Medical manipulator system and adapter device

Abstract

Provided is a medical manipulator system that prevents a clean area and a dirty area from crossing each other between a surgical tool that has been subjected to sterilization processing and a driving section that has not been subjected to sterilization processing. The medical manipulator system has a surgical tool unit including a surgical tool at a tip, a driving unit for driving the surgical tool, and an adapter for attaching the surgical tool unit to the driving unit. The adapter has a linear motion transmission section for transmitting a driving force generated by the driving unit to the surgical tool unit, and a drip-proof section for separating a driving unit side and a surgical tool unit side of the linear motion transmission section. The drip-proof section has an air chamber between the driving unit side and the surgical tool unit side of the linear motion transmission section.

Description

Technical Field

[0001] The technology disclosed in this specification (hereinafter, “this disclosure”) relates to: a medical manipulator system including surgical instruments and a drive unit for driving the surgical instruments, and an adapter device for attaching the surgical instruments to the drive unit. Background Technology

[0002] In recent years, robotics technology has made significant progress and has been widely integrated into workplaces across various industrial sectors. For example, surgical robots are widely used in the medical field. Master-slave surgical robots are configured to allow an operator, such as a surgeon, to manipulate one or more surgical instruments housed in a slave device from the master side. The slave device includes an articulated arm with a multi-link structure and surgical instruments and observation devices attached to the front end of the arm, and is configured to be manipulated from the master side by an operator, such as a surgeon. Examples of surgical instruments include forceps, pneumoperitoneum tubes, energy therapy devices, tweezers, retractors, etc. Examples of observation devices include endoscopes, microscopes, etc.

[0003] Since surgical instruments are used for treatment in body cavities, on the body surface, etc., it is strongly desired that the tip of the surgical instrument has multiple degrees of freedom, a small diameter, a small size, and a light weight. Specifically, it is desirable for the tip of the surgical instrument to have a total of three or more degrees of freedom, namely two rotational degrees of freedom and an opening / closing degree of freedom. In addition, the use of wire-driven methods is often applied to the manipulation of the tip of the surgical instrument to reduce its size.

[0004] Furthermore, surgical instruments come into direct contact with the body cavity and therefore require sterilization before use. Various sterilization methods exist, such as autoclaving (high-pressure steam sterilization) where microorganisms are sterilized by high-temperature, high-pressure saturated steam, and EOG gas sterilization where microorganisms are sterilized by alkylation of ethylene oxide (EOG) gas. Typically, the arm and the drive unit that actuates the end of the arm do not have structures capable of withstanding sterilization. Therefore, sterilization is performed separately for the parts requiring sterilization (e.g., surgical instruments) and the parts lacking structures capable of withstanding sterilization (e.g., the drive unit). However, when sterilized surgical instruments are attached to the end of the arm, for example, sterilized clean areas and unsterilized non-clean areas may mix, causing the clean areas to become contaminated during attachment or when the surgical instruments are actuated during surgery.

[0005] For example, a sterile surgical adapter has been proposed (see Patent Document 1). The sterile surgical adapter separates a surgical instrument with four degrees of freedom from the arm and is configured to separate clean and unclean areas using a drip-proof bearing connecting a winch on the instrument side and a winch on the arm side. However, the surgical instrument connected by the sterile surgical adapter includes a rotating mechanism, and therefore the proximal end of the instrument side becomes larger.

[0006] Furthermore, a power transmission adapter has been proposed that connects to the separated clean and unclean areas via a corrugated connector (see Patent Document 2). When using a power transmission adapter to connect surgical instruments and the drive unit, there are problems such as the corrugated connector hindering the translational movement of the surgical instruments or the cable coming undone when the surgical instruments are removed.

[0007] Furthermore, a surgical power transmission adapter including rods 222a and 222b is proposed. This adapter has a first region that contacts a sterilized clean area and a second region that contacts a non-sterilized clean area. The range of translational movement of rods 222a and 222b is set such that even when rods 222a and 222b undergo translational movement, the first region remains in the clean area and the second region remains in the non-clean area, thereby preventing mixing of the clean and non-clean areas (see Patent Document 3). Because this surgical power transmission adapter has a structure that only performs anti-drip operation to tolerance, it is not easy to manufacture and assemble the components, and there is a problem that it is difficult to fully implement anti-drip operation.

[0008] Reference List

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application Publication No. 2015-91331

[0011] Patent Document 2: Japanese Patent Application Publication No. 2018-143426

[0012] Patent Document 3: Japanese Patent Application Publication No. 2012-55377 Summary of the Invention

[0013] The problem the invention aims to solve

[0014] The purpose of this disclosure is to provide a medical manipulator system comprising: a surgical instrument and a drive unit for driving the surgical instrument, and preventing mixing of clean and unclean areas between the sterilized surgical instrument and the non-sterilized drive unit; and an adapter device that prevents mixing of the clean and unclean areas and attaches the surgical instrument to the drive unit.

[0015] Solution to the problem

[0016] This disclosure is made in view of the above-mentioned problems, and a first aspect of this disclosure is a medical manipulator system comprising:

[0017] A surgical instrument unit, which includes surgical instruments at its front end;

[0018] Drive unit, which drives surgical instruments; and

[0019] An adapter that attaches the surgical instrument unit to the drive unit.

