector rotates by 0 degrees about the second axis, and the end effector's opening angle α is 15 degrees. Furthermore, Figure 16 This illustrates a state where ψ is 0 degrees, θ is 80 degrees, and α is 15 degrees. Furthermore, Figure 17 This illustrates a state where ψ is 0 degrees, θ is 80 degrees, and α is 0 degrees. Furthermore, Figure 18 This illustrates a state where ψ is 0 degrees, θ is -80 degrees, and α is 15 degrees. Furthermore, Figure 19 This illustrates a state where ψ is -80 degrees, θ is 80 degrees, and α is 15 degrees. Furthermore, Figure 20 This illustrates a state where ψ is 80 degrees, θ is 80 degrees, and α is 15 degrees. Furthermore, Figure 21 The diagram shows a state where ψ is -45 degrees, θ is -45 degrees, and α is 0 degrees. Furthermore, Figure 22 The state is shown where ψ is 80 degrees, θ is -80 degrees, and α is 0 degrees.

[0163] from Figures 15 to 22 It can be seen that in the surgical tool unit end 101, the wrist element WE has ±80 degrees of freedom about the first axis, and the end effector has ±80 degrees of freedom about the second axis.

[0164] C. Example configuration of the surgical tool unit (2)

[0165] Figure 23 Another example configuration of a surgical tool unit applying the technology according to this disclosure is shown. The surgical tool unit 2300 shown includes a hollow shaft 2302 having a longitudinal axis, a surgical tool unit end portion 2301 located at one end of the shaft 2302, and a surgical tool unit drive unit 2303 located at the other end of the shaft 2302. The surgical tool unit end portion 2301 includes a wrist element rotatable relative to the shaft 2302 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 the opening and closing operations. However, the second axis is located offset from the first axis. Meanwhile, the surgical tool unit drive unit 2303 includes two actuators for driving the corresponding clamping members in the surgical tool unit end portion 2301 and one actuator for driving the wrist.

[0166] Figure 24 and 25 The surgical tool unit drive unit 2303 is shown in an enlarged view (however, Figure 24 and 25 (The observation directions are different between them). Furthermore... Figure 26 An example degree-of-freedom configuration of the surgical tool unit 2300 is shown. Furthermore, Figure 27 A six-view diagram of the surgical tool unit 2300 is shown. Note that the configuration of the surgical tool unit end 2301 is similar to... Figure 2 and Figure 3 The configuration of the surgical tool unit end 2301 shown is therefore not shown in these figures.

[0167] refer to Figure 26 The surgical tool unit end 2301 includes a wrist element WE and an opening / closing end effector. The end effector includes a pair of opposing clamping members: a first clamping member J1 and a second clamping member J2. The first clamping member J1 is supported by the wrist element WE in the portion near its base, thereby enabling rotation about a second axis. Similarly, the second clamping member J2 is supported by the wrist element WE in the portion near its base, thereby enabling rotation about a second axis.

[0168] A first clamping winch JC1, having the aforementioned second shaft as its rotation axis, is located near the root of the first clamping member J1. The first forward and backward cable groups C1a and C1b are wound around the first clamping winch JC1. Furthermore, a second clamping winch JC2, having the aforementioned second shaft as its rotation axis, is located near the root of the second clamping member J2. The second forward and backward cable groups C2a and C2b are wound around the second clamping winch JC2.

[0169] The first forward cable C1a is pulled in a direction orthogonal to the second axis. However, the direction of cable C1a is switched by a first idler wheel P11a to a direction orthogonal to the first axis, which uses the first axis as its axis of rotation. Furthermore, the arrangement is adjusted such that the first forward cable C1a is inserted through shaft 2302 by a first adjacent idler wheel P12a, which is adjacent to the first idler wheel P11a and has an axis of rotation parallel to the first axis. Similarly, the direction of the first backward cable C1b is switched from a direction orthogonal to the second axis to a direction orthogonal to the first axis by the first idler wheel P11b, which uses the first axis as its axis of rotation. Furthermore, the arrangement is adjusted such that the first backward cable C1b is inserted through shaft 2302 by a first adjacent idler wheel P11b, which is adjacent to the first idler wheel P11b and has an axis of rotation parallel to the first axis.

[0170] Simultaneously, the second forward cable C2a is pulled in a direction orthogonal to the second axis. However, the direction of cable C2a is switched by the second idler wheel P21a to a direction orthogonal to the first axis. The second idler wheel uses the first axis as its axis of rotation. Furthermore, the layout is adjusted such that the second forward cable C2a is inserted through the shaft 2302 by the second adjacent idler wheel P22a. The second adjacent idler wheel is adjacent to the second idler wheel P21a and has an axis of rotation parallel to the first axis. Furthermore, the direction of the second backward cable C2b is switched from a direction orthogonal to the second axis to a direction orthogonal to the first axis by the first idler wheel P11b. Furthermore, the layout is adjusted such that the second backward cable C2b is inserted through the shaft 2302 by the second adjacent idler wheel P22b. The second adjacent idler wheel is adjacent to the second idler wheel P21b and has an axis of rotation parallel to the first axis.

[0171] Next, refer to Figures 24 to 26 Description of the surgical tool unit drive unit 2303 side.

[0172] The surgical tool unit drive unit 2303 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 third motor M3 for driving the wrist element WE (see, for example, see...). Figure 24 , 25 And 26). Furthermore, the first to third motor winches MC1, MC2, and MC3, which serve as drive winches, are attached to the corresponding output shafts of the first to third motors M1 to M3 (see, for example, see...). Figure 26 Although it is assumed that a rotary electric motor is used for each of the first to third motors M1 to M3, a motor with a speed reducer may also be used.

[0173] The first forward and backward cable groups C1a and C1b are wound around the first motor winch MC1. That is, this arrangement is designed so that power transmission between the first clamping winch JC1 and the first motor winch MC1 is performed via a cable loop method. Therefore, the first motor winch MC1 is rotated by the first motor M1, such that the rotation of the first clamping winch JC1 can adjust the rotation angle of the first clamping member J1 about the second axis.

[0174] Furthermore, the second forward and backward cable groups C2a and C2b are wound around the second motor winch MC2. That is, this arrangement is designed so that power transmission between the second clamping winch JC2 and the second motor winch MC2 is performed via a cable loop method. Therefore, the second motor winch MC2 is rotated by the first motor M2, and the rotation of the second clamping winch JC2 can adjust the rotation angle of the second clamping member J2 about the second axis.

[0175] If you have already referred to Figure 2 and Figure 3 Each of the first clamping member J1 and the second clamping member J2 rotates about the second axis, causing a change in the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis. This opens and closes the end effector. Furthermore, the first clamping member J1 and the second clamping member J2 rotate simultaneously about the second axis, causing a change in the sum of the angles between 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 rotates about the second axis.

