Medical robot and attachment portion of medical robot

Abstract

The present disclosure provides a medical robot capable of improving operability and facilitating structural simplification, and a mounting portion of the medical robot. The medical robot has a surgical instrument 40 and a mounting portion 20, the surgical instrument having a driven portion that transmits a driving force to a treatment portion, and a main body 41 provided with a driven-side hole, the driven portion being disposed at the driven-side hole in a manner capable of relative linear motion; the mounting portion having a mounting surface 21 and a transmission-side hole 24, a transmission portion 22 that transmits the driving force in the direction of linear motion to the driven portion being disposed at the transmission-side hole, surgical instrument engagement portions 51, 52 being provided at the surgical instrument 40, mounting engagement portions 31, 35 being provided at the mounting portion 20, the surgical instrument engagement portions and the mounting engagement portions being configured such that the surgical instrument 40 is mounted to the mounting portion 20 by relative movement of the surgical instrument 40 and the mounting portion 20 in a direction along the mounting surface 21 and a direction intersecting the direction of linear motion, the mounting surface 21 being provided with a guide groove 25, the guide groove being a groove extending in the direction of relative movement of the surgical instrument 40 with respect to the mounting portion 20 and guiding the driven portion toward a prescribed position of the transmission-side hole 24.

Description

[0001] Cross-reference to related applications

[0002] This international application claims priority to Japanese Patent Application No. 2019-230907, filed on December 20, 2019, with the Japan Patent Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a medical robot for treating patients and an installation part for the medical robot. Background Technology

[0004] In recent years, robotic medical procedures have been proposed to reduce the burden on surgical operators and achieve labor-saving improvements in medical facilities. In the surgical field, a solution has been proposed for a medical robot that uses a multi-degree-of-freedom manipulator with a multi-degree-of-freedom arm that can be remotely operated by the surgical operator to perform procedures on patients (see, for example, Patent Document 1).

[0005] Patent Document 1 discloses a structure that allows for the installation and removal of a surgical instrument relative to a medical robot for performing procedures. Furthermore, a driving force for driving the movable part of the surgical instrument is transmitted from the medical robot to the surgical instrument.

[0006] Furthermore, a transmission structure is provided that, when surgical instruments for performing the procedure are installed onto the medical robot, transmits driving force from the medical robot to the surgical instruments. This transmission structure is configured to engage and disengage in conjunction with the installation and removal of the medical robot and the surgical instruments.

[0007] Specifically, a structure is disclosed in which surgical instruments are engaged using a spring force to transmit driving force during installation and removal from a medical robot. Based on this structure, surgical instruments can be replaced during the procedure.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent No. 5807974 Summary of the Invention

[0011] Problem to be solved by the invention

[0012] However, in the technology described in Patent Document 1, since the engagement is achieved using the force of a spring, movement caused by the force must be allowed in the transmission structure. In other words, clearance, margin, or gap must be intentionally provided in the transmission structure.

[0013] Thus, it is difficult to suppress generation of a gap that is not useful for transmission of driving force in a path for transmitting driving force in the transmission structure. Also, a problem is found in that it is difficult to properly control the action of the surgical instrument due to the gap.

[0014] Further, in order for the surgical operator to cause the surgical instrument to perform an action as intended, it is necessary to detect whether engagement is made in the transmission structure in a manner that enables transmission of driving force. Specifically, it is necessary to detect the engagement using a sensor or a switch or the like as a detection means, and it is necessary to provide wiring or the like for transmitting the detected information to the operator. In other words, a problem is found in that the structure of the medical robot becomes complicated.

[0015] One aspect of the present disclosure preferably provides a medical robot and a mounting portion of a medical robot that can easily achieve an improvement in operability and a simplification of the structure.

[0016] Technical solution to the problem

[0017] A first aspect of the present disclosure relates to a medical robot including a surgical instrument and a mounting portion. The surgical instrument has at least a driven portion and a main body. The driven portion transmits driving force to a treatment portion that performs a medical treatment. The main body is provided with a driven-side hole that houses the driven portion, and the driven portion is disposed at the driven-side hole in a manner that enables relative linear motion. The mounting portion has at least a mounting surface and a transmission-side hole. The mounting surface opposes a surface of the main body in which the driven-side hole is provided. A transmission portion is disposed in the transmission-side hole. The transmission portion transmits driving force in a direction of the linear motion to the driven portion. A surgical instrument engagement portion is provided in the surgical instrument. A mounting engagement portion is provided in the mounting portion. The surgical instrument engagement portion and the mounting engagement portion are configured to mount the surgical instrument to the mounting portion by relative movement of the surgical instrument and the mounting portion in a direction along the mounting surface and in a direction intersecting the direction of the linear motion. The mounting surface is provided with a guide groove that is a groove extending in a direction in which the surgical instrument moves relative to the mounting portion. The guide groove engages with a protruding portion protruding from the driven portion when the surgical instrument is mounted to the mounting portion, and guides the driven portion toward a prescribed position of the transmission-side hole.