[0020] The adapter includes: a translational transmission unit that transmits the driving force generated by the drive unit to the surgical instrument unit; and a leak-proof part that separates the surgical instrument unit side of the translational transmission unit from the drive unit side.

[0021] The anti-drip section has a structure in which two elastomers, each having a double-folded structure, are arranged facing each other. An air chamber is provided between the surgical instrument unit side and the drive unit side in the translational transmission section by connecting the two ends using a translational transmission section, thereby separating the surgical instrument unit side and the drive unit side.

[0022] Furthermore, a second aspect of this disclosure is an adapter device, to which a drive unit is attached and a surgical instrument unit is attached to the other end, the adapter device comprising:

[0023] The translational transmission unit transmits the driving force generated by the drive unit to the surgical instrument unit; and

[0024] The anti-drip section separates the surgical instrument unit side from the drive unit side in the translational transmission section.

[0025] Beneficial effects of the invention

[0026] According to this disclosure, a medical manipulator system that separates a clean area from a non-clean area via an adapter that connects the surgical instrument and the drive unit, and an adapter device that connects the surgical instrument and the drive unit in the state where the clean area and the non-clean area are separated, can be provided.

[0027] Note that the effects described in this specification are merely illustrative, and the effects of this disclosure are not limited to these. Furthermore, there are instances where this disclosure provides additional effects beyond those described above.

[0028] Other objects, features, and advantages of this disclosure will become apparent from the detailed description based on the embodiments and accompanying drawings described later. Attached Figure Description

[0029] Figure 1 This is a diagram illustrating an example of the functional configuration of the surgical support system 100.

[0030] Figure 2 This is a diagram showing an example of the external configuration of the medical arm device 110.

[0031] Figure 3 This is a diagram showing an example of the external configuration of the surgical manipulation device 300.

[0032] Figure 4 This is a diagram showing an example configuration of the surgical instrument unit 400.

[0033] Figure 5 This is a diagram showing an enlarged view of the front end 401 of the surgical instrument unit 400.

[0034] Figure 6 This is a diagram illustrating an example of the degree-of-freedom configuration of the surgical instrument unit 400.

[0035] Figure 7 This is a diagram illustrating an example of the operation of the wrist element WE around a first axis.

[0036] Figure 8 This is a diagram illustrating an example of the operation of an end effector around a second axis.

[0037] Figure 9 This is a diagram illustrating an example of the operation of an end effector around a second axis.

[0038] Figure 10 This is a diagram showing an example configuration of the surgical instrument device 1000.

[0039] Figure 11 This is a diagram showing an example configuration of the surgical instrument device 1000.

[0040] Figure 12 This is a cross-section of the surgical instrument device 1000.

[0041] Figure 13 This is a cross-section of the surgical instrument device 1000.

[0042] Figure 14 This is a diagram showing an enlarged cross-section of the area near the adapter 1002 immediately after attachment.

[0043] Figure 15 This is a diagram showing an enlarged cross-section near adapter 1002 during operation.

[0044] Figure 16 This is a diagram showing a cross-section of adapter 1002 (immediately after attachment).

[0045] Figure 17 This is a diagram showing a cross-section (operating state) of adapter 1002.

[0046] Figure 18 This is a diagram showing a cross-section of adapter 1002 (immediately after attachment).

[0047] Figure 19 This is a diagram showing a cross-section (operating state) of adapter 1002.

[0048] Figure 20 This is a diagram showing a cross-section (operating state) of adapter 1002.

[0049] Figure 21 This is a diagram showing the changes in the air chamber as the linear axis B moves along the longitudinal axis.

[0050] Figure 22 This is a diagram showing the changes in the air chamber as the linear axis B moves along the longitudinal axis.

[0051] Figure 23 This is a diagram showing the changes in the air chamber as the linear axis B moves along the longitudinal axis.

[0052] Figure 24 This is a diagram showing an example of the external configuration of adapter 1002.

[0053] Figure 25 This is a diagram showing the shape of the rear end of linear axis C and the shape of the front end of linear axis B.

[0054] Figure 26 This is a diagram showing the appearance of the locking device 2600 (front, side, rear, and three-dimensional views).

[0055] Figure 27 This is a diagram showing the external configuration of the locking device 2600 in the unlocked state.

[0056] Figure 28 This is a diagram showing the external configuration of the locking device 2600 in the unlocked state.

[0057] Figure 29 This is a diagram showing the external configuration of the locking device 2600 in the locked state.

[0058] Figure 30 This is a diagram showing the external configuration of the locking device 2600 in the locked state.

[0059] Figure 31 This is a cross-sectional view showing the locking device 2600 in the locked state.

[0060] Figure 32This is a diagram illustrating the process of attaching the adapter 1002 to the drive unit 1003.

[0061] Figure 33 This is a diagram illustrating the process of attaching the adapter 1002 to the drive unit 1003.

[0062] Figure 34 This is a diagram illustrating the process of attaching the adapter 1002 to the drive unit 1003.

