Pliers device

Abstract

The forceps device (10) comprises: a gripping portion (12a, 12b); a support body (14) which holds the gripping portion (12a, 12b); a first rotating shaft (16) which supports the support body in a manner such that the support body (14) can rotate; a base member which holds the first rotating shaft (16); a plurality of guide pulleys (20) which are arranged coaxially with the first rotating shaft (16); a plurality of ropes (26, 28) which are hung between the plurality of guide pulleys (20) and the gripping portion without passing through other pulleys to transmit a driving force for moving the gripping portion; a support body pulley (42) which is arranged on the support body (14); and a support body rope (38, 40) which is hung on the support body pulley (42) to transmit a driving force for rotating the support body around the first rotating shaft (16).

Description

Technical Field

[0001] The present invention relates to a forceps device used in a manipulator of a surgical robot. Background Art

[0002] In recent years, in order to reduce the burden on surgical operators and save manpower in medical facilities, medical treatment solutions using robots (manipulators) have been proposed. In the field of surgery, solutions related to surgical manipulator systems have been proposed, in which surgical operators can operate surgical manipulators remotely to treat patients.

[0003] Various surgical instruments are mounted on the front end of the surgical manipulator, and forceps for grasping human tissue during surgery are known as surgical instruments. For example, Patent Document 1 discloses a forceps: two discs with different outer diameters are respectively provided at the two jaws of the grasping part, and the jaws are opened and closed by pulling the ropes hung around the discs.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: U.S. Patent Application Publication No. 2015 / 0127045 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, the above-mentioned pliers have a deflection roller for reducing the deflection angle (fleet angle) of the rope between the disk around which the rope is pulled when the jaws are bent as a whole and the disk provided at the jaws. Therefore, a certain degree of distance is required between the rotation axis when the jaws are bent as a whole and the rotation axis when the jaws are opened and closed. Therefore, compared with pliers with a short distance between the rotation axes, the torque at the front end of the pliers is reduced, thereby reducing controllability.

[0009] The present invention has been made in view of such circumstances, and one of the exemplary objects thereof is to provide a new forceps device having good controllability.

[0010] Solutions for solving problems

[0011] In order to solve the above-mentioned problems, a pliers device according to a certain aspect of the present invention comprises: a gripping portion; a supporting body that holds the gripping portion; a first rotating axis that supports the supporting body in a manner that the supporting body can rotate; a base component that is used to hold the first rotating axis; a plurality of guide pulleys that are arranged coaxially with the first rotating axis; a plurality of gripping portion ropes that are hung between the plurality of guide pulleys and the gripping portion without passing through other pulleys to transmit a driving force that causes the gripping portion to move; a supporting body pulley that is arranged on the supporting body; and a supporting body rope that is hung around the supporting body pulley to transmit a driving force that causes the supporting body to rotate around the first rotating axis.

[0012] According to this aspect, the distance between the first rotation axis and the second rotation axis can be shortened, so the torque of the gripping portion can be increased. As a result, a forceps device with good controllability of the gripping portion can be provided.

[0013] Alternatively, the gripping portion may include a first gripping portion and a second gripping portion for gripping an object by moving relative to each other. Alternatively, the first gripping portion may be connected to a first gripping portion pulley and a second gripping portion pulley formed into two branches, and the second gripping portion may be connected to a third gripping portion pulley and a fourth gripping portion pulley formed into two branches, and the forceps device may further include a second rotating shaft, which sequentially supports the first gripping portion pulley, the third gripping portion pulley, the second gripping portion pulley, and the fourth gripping portion pulley in a rotatable manner.

[0014] Another aspect of the present invention is also a forceps device. The device includes: a gripping portion; a support body that holds the gripping portion; a first rotation axis that supports the support body in a manner that the support body can rotate; a base member that holds the first rotation axis; a plurality of guide pulleys that are arranged coaxially with the first rotation axis; and a plurality of gripping portion ropes that are hung between the plurality of guide pulleys and the gripping portion without passing through other pulleys to transmit a driving force that causes the gripping portion to move. The gripping portion includes a first gripping portion and a second gripping portion that grip an object by moving relative to each other. The first gripping portion is connected to a first gripping portion pulley and a second gripping portion pulley that are bifurcated, and the second gripping portion is connected to a third gripping portion pulley and a fourth gripping portion pulley that are bifurcated. The device also includes a second rotation axis that sequentially supports the first gripping portion pulley, the third gripping portion pulley, the second gripping portion pulley, and the fourth gripping portion pulley in a manner that they can rotate.