[0018] The second aspect of the present disclosure relates to a mounting portion to which a surgical instrument is to be mounted, the surgical instrument having at least a driven portion that transmits a driving force to a treatment portion that performs a medical treatment, and a main body that is provided with a driven-side hole that houses the driven portion and in which the driven portion is disposed so as to be relatively linearly movable, the mounting portion being provided with at least a mounting surface that opposes a surface of the main body in which the driven-side hole is provided, a transmission-side hole in which a transmission portion that transmits the driving force in the direction of the linear movement to the driven portion is disposed, a mounting engagement portion configured to mount the surgical instrument to the mounting portion by relative movement of the surgical instrument and the mounting portion in a direction along the mounting surface and a direction intersecting the direction of the linear movement, and a guide groove that is a groove provided in the mounting surface, extends in a direction in which the surgical instrument is relatively moved with respect to the mounting portion, and engages with a protruding portion that protrudes from the driven portion when the surgical instrument is mounted to the mounting portion and guides the driven portion to a prescribed position of the transmission-side hole.

[0019] The medical robot according to the first aspect of the present disclosure and the mounting portion according to the second aspect of the present disclosure enable the surgical instrument to be mounted to the mounting portion by relative movement of the surgical instrument and the mounting portion in a direction along the mounting surface and a direction intersecting the linear movement of the driven portion and the transmission portion. Furthermore, the driven portion is guided to a prescribed position of the transmission-side hole when the surgical instrument is mounted to the mounting portion. The prescribed position is a position at which the driven portion and the transmission portion engage with each other in correspondence with mounting between the surgical instrument and the mounting portion. Thus, the transmission portion and the driven portion engage with each other in a manner that enables the driving force to be transmitted.

[0020] For example, compared with the structure described in Patent Literature 1, the transmission portion and the driven portion can be engaged with each other by a simple structure since a force applying mechanism is not required. Furthermore, the necessity of providing a gap between the transmission portion and the driven portion is reduced, so that the two portions can be reliably engaged with each other.

[0021] Thus, the gap can be reduced, so that the operability of the medical robot can be easily improved. Furthermore, an external force applied to the treatment portion of the surgical instrument can be easily transmitted to the medical robot, so that the accuracy of estimating the external force can be easily improved. For example, the safety of surgery using the medical robot can be easily improved, and the occurrence of complications can be easily suppressed. In other words, improvement in the QOL of a patient can be easily achieved, and the burden on a doctor who operates the medical robot can be easily reduced. Furthermore, the learning curve in surgery using the medical robot can also be easily improved. Note that QOL is an abbreviation of Quality of life.

[0022] Further, it is possible to determine whether the configuration relationship of the transmission portion and the driven portion is a required configuration relationship in accordance with the relative positions of the surgical instrument and the mounting portion. As the required configuration relationship, a configuration relationship in which the driving force can be transmitted can be exemplified. In other words, compared with the structure described in Patent Document 1, the necessity of using a sensor, a switch, or the like as a detection means is reduced. Therefore, it is possible to suppress the complication of the structure caused by the provision of the detection means, and thus it is easy to achieve the simplification of the medical robot.

[0023] In the first aspect, it is preferable that a guide-in portion be provided at at least one of the end portions of the guide groove in the direction in which the surgical instrument and the mounting portion move relatively, and the width of the groove at the guide-in portion preferably widens toward the direction away from the transmission-side hole.

[0024] By providing the guide-in portion in the guide groove in the above-described manner, when the surgical instrument is mounted to the mounting portion, the protrusion of the driven portion is guided by the guide-in portion and thus easily enters the guide groove. Further, compared with the case where the guide portion is provided at one end portion of the guide groove, in the case where the guide-in portion is provided at both end portions of the guide groove, it is possible to increase the degree of freedom in the direction in which the surgical instrument approaches the mounting portion, and thus it is easy to mount the surgical instrument.

[0025] In the first aspect, it is preferable that a moving portion be provided which moves the transmission portion to the prescribed position.

[0026] By providing the moving portion in the above-described manner, when the surgical instrument is mounted to the mounting portion, it is easy to configure the transmission portion to the prescribed position. Compared with the case where the moving portion is not provided, it is possible to reduce the amount of work when the surgical instrument is mounted to the mounting portion, and thus it is easy to mount.