[0063] Figure 35 This is a diagram illustrating the process of attaching the adapter 1002 to the drive unit 1003.

[0064] Figure 36 This is a diagram illustrating the process of attaching the surgical instrument unit 1001 to the adapter 1002.

[0065] Figure 37 This is a diagram illustrating the process of attaching the surgical instrument unit 1001 to the adapter 1002.

[0066] Figure 38 This is a diagram illustrating the process of attaching the surgical instrument unit 1001 to the adapter 1002.

[0067] Figure 39 This is a diagram illustrating the process of attaching the surgical instrument unit 1001 to the adapter 1002.

[0068] Figure 40 This is a diagram illustrating the process for separating the surgical instrument unit 1001 from the adapter 1002.

[0069] Figure 41 This is a diagram illustrating the process for separating the surgical instrument unit 1001 from the adapter 1002.

[0070] Figure 42 This is a diagram illustrating the process for separating the surgical instrument unit 1001 from the adapter 1002.

[0071] Figure 43 This is a diagram illustrating the process for separating the surgical instrument unit 1001 from the adapter 1002.

[0072] Figure 44 This is a diagram illustrating the process for separating the adapter 1002 from the drive unit 1003.

[0073] Figure 45 This is a diagram illustrating the process for separating the adapter 1002 from the drive unit 1003.

[0074] Figure 46This is a diagram illustrating the process for separating the adapter 1002 from the drive unit 1003.

[0075] Figure 47 This is a diagram illustrating the process for separating the adapter 1002 from the drive unit 1003. Detailed Implementation

[0076] In the following description, the contents of this disclosure will be described in the following order with reference to the accompanying drawings.

[0077] A. Surgical support system ( Figure 1 )

[0078] B. External configuration of the medical arm device ( Figure 2 )

[0079] C. External configuration of the surgical manipulation unit ( Figure 3 )

[0080] D. Drive mechanism of surgical instrument unit ( Figures 4 to 9 )

[0081] E. Surgical instrumentation devices using drip-proof adapters

[0082] E-1. Overall configuration of surgical instruments and equipment ( Figures 10 to 11 )

[0083] E-2. Translation transmission structure of the adapter ( Figures 12 to 15 )

[0084] E-3. Drip-proof structure of the adapter ( Figures 16 to 25 )

[0085] E-4. Locking device for surgical instrument unit ( Figures 26 to 31 )

[0086] F. Attachment and Separation Processes

[0087] F-1. Attachment of the adapter to the drive unit ( Figures 32 to 35 )

[0088] F-2. Attachment of surgical instrument unit and adapter ( Figures 36 to 39 )

[0089] F-3. Separation of the surgical instrument unit from the adapter ( Figures 40 to 43 )

[0090] F-4. Separation of the adapter from the drive unit ( Figures 44 to 47 )

[0091] G. Modified Example

[0092] G-1. Regarding the number of translational transmission mechanisms

[0093] G-2. Regarding locking devices

[0094] G-3. About the adapter

[0095] G-4. Regarding the actuator

[0096] G-5. Identification of Surgical Instrument Units

[0097] G-6. Regarding Operations

[0098] H. Effects

[0099] A. Surgical support system

[0100] Figure 1 An example of a functional configuration of a surgical support system 100 to which the present disclosure can be applied is schematically shown. The illustrated surgical support system 100 includes a medical arm device 110, a control device 120, and an input device 130. In the case where the surgical support system 100 is a master-slave surgical robot, the input device 130 corresponds to a controller operated by an operator such as a surgeon, the control device 120 corresponds to a master device that outputs commands to slave devices based on the operator's manipulation, and the medical arm 110 corresponds to a slave device that operates according to commands output from the master device.

[0101] The medical arm device 110 is, for example, a "medical manipulator system," comprising an articulated arm with a multi-link structure and a surgical instrument attached to the distal end of the arm. The arm has three or more degrees of freedom for determining the position and posture of the distal end. Furthermore, the surgical instrument at the distal end, for example, is a forceps and has a total of three or more degrees of freedom, including two rotational degrees of freedom and an opening / closing degree of freedom. Since the surgical instrument is used for treatment in body cavities, on the body surface, etc., a wire-driven method is applied to the manipulation of the distal end of the surgical instrument to reduce its size. The detailed structure of the surgical instrument will be described later. Figure 1 In this abstract medical arm device 110, the functions are simplified so that the joints of the connecting rods and the joints of the surgical instruments are classified into two types: active joint parts 111 and passive joint parts 112, and a sensor part 113 is included.

[0102] The active joint 111 includes: an actuator 111A, a rotary motor (e.g., driving the joint); a torque sensor 111B that detects the torque acting on the joint; and an encoder 111C that measures the rotation angle of the joint. Furthermore, the passive joint 112 includes an encoder 112A that measures the joint angle. The sensor unit 113 includes various sensors disposed outside the joint, such as an inertial measurement unit (IMU) and a contact sensor that detects contact forces acting on a medical device attached to the front end of the robotic arm.