[0015] According to this aspect, the distance between the first rotation axis and the second rotation axis can be shortened, so the torque of the gripping portion can be increased. As a result, a forceps device with good controllability of the gripping portion can be provided.

[0016] The support body may include a cylindrical portion through which the first rotating shaft passes. The plurality of guide pulleys may be rotatably supported by the outer periphery of the cylindrical portion.

[0017] The plurality of guide pulleys may include first to fourth guide pulleys. The plurality of gripping portion ropes may be hung between the first to fourth guide pulleys and the first to fourth gripping portion pulleys without passing through other pulleys.

[0018] Alternatively, the plurality of holding portion ropes may include: a first holding portion rope, which is hung between the first guide pulley and the third holding portion pulley; a second holding portion rope, which is hung between the second guide pulley and the first holding portion pulley; a third holding portion rope, which is hung between the third guide pulley and the second holding portion pulley; and a fourth holding portion rope, which is hung between the fourth guide pulley and the fourth holding portion pulley.

[0019] Alternatively, the first gripping rope may be fixed to the third gripping rope located on one side of the vertical cross section after being hung on one side of the first guide pulley based on the vertical cross section, the second gripping rope may be fixed to the first gripping rope located on one side of the vertical cross section after being hung on one side of the second guide pulley based on the vertical cross section, the third gripping rope may be fixed to the second gripping rope located on the other side of the vertical cross section after being hung on the other side of the third guide pulley based on the vertical cross section, and the fourth gripping rope may be fixed to the fourth gripping rope located on the other side of the vertical cross section after being hung on the other side of the fourth guide pulley based on the vertical cross section. Thus, the four gripping ropes are fixed to the corresponding four gripping ropes without crossing each other. In addition, the four gripping portion ropes wound around the first to fourth guide pulleys are fixed to the corresponding four gripping portion pulleys in a state where the deflection angles are small.

[0020] Alternatively, the pliers device may include: a fifth guide pulley located upstream of the first guide pulley and on the other side of the vertical cross section; a sixth guide pulley located upstream of the second guide pulley and on the other side of the vertical cross section; a seventh guide pulley located upstream of the third guide pulley and on one side of the vertical cross section; and an eighth guide pulley located upstream of the fourth guide pulley and on one side of the vertical cross section. Thus, no matter which direction the support body is bent with the first rotation axis as the center, one of the plurality of gripping ropes will contact one of the first to fourth guide pulleys, thereby stabilizing the controllability of the support body when it rotates.

[0021] Furthermore, any combination of the above-mentioned constituent elements and any changes in the expression of the present invention between methods, apparatuses, systems, etc. may also be additionally applied as embodiments of the present invention.

[0022] Effects of the Invention

[0023] According to the present invention, a forceps device with good controllability can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a perspective view of the forceps device according to the present embodiment.

[0025] Figure 2 Observed from direction A Figure 1 Front view of the pliers assembly.

[0026] Figure 3 Observed from direction B Figure 1 Side view of the forceps installation.

[0027] Figure 4 Observed from the direction of C Figure 1 Side view of the forceps installation.

[0028] Figure 5 yes Figure 3 DD section view of the forceps device shown.

[0029] Figure 6 yes Figure 5 Magnified view of region R.

[0030] Figure 7 It is a front view of the guide pulley according to the present embodiment.

[0031] Figure 8 yes Figure 7 EE section view of the guide pulley shown.

[0032] Fig. 9 It is a perspective view of a support body according to this embodiment.

[0033] Fig.10 This is a diagram showing a flowchart for explaining the method for manufacturing the forceps device according to the present embodiment.

[0034] Fig.11 This is a perspective view showing a state where a pair of jaw members according to the present embodiment are assembled so as to face each other.