[0027] In the first aspect, it is preferable that a plurality of the transmission-side holes and the transmission portion be provided side by side on the mounting portion in the direction in which the surgical instrument and the mounting portion move relatively, and it is preferable that a plurality of the driven-side holes and the driven portion be provided on the main body corresponding to at least a part of the plurality of transmission-side holes and the transmission portion.

[0028] Thus, it is possible to transmit different driving forces to the processing portion using the combination of a plurality of transmission portions and driven portions. It is thus possible to control a plurality of actions of the processing portion.

[0029] In the first aspect, it is preferable that a recess portion be provided at the transmission portion, the recess portion being a recess which engages with the protrusion of the driven portion corresponding to the mounting between the surgical instrument and the mounting portion, and the recess portion preferably has an opening through which the protrusion can move in the direction in which the surgical instrument and the mounting portion move relatively.

[0030] By providing the recess in the above-described manner, and by mounting the surgical instrument to the mounting portion, the protrusion of the driven portion and the recess of the transmission portion can be engaged with each other. Furthermore, the driving force can be transmitted from the transmission portion to the driven portion based on the engagement of the protrusion and the recess.

[0031] Effects of the invention

[0032] According to the medical robot related to the first aspect of the present disclosure and the mounting portion related to the second aspect of the present disclosure, by providing the guide groove that engages with the protrusion protruding from the driven portion and guides the driven portion toward the prescribed position of the transmission-side hole, the effects of easiness of improvement of operability and simplification of structure can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a partial perspective view that explains the structure of the medical robot related to one embodiment of the present disclosure.

[0034] Figure 2 is a view that explains the structure of the arm portion and the adapter of Figure 1 .

[0035] Figure 3 is a view that explains the structure of the surgical instrument of Figure 1 .

[0036] Figure 4 is another view that explains the structure of the surgical instrument of Figure 1 .

[0037] Figure 5 is a view that explains the operation of the driven portion and the protrusion when the surgical instrument is mounted to the adapter.

[0038] Figure 6 is a partial perspective view that explains the surgical instrument of the medical robot of Figure 1 .

[0039] Explanation of reference signs

[0040] 1… medical robot; 11… actuator portion (moving portion); 20… adapter (mounting portion);

[0041] 21… mounting surface; 22… transmission portion; 23… recess; 24… transmission-side hole;

[0042] 25… guide groove; 26… lead-in portion; 31… first mounting engagement portion (mounting engagement portion);

[0043] 35… second mounting engagement portion (mounting engagement portion); 40… surgical instrument; 41… main body;

[0044] 42…Driven side hole; 43…Driven part; 44…Protrusion; 65…Pliers (processing part);

[0045] 51…First surgical instrument locking part (surgical instrument locking part);

[0046] 52…Second Surgical Instrument Clamping Part (Surgical Instrument Clamping Part) Detailed Implementation

[0047] Reference Figures 1 to 6 A medical robot according to one embodiment of this disclosure will be described. The medical robot 1 of this embodiment is a multi-degree-of-freedom manipulator with a multi-degree-of-freedom arm capable of remote operation, which is used when a surgical operator performs procedures on a patient, such as during endoscopic surgery.

[0048] like Figure 1 As shown, the medical robot 1 is equipped with a driver 10, an adapter 20, and a surgical instrument 40. The adapter 20 serves as an example of a mounting component.

[0049] In this embodiment, for ease of explanation, the extending direction of the driver 10 is defined as the Z-axis, and the direction towards the front end of the driver 10 is defined as the positive Z-axis direction. Furthermore, the direction orthogonal to the Z-axis and the direction of relative movement when the surgical instrument 40 is attached to the adapter 20 is defined as the X-axis, and the leftward direction towards the positive Z-axis direction is defined as the positive X-axis direction. Finally, the direction orthogonal to both the Z-axis and X-axis is defined as the Y-axis, and the direction of relative movement when the surgical instrument 40 is detached from the adapter 20 is defined as the positive Y-axis direction.

[0050] The driver 10 supports the adapter 20 and the surgical instrument 40. Furthermore, the driver 10 transmits the driving force that causes the surgical instrument 40 to perform actions. In this embodiment, the portion of the driver 10 that houses the adapter 20 is configured to rotate about an axis extending in the Z-axis direction.

[0051] like Figure 1 as well as Figure 2 As shown, the driver 10 is provided with an actuator section 11 and a control section 12. In addition, the actuator section 11 is an example of a configuration as a moving part.

[0052] In addition, at least one of the actuator unit 11 and the control unit 12 may be disposed on the driver 10 or disposed outside the driver 10, and its placement is not limited.