[0176] refer to Figure 24 and 25 Each of the first to third motors M1 to M3 is fixed to a base B integral with one end (proximal end) of shaft 2302. Furthermore, third forward and backward cable groups C3a and C3b are wound around the third motor winch MC3 via third idler pulleys P3a and P3b. The other end of the third forward cable C3a is fixed to a first sliding base SB1 that slides in the longitudinal direction of shaft 102. Furthermore, the other end of the third backward cable C3b is fixed to a second sliding base SB2 that slides in the longitudinal direction of shaft 102.

[0177] In short, the third forward and backward cable assemblies C3a and C3b are arranged to perform power transmission between the third motor winch MC3 and the first and second sliding bases SB1 and SB2. Therefore, when the third motor winch MC3 is rotated by the third motor M3, the first sliding base SB1 and the second sliding base SB2 can move forward and backward in opposite directions along the longitudinal axis of shaft 102.

[0178] Note that the third forward cable C3a in the section from the first sliding base SB1 to the third idler wheel P3a and the third backward cable C3b in the section from the second sliding base SB2 to the third idler wheel P3b are preferably arranged parallel to the longitudinal axis of axis 102.

[0179] from Figures 24 to 26 As can be seen, the first forward cable C1a winds around the first motor winch MC1 via the idler pulley P14a on the first sliding base SB1. The first backward cable C1b winds around the first motor winch MC1 in the opposite direction to the first forward cable C1a via the idler pulley P14b on the first sliding base SB1. Therefore, when the first sliding base SB1 moves backward to the root side (i.e., the proximal end) of the shaft 2302, the idler pulleys P14a and P14b also move backward. Thus, the first forward and backward cable groups C1a and C1b are pulled towards the proximal end, and rotational torque acts on the first clamping member J1.

[0180] Furthermore, the second forward cable C2a is wound around the second motor winch MC2 via the idler pulley P24a on the second sliding base SB2. The second reverse cable C2b is wound around the second motor winch MC2 in the opposite direction to the second forward cable C2a via the idler pulley P24b on the second sliding base SB2. Therefore, when the second sliding base SB2 moves backward, the idler pulleys P24a and P24b also move backward. As a result, the second forward and backward cable groups C2a and C2b are pulled towards the proximal end, and rotational torque acts on the second clamping member J2.

[0181] When the first sliding base SB1 moves forward and the second sliding base SB2 moves backward, the first forward and backward cable groups C1a and C1b move forward, and the second forward and backward cable groups C2a and C2b move backward. As a result, the wrist element WE rotates in the positive direction about the first axis. Conversely, when the first sliding base SB1 moves backward and the second sliding base SB2 moves forward, the first forward and backward cable groups C1a and C1b move backward, and the second forward and backward cable groups C2a and C2b move forward. As a result, the wrist element WE rotates in the negative direction about the first axis. Here, it is assumed that the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b all have a constant total length.

[0182] Figures 28 to 30 Both depict the wrist component WE rotating about the first axis, driven by the third motor M3. From Figures 28 to 30As can be seen, driven by the third motor M3, the first sliding base SB1 and the second sliding base SB2 move forward and backward in the longitudinal direction of shaft 2302, and pull each cable of the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b. However, since they are fixed to the base B, the first motor M1 and the second motor M2 will not slide.

[0183] Driven by the rotation of the third motor M3, the second sliding base SB2 is pulled by the third rearward cable C3b and moves rearward to the proximal side in the longitudinal direction of shaft 2302. The wrist element WE is then pulled by the second forward and rearward cable groups C2a and C2b and rotates 80 degrees about the first axis, as... Figure 28 As shown.

[0184] Furthermore, when the first sliding base SB1 and the second sliding base SB2 are positioned identically along the longitudinal axis of shaft 102, the wrist element WE rotates about the first axis at 0 degrees, as shown below. Figure 29 As shown.

[0185] Furthermore, driven by the rotation of the third motor M3 in the opposite direction, the first sliding base SB1 is pulled by the third forward cable C3a and moves backward toward the proximal side in the longitudinal axis direction of shaft 2302. Then, the wrist element WE is pulled by the first forward and backward cable groups C1a and C1b and rotates -80 degrees about the first axis, as... Figure 30 As shown.

[0186] In this manner, the third motor M3 pulls the third forward and backward cable groups C3a and C3b, and the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b move forward and backward through the sliding operation of the first sliding base SB1 and the second sliding base SB2. Therefore, the wrist element WE can rotate about the first axis. Furthermore, when the wrist element WE rotates about the first axis, the pretension of the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b remains unchanged.

[0187] Surgical tool unit 2300 and Figures 1 to 22 The difference in the surgical tool unit 100 shown is that both the first motor M1 and the second motor M2 are fixed to the base and do not slide during the rotation of the wrist element WE about the first axis. Therefore, the inertia of the structure during sliding operations can be reduced.

[0188] The operation methods of the surgical tool unit end 2301 are summarized as follows.

[0189] Operations on the first axis:

[0190] When the third motor winch MC3 is rotated by the third motor M3, a traction force is generated in one of the cables of the third forward and backward cable groups C3a and C3b. As a result, the wrist element WE and the end effector mounted on the wrist element WE can rotate about the first axis in either the forward or reverse direction.

[0191] Operations on the second axis:

[0192] 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 at the same speed, it causes the end effector to rotate around the second axis.

[0193] Operation of the end effector:

[0194] 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 2 The opening angles of the first clamping member J1 and the second clamping member J2 are set as the opening and closing 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 opening and closing operation of the end effector is triggered.

[0195] Next, the relationship between the operation of the first to third electric motors M1 to M3 and the operation of the surgical tool unit end 2301 will be described.

[0196] like Figure 13 As shown, the wrist element WE rotates about a first axis. As shown, the radius of each of the idler wheels P11a, P11b, P21a, and P21b rotating about the first axis is determined by R. ψ This indicates that the rotation angle of the wrist component WE around the first axis is ψ.

[0197] In addition, such as Figure 14 As shown, both the first clamping member J1 and the second clamping member J2 rotate about the second axis, thereby performing the rotation and opening / closing operations of the end effector. The pulley radius of the first clamping winch JC1 is R. JC1 This indicates that the pulley radius of the second clamping winch JC2 is R. JC2 The first clamping component J1 rotates about the second axis by an angle θ. j1 The rotation angle of the second clamping member J2 about the second axis is θ. j2 The opening angle of the end effector is α, and the rotation angle of the end effector about the second axis is θ.