[0035] Fig.12 Observed from the H1 direction Figure 1 A perspective view of the forceps assembly shown.

[0036] Fig.13 Observed from the direction of H2 Figure 1A perspective view of the forceps assembly shown.

[0037] Fig.14 Observed from the direction of H3 Figure 1 A perspective view of the forceps assembly shown.

[0038] Fig.15 It is observed from the opposite direction of H2 Figure 1 A perspective view of the forceps assembly shown.

[0039] Fig.16 yes Figure 3 The forceps device shown in the figure omits the illustration of the base member.

[0040] Fig.17 yes Figure 4 The forceps device shown in the figure omits the illustration of the base member. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention with reference to the accompanying drawings. The same or equivalent structural elements, components, and processes shown in the respective drawings are denoted by the same reference numerals, and repeated descriptions are appropriately omitted. In addition, the embodiments do not limit the invention but are exemplified, and all the features and their combinations described in the embodiments do not limit the essence of the invention.

[0042] (Pliers device)

[0043] Figure 1 It is a perspective view of the forceps device according to the present embodiment. Figure 2 Observed from direction A Figure 1 Front view of the pliers assembly. Figure 3 Observed from direction B Figure 1 Side view of the forceps installation. Figure 4 Observed from the direction of C Figure 1 Side view of the forceps installation.

[0044] The forceps device 10 shown in each figure includes: a pair of gripping parts 12a, 12b; a support body 14 that holds the pair of gripping parts 12a, 12b; a first rotating shaft 16 that supports the support body 14 in a manner that the support body 14 can rotate; a base member 18 that holds the first rotating shaft 16; four guide pulleys 20 that are arranged coaxially with the first rotating shaft 16; a second rotating shaft 22 that is rotatable with the pair of gripping parts 12a, 12b A pair of holding parts 12a, 12b are supported in a manner and are retained by the support body 14; four jaw pulleys 24, which are retained coaxially with the second rotating axis 22; four ropes 26, 28, 30, 32, which are hung between the four guide pulleys 20 and the four jaw pulleys 24; and ropes 38, 40, which are used to rotate the support body 14 around the first rotating axis 16.

[0045] (Guide pulley 20)

[0046] Figure 5 yes Figure 3 A DD cross-sectional view of the forceps device 10 is shown. Figure 6 yes Figure 5 The enlarged view of the area R. Figure 5 as well as Figure 6 As shown, the guide pulley 20 is rotatably supported by the first rotating shaft 16 via the cylindrical annular portion 14a, which is a part of the support body 14, in a manner inclined relative to the first rotating shaft 16. As a result, the substantial deflection angle of each of the ropes 26, 28, 30, and 32 relative to the guide pulley 20 is reduced, and it is not easy to interfere with the edge 20b of the guide groove 20a of the guide pulley 20. In addition, the guide pulley 20 may be directly supported by the first rotating shaft 16 without the support body 14.

[0047] Figure 7 It is a front view of the guide pulley 20 according to the present embodiment. Figure 8 yes Figure 7 EE sectional view of the guide pulley 20 shown. The inner circumferential surface 20d of the guide pulley 20 involved in this embodiment is inclined relative to the center line CL of the circular opening 20c through which the first rotating shaft 16 passes. The inner circumferential surface 20d slides relative to the annular portion 14a of the support body 14 into which the first rotating shaft 16 is inserted. As a result, the guide pulley 20 tilts autonomously due to the force received from the rope with an angle. Moreover, when the guide pulley 20 is directly supported by the first rotating shaft 16, the inner circumferential surface 20d of the guide pulley 20 slides directly on the outer circumferential surface of the first rotating shaft 16.

[0048] like Figure 8As shown in FIG. 1 , the guide pulley 20 is formed with an inner peripheral surface 20d in such a manner that the inner diameter d gradually expands as the inner diameter d gradually increases away from a plane P which is orthogonal to the same center line CL and has the smallest inner diameter d. In other words, the inner peripheral surface 20d may be formed in a conical shape, a mortar shape, or a trapezoidal surface. In addition, the inner peripheral surface 20e on the opposite side of the inner peripheral surface 20d with the plane P sandwiched therebetween is also processed into the same shape as the inner peripheral surface 20d.