[0103] The control unit 120 generates a target o for the medical arm device 110 based on instructions input by an operator, such as a surgeon, via the input device 130, and controls the drive of the medical arm device 110 according to a predetermined control method, such as position control or force control. Specifically, the control unit 120 calculates the control quantity of the actuator 111A of the active connection unit 111 according to the predetermined control method and provides a drive signal, and performs feedback control of the actuator 111A based on sensor signals from the torque sensor 111B, the encoder 111C, and the sensor unit 113. For example, the control unit 120 includes a processor such as a central processing unit (CPU), its local memory, etc., and executes a predetermined program loaded by the processor onto the local memory.

[0104] The control device 120 and the medical arm device 110 can be connected to each other wirelessly or via an electrical signal line corresponding to electrical signal communication, an optical fiber corresponding to optical communication, or a composite line thereof.

[0105] B. External Configuration of the Medical Arm Device

[0106] Figure 2 An example of the external configuration of a medical arm device 110 to which the present disclosure is applied is shown. The illustrated medical arm device 110 includes an arm 210 having a multi-link structure and a front end portion 220 supported by the distal end of the arm 210.

[0107] The front end portion 220 includes a surgical instrument unit 221 and a drive unit 222 for driving the surgical instrument unit 221. A wire-based drive method is applied to the manipulation of the surgical instrument unit 221 to reduce its size. Therefore, a wire (not shown) is used to transmit the driving force generated by the actuator in the drive unit 222 to the surgical instrument unit 221. In the case of forceps, for example, the surgical instrument unit 221 has a total of three degrees of freedom, including two rotational degrees of freedom and an opening / closing degree of freedom. Furthermore, the drive unit 222 is provided with three actuators, each corresponding to a degree of freedom. Details of the drive mechanism for the surgical instrument unit 221 and the drive unit 222 will be described later.

[0108] In this disclosure, it is assumed that the surgical instrument unit 221 is replaceable. The surgical instrument unit 221 comes into direct contact with the body cavity and therefore requires sterilization before use. On the other hand, the drive unit 222 does not have a structure capable of withstanding sterilization. Therefore, the surgical instrument unit 221 is separated from the drive unit 222 and subjected to sterilization. Furthermore, in this disclosure, when the surgical instrument unit 221 is attached to the drive unit 222 and driven, the surgical instrument unit 221 is attached to the drive unit 222 via a drip-proof adapter including a translational transmission mechanism to maintain the separation of clean and unclean areas. Figure 2For simplicity, the illustration of the drip-proof adapter has been omitted. Details of the drip-proof adapter will be described later.

[0109] Note that arm 210 can be any type of robot, such as a polar coordinate robot, a cylindrical coordinate robot, a Cartesian coordinate robot, a vertical multi-joint robot, a horizontal multi-joint robot, a parallel linkage robot, or a remote motion center (RCM) robot. Furthermore, from the viewpoint of mechanism compactness and ease of pivoting motion at the cannula position, a remote motion center (RCM) arm or a vertical articulated arm that achieves pivoting (fixed-point) motion by arranging the remote rotation center at a position far from the drive rotation center can be used as arm 210.

[0110] C. External configuration of the surgical manipulation device

[0111] The adapter for connecting surgical instruments and drive units (where clean and non-clean areas are separated) according to this disclosure can be applied not only to medical arm devices (see...) Figure 2 Furthermore, it can be applied to surgical manipulation devices operated by surgeons who hold the adapter in their hands. Figure 3 An example of the external configuration of a surgical manipulation device 300 to which the present disclosure is applied is shown. The surgical manipulation device 300 shown includes a handle portion 310 that is held and manipulated directly by the user (surgeon) and a front end 320 supported by the distal end of the handle portion 310.

[0112] The front end portion 320 includes a surgical instrument unit 321 and a drive unit 322 for driving the surgical instrument unit 321. A wire-based drive method is applied to the manipulation of the surgical instrument unit 321 to reduce its size. Therefore, a wire (not shown) is used to transmit the driving force generated by the actuator in the drive unit 322 to the surgical instrument unit 321. In the case of forceps, for example, the surgical instrument unit 321 has a total of three degrees of freedom, including two rotational degrees of freedom and an opening / closing degree of freedom. Furthermore, the drive unit 322 is provided with three actuators, each corresponding to a degree of freedom. Details of the drive mechanisms for the surgical instrument unit 321 and the drive unit 322 will be described later.

[0113] For example, the handle portion 310 may include a joystick 311 configured to indicate the posture of the surgical instrument unit 321 in any direction and operable with the thumb. Additionally, the handle portion 310 may include a button 312 configured to indicate the opening and closing of the surgical instrument unit 321 and operable with the index finger. A controller (not shown) is mounted within the handle portion 310. The controller calculates the rotation angle or opening / closing angle of the surgical instrument unit 321 for each degree of freedom based on the actuation of the joystick 311 or button 312, converts the calculated angle into the rotation amount of each motor, and outputs a control signal to the surgical instrument unit drive unit 322.