[0053] The actuator unit 11 generates a driving force that causes the surgical instrument 40 to perform an action. The actuator unit 11 is connected to the transmission unit 22 of the adapter 20 (described later) in such a way that it can transmit the driving force to the transmission unit 22 of the adapter 20 (described later), and causes the transmission unit 22 to move along the positive and negative directions of the Z-axis.

[0054] In this embodiment, the actuator unit 11 uses a gas or fluid such as air to generate driving force. Alternatively, an electric motor can be used as the actuator unit 11, and the form in which it generates power is not limited.

[0055] Furthermore, the actuator unit 11 may have a configuration that utilizes a piston and a cylinder, or it may have a configuration that generates driving force from other fluids, and its specific configuration is not limited.

[0056] The control unit 12 controls the generation of driving force in the actuator unit 11. Furthermore, the control unit 12 controls the movement of the transmission unit 22 along the positive and negative Z-axis, as well as the placement position of the transmission unit 22. In this embodiment, the control unit 12 controls the supply of gas, such as air, to the actuator unit 11.

[0057] like Figure 1 as well as Figure 2 As shown, adapter 20 is disposed between driver 10 and surgical instrument 40. Adapter 20 can be installed and removed relative to driver 10 and can be installed and removed relative to surgical instrument 40.

[0058] Furthermore, the adapter 20 divides the contaminated area on the driver 10 side and the clean area on the surgical instrument 40 side. The adapter 20 is provided with a membrane-like component, i.e., a cover (not shown), that divides the contaminated area and the clean area.

[0059] The adapter 20 is provided with at least a mounting surface 21, a first mounting engagement portion 31, and a second mounting engagement portion 35. Furthermore, the first mounting engagement portion 31 and the second mounting engagement portion 35 are equivalent to an example of the configuration of the mounting engagement portion.

[0060] Mounting surface 21 is the surface in adapter 20 where surgical instrument 40 is mounted, and it is the surface opposite to the surface in the body 41 of surgical instrument 40, which is provided with driven side hole 42. A first mounting engagement portion 31 is provided at the end of mounting surface 21 in the positive Z-axis direction, and a second mounting engagement portion 35 is provided at the end of mounting surface 21 in the negative Z-axis direction.

[0061] The adapter 20 is also provided with at least a transmission part 22, a transmission side hole 24, a guide groove 25, and an inlet part 26.

[0062] The transmission portion 22 transmits a driving force to the surgical instrument 40. In the present embodiment, the driving force is transmitted by moving the transmission portion 22 inside the transmission-side hole 24 in the positive direction and the negative direction of the Z axis.

[0063] The transmission portion 22 is provided with a recessed portion 23 for engaging with a protruding portion 44 of the surgical instrument 40 described later. The recessed portion 23 is a recess formed on a surface of the transmission portion 22 that opposes the surgical instrument 40, in other words, a recess formed on a surface on the positive direction of the Y axis.

[0064] The recessed portion 23 has a shape in the form of a groove that extends in the positive direction and the negative direction of the Y axis. In other words, the recessed portion 23 has an opening that allows the above-mentioned protruding portion 44 to enter and exit the inside of the recessed portion 23 from the positive direction and the negative direction of the Y axis.

[0065] Furthermore, the side wall of the recessed portion 23 on the positive direction and the negative direction of the Z axis has a shape that abuts against the above-mentioned protruding portion 44. In other words, the side wall has a shape that is capable of transmitting the movement of the transmission portion 22 in the positive direction and the negative direction of the Z axis to the protruding portion 44.

[0066] The transmission-side hole 24 is a through-hole configured to allow the transmission portion 22 to move relatively inside the transmission-side hole 24, and has a structure that allows the transmission portion 22 to move in a direction along the mounting surface 21, in other words, a structure that does not allow the transmission portion 22 to come off the transmission-side hole 24. Furthermore, the transmission-side hole 24 is formed in the shape of an elongated hole that extends in a direction along the Z axis. In the present embodiment, three transmission-side holes 24 are arranged side by side at intervals in the X axis direction.

[0067] In addition, in the present embodiment, the combination of the transmission portion 22 and the transmission-side hole 24 is three sets, but the combination of the transmission portion 22 and the transmission-side hole 24 can be more than three sets, or less than three sets, and the number is not limited.

[0068] The guide groove 25 is a recess formed in the mounting surface 21, and is a groove for guiding the protruding portion 44 of the driven portion 43 described later. The guide groove 25 is a groove that extends in a direction in which the surgical instrument 40 moves relatively with respect to the mounting surface 21. In the present embodiment, the guide groove 25 is a groove that extends in a direction intersecting the transmission-side hole 24, for example, in a direction along the X axis.