[0049] Moreover, the angle α formed by the inner circumferential surface 20d and the inner circumferential surface 20e of the guide pulley 20 involved in this embodiment and the center line CL is in the range of 3° to 7°. In addition, the end surface 20f of one side of the guide pulley 20 is inclined at an angle α relative to the plane P, and the angle formed by the end surface 20f of one side and the inner circumferential surface 20d is 90°. In addition, the end surface 20g of the other side of the guide pulley 20 is parallel to the plane P (orthogonal to the center line CL). Therefore, the guide pulley 20 is a ring-shaped member that is left-right asymmetrical with respect to the plane P.

[0050] like Figure 5 , Figure 6 As shown in FIG. 1 , the guide pulleys 20 according to the present embodiment are arranged two adjacent to each other on both sides of the support body 14 with the support body 14 sandwiched therebetween. Figure 6 As shown in FIG. 1 , when the two guide pulleys 20 are mounted in parallel on the annular portion 14a, the end faces 20g of the other side are made to face each other. As a result, one side (the guide pulley 20B) of the two adjacent guide pulleys 20 abuts against the support body 14 in an inclined state, and the other side (the guide pulley 20A) of the two adjacent guide pulleys 20 abuts against the base member 18 in an inclined state. Thus, when the guide pulley 20 is inclined, the position of the guide pulley 20 in the first rotation axis direction X can be determined with good accuracy.

[0051] like Figure 2 As shown, each guide pulley 20 is inclined relative to the first rotation axis 16 in such a manner that the plurality of ropes 26 and 28 hung thereon spread outward toward the outer periphery of the jaw pulley 24. Thus, even when a jaw pulley 24 having a large diameter that tends to increase the operating torque at the pair of gripping portions 12a and 12b is used, interference of the ropes in the guide pulley 20 can be suppressed.

[0052] Next, the base member 18 will be described. Figure 2 , Figure 5As shown, the base member 18 according to the present embodiment includes: a pair of arms 18a and 18b, which hold both ends of the first rotating shaft 16; and a third rotating shaft 36, which is held by the pair of arms 18a and 18b and rotatably supports four guide pulleys 34 located on the upstream side of the guide pulley 20. The third rotating shaft 36 according to the present embodiment is provided on the pair of arms 18a and 18b, respectively.

[0053] In the arms 18a and 18b, the tip portion 18d holding the first rotating shaft 16 is thinner than the base portion 18c holding the third rotating shaft 36. In other words, the intervals between the tip portions 18d are wider than the intervals between the base portions 18c. Figure 3 As shown, even when the ropes 26 and 28 with an offset angle are bent together with the support body 14 about the first rotation axis 16 ( Figure 3 In the case of the direction of the arrow symbol F), it is not easy to interfere with the arms 18a and 18b.

[0054] In addition, the circumferential width W1 of the front end portion 18d of the arm 18a (arm 18b) is narrower than the circumferential width W2 of the base portion 18c. Therefore, it is necessary to form a U-shaped escape portion at the front end portion 18d in consideration of the interference between the front end portion 18d and the rope, and to make the circumferential width of the base portion 18c larger than the circumferential width of the front end portion 18d, thereby suppressing the reduction in the rigidity of the arm.

[0055] In addition, if Figure 5 As shown, the outer diameter G1 of the jaw pulley 24 of this embodiment is larger than the interval G2 between the base portions 18c of the pair of arms 18a, 18b. That is, the forceps device 10 of this embodiment can use a jaw pulley 24 having an outer diameter larger than the inner diameter of the cylindrical base member 18.