[0198] Furthermore, although not shown in the figure, the pulley radius of the first motor winch MC1 is determined by R. MC1This indicates that the pulley radius of the second motor winch MC2 is R. MC2 The pulley radius of the third motor winch MC3 is R. MC3 The rotation angle of the first motor winch MC1 is... The rotation angle of the second motor winch MC2 is: The rotation angle of the third motor winch MC3 is:

[0199] 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 expressed by the following equations (6) to (8).

[0200] [Mathematical Formula 6]

[0201]

[0202] [Mathematical Formula 7]

[0203]

[0204] [Mathematical Formula 8]

[0205] α=θ j1 -θ j2 …(8)

[0206] A comparison of equations (6) and (1) regarding surgical tool unit 100 shows that, in the case of surgical tool unit 2300, the rotation angle ψ of the wrist element WE about the first axis is twice the rotation amount of the third motor M3. Therefore, the resolution of rotation about the first axis is reduced to 1 / 2. This is because the idler wheels P14a and P14b fixed to the first sliding base SB1 and the idler wheels P24a and P24b fixed to the second sliding base SB2 operate as moving pulleys.

[0207] Simultaneously, the first clamping member J1 rotates at an angle θ around the second axis. j1 The rotation angle θ of the second clamping member J2 about the second axis j2 It is represented by the following equations (9) and (10), respectively.

[0208] [Mathematical Formula 9]

[0209]

[0210] [Mathematical Formula 10]

[0211]

[0212] As can be seen from equations (6) to (10) above, the wrist component WE can be driven independently at the rotation angle ψ around the first axis, the end effector at the rotation angle θ around the second axis, and the end effector at the opening angle α, without affecting each other. Therefore, it can be said that the surgical tool unit 2300 has a structure that does not cause interference between the cross axes.

[0213] Furthermore, in the surgical tool unit end 2301, the rotation operation of the wrist element WE about the first axis, the rotation operation of the end effector about the second axis, and the opening and closing operation of the end effector are performed, such as... Figures 15 to 22 As shown.

[0214] D. Example configuration of the surgical tool unit (3)

[0215] Figure 31 Another example configuration of a surgical tool unit applying the technology according to this disclosure is shown. The surgical tool unit 3100 shown includes a hollow shaft 3102 having a longitudinal axis, a surgical tool unit end portion 3101 located at one end of the shaft 3102, and a surgical tool unit drive unit 3103 located at the other end of the shaft 3102. The surgical tool unit end portion 3101 includes a wrist element rotatable relative to the shaft 3102 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 the opening and closing operations. However, the second axis is located offset from the first axis. Meanwhile, the surgical tool unit drive unit 3103 includes two actuators for driving the corresponding clamping members in the surgical tool unit end portion 3101 and one actuator for driving the wrist.

[0216] Figure 32 and 33 The surgical tool unit end 3101 is shown in an enlarged view (however, Figure 32 and 33 (The observation directions are different between them). Furthermore... Figure 34 and 35 The surgical tool unit drive unit 3103 is shown in an enlarged view (however, Figure 34 and 35 (The observation directions are different between them). Furthermore... Figure 36 An example degree-of-freedom configuration of the surgical tool unit 3100 is shown. Furthermore, Figure 37 A six-view diagram of the surgical tool unit 3100 is shown.

[0217] The surgical tool unit end portion 3101 includes a wrist element WE and an opening / closing 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 32 and33 The wrist element WE is supported near the root, allowing it to rotate at the end (distal end) of shaft 3102 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. The first clamping member J1 and the second clamping member J2 open and close when the opening angle of the second axis, which serves as the opening and closing axis, changes.

[0218] Meanwhile, the surgical tool unit drive unit 3103 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 third motor M3 for driving the wrist element WE (see, for example, see...). Figure 34 , 35 (and 36). Each of the first to third motors M1 to M3 is fixed to a base B1 integral with one end (proximal end) of the shaft 3102. Furthermore, the first to third motor winches MC1, MC2, and MC3, which serve as drive winches, are respectively attached to the output shafts of the first to third motors M1 to M3. Although it is assumed that a rotary motor is used for each of the first to third motors M1 to M3, a motor with a reduction gear may also be used.

[0219] refer to Figure 34 and 35 The first sliding base SB1 and the second sliding base SB2, which slide in the longitudinal axis direction of shaft 3102, are attached to each side surface of base B1.

[0220] refer to Figure 32 , 33 And 36, the first clamping winch JC1 is disposed near the root of the first clamping member J1, and the first clamping winch has a second shaft as its rotation axis. The first forward and backward cable groups C1a and C1b are wound around the first clamping winch JC1. Furthermore, refer to... Figures 34 to 36 The first forward and backward cable groups C1a and C1b are wound around the first motor winch MC1.

[0221] refer to Figure 32 , 33 And 36, pull the first forward cable C1a in a direction orthogonal to the second axis. However, the direction of cable C1a is switched by the first idler wheel P11a to a direction orthogonal to the first axis, which uses the first axis as its axis of rotation. Furthermore, the layout is adjusted such that the first forward cable C1a is inserted through the shaft 3102 by the first adjacent idler wheel P12a, which is adjacent to the first idler wheel P11a and has an axis of rotation parallel to the first axis. Figure 34 and 35As shown, after being inserted through shaft 3102, the first forward cable C1a is then wound around the first motor winch MC1 via idler P14a fixed to the first sliding base SB1 and idler P13a fixed to the base B1.

[0222] Simultaneously, the first backward cable C1b is pulled in a direction orthogonal to the second axis. However, the direction of cable C1b is switched by the first idler wheel P11b to a direction orthogonal to the first axis. The first idler wheel uses the first axis as its axis of rotation. Furthermore, the layout is adjusted so that the first backward cable C1b is inserted through the shaft 3102 by the first adjacent idler wheel P11b, which is adjacent to the first idler wheel P11b and has an axis of rotation parallel to the first axis. Figure 34 and 35 As shown, after insertion through shaft 3102, the first backward cable C1b is then wound around the first motor winch MC1 in the opposite direction to the first forward cable C1a via idler P14b fixed to the first sliding base SB1 and idler P13b fixed to the base B1.

[0223] Therefore, the first motor winch MC1 is rotated by the first motor M1, thereby generating traction force in the first forward and backward cable groups C1a and C1b. Thus, the rotation of the first clamping winch JC1 can adjust the rotation angle of the first clamping member J1 about the second axis. Since the first clamping member J1 is driven by using the cable loop method of the first forward and backward cable groups C1a and C1b, its range of motion is wider.