[0114] In this disclosure, it is assumed that the surgical instrument unit 321 is replaceable. The surgical instrument unit 321 comes into direct contact with the body cavity and therefore requires sterilization before use. On the other hand, the drive unit 322 does not have a structure capable of withstanding sterilization. Therefore, the surgical instrument unit 321 is separated from the drive unit 322 and subjected to sterilization. Furthermore, in this disclosure, when the surgical instrument unit 321 is attached to the drive unit 322 and driven, the surgical instrument unit 321 is attached to the drive unit 322 via a drip-proof adapter including a translational transmission mechanism to maintain the separation of clean and unclean areas. Figure 3 For simplicity, the illustration of the drip-proof adapter has been omitted. Details of the drip-proof adapter will be described later.

[0115] D. Drive mechanism of surgical instrument unit

[0116] For example, a surgical instrument unit applying this disclosure is a forceps having a total of three or more degrees of freedom, including two rotational degrees of freedom and an opening / closing degree of freedom, and is driven using a driving force generated by a drive unit. Furthermore, a wire-driven method is applied to the manipulation of the surgical instrument unit to reduce its size, and the drive unit pulls the surgical instrument unit via a wire. In this section, the drive mechanism of a surgical instrument unit using a wire-driven method will be described.

[0117] Figure 4 An example configuration of a surgical instrument unit 400 applying the present disclosure is shown. The surgical instrument unit 400 includes an opening / closing mechanism 401 comprising a pair of opposing clamping members at its foremost end. The surgical instrument unit 400 is coupled to a drive unit 403 comprising three actuators via a hollow shaft 402 having a longitudinal axis. Note that the surgical instrument unit 400 can be attached to and detached from the drive unit 403 when the clean and non-clean areas are separated via a drip-proof adapter (not shown) disposed near the center of the shaft 402. The structure of the drip-proof adapter is not described in this section.

[0118] The surgical instrument unit 400 includes: a wrist element WE, rotatable relative to a shaft 402 about a first axis parallel to the yaw axis; and an end effector, as described later, which opens and closes at the front end of the wrist element WE with a second axis parallel to the pitch axis as its opening and closing axis. The second axis is positioned offset from the first axis. The end effector includes a pair of opposing clamping members that rotate about the second axis to open and close. Furthermore, the drive unit 403 includes one actuator for driving the wrist in the surgical instrument unit 400 and two actuators for driving the clamping members. These actuators are attached to the vicinity of the rear end (proximal end) of the shaft 402 via base members (not shown).

[0119] Figure 5 An enlarged view of the front end 401 of the surgical instrument unit 400 is shown. Furthermore, Figure 6 An example of the degree-of-freedom configuration of the surgical instrument unit 400 is shown.

[0120] The surgical instrument unit 400 includes a wrist element WE and an openable end effector at its front end 401. The end effector includes a pair of opposing clamping members, namely a first clamping member J1 and a second clamping member J2. The wrist element WE is supported near the base to be rotatable about a first axis parallel to the yaw axis at the front end (distal end) of the shaft 402. Furthermore, the first clamping member J1 and the second clamping member J2 are supported at the front end of the wrist element WE to be rotatable about a second axis parallel to the pitch axis. The first clamping member J1 and the second clamping member J2 are opened and closed by changing the opening angle with the second axis as the opening / closing axis.

[0121] The drive unit 403 includes a first motor M1 for driving the first clamping member J1, a second motor M2 for driving the second clamping member J2, and a motor M3 for driving the wrist element WE. These motors M1 to M3 have output shafts to which motor winches MC1, MC2, and MC3, which serve as drive winches, are respectively attached. These motors M1 to M3 are then supported at the end (proximal end) of the shaft 402 by a base member (not shown).

[0122] A wrist winch WC, having a first axis as its rotation axis, is positioned near the base of the wrist element WE. Furthermore, a third wire inserted into shaft 402 winds around the wrist winch WC and a third motor winch MC3. The driving force generated by the third motor M3 is then transmitted via the third wire 3 to achieve rotation of the wrist element WE around the first axis.

[0123] exist Figure 6In the example shown, the third line includes a line C3a for the forward path and a line C3b for the backward path, but has a line loop configuration with a loop between the third motor winch MC3 on the drive side and the wrist winch WC on the output side. When the second motor M3 rotates, a tension difference is generated between the line C3a for the forward path and the line C3b for the backward path, depending on its rotation direction, and therefore, a rotational torque based on this tension difference acts on the wrist winch WC, and the wrist element WE rotates about the first axis. Therefore, by counteracting control of the lines C3a for the forward path and C3b for the backward path executed by the third motor M3, the wrist element WE can rotate about the first axis. Figure 4 As shown, for example, a tension spring TS3 that applies pretension to the C3b side is inserted into a third line including lines C3a and C3b to prevent bending. However, it can be configured to apply pretension using an additional pulley.

[0124] The first clamping member J1 is supported near its base by the wrist element WE so that it can rotate about the second axis. Similarly, the second clamping member J2 is supported near its base by the wrist element WE so that it can rotate about the second axis. Therefore, the opening and closing operation of the end effector is achieved by rotating each of the first clamping member J1 and the second clamping member J2 about the second axis, thereby increasing or decreasing the opening angle between them (in other words, changing the angular difference between the first clamping member J1 and the second clamping member J2 about the second axis). Furthermore, the rotation operation of the end effector including the first clamping member J1 and the second clamping member J2 about the second axis is achieved by keeping the opening angle between the first clamping member J1 and the second clamping member J2 constant while simultaneously rotating the first clamping member J1 and the second clamping member J2 about the second axis (in other words, changing the sum of the angles of the first clamping member J1 and the second clamping member J2 about the second axis).