[0056] (Assembly of support body)

[0057] Fig. 9 is a three-dimensional diagram of the support body involved in this embodiment. Figure 5 , Figure 6 As shown, the forceps device 10 according to this embodiment includes: a pair of gripping parts 12a, 12b; a support body 14 that holds the pair of gripping parts 12a, 12b; a first rotation axis 16 that supports the support body 14 in a rotatable manner; a base member 18 that holds the first rotation axis 16; and a plurality of guide pulleys 20 that are arranged coaxially with the first rotation axis 16. Fig. 9As shown, the support body 14 has an annular portion 14a as a cylindrical portion through which the first rotating shaft 16 passes. A plurality of guide pulleys 20 are rotatably supported by the outer periphery of the annular portion 14a. Furthermore, the rotating shaft may be not only an axis that rotates itself, but also an axis that becomes an axis when the supported member rotates, or an axis that is fixed to another member.

[0058] In the forceps device 10 thus configured, the support body 14 in a state where the plurality of guide pulleys 20 are supported on the outer periphery of the annular portion 14a is held by the base member 18 via the first rotating shaft 16. Therefore, compared with a case where the support body 14 is directly held by the base member 18, it is easier to improve assemblability.

[0059] In addition, the base member 18 according to the present embodiment has a pair of arms 18a and 18b facing each other. In addition, both ends of the first rotating shaft 16 in the axial direction are pressed into the pair of arms 18a and 18b and thus firmly fixed. As a result, the front ends of the pair of arms 18a and 18b, which may be free ends, are fixed to each other by the rotating shaft, thereby increasing the rigidity of the base member 18 as a whole.

[0060] In addition, the ropes 26, 28, 30, and 32 are used to transmit the driving force for moving the gripping portion 12a and the gripping portion 12b, respectively. Specifically, the rope 26 and the rope 32 are hung around the jaw pulley 24 of the gripping portion 12b, and when the rope 26 is pulled, the gripping portion 12b moves in the opening direction, and when the rope 32 is pulled, the gripping portion 12b moves in the closing direction. In addition, the rope 28 and the rope 30 are hung around the jaw pulley 24 of the gripping portion 12a, and when the rope 28 is pulled, the gripping portion 12a moves in the closing direction, and when the rope 30 is pulled, the gripping portion 12a moves in the opening direction.

[0061] In addition, corresponding ropes 26, 28, 30, and 32 are hung around the four guide pulleys 20, respectively. The ropes 26, 28, 30, and 32 are hung around the corresponding guide pulleys 20 in such a manner that the vertical resistance received by the support body 14 from the first rotating shaft 16 is reduced when the gripping parts 12a and 12b are moved. Figure 2 As shown, the ropes 26, 28, 30, 32 pass between the corresponding guide pulleys 20 and 34 and are hung from the lower side of the guide pulley 20 (the side opposite to the gripping parts 12a, 12b with the first rotating shaft 16 interposed therebetween).

[0062] Therefore, when the gripping parts 12a and 12b are moved, when tension is generated in at least one of the cables 26, 28, 30, and 32, force is applied to the support body 14 via the guide pulley 20 due to the tension. In the case of the forceps device 10 according to the present embodiment, force is applied to the support body 14 in the direction of the gripping parts 12a and 12b due to the tension generated by the cables 26, 28, 30, and 32.

[0063] In addition, the support body 14 is integrally formed with a support body pulley 42 for hanging ropes 38 and 40, and the ropes 38 and 40 transmit a driving force for rotating the support body around the first rotation axis 16. Therefore, when one of the ropes 38 and 40 is pulled to rotate the support body 14, the support body 14 is pushed toward the first rotation axis 16 due to the tension of the ropes 38 and 40 hung on the support body pulley 42. At this time, the vertical resistance force received by the support body 14 from the first rotation axis 16 is generated, which becomes a cause of increasing friction.

[0064] However, in the forceps device 10 according to the present embodiment, as described above, the tension of the ropes 26, 28, 30, 32 when the gripping parts 12a, 12b are moved is generated on the guide pulley 20. Figure 2 The force acting on the guide pulley 20 reduces the vertical resistance caused by the ropes 38 and 40, thereby reducing the friction when the support body 14 rotates relative to the first rotation axis 16. As a result, the movement of the gripping parts 12a and 12b is smooth, and the controllability of the forceps device 10 is optimized.