[0224] refer to Figure 32 , 33 And 36, a second clamping winch JC2 having a second shaft as its rotation axis is disposed near the root of the second clamping member J2. The second forward and backward cable groups C2a and C2b are wound around the second clamping winch JC2. Furthermore, refer to Figures 34 to 36 The second forward and backward cable groups C2a and C2b are wound around the second motor winch MC2.

[0225] refer to Figure 32 , 33 And 36, pull the second forward cable C2a in a direction orthogonal to the second axis. However, the direction of cable C2a is switched by the second idler wheel P21a to a direction orthogonal to the first axis, the second idler wheel using the first axis as its axis of rotation. In addition, the layout is adjusted so that the second forward cable C2a is inserted through the shaft 3102 by the second adjacent idler wheel P22a, the second adjacent idler wheel being adjacent to the second idler wheel P21a and having a axis of rotation parallel to the first axis. Figure 34 and 35As shown, after being inserted through shaft 3102, the second forward cable C2a then winds around the second motor winch MC2 via idler wheel P24a fixed to the second sliding base SB2 and idler wheel P23a fixed to base B1.

[0226] Simultaneously, the second backward cable C2b is pulled in a direction orthogonal to the second axis. However, the direction of cable C2b is switched by the second idler wheel P21b to a direction orthogonal to the first axis. The second idler wheel uses the first axis as its rotation axis. Furthermore, the layout is adjusted so that the second backward cable C2b is inserted through the shaft 3102 by the first adjacent idler wheel P22b. The first adjacent idler wheel is adjacent to the second idler wheel P21b and has a rotation axis parallel to the first axis. Figure 34 and 35 As shown, after being inserted through shaft 3102, the second backward cable C2b is then wound around the second motor winch MC2 in the opposite direction to the second forward cable C2a via idler wheel P24b fixed to the second sliding base SB2 and idler wheel P23b fixed to base B1.

[0227] Therefore, the second motor winch MC2 is rotated by the second motor M2, thereby generating traction force in the second forward and backward cable groups C2a and C2b. Thus, the rotation of the second clamping winch JC2 can adjust the rotation angle of the second clamping member J2 about the second axis. Because the second clamping member J2 is driven by the cable loop method of the second forward and backward cable groups C2a and C2b, the range of motion of the second clamping member J2 can be wider.

[0228] refer to Figure 32 , 33 And 36, the wrist winch WC, using the first shaft as its axis of rotation, is positioned near the root of the wrist element WE. The third forward and backward cable groups C3a and C3b are wound around the wrist winch WC. Furthermore, refer to... Figures 34 to 36 The third forward and backward cable groups C3a and C3b are wound around the third motor winch MC3.

[0229] The traction forces of the first forward and backward cable groups C1a and C1b, and the second forward and backward cable groups C2a and C2b, are controlled by the first motor M1 and the second motor M2, causing a change in the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis. Therefore, the opening and closing operation of the end effector formed by the pair of clamping members J1 and J2 can be performed. The opening and closing angle is determined by the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis.

[0230] Furthermore, the traction forces of the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b are controlled by the first motor M1 and the second motor M2, causing changes in the angles of the first clamping member J1 and the second clamping member J2 about the second axis. Therefore, the end effector can be rotated about the second axis. The average value of the angles of the first clamping member J1 and the second clamping member J2 about the second axis is the rotation angle of the end effector about the second axis.

[0231] refer to Figure 32 , 33 And 36, the third forward cable C3a is wound around the wrist winch WC, pulled in a direction orthogonal to the first axis and in the longitudinal axis direction of axis 3102, and inserted through axis 3102. As Figure 34 and 35 As shown, after being inserted through shaft 3102, the third forward cable C3a is then wound around the third motor winch MC3 via the third idler pulley P3a fixed to the base B1.

[0232] Simultaneously, the third backward cable C3b wraps around the wrist winch WC in the opposite direction to the third forward cable C3a, pulled in a direction orthogonal to the first axis and in the longitudinal axis direction of axis 3102, and inserts through axis 3102. For example... Figure 34 and 35 As shown, after being inserted through shaft 3102, the third backward cable C3b is then wound around the third motor winch MC3 in the opposite direction to the third forward cable C3a via the third idler pulley P3b fixed to the base B1.

[0233] Therefore, the third motor winch MC3 is rotated by the third motor M3, thereby generating traction in the third forward and backward cable groups C3a and C3b. Thus, the rotation of the wrist winch WC can adjust the rotation angle of the wrist element WE about the first axis. Because the wrist element WE is driven by the cable loop method of the third forward and backward cable groups C3a and C3b, the range of motion of the wrist element WE can be expanded.

[0234] refer to Figures 34 to 36 The fourth forward and backward cable groups C4a and C4b are wound and fixed to the fourth idler P4 of the base B1. In addition, one end of the fourth forward cable C4a is fixed to the first sliding base SB1, and the fourth backward cable C4b is fixed to the second sliding base SB2.

[0235] As previously described, both the first sliding base SB1 and the second sliding base SB2 slide on base B1 along the longitudinal axis of shaft 3102. Furthermore, idler wheels P14a and P14b are fixed to the first sliding base SB1, and the first forward and backward cable assemblies C1a and C1b are wound around the idler wheels P14a and P14b. The second forward and backward cable assemblies C2a and C2b are fixed to the second sliding base SB2.

[0236] When the first clamping member J1 rotates about the second axis, the first forward and backward cable groups C1a and C1b are pulled by the first motor M1. Similarly, when the second clamping member J2 rotates about the second axis, the second forward and backward cable groups C2a and C2b are pulled by the second motor M2. Here, when the wrist element WE rotates about the first axis, it is necessary to prevent loads from being applied to the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b.

[0237] Therefore, the idler pulleys P14a and P14b around which the first forward and backward cable groups C1a and C1b are wound are fixed to the first sliding base SB1, and the idler pulleys P24a and P24b around which the second forward and backward cable groups C2a and C2b are wound are fixed to the second sliding base SB2. Furthermore, the fourth forward and backward cable groups C4a and C4b, whose respective ends are fixed to the first sliding base SB1 and the second sliding base SB2, are wound and fixed to the fourth idler pulley P4 of base B1. In this configuration, the first sliding base SB1 and the second sliding base SB2 move forward and backward in the longitudinal direction of shaft 3102, thereby appropriately adjusting the positions of idler pulleys P14a and P14b and idler pulleys P24a and P24b. As a result, when the wrist element WE rotates about the first axis, loads can be prevented from being applied to the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b.

[0238] As the third motor M3 rotates, the wrist element WE actively performs a rotation operation about the first axis, and the first sliding base SB1 and the second sliding base SB2 correspondingly move passively forward and backward in the longitudinal direction of the shaft 3102. Therefore, the tension applied to each cable of the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b can remain constant.