[0125] A first clamping winch JC1, having the aforementioned second axis as its rotation axis, is positioned near the base of the first clamping member J1. A first wire C1 is then wound around the first clamping winch JC1 and the first motor winch MC1, transmitting the driving force generated by the first motor M1 through the first wire C1, thereby enabling the first clamping member J1 to rotate around the second axis. Furthermore, a second clamping winch JC2, also having the aforementioned second axis as its rotation axis, is positioned near the base of the second clamping member J2. A second wire C2 is then wound around the second clamping winch JC2 and the second motor winch MC2, transmitting the driving force generated by the second motor M2 through the second wire C2, thereby enabling the second clamping member J2 to rotate around the second axis.

[0126] Here, the first wire C1 and the second wire C2 are wound around the first clamping winch JC1 and the second clamping winch JC2 from opposite directions, respectively. Specifically, when pulled, the first wire C1 wound around the first clamping winch JC1, causing the first clamping member J1 to rotate in a direction close to the second clamping member J2. Furthermore, when pulled, the second wire C2 wound around the second clamping winch JC2, causing the second clamping member J2 to rotate in a direction close to the first clamping member J1. Therefore, the opening and closing operation of the end effector can be performed by changing the angle difference between the first clamping member J1 and the second clamping member J2 about the second axis by controlling the traction force of the first wire C1 and the second wire C2 with the first motor M1 and the second motor M2. Furthermore, by changing the sum of the angles between the first clamping member J1 and the second clamping member J2 about the second axis by controlling the traction force of the first wire C1 and the second wire C2 with the first motor M1 and the second motor M2, the end effector can rotate about the second axis.

[0127] A spring SP is positioned between the first clamping member J1 and the second clamping member J2, such that the reaction force acts constantly in the opening direction. A torsion coil spring is preferably used as the spring SP. The spring SP has a natural length that exerts the reaction force even at the maximum opening angle between the first clamping member J1 and the second clamping member J2. However, the method of installing the spring SP is not particularly limited, and therefore its detailed description is omitted here.

[0128] The reaction force acts between the first clamping member J1 and the second clamping member J2 due to the restoring force of the spring SP, and the pretension acts constantly in the opening direction. Therefore, when the first clamping member J1 is pulled in the closing direction by the first motor M1 using a first line C1 (in other words, only for the forward path) and the second clamping member J2 is pulled in the closing direction by the second motor M2 using a second line C2 (in other words, only for the forward path) using a second motor M2, the first clamping member J1 and the second clamping member J2 can be closed. Furthermore, when the pulling of the first motor M1 and the second motor M2 stops, the first clamping member J1 and the second clamping member J2 automatically open due to the restoring force of the spring SP. That is, since the operation of opening the first clamping member J1 and the second clamping member J2 is performed by the elastic force of the spring SP, the line used for opening the clamping members in the backward path is unnecessary.

[0129] Reference Figure 5 and Figure 6The first line C1, attached to the first clamping winch JC1, is pulled in a direction orthogonal to the second axis, but its direction is changed to a direction orthogonal to the first axis by a first pulley P1a having the first axis as its axis of rotation. Furthermore, a first adjacent pulley P1b, adjacent to the first pulley P1a and having an axis of rotation parallel to the first axis, causes the first line C1, inserted through the shaft 402, to change its direction to the longitudinal axis direction of the shaft 402, and then it is wound at the other end onto the first motor winch MC1.

[0130] The first line C1 is wound in the direction that minimizes the distance to the first pulley P1a. Furthermore, the first line C1 is wound such that when the first line C1 is pulled, the first pulley P1a and the first adjacent pulley P1b rotate in opposite directions. Then, when the first motor winch MC1 is rotated by the first motor M1 to generate the traction force on the first line C1, a torque about the second axis can be applied to the first clamping member J1 to cause the first clamping member J1 to rotate in a direction approaching the second clamping member J2 (the closing direction).

[0131] In addition, refer to Figure 5 and Figure 6 The second line C2, attached to the second clamping winch JC2, is pulled in a direction orthogonal to the second axis, but its direction is changed to be orthogonal to the first axis by a second pulley P2a having a first axis as its axis of rotation. Furthermore, a second adjacent pulley P2b, adjacent to the second pulley P2a and having a axis of rotation parallel to the first axis, causes the second line C2, inserted through the shaft 402, to change its direction to be in the longitudinal axis direction of the shaft 402, and then it is wound at the other end onto the second motor winch MC2.