[0065] (Manufacturing method of pliers device)

[0066] Next, a method for manufacturing the forceps device 10 according to the present embodiment will be described. Fig.10 1 is a diagram showing a process for explaining a method for manufacturing a forceps device according to the present embodiment. The method first prepares a support body 14 for holding the gripping parts 12a and 12b (S10). Then, a through hole 44 (see FIG. 1 ) is formed on the support body 14. Figure 5 ) is provided with a plurality of guide pulleys 20 on the outer periphery of the annular portion 14a (S12), and the through hole 44 is used to insert the first rotating shaft 16 that supports the supporting body 14 in a rotatable manner. Then, the supporting body 14 is positioned relative to the base member 18 formed with holes 18e and 18f for inserting the first rotating shaft 16, so that the holes 18e and 18f and the through hole 44 are aligned in a straight line (S14). Then, the first rotating shaft 16 is inserted from the hole 18e, and finally, the two ends of the first rotating shaft 16 are pressed into the holes 18e and 18f of the base member 18, whereby the first rotating shaft 16 is firmly fixed to the base member 18 (S16). Then, the step of hanging the rope around each pulley is performed at a timing that does not interfere with the above-mentioned manufacturing.

[0067] According to this manufacturing method, there is no need for the following step: after the support body is clamped by the divided base members, the base members are joined together. Alternatively, there is no need for the following difficult adjustment step: coaxially arranging the holes of the support body, the pulley, and the base member, and pressing the rotating shaft into the support body while maintaining their positions.

[0068] (Handling part)

[0069] Next, the jaw members constituting the gripping portion according to the present embodiment will be described in detail. Fig.11 This is a perspective view showing a state where a pair of jaw members according to the present embodiment are assembled so as to face each other. Fig.11 The jaw members 50A and 50B shown are members of substantially the same shape. The jaw members 50A and 50B have a gripping portion 12a and a gripping portion 12b that move relative to each other to grip an object. The gripping portion 12a is connected to a jaw pulley 24a (first gripping portion pulley) and a jaw pulley 24b (second gripping portion pulley) formed into two branches, and the jaw member 50A is integrally formed. In addition, the gripping portion 12b is connected to a jaw pulley 24c (third gripping portion pulley) and a jaw pulley 24d (fourth gripping portion pulley) formed into two branches, and the jaw member 50B is integrally formed.

[0070] Fig.12 Observed from the H1 direction Figure 1 A perspective view of the forceps device 10 is shown. Fig.13 Observed from the direction of H2 Figure 1 A perspective view of the forceps device 10 is shown. Fig.14 Observed from the direction of H3 Figure 1 A perspective view of the forceps device 10 is shown. Fig.15 It is observed from the opposite direction of H2. Figure 1 The H1 direction to the H3 direction are directions within the horizontal plane H including the first rotation axis 16. Figures 12 to 15 In each of the drawings, illustration of the base member 18 is omitted.

[0071] As shown in the figures, the jaw pulley 24a, the jaw pulley 24c, the jaw pulley 24b and the jaw pulley 24d are rotatably supported in sequence by the second rotating shaft 22. In addition, the guide pulley 20A, the guide pulley 20B, the guide pulley 20C and the guide pulley 20D are rotatably supported in sequence by the first rotating shaft 16. The holding portion ropes, i.e., ropes 26, 28, 30, 32, for transmitting the driving force for opening and closing the holding portions 12a, 12b are hung between the plurality of guide pulleys 20A to 20D and the holding portions 12a, 12b without passing through other pulleys. Moreover, the driving force is input from a driver component located outside the forceps device 10. Thus, as Fig.12 As shown in the figure, the distance between the first rotating shaft 16 and the second rotating shaft 22 can be shortened, so the torque (operating force) of the gripping parts 12a and 12b can be increased. As a result, the forceps device 10 with good controllability of the gripping parts 12a and 12b can be provided.

[0072] (How to wrap the rope around various pulleys)

[0073] Next, the method of hanging the ropes 26, 28, 30, and 32 on each pulley according to the present embodiment will be described in detail. The rope 26 is hung between the guide pulley 20A and the jaw pulley 24c. The rope 28 is hung between the guide pulley 20B and the jaw pulley 24a. The rope 30 is hung between the guide pulley 20C and the jaw pulley 24b. The rope 32 is hung between the guide pulley 20D and the jaw pulley 24d.