[0069] The introduction portion 26 is a groove continuously formed with the guide groove 25 at the first end portion and the second end portion of the guide groove 25, and has a shape in which the width of the groove at the introduction portion 26 widens toward a direction away from the transmission-side hole 24. The width of the opening portion in the introduction portion 26, in other words, the width of the end portion of the introduction portion 26 in the positive direction and the negative direction of the X axis is preferably at least a width in which the movement range of the protrusion 44 in the transmission portion 22 is contained therein. In the present embodiment, the introduction portion 26 is provided at both end portions of the guide groove 25, but the introduction portion 26 can be provided only at the first end portion or the second end portion of the guide groove 25.

[0070] The first mounting engagement portion 31 is formed to protrude from the end portion in the positive direction of the Z axis among the mounting surface 21 of the adapter 20 toward the positive direction of the Y axis. The first mounting engagement portion 31 abuts against the surgical instrument 40 arranged on the mounting surface 21, thereby restricting the movement of the surgical instrument 40 in the positive direction of the Z axis.

[0071] The surface of the first mounting engagement portion 31 opposite to the surgical instrument 40 is provided with the first engagement groove 32. The first engagement groove 32 is a groove opened toward the negative direction of the Z axis and extending along the X axis. The first engagement groove 32 engages with the first surgical instrument engagement portion 51 of the surgical instrument 40 described later, thereby restricting the movement of the surgical instrument 40 in the direction along the Y axis.

[0072] The second mounting engagement portion 35 is formed to protrude from the end portion in the negative direction of the Z axis among the mounting surface 21 of the adapter 20 toward the positive direction of the Y axis. The second mounting engagement portion 35 abuts against the surgical instrument 40 arranged on the mounting surface 21, thereby restricting the movement of the surgical instrument 40 in the negative direction of the Z axis.

[0073] The surface of the second mounting engagement portion 35 opposite to the surgical instrument 40 is provided with the second engagement groove 36. The second engagement groove 36 is a groove opened toward the positive direction of the Z axis and extending along the X axis. The second engagement groove 36 engages with the second surgical instrument engagement portion 52 of the surgical instrument 40 described later, thereby restricting the movement of the surgical instrument 40 in the direction along the Y axis.

[0074] The surgical instrument 40 is used when a surgical operator performs a treatment on a patient using the medical robot 1. As shown in Figs. 1 and 2, the surgical instrument 40 is provided with a main body 41, a shaft 61 extending from the main body 41 in a rod shape, and a forceps 65 arranged at the end portion of the shaft 61 on the side opposite to the main body 41. The forceps 65 corresponds to one example of a configuration as a treatment portion. Figure 3 Figure 4 As shown in Figs. 1 and 2, the surgical instrument 40 is provided with a main body 41, a shaft 61 extending from the main body 41 in a rod shape, and a forceps 65 arranged at the end portion of the shaft 61 on the side opposite to the main body 41. The forceps 65 corresponds to one example of a configuration as a treatment portion.

[0075] ​The main body 41 is the part of the surgical instrument 40 that can be installed on or removed from the driver 10, and the main body 41 supports the shaft 61. The main body 41 is provided with a driven side hole 42, a driven part 43, a first surgical instrument engaging part 51, a second surgical instrument engaging part 52, and an operating part 55. In addition, the first surgical instrument engaging part 51 and the second surgical instrument engaging part 52 are respectively examples of the configuration of the surgical instrument engaging part.

[0076] The driven side hole 42 is formed on the surface of the main body 41 opposite to the mounting surface 21 of the driver 10, and is an elongated hole extending along the Z-axis direction. The driven side hole 42 is provided at a position opposite to the transmission side hole 24. The driven part 43, described later, is arranged at the driven side hole 42 in such a way that it can move linearly relative to the main body 41 along the Z-axis direction. In this embodiment, the three driven side holes 42 are arranged side by side at intervals along the X-axis direction.

[0077] The drive force for performing actions such as forceps 65 is transmitted from the driver 10 to the driven part 43. The driven part 43 is configured to move linearly along the Z-axis direction inside the driven side hole 42 in accordance with the drive force transmitted from the surgical robot.

[0078] The driven part 43 is provided with a protrusion 44. The protrusion 44 is a columnar portion that protrudes from the driven part 43 in the negative Y-axis direction. When the driven part 43 is disposed in the driven side hole 42, the protrusion 44 is the portion that protrudes more than the main body 41 in the negative Y-axis direction. The protrusion 44 engages with the recess 23 provided in the transmission part 22 in the adapter 20, and transmits the driving force for linear motion in the Z-axis direction through this engagement.