[0132] The second line C2 is wound in the direction that minimizes the distance to the second pulley P2a. Furthermore, the second line C2 is wound such that when the second line C2 is pulled, the second pulley P2a and the second adjacent pulley P2b rotate in opposite directions. Here, the direction of the second line C2 wound on the second pulley P2a is opposite to the direction of the first line C1 wound on the first pulley P1a. Then, when the second motor winch MC2 is rotated by the second motor M2 to generate the traction force of the second line C2, a torque about the second axis can be applied to the second clamping member J2 to cause the second clamping member J2 to rotate in a direction close to the first clamping member J1 (closing direction).

[0133] Because the pulleys are configured to change the direction of the first line C1 and the second line C2 in front of the shaft 402 (i.e., near the first axis), the first line C1 changes direction via pulley P1b after passing through the shaft 402 and is wound around the first motor winch MC1 at its end. Similarly, after passing through the shaft 402, the second line C2 changes direction via pulley P2b and is wound around the first motor winch MC1 at its end.

[0134] In addition, such as Figure 4 As shown, the first wire C1 and the second wire C2 are wound around the first motor winch MC1 and the second motor winch MC2, respectively, and then coupled via the tension spring TS1. Therefore, the pretension generated by the restoring force of the tension spring TS1 is applied to the first wire C1 and the second wire C2.

[0135] Next, the specific operation method of the front end 401 of the surgical instrument unit 400 will be described.

[0136] Operation at the first axis:

[0137] A third line, comprising line C3a for the forward path and line C3b for the backward path, is looped between the third motor winch MC3 and the wrist winch WC. When the third motor winch MC3 is rotated by the third motor M3, traction is generated on the third line, and the wrist winch WC can rotate about a first axis. Therefore, the wrist element WE and the end effector mounted on the wrist element WE can rotate about the first axis.

[0138] Operation at the second axis:

[0139] 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 at the same speed in the same direction, a rotation operation of the end effector around the second axis is generated.

[0140] Operation of the end effector:

[0141] The end effector includes a pair of opposing clamping members (i.e., a first clamping member J1 and a second clamping member J2). The opening angle between the first clamping member J1 and the second clamping member J2 is set as the opening / closing angle of the end effector. The opening or closing operation of the end effector is generated when the first motor winch MC1 and the second motor winch MC2 rotate at the same speed in opposite directions.

[0142] Figure 7An example of the operation of the wrist element WE around a first axis is shown. The figure also shows the front end 101 of the surgical instrument unit viewed from a direction parallel to the first axis. As shown, the pulley radius of the wrist winch WC is R. ψ And the rotation angle around the first axis of the wrist element WE is ψ.

[0143] also, Figure 8 and Figure 9 An example of the operation of the end effector around the second axis is shown. Also, each of the figures is a view of the front end 101 of the surgical instrument unit viewed from a direction parallel to the second axis. As shown in each of the figures, the pulley radius of each of the first clamping winch JC1 and the second clamping winch JC2 is R. θ The rotation angle of the first clamping member J1 about the second axis is θ. g1 The rotation angle of the second clamping member J2 about the second axis is θ. g2 The opening angle of the end effector is α, and the rotation angle of the end effector about the second axis is θ.

[0144] Furthermore, although not shown, the pulley radius of each of the first motor winch MC1 and the second motor winch MC2 is R. m12 The pulley radius of the third motor winch MC3 is R. m3 The rotation angle of the first motor M1 is The rotation angle of the second motor M2 is And the rotation angle of the third motor M3 is

[0145] Then, 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 as Equations (1) to (3) respectively.

[0146] [Formula 1]

[0147]

[0148] [Equation 2]

[0149]

[0150] [Formula 3]

[0151] α=θ g1 -θ g2 …(3)

[0152] Furthermore, the rotation angle θ of the first clamping member J1 about the second axis g1 and the rotation angle θ of the second clamping member J2 about the second axis g2 It is represented by the following equations (4) and (5), respectively.

[0153] [Formula 4]

[0154]

[0155] [Formula 5]

[0156]

[0157] From equations (1) to (5) above, it can be seen that the rotation angle of the wrist element WE around the first axis The rotation angle θ of the first clamping member J1 about the second axis is not affected. g1 The rotation angle θ of the second clamping member J2 about the second axis g2 The influence of this. On the other hand, the rotation angle of the wrist element WE about the first axis. The rotation angle θ of the first clamping member J1 about the second axis g1 The rotation angle θ of the second clamping member J2 about the second axis g2 Therefore, control is executed to compensate for the rotation angle of the wrist element WE about the first axis. The influence of this can achieve the target rotation angle θ of the end effector around the second axis and the target opening angle α of the end effector.

[0158] In short, it can be achieved by controlling the rotation angle of the third motor M3. This controls the rotation of the wrist element WE around the first axis. Furthermore, the rotation angle of the first motor M1 can be controlled. Rotation angle of the second motor M2 and the rotation angle of the third motor M3 To control the rotation of the end effector around the second axis and the opening and closing of the end effector.

[0159] E. Surgical instrumentation devices using drip-proof adapters

[0160] As described in section D above, the surgical instrument unit is configured to reduce the size of the front end, and is configured to operate the surgical instrument via a line inserted into the hollow shaft to transmit the driving force generated by the actuator in the drive unit located at the proximal end of the arm.