[0074] Fig.16 yes Figure 3 The forceps device 10 shown in the figure omits the illustration of the base member 18 . Fig.17 yes Figure 4 The forceps device 10 shown in the figure omits the illustration of the base member.

[0075] like Fig.12 , Fig.13 as well as Fig.16 As shown, with the vertical cross section V including the first rotation axis 16 and orthogonal to the second rotation axis 22 as a reference, the rope 26 is hung around one side S1 of the guide pulley 20A and then fixed to the jaw pulley 24c located on one side S1 of the vertical cross section V. With the vertical cross section V as a reference, the rope 28 is hung around one side S1 of the guide pulley 20B and then fixed to the jaw pulley 24a located on one side S1 of the vertical cross section V.

[0076] In addition, if Figures 14 to 16As shown, the rope 30 is fixed to the jaw pulley 24b located on the other side of the vertical section V after being hung on the other side S2 of the guide pulley 20C based on the vertical section V. The rope 32 is fixed to the jaw pulley 24d located on the other side S2 of the vertical section V after being hung on the other side S2 of the guide pulley 20D based on the vertical section V. Thus, the four gripping ropes are fixed to the corresponding four gripping ropes without crossing each other. In addition, the four gripping ropes hung on the guide pulleys 20A to 20D are fixed to the corresponding four gripping ropes in a state of small deflection angle.

[0077] In addition, the forceps device 10 includes: a guide pulley 34a, which is located on the upstream side of the guide pulley 20A (the side opposite to the gripping portion) and on the other side S2 of the vertical cross-section V; a guide pulley 34b, which is located on the upstream side of the guide pulley 20B and on the other side S2 of the vertical cross-section V; a guide pulley 34c, which is located on the upstream side of the guide pulley 20C and on one side S1 of the vertical cross-section V; and a guide pulley 34d, which is located on the upstream side of the guide pulley 20D and on one side S1 of the vertical cross-section V.

[0078] Thus, no matter which direction the support body 14 is bent around the first rotation axis 16, one of the ropes 26, 28, 30, 32 will contact one of the guide pulleys 20A to 20D, thereby stabilizing the controllability when rotating the support body 14. Fig.16 When the support body 14 is bent toward the other side S2 in the state shown, the rope 26 contacts the guide pulley 20A, and the rope 28 contacts the guide pulley 20B. Fig.17 When the support body 14 is bent toward one side S1 in the state shown, the rope 30 contacts the guide pulley 20C, and the rope 32 contacts the guide pulley 20D. In other words, in either case, the state where all the ropes are not in contact with the guide pulleys 20A to 20D (not wound around the guide pulleys 20A to 20D) can be avoided. Thus, the controllability when the support body 14 is bent around the first rotating shaft 16 is stable.

[0079] The present invention has been described above with reference to the above-mentioned embodiments, but the present invention is not limited to the above-mentioned embodiments, and the structures formed by appropriately combining and replacing the structures of the embodiments are also included in the present invention. In addition, based on the knowledge of those skilled in the art, the combination in the embodiments and the order of processing can be appropriately recombined, or various design changes can be made to the embodiments, and the embodiments with such modifications can also be included in the scope of the present invention.

[0080] Industrial Applicability

[0081] The present invention can be used in a manipulator of a surgical robot.

[0082] Description of Reference Numerals

[0083] 10: forceps device; 12a, 12b: gripping part; 14: supporting body; 16: first rotating axis; 18: base member; 20, 20A, 20B, 20C, 20D: guide pulley; 22: second rotating axis; 24, 24a, 24b, 24c, 24d: jaw pulley; 26, 28, 30, 32: rope; 34, 34a, 34b, 34c, 34d: guide pulley; 38: rope; 42: supporting body pulley.