[0079] like Figure 4 As shown, the first surgical instrument engaging portion 51 is a protrusion located at the end of the main body 41 in the positive Z-axis direction. The first surgical instrument engaging portion 51 engages with the first engaging groove 32 of the first mounting engaging portion 31, thereby restricting the movement of the surgical instrument 40 in the Y-axis direction.

[0080] like Figure 3 as well as Figure 4 As shown, the second surgical instrument engaging portion 52 consists of two protrusions located at the end of the main body 41 in the negative Z-axis direction. The second surgical instrument engaging portion 52 engages with the second engaging groove 36 of the second mounting engaging portion 35, thereby restricting the movement of the surgical instrument 40 in the Y-axis direction.

[0081] The operating part 55 is used when the second surgical instrument engaging part 52 is housed in the main body 41 or when the second surgical instrument engaging part 52 is protruding. The operating part 55 is provided on the area of ​​the main body 41 located on the positive Y-axis side and on the negative Z-axis side.

[0082] The operating part 55 is configured to be movable relative to the main body 41 along the Z-axis. For example, if the operating part 55 is moved relative to the main body 41 in the positive Z-axis direction, the second surgical instrument engaging part 52 is housed in the main body 41. Conversely, if the operating part 55 is moved relative to the main body 41 in the negative Z-axis direction, the second surgical instrument engaging part 52 protrudes from the main body 41.

[0083] like Figure 3 as well as Figure 4 As shown, the shaft 61 is configured to extend from the main body 41 along the Z-axis direction and is formed into a cylindrical component. A clamp 65 is disposed at the end of the shaft 61 located in the positive Z-axis direction. Furthermore, a joint 62 is provided in the shaft 61 near the clamp 65.

[0084] The joint 62 is configured to change the orientation of the clamps 65 and has a structure that allows rotation about the X-axis and the Y-axis. The joint 62 has a structure that allows rotation, for example, by a driving force transmitted by the power transmission unit 22. Furthermore, there are no particular limitations on the structure of the joint 62.

[0085] The pliers 65 are disposed at the end of the shaft 61 in the positive Z-axis direction. Furthermore, the pliers 65 have a structure that allows them to open and close via a driving force transmitted through the automatic part 43 via a cable or the like. There are no particular limitations on the opening and closing structure of the pliers 65.

[0086] Next, refer to Figure 1 , Figure 2 , Figure 5 as well as Figure 6 The installation and removal of the surgical instrument 40 in the medical robot 1 having the above-described configuration will be described. First, the case of installing the surgical instrument 40 to the adapter 20 will be described, and then the case of removing the surgical instrument 40 from the adapter 20 will be described.

[0087] like Figure 2 As shown, when the surgical instrument 40 is installed onto the adapter 20, the control unit 12 performs the following control: it drives the actuator unit 11 so that the transmission unit 22 is positioned in a predetermined position. When the transmission unit 22 is positioned in the predetermined position, a groove extending in the direction along the X-axis is formed by the recess 23 of the transmission unit 22 and the guide groove 25.

[0088] Here, the designated position refers to the position where the recess 23 of the transmission part 22 is positioned where the guide groove 25 intersects with the transmission side hole 24. In other words, it is the position where the driven part 43 and the transmission part 22 engage with each other for mounting between the surgical instrument 40 and the adapter 20. Specifically, Figure 2 The position of the transmission unit 22 shown is the designated position.

[0089] After that, as shown in Figure 1 , the surgical instrument 40 is moved in the direction along the X axis and is brought close to the adapter 20, and thus the attachment is performed. An example in which the surgical instrument 40 is moved from the positive direction side of the X axis toward the negative direction side and thus the attachment is performed is shown in Figure 1 . In addition, it is also possible to move the surgical instrument 40 from the negative direction side of the X axis toward the positive direction side while bringing the surgical instrument 40 close to the adapter 20, and thus the attachment is performed.

[0090] At the time of the attachment, the first surgical instrument engaging portion 51 of the surgical instrument 40 is engaged with the first engaging groove 32 of the adapter 20 while being moved in the direction along the X axis. Also, the second surgical instrument engaging portion 52 is engaged with the second engaging groove 36 of the adapter 20 while being moved in the direction along the X axis.

[0091] Also, as shown in Figure 5 , the driven portion 43 in the surgical instrument 40 is guided to a position at which the driven portion 43 can transmit the driving force to the transmission portion 22 by the guide groove 25 and the lead-in portion 26. For example, a case in which the driven portion 43 is disposed at a position deviated from the guide groove 25 toward the positive direction side of the Z axis or the negative direction side of the Z axis is described.

[0092] If the surgical instrument 40 is brought close to the adapter 20 along the X axis, the convex portion 44 of the driven portion 43 comes into abutment with the inclined surface of the lead-in portion 26. If the surgical instrument 40 is further moved, the convex portion 44 is moved along the inclined surface of the lead-in portion 26 toward the guide groove 25, and enters the groove constituted by the guide groove 25 and the recessed portion 23.