[0239] The surgical tool unit 3100 is designed to directly rotate the wrist winch WC using a third electric motor M3. Therefore, it avoids... Figures 23 to 30 The resolution of rotation about the first axis in the surgical tool unit 2300 shown is reduced.

[0240] Furthermore, similar to surgical tool unit 2300, surgical tool unit 3100 has a structure in which both the first motor M1 and the second motor M2 are fixed to the base, and it does not slide during the rotation operation of the wrist element WE about the first axis. Therefore, the inertia of the structure during sliding operations can be reduced.

[0241] Figures 38 to 40 Both depict the wrist component WE rotating about the first axis, driven by the third motor M3. From Figures 28 to 30 As can be seen, driven by the third motor M3, the first sliding base SB1 and the second sliding base SB2 move forward and backward in the longitudinal direction of shaft 2302, and pull each cable of the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b. However, since they are fixed to the base B, the first motor M1 and the second motor M2 will not slide.

[0242] The surgical tool unit 3100 is designed to directly rotate the wrist winch WC using a third motor M3. Driven by the rotation of the third motor M3, the wrist element WE is pulled by the third forward cable C3a and rotates 80 degrees around the first axis, as... Figure 38 As shown. At this time, the first sliding base SB1 moves forward in the longitudinal direction of shaft 3102, and the second sliding base SB2 moves backward. As a result, the positions of idler pulleys P14a and P14b and idler pulleys P24a and P24b are properly adjusted, and loads can be prevented from being applied to the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b.

[0243] Furthermore, when the wrist component WE rotates to a position of 0 degrees around the first axis, the first sliding base SB1 and the second sliding base SB2 are positioned identically along the longitudinal axis of shaft 102, as follows: Figure 39 As shown. As a result, by properly adjusting the positions of idler pulleys P14a and P14b and idler pulleys P24a and P24b, it is possible to prevent loads from being applied to the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b.

[0244] Furthermore, driven by the rotation of the third motor M3, the wrist component WE is pulled by the third forward cable C3a and rotates -80 degrees around the first axis, as... Figure 40 As shown. At this time, the second sliding base SB2 moves forward in the longitudinal direction of shaft 3102, and the first sliding base SB1 moves backward. As a result, the positions of idler pulleys P14a and P14b and idler pulleys P24a and P24b are properly adjusted, and loads can be prevented from being applied to the first forward and backward cable groups C1a and C1b and the second forward and backward cable groups C2a and C2b.

[0245] from Figures 38 to 40 It can be seen that the third forward and backward cable groups C3a and C3b are pulled by the third motor M3, allowing the wrist element WE to rotate directly around the first axis. When the wrist element WE rotates around the first axis, the first forward and backward cable groups C1a and C1b, as well as the second forward and backward cable groups C2a and C2b, then move forward and backward in the longitudinal direction of axis 3102. Therefore, the pretension of the first forward and backward cable groups C1a and C1b, as well as the second forward and backward cable groups C2a and C2b, remains unchanged.

[0246] The operation method of the surgical tool unit end 3101 is summarized as follows.

[0247] Operations on the first axis:

[0248] When the third motor winch MC3 is rotated by the third motor M3, a traction force is generated in one of the cables of the third forward and backward cable groups C3a and C3b. As a result, the wrist element WE and the end effector mounted on the wrist element WE can rotate about the first axis in either the forward or reverse direction.

[0249] Operations on the second axis:

[0250] 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 at the same speed, it causes the end effector to rotate around the second axis.

[0251] Operation of the end effector:

[0252] 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 32 The opening angles of the first clamping member J1 and the second clamping member J2 are set as the opening and closing 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 opening and closing operation of the end effector is triggered.

[0253] E. Modification of surgical tool unit

[0254] E-1. Modification of the drive cable method

[0255] Electromagnetic rotary motors are most preferably used as the first to third motors M1 to M3. However, other types of actuators capable of rotating and driving the winch may also be used. Examples of other modifications to the actuator for pulling the cable may include the following.

[0256] - Piezoelectric linear motion ultrasonic motor

[0257] - Piezoelectric rotary ultrasonic motor

[0258] - Hydraulic linear motor

[0259] -Hydraulic rotary electric motor

[0260] - Polymer linear actuator

[0261] - Electromagnetic linear motor

[0262] - Shape memory alloy

[0263] 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.

[0264] E-2. Modification of the shape of the clamping component

[0265] 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.

[0266] -tweezers

[0267] - Bipolar tweezers

[0268] -Scissors

[0269] - Stitcher

[0270] E-3. Axis Modification

[0271] 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. The same applies to shafts 2302 and 3102.

[0272] E-4. Cable Modification

[0273] The cable can be a bundle of metal wires, a bundle of resin, or a mixture of various materials (e.g., metal wires and resin). Furthermore, a shaft 102 formed of a highly rigid metal can be used for cable sections disposed within the shaft 102 and not requiring bending, and connected to flexible cables used in sections with bends. In this way, a cable can be formed. Examples of cable alternatives are shown below.

[0274] - Metal wire or resin wire

[0275] - Threads obtained by weaving small-diameter metal or resin threads.

[0276] E-5. Modification of the idler wheel

[0277] In the example above, the idler wheel is used to adjust the cable layout. Using an idler wheel reduces sliding friction when pulling the cable and allows for smoother operation. To reduce sliding friction, idler wheels with rotary bearings can be used.

[0278] However, the use of idler wheels increases the size of the mechanism and the number of parts becomes larger. Therefore, in order to further reduce the size of the surgical tool unit end 101, the cable can be arranged along the guide groove formed in the mechanism without any idler wheels.

[0279] E-6. Sensing

[0280] To detect cable tension, stress sensors can be installed on each cable. Examples of stress sensors include variable resistance stress sensors and fiber Bragg grating (FBG) stress sensors. Alternatively, torque sensors can be mounted on the actuator that pulls the cable.

[0281] F. Application Examples of Surgical Tool Units

[0282] F-1. Example Applications of Computer-Assisted Surgical Systems

[0283] Figure 41 An example external configuration of a surgical support system 4100 (also known as a computer-assisted surgical system or a robot-assisted surgical system) using a surgical tool unit according to this embodiment is shown. The surgical support system 4100 shown in the figures includes an arm 4101 with a multi-link structure, and a surgical tool unit 4102 is attached to the end of the arm 4101. The surgical tool unit 4102 may be replaceable. The surgical support system 4100 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.

[0284] For example, the surgical support system 4100 shown in the figure can be used as a slave device in a master-slave robot, driving the arm 4101 and the surgical tool unit 4102 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. Additionally, when directly operated by an operator, the surgical support system 4100 can also be used as an arm equipped with surgical tools.