Claims

1. A pliers device comprising: Grip; A support body, which is used to hold the holding portion; a first rotation axis that supports the support body in a manner that the support body can rotate; a base member for holding the first rotating shaft; a plurality of guide pulleys, the plurality of guide pulleys being arranged coaxially with the first rotation axis; a plurality of gripping portion ropes, the plurality of gripping portion ropes being hung between the plurality of guide pulleys and the gripping portion without passing through other pulleys, and transmitting a driving force for moving the gripping portion; a support body pulley, which is arranged on the support body; and a supporting body rope, which is hung around the supporting body pulley and transmits a driving force for rotating the supporting body around the first rotating axis, The gripping portion includes a first gripping portion and a second gripping portion that grip an object by moving relative to each other. The first holding portion is connected to a first holding portion pulley and a second holding portion pulley formed into two branches, The second gripping part is connected to a third gripping part pulley and a fourth gripping part pulley formed into two branches, The forceps device further includes a second rotating shaft that sequentially supports the first gripping pulley, the third gripping pulley, the second gripping pulley, and the fourth gripping pulley in a rotatable manner. The support body has a cylindrical portion through which the first rotating shaft passes. The plurality of guide pulleys are rotatably supported by the outer periphery of the cylindrical portion.

2. A pliers device, characterized in that: have: Grip; a support body that holds the grip portion; a first rotation axis that supports the support body in a manner that the support body can rotate; a base member that holds the first rotation axis; a plurality of guide pulleys arranged coaxially with the first rotation axis; and a plurality of gripping portion ropes, the plurality of gripping portion ropes being hung between the plurality of guide pulleys and the gripping portion without passing through other pulleys, and transmitting a driving force for moving the gripping portion, The gripping portion includes a first gripping portion and a second gripping portion that grip an object by moving relative to each other. The first holding portion is connected to a first holding portion pulley and a second holding portion pulley formed into two branches, The second gripping part is connected to a third gripping part pulley and a fourth gripping part pulley formed into two branches, The forceps device further includes a second rotating shaft that sequentially supports the first gripping pulley, the third gripping pulley, the second gripping pulley, and the fourth gripping pulley in a rotatable manner. The support body has a cylindrical portion through which the first rotating shaft passes. The plurality of guide pulleys are rotatably supported by the outer periphery of the cylindrical portion.

3. The pliers device according to claim 1 or 2, characterized in that: The plurality of guide pulleys include a first guide pulley, a second guide pulley, a third guide pulley, and a fourth guide pulley. The plurality of gripping ropes are hung between the first guide pulley, the second guide pulley, the third guide pulley, the fourth guide pulley and the first gripping pulley, the second gripping pulley, the third gripping pulley, and the fourth gripping pulley without passing through other pulleys.

4. The pliers device according to claim 3, characterized in that The plurality of grip ropes include: A first gripping rope is hung between the first guide pulley and the third gripping pulley; A second gripping portion rope is hung between the second guide pulley and the first gripping portion pulley; a third gripping portion rope hung between the third guide pulley and the second gripping portion pulley; and The fourth gripping portion rope is hung between the fourth guide pulley and the fourth gripping portion pulley.

5. The pliers device according to claim 4, characterized in that With reference to a vertical cross section including the first rotation axis and orthogonal to the second rotation axis, the first gripping portion rope is hung around one side of the first guide pulley and then fixed to the third gripping portion pulley located on one side of the vertical cross section. With the vertical cross section as a reference, the second gripping portion rope is hung around one side of the second guide pulley and then fixed to the first gripping portion pulley located on one side of the vertical cross section. Based on the vertical cross section, the third gripping portion rope is hung around the other side of the third guide pulley and then fixed to the second gripping portion pulley located on the other side of the vertical cross section. The fourth gripping portion rope is fixed to the fourth gripping portion pulley located on the other side of the vertical cross section after being hung around the other side of the fourth guide pulley with reference to the vertical cross section.

6. The pliers device according to claim 5, characterized in that have: a fifth guide pulley located upstream of the first guide pulley and on the other side of the vertical cross section; a sixth guide pulley located upstream of the second guide pulley and located on the other side of the vertical cross section; a seventh guide pulley located upstream of the third guide pulley and located on one side of the vertical cross section; as well as An eighth guide pulley is located on the upstream side of the fourth guide pulley and on one side of the vertical cross section.

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