[0093] If the surgical instrument 40 is moved to a predetermined position with respect to the adapter 20, the convex portion 44 is disposed inside the recessed portion 23. In other words, the convex portion 44 is disposed at a position shown by the broken line of Figure 5 . Thus, the transmission portion 22 and the driven portion 43 are engaged with each other in a manner in which the driving force can be transmitted, and thus the attachment between the surgical instrument 40 and the adapter 20 is completed.

[0094] In the case of detaching the surgical instrument 40 from the adapter 20, first, as shown in Figure 3 , an operation of sliding the operation portion 55 of the surgical instrument 40 toward the positive direction of the Z axis is performed. By this operation, the second surgical instrument engaging portion 52 is accommodated in the main body 41. As shown in Figure 6 , by this operation, the engagement between the second surgical instrument engaging portion 52 and the second engaging groove 36 is released.

[0095] After that, as shown in Figure 6As shown, the end portion of the surgical instrument 40 on the negative Z-axis side is lifted in the direction away from the adapter 20, that is, in the positive Y-axis direction. Then, the surgical instrument 40 is lifted as a whole in the positive Y-axis direction, and the first surgical instrument engagement portion 51 is pulled out of the first engagement slot 32, thereby completing the work of detaching the surgical instrument 40 from the adapter 20.

[0096] According to the medical robot 1 and the adapter 20 configured as described above, the surgical instrument 40 can be mounted to the adapter 20 by relatively moving the surgical instrument 40 and the adapter 20 in a direction intersecting the direction in which the driven portion 43 and the transmission portion 22 move linearly along the mounting surface 21. Also, when the surgical instrument 40 is mounted to the adapter 20, the driven portion 43 is guided to the prescribed position of the transmission-side hole 24.

[0097] For example, compared with the configuration described in Patent Literature 1, since a force applying mechanism is not used, the transmission portion 22 and the driven portion 43 can be engaged with each other by a simple structure. Further, the necessity of providing a gap between the transmission portion 22 and the driven portion 43 is reduced, so that the two portions can be engaged with each other more surely.

[0098] Further, the gap can be reduced, so that the operability of the medical robot 1 can be improved easily. Further, by reducing the gap, the force, that is, the external force applied to the forceps 65 of the surgical instrument 40 can be transmitted to the medical robot 1 easily, so that the accuracy of estimating the external force can be improved easily. For example, the safety of surgery using the medical robot 1 can be improved easily, and the occurrence of complications can be suppressed easily. In other words, the QOL of a patient can be improved easily, and the burden on a doctor who operates the medical robot 1 can be reduced easily. Note that the QOL is an abbreviation of Quality of life. Further, the learning curve in surgery using the medical robot 1 can be improved easily.

[0099] Further, whether the configuration relationship of the transmission portion 22 and the driven portion 43 is a prescribed configuration relationship can be judged in accordance with the relative positions of the surgical instrument 40 and the adapter 20. As the prescribed configuration relationship, a configuration relationship in which the driving force can be transmitted can be exemplified. In other words, compared with the structure described in Patent Literature 1, the necessity of using a sensor, a switch, or the like as a detection means is reduced. Thus, the complication of the structure caused by providing the detection means can be suppressed, so that the medical robot 1 can be simplified easily.

[0100] By providing the guide-in portion 26 at the guide groove 25, the protrusion 44 of the driven portion 43 is guided by the guide-in portion 26 when the surgical instrument 40 is attached to the adapter 20, and thus it is easy to enter the guide groove 25. Further, in the case where the guide-in portion 26 is provided at both ends of the guide groove 25, compared to the case where the guide portion 26 is provided at one end of the guide groove 25, the degree of freedom in the direction in which the surgical instrument 40 is brought close to the adapter 20 can be increased, and thus it is easy to attach the surgical instrument 40.

[0101] By providing the actuator portion 11, when the surgical instrument 40 is attached to the adapter 20, it is easy to arrange the transmission portion 22 to the prescribed position. Compared to the case where the actuator portion 11 is not provided, the amount of work when the surgical instrument 40 is attached to the adapter 20 can be reduced, and thus the attachment can be made easy.

[0102] The plurality of transmission-side holes 24 and the transmission portion 22 are provided side by side in the direction in which the surgical instrument 40 and the adapter 20 are relatively moved, and the plurality of driven-side holes 42 and the driven portion 43 are provided corresponding to at least some of the plurality of transmission-side holes 24 and the transmission portion 22, and thus different driving forces can be transmitted to the forceps 65 using the combination of the plurality of transmission portions 22 and the driven portion 43. Thus, a plurality of actions of the forceps 65 can be controlled.