[0285] Note that arm 4101 can be any type of robot mechanism, such as a polar coordinate robot, cylindrical coordinate robot, Cartesian coordinate robot, vertically connected robot, horizontally connected robot, parallel link robot, or telecentric motion (RCM) robot.

[0286] Furthermore, when the surgical support system 4100 is a surgical robot that supports laparoscopic surgery, the arm 4101 is preferably a vertical tandem arm or a telecentric motion (RCM) arm, whose distal rotation center is located far 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.

[0287] Furthermore, despite Figure 41 An example configuration of a computer-assisted surgical system is shown, to which only one surgical tool unit can be attached. However, this technology can also be applied to computer-assisted surgical systems of the type to which multiple surgical tool units can be attached simultaneously to perform laparoscopic surgery.

[0288] F-2. Example Application of Surgical Operation Unit

[0289] Figure 42 An example external configuration of a surgical operation unit 4200 using a surgical tool unit according to this embodiment is shown. The surgical operation unit 4200 includes a handle unit 4201 that is directly held and operated by a user (operator) with their hand, and a surgical tool unit 4202 is attached to the end of the handle unit 4201. The surgical tool unit 4202 may be replaceable.

[0290] Handle unit 4201 may include a joystick 4203, which can be operated with the thumb to specify a desired orientation of, for example, the surgical tool unit end of surgical tool unit 4202. Handle unit 4201 may also include a button 4204, which can be pushed with the index finger to issue a command for opening and closing the clamping member.

[0291] A controller (not shown) is installed in the handle unit 4201. Based on the input of the joystick 4203 or button 4204, the controller calculates the rotation angle of the wrist element WE around the first axis and the rotation angle 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.

[0292] G. Effect

[0293] According to the technology disclosed herein, operations with three degrees of freedom (i.e., yaw, pitch, and opening / closing operations of the end effector at the end of the surgical instrument) can be performed using three electric motors. Therefore, the size of the drive unit for the surgical instrument can be reduced.

[0294] Furthermore, using the technology according to this disclosure, the yaw, pitch, and opening / closing operations of the end effector at the end of the surgical tool can be performed using a structure that does not cause interference between the cross axes. Therefore, control of each axis becomes much easier.

[0295] Industrial applicability

[0296] 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.

[0297] This specification has primarily described embodiments of surgical tools used in surgical robots based on the technology of this disclosure. However, the subject matter of the technology of this disclosure is not limited to these embodiments. The technology of this disclosure can be applied to robots in various fields other than healthcare, such as precision work robots. The technology of this disclosure can also be applied to grasping manipulators and precision work devices that can be operated by hand.

[0298] 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.

[0299] Note that the technology according to this disclosure can also be embodied in the configuration described below.

[0300] (1) A surgical tool, comprising:

[0301] axis;

[0302] A wrist, which is connected to one end of a shaft and is rotatable about a first axis;

[0303] A first clamping member and a second clamping member are rotatably supported relative to the wrist about a second axis.

[0304] A first forward and backward cable group that transmits a force for rotating a first clamping member about a second axis;

[0305] A second forward and backward cable assembly, the second forward and backward cable assembly transmitting force for rotating the second clamping member about a second axis; and

[0306] A rotating motion unit generates a rotational motion of the wrist around a first axis, so that the pretension of the first forward and backward cable group and the second forward and backward cable group remains unchanged.

[0307] (2) The surgical tool according to (1) further includes:

[0308] A first clamping winch, the first clamping winch being disposed on a first clamping member and having a rotating axis serving as a second axis, the first set of forward and backward cables being wound around the first clamping winch; and

[0309] The second clamping winch is disposed on the second clamping member and has a rotating shaft as the second axis, and the set of second forward and backward cables are wound around the second clamping winch.

[0310] (3) The surgical tools according to (2) further include:

[0311] A first idler unit switches the first forward and backward cable group to a direction substantially parallel to the longitudinal axis; and

[0312] The second idler unit switches the second forward and backward cable group to a direction substantially parallel to the longitudinal axis.

[0313] (4) The surgical tools according to (3), wherein,

[0314] 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.

[0315] 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.

[0316] (5) The surgical tool according to (3) or (4) further includes:

[0317] A first actuator rotates a first drive winch and pulls the first set of forward and backward cables; and

[0318] The second actuator rotates the second drive winch and pulls the set of second forward and backward cables.

[0319] (6) The surgical tool according to (5), wherein,

[0320] The rotational motion unit generates a rotational motion of the wrist about a first axis by moving one of a first forward and backward cable group and a second forward and backward cable group backward, while the other moves forward in the longitudinal direction of the axis.

[0321] (7) The surgical tools according to (6), wherein,

[0322] The rotational motion unit includes:

[0323] A first sliding base is used to fix a first actuator and a first drive winch, and slides in the longitudinal direction of the shaft.

[0324] A second sliding base, which fixes the second actuator and the second drive winch, and slides along the longitudinal axis of the shaft; and

[0325] The forward and backward motion unit causes the first sliding base and the second sliding base to move forward and backward in the longitudinal axial direction of the shaft, and

[0326] Based on the forward and backward movements of the first and second sliding bases, the wrist rotates around the first axis.

[0327] (8) The surgical tools according to (6), wherein,

[0328] The first actuator and the first drive winch, as well as the second actuator and the second drive winch, are fixed to the shaft, and

[0329] The rotational motion unit includes:

[0330] A first sliding base with a fixed idler wheel, the first forward and backward cable group is wound around the first drive winch through the idler wheel and slides in the longitudinal axial direction of the shaft;

[0331] A second sliding base, wherein the second sliding base fixes an idler wheel, and the second forward and backward cable assemblies are wound around the second drive winch via the idler wheel and slide in the longitudinal axial direction of the shaft; and

[0332] The forward and backward motion unit causes the first sliding base and the second sliding base to move forward and backward in the longitudinal axial direction of the shaft, and

[0333] The wrist rotates around the first axis based on the forward and backward movements of the first and second sliding bases.

[0334] (9) The surgical instruments according to (7) or (8), wherein,

[0335] The forward and backward motion units include:

[0336] A third actuator, which rotates a third drive winch; and

[0337] A third set of forward and backward cables is wound around the third drive winch, and each end of the third set of forward and backward cables is fixed to the first sliding base and the second sliding base.

[0338] The rotation of the third drive winch generates the forward and backward movement of the first and second sliding bases.

[0339] (10) The surgical tools according to (5), wherein,

[0340] The first actuator and the first drive winch, as well as the second actuator and the second drive winch, are fixed to the shaft, and

[0341] The rotational motion unit includes: a wrist winch disposed on the wrist and having a rotational axis as a first axis, the third set of forward and backward cables wound around the wrist winch; a third actuator that rotates the third drive winch and pulls the third set of cables; and an adjustment unit that adjusts the pretension of the first set of forward and backward cables and the second set of forward and backward cables according to the rotational motion of the wrist around the first axis.

[0342] (11) The surgical tool according to (10), wherein,

[0343] The adjustment unit includes:

[0344] A first sliding base, wherein the first sliding base fixes an idler wheel, and the first forward and backward cable assemblies are wound around the first drive winch via the idler wheel and slide in the longitudinal axial direction of the shaft; and

[0345] The second sliding base has a fixed idler wheel. The second forward and backward cable assemblies are wound around the second drive winch via the idler wheel and slide in the longitudinal axial direction of the shaft.

[0346] The pretension of the first and second forward and backward cables is adjusted by moving the first and second sliding bases forward and backward according to the rotational movement of the wrist around the first axis.

[0347] (12) The surgical tools according to (11), wherein,

[0348] The adjustment unit further includes:

[0349] A fourth idler wheel, which is fixed to the shaft; and

[0350] A set of fourth forward and backward cables is wound around a fourth idler wheel, and each end of the set of fourth forward and backward cables is fixed to a first sliding base and a second sliding base.

[0351] By using the traction force of the fourth forward and backward cables, the first and second sliding bases are moved forward and backward according to the rotational movement of the wrist around the first axis, thereby adjusting the pretension of the first and second forward and backward cables.

[0352] (13) A surgical support system, comprising surgical instruments and an arm for connecting the surgical instruments.

[0353] The surgical instruments include:

[0354] axis;

[0355] A wrist, which is connected to one end of a shaft and is rotatable about a first axis;

[0356] A first clamping member and a second clamping member are rotatably supported relative to the wrist about a second axis.

[0357] A first forward and backward cable group that transmits a force for rotating a first clamping member about a second axis;

[0358] A second forward and backward cable assembly, the second forward and backward cable assembly transmitting force for rotating the second clamping member about a second axis; and

[0359] A rotating motion unit generates a rotational motion of the wrist around a first axis, so that the pretension of the first forward and backward cable group and the second forward and backward cable group remains unchanged.

[0360] (14) A surgical operation unit, comprising surgical instruments and a handle unit connected to the surgical instruments.

[0361] The surgical instruments include:

[0362] axis;

[0363] A wrist, which is connected to one end of a shaft and is rotatable about a first axis;

[0364] A first clamping member and a second clamping member are rotatably supported relative to the wrist about a second axis.

[0365] A first forward and backward cable group that transmits a force for rotating a first clamping member about a second axis;

[0366] A second forward and backward cable assembly, the second forward and backward cable assembly transmitting force for rotating the second clamping member about a second axis; and

[0367] A rotating motion unit generates a rotational motion of the wrist around a first axis, so that the pretension of the first forward and backward cable group and the second forward and backward cable group remains unchanged.

[0368] List of reference numerals

[0369] 100 Surgical Tool Units

[0370] 101 Surgical tool unit end

[0371] 102 shafts

[0372] 103 Surgical Tool Unit Drive Unit

[0373] 2300 Surgical Tool Units

[0374] 2301 Surgical Tool Unit End

[0375] 2302 shaft

[0376] 2303 Surgical Tool Unit Drive Unit

[0377] 3100 Surgical Tool Unit

[0378] 3101 Surgical tool unit end

[0379] 3102 shaft

[0380] 3103 Surgical Tool Unit Drive Unit

[0381] 4100 Computer-Assisted Surgery System

[0382] 4101 Arm

[0383] 4102 Surgical Tool Unit

[0384] 4200 Surgical Operating Unit

[0385] 4201 Handle Unit

[0386] 4202 Surgical Tool Unit

[0387] 4203 joystick

[0388] Button 4204.

Claims

1. A surgical instrument, comprising: axis; A wrist, the wrist being rotatably connected to the front end of the first axis; A first clamping member and a second clamping member, the first clamping member and the second clamping member being rotatably supported relative to the wrist about a second axis; First forward and backward cable groups, the first forward and backward cable groups transmit forces for rotating the first clamping member about the second axis; The second forward and backward cable group transmits the force for rotating the second clamping member about the second axis; as well as A rotational motion unit generates rotational motion of the wrist about the first axis, such that the pretension of the first forward and backward cable assemblies and the second forward and backward cable assemblies remains unchanged. The surgical instruments also include: A first actuator rotates a first drive winch and pulls the first forward and backward cable assemblies; and The second actuator rotates the second drive winch and pulls the second forward and backward cable assemblies. The rotational motion unit includes: A first sliding base is used to fix the first actuator and the first drive winch, and the first sliding base slides in the longitudinal axis direction of the shaft. A second sliding base, which fixes the second actuator and the second drive winch, and slides along the longitudinal axis of the shaft; and A forward and backward motion unit, wherein the forward and backward motion unit causes the first sliding base and the second sliding base to move forward and backward in the longitudinal axial direction of the shaft, and The wrist rotates about the first axis based on the forward and backward movements of the first sliding base and the second sliding base.

2. The surgical tool according to claim 1, further comprising: The first clamping winch is mounted on the first clamping member with the second axis as the rotation axis, and the first forward and backward cable groups are wound around the first clamping winch. as well as The second clamping winch is mounted on the second clamping member with the second shaft as its rotation axis, and the second forward and backward cable groups are wound around the second clamping winch.

3. The surgical tool according to claim 2, further comprising: The first idler unit switches the first forward and backward cable groups to a direction substantially parallel to the longitudinal axis of the axis. as well as The second idler unit switches the second forward and backward cable group to a direction substantially parallel to the longitudinal axis of the axis.

4. The surgical tool according to claim 3, 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.

5. The surgical tool according to claim 1, wherein, The rotational motion unit generates the rotational motion of the wrist about the first axis by moving one of the first forward and backward cable groups and the second forward and backward cable groups backward in the longitudinal direction of the axis, and moving the other of the first forward and backward cable groups and the second forward and backward cable groups forward in the longitudinal direction of the axis.

6. The surgical instrument according to claim 1, wherein, The forward and backward motion units include: A third actuator, which rotates a third drive winch; and A third forward and backward cable group, the third forward and backward cable group being wound around the third drive winch, each end of the third forward and backward cable group being fixed to the first sliding base and the second sliding base respectively, and The rotation of the third drive winch generates forward and backward movement of the first sliding base and the second sliding base.