[0103] By providing the recess 23 at the transmission portion 22, and by attaching the surgical instrument 40 to the adapter 20, the protrusion 44 of the driven portion 43 and the recess 23 of the transmission portion 22 can be engaged with each other. Further, based on the engagement of the protrusion 44 and the recess 23, the driving force can be transmitted from the transmission portion 22 to the driven portion 43.

[0104] In addition, the technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications can be made within the scope of the gist of the present disclosure. For example, in the above-described embodiments, the description is made with respect to the configuration in which the surgical instrument 40 can be attached from either the positive direction side of the X axis or the negative direction side of the X axis, but the configuration in which attachment is possible only from the positive direction side of the X axis or the configuration in which attachment is possible only from the negative direction side of the X axis can also be adopted.

[0105] Further, in the present embodiment, the transmission portion 22 is moved to the prescribed position using the actuator portion 11, but a biasing member such as a spring can also be used instead of the actuator portion 11 when the transmission portion 22 is moved to the prescribed position.

[0106] Further, in the present embodiment, the driver 10 and the adapter 20 can be attached and detached, but the configuration corresponding to the adapter 20 can also be integrated with the driver 10, and is not particularly limited.

Claims

1. A medical robot characterized by comprising: a surgical instrument and a mounting portion, the surgical instrument having at least a driven portion that transmits a driving force to a treatment portion that performs a medical treatment, and a main body that is provided with a driven-side hole that houses the driven portion and in which the driven portion is disposed so as to be able to relatively linearly move, the mounting portion having at least a mounting surface that opposes a surface of the main body in which the driven-side hole is provided, and a transmission-side hole in which a transmission portion that transmits the driving force in the direction of the linear movement to the driven portion is disposed, and in which the surgical instrument is provided with a surgical instrument engagement portion, and the mounting portion is provided with a mounting engagement portion, the surgical instrument engagement portion and the mounting engagement portion being configured so that the surgical instrument is mounted to the mounting portion by relatively moving the surgical instrument and the mounting portion in a direction along the mounting surface and a direction intersecting the direction of the linear movement, the mounting surface is provided with a guide groove that is a groove extending in a direction in which the surgical instrument relatively moves with respect to the mounting portion, and that engages with a protrusion portion protruding from the driven portion when the surgical instrument is mounted to the mounting portion and guides the driven portion toward a prescribed position of the transmission-side hole.

2. The medical robot according to claim 1, characterized in that at least one of end portions of the guide groove in a direction in which the surgical instrument and the mounting portion relatively move is provided with a lead-in portion in which a width of the groove widens toward a direction away from the transmission-side hole.

3. The medical robot according to claim 1, characterized by being provided with a moving portion that moves the transmission portion to the prescribed position.

4. The medical robot according to claim 1, characterized in that a plurality of the transmission-side holes and the transmission portions are provided side by side on the mounting portion in a direction in which the surgical instrument and the mounting portion relatively move, and a plurality of the driven-side holes and the driven portions are provided on the main body corresponding to at least a portion of the plurality of transmission-side holes and the transmission portions.

5. The medical robot according to any one of claims 1 to 4, characterized in that a recess portion that is a recess corresponding to engagement of the protrusion portion of the driven portion when the surgical instrument and the mounting portion are mounted and that has an opening through which the protrusion portion is able to move in a direction in which the surgical instrument and the mounting portion relatively move is provided in the transmission portion.

6. A mounting portion of a medical robot characterized by ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ A surgical instrument to be attached to an attachment portion of the medical robot, the surgical instrument having at least a driven portion that transmits a driving force to a treatment portion that performs a medical treatment, and a main body provided with a driven-side hole that houses the driven portion and in which the driven portion is disposed so as to be able to move linearly in a relative manner, The attachment portion of the medical robot is provided with at least an attachment surface, a transmission-side hole, an attachment engagement portion, and a guide groove, The attachment surface opposes a surface of the main body in which the driven-side hole is provided; A transmission portion that transmits the driving force in the direction of the linear movement to the driven portion is disposed in the transmission-side hole; The attachment engagement portion is configured so that the surgical instrument is attached to the attachment portion of the medical robot by relative movement of the surgical instrument and the attachment portion in a direction along the attachment surface and in a direction intersecting the direction of the linear movement; and The guide groove is a groove provided in the attachment surface, extends in a direction in which the surgical instrument moves relative to the attachment portion, and engages with a protrusion that protrudes from the driven portion when the surgical instrument is attached to the attachment portion and guides the driven portion to a prescribed position of the transmission-side hole.

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