7. A surgical instrument, comprising: axis; A wrist, the wrist being rotatably connected to the front end of the first axis; A first clamping member and a second clamping member, the first clamping member and the second clamping member being rotatably supported relative to the wrist about a second axis; First forward and backward cable groups, the first forward and backward cable groups transmit forces for rotating the first clamping member about the second axis; The second forward and backward cable group transmits the force for rotating the second clamping member about the second axis; as well as A rotational motion unit generates rotational motion of the wrist about the first axis, such that the pretension of the first forward and backward cable assemblies and the second forward and backward cable assemblies remains unchanged. The surgical instruments also include: A first actuator rotates a first drive winch and pulls the first forward and backward cable assemblies; and A second actuator rotates a second drive winch and pulls the second forward and backward cable assemblies, wherein... The first actuator and the first drive winch, as well as the second actuator and the second drive winch, are fixed to the shaft, and The rotational motion unit includes: A first sliding base is fixed with an idler wheel, through which the first forward and backward cable groups wind the first drive winch, and the first sliding base slides in the longitudinal axial direction of the shaft. A second sliding base, wherein the second sliding base fixes an idler wheel, through which the second forward and backward cable assemblies wind the second drive winch, and the second sliding base slides in the longitudinal axial direction of the shaft; and A forward and backward motion unit, wherein the forward and backward motion unit causes the first sliding base and the second sliding base to move forward and backward in the longitudinal axial direction of the shaft, and The wrist rotates about the first axis as the first sliding base and the second sliding base move forward and backward.

8. A surgical instrument, comprising: axis; A wrist, the wrist being rotatably connected to the front end of the first axis; A first clamping member and a second clamping member, the first clamping member and the second clamping member being rotatably supported relative to the wrist about a second axis; First forward and backward cable groups, the first forward and backward cable groups transmit forces for rotating the first clamping member about the second axis; The second forward and backward cable group transmits the force for rotating the second clamping member about the second axis; as well as A rotational motion unit generates rotational motion of the wrist about the first axis, such that the pretension of the first forward and backward cable assemblies and the second forward and backward cable assemblies remains unchanged. The surgical instruments also include: A first actuator rotates a first drive winch and pulls the first forward and backward cable assemblies; and A second actuator rotates a second drive winch and pulls the second forward and backward cable assemblies, wherein... The first actuator and the first drive winch, as well as the second actuator and the second drive winch, are fixed to the shaft, and The rotational motion unit includes: a wrist winch, which is mounted on the wrist with the first axis as its rotation axis, and a third forward and backward cable group is wound around the wrist winch; a third actuator, which rotates the third drive winch and pulls the third cable group; and an adjustment unit, which adjusts the pretension of the first forward and backward cable group and the second forward and backward cable group according to the rotational motion of the wrist around the first axis.

9. The surgical instrument according to claim 8, wherein, The adjustment unit includes: A first sliding base, a fixed idler wheel, through which the first forward and backward cable assemblies wind the first drive winch, and the first sliding base slides in the longitudinal axial direction of the shaft; and A second sliding base is fixed to an idler wheel. The second forward and backward cable assemblies are wound around the second drive winch via this idler wheel, and the second sliding base slides in the longitudinal direction of the shaft. The pretension of the first forward and backward cable assemblies and the second forward and backward cable assemblies is adjusted by moving the first sliding base and the second sliding base forward and backward according to the rotational movement of the wrist around the first axis.

10. The surgical tool according to claim 9, wherein, The adjustment unit further includes: A fourth idler wheel, the fourth idler wheel being fixed to the shaft; and A fourth forward and backward cable group, the fourth forward and backward cable group being wound around the fourth idler wheel, each end of the fourth forward and backward cable group being fixed to the first sliding base and the second sliding base respectively, and Using the traction force of the fourth forward and backward cable group, the first sliding base and the second sliding base are moved forward and backward according to the rotational movement of the wrist about the first axis, thereby adjusting the pretension of the first forward and backward cable group and the second forward and backward cable group.

11. A surgical support system, comprising surgical instruments and an arm on which said surgical instruments are mounted. The surgical instruments include: axis; A wrist, the wrist being rotatably connected to the front end of the first axis; A first clamping member and a second clamping member, the first clamping member and the second clamping member being rotatably supported relative to the wrist about a second axis; First forward and backward cable groups, the first forward and backward cable groups transmit forces for rotating the first clamping member about the second axis; The second forward and backward cable group transmits the force for rotating the second clamping member about the second axis; as well as A rotational motion unit generates rotational motion of the wrist about the first axis, such that the pretension of the first forward and backward cable assemblies and the second forward and backward cable assemblies remains unchanged. The surgical instruments also include: A first actuator rotates a first drive winch and pulls the first forward and backward cable assemblies; and The second actuator rotates the second drive winch and pulls the second forward and backward cable assemblies. The rotational motion unit includes: A first sliding base is used to fix the first actuator and the first drive winch, and the first sliding base slides in the longitudinal axis direction of the shaft. A second sliding base, which fixes the second actuator and the second drive winch, and slides along the longitudinal axis of the shaft; and A forward and backward motion unit, wherein the forward and backward motion unit causes the first sliding base and the second sliding base to move forward and backward in the longitudinal axial direction of the shaft, and The wrist rotates about the first axis based on the forward and backward movements of the first sliding base and the second sliding base.

12. A surgical operation unit, comprising surgical instruments and a handle unit on which said surgical instruments are mounted, The surgical instruments include: axis; A wrist, the wrist being rotatably connected to the front end of the first axis; A first clamping member and a second clamping member, the first clamping member and the second clamping member being rotatably supported relative to the wrist about a second axis; First forward and backward cable groups, the first forward and backward cable groups transmit forces for rotating the first clamping member about the second axis; The second forward and backward cable group transmits the force for rotating the second clamping member about the second axis; as well as A rotational motion unit generates rotational motion of the wrist about the first axis, ensuring that the pretension of the first forward and backward cable assemblies and the second forward and backward cable assemblies remains unchanged. The surgical instruments also include: A first actuator rotates a first drive winch and pulls the first forward and backward cable assemblies; and The second actuator rotates the second drive winch and pulls the second forward and backward cable assemblies. The rotational motion unit includes: A first sliding base is used to fix the first actuator and the first drive winch, and the first sliding base slides in the longitudinal axis direction of the shaft. A second sliding base, which fixes the second actuator and the second drive winch, and slides along the longitudinal axis of the shaft; and A forward and backward motion unit, wherein the forward and backward motion unit causes the first sliding base and the second sliding base to move forward and backward in the longitudinal axial direction of the shaft, and The wrist rotates about the first axis based on the forward and backward movements of the first sliding base and the second sliding base.

Images