[0161] Furthermore, since surgical instruments come into direct contact with the body cavity, they must be sterilized before use; however, the drive unit lacks a structure capable of withstanding sterilization. Therefore, this disclosure employs a structure in which the surgical instrument unit is attached to and detached from the drive unit via an adapter located near the center of the shaft. Thus, sterilization can be performed by detaching the surgical instrument unit from the drive unit via the adapter according to this disclosure. Since the drive unit uses a translational transmission mechanism, such as a line, to drive the surgical instrument unit, the adapter according to this disclosure is a connection device with a structure for transmitting driving force in a translational manner.

[0162] Furthermore, the adapter according to this disclosure has a drip-proof structure to maintain the separation of clean and unclean areas when the sterilized surgical instrument unit is attached or when the surgical instrument (e.g., the clamping member at the tip) is driven. In summary, the adapter according to this disclosure is a connection device with a drip-proof structure and a translational transmission structure.

[0163] E-1. Overall Configuration of Surgical Instruments and Devices

[0164] Figure 10 An example configuration of a surgical instrument device 1000 applying the present disclosure is shown. The surgical instrument device 1000 includes, in sequence from the front end (distal end): a surgical instrument unit 1001, an adapter 1002, and a drive unit 1003. Figure 10 In the example shown, the surgical instrument unit 1001 includes an end effector and a hollow shaft. The end effector includes a pair of clamping members, etc., and the hollow shaft supports the end effector. A translational transmission mechanism, such as a line (not shown), is inserted into the shaft. The surgical instrument unit 1001 is then connected to the drive unit 1003 via an adapter 1002 at the base (or proximal end) of the shaft. Furthermore, Figure 11 An exploded view of the surgical instrument assembly 1000 is shown. Figure 11 In the example shown, the surgical instrument unit 1001, adapter 1002, and drive unit 1003 are drawn separately along the longitudinal axis of the shaft.

[0165] The adapter 1002 has a translational transmission structure and a drip-proof structure. The translational transmission structure transmits the driving force generated by the drive unit 1003 to the surgical instrument unit 1001. The drip-proof structure is configured to keep the clean area on the surgical instrument unit 1001 side and the non-clean area on the drive unit 1003 side separated. Furthermore, a cover 1004 is used to cover the non-clean area on the drive unit 1003 side (or isolate the clean area on the surgical instrument unit 1001 side). Assuming that the adapter 1002 and the cover 1004 are integral, or that there is no gap between them, substances from the non-clean area will not seep into the clean area and contaminate it. The surgical instrument unit 1001 can be reused multiple times through sterilization. Furthermore, the adapter 1002 and the cover 1004 can be disposable after a single surgical procedure.

[0166] E-2. Translation transmission structure of the adapter

[0167] Figure 12 A cross-section of the surgical instrument device 1000 is shown with the surgical instrument unit 1001 attached to the drive unit 1003 via the adapter 1002. Furthermore, Figure 13 A cross-section of the surgical instrument assembly 1000 is shown with the surgical instrument unit 1001, adapter 1002, and drive unit 1003 separated. The cross-section is taken along a plane parallel to the longitudinal axis of the shaft. (Refer to...) Figure 12 and Figure 13 The translational drive structure of adapter 1002 is described. Note that an example configuration of inserting four wires (C1, C2, C3a, and C3b) into the shaft to drive the surgical instrument has been described in section D above; however, the following description will assume the number of wires is two to avoid complicating the figures. A similar translational drive structure only needs to be added according to the actual number of wires used.

[0168] For each wire, there is a linear shaft A operated longitudinally by a corresponding actuator in drive unit 1003, a linear shaft B corresponding to linear shaft A in adapter 1002, and a linear shaft C corresponding to linear shaft B in surgical instrument unit 1001. The front end of linear shaft C is coupled to the end of the corresponding wire. Surgical instrument unit 1001 includes a locking device at the engagement point between its rear end (or proximal end) and adapter 1002. The locking device has the function of fixing the position of linear shaft C and releasing the fixation. Details of the locking device will be described in detail in section E-4 later.

[0169] like Figure 12As shown, when adapter 1002 is attached to drive unit 1003, the protrusion at the front end of linear axis A and the receiving portion at the rear end of linear axis B are coupled, and when surgical instrument unit 1001 is attached to adapter 1002, the receiving portion at the front end of linear axis B and the protrusion at the rear end of linear axis C are coupled. Therefore, with surgical instrument unit 1001 attached to drive unit 1003 via adapter 1002, linear axes A to C are driven integrally in the longitudinal axis direction. When the actuator in drive unit 1003 is driven, traction can be transmitted to the corresponding line via linear axes A to C in a translational manner. Note that the details of the attachment and disengagement process of surgical instrument unit 1001, adapter 1002, and drive unit 1003 will be described in detail later.

[0170] Figure 14 An enlarged cross-section is shown near the adapter 1002 immediately following attachment (i.e., in the state where the surgical instrument unit 1001 and drive unit 1003 are attached). Two actuators 1401 and 1402 are shown in the cross-section. Linear axis A is attached to the output shafts of actuators 1401 and 1402, respectively. Then, when adapter 1002 is attached to drive unit 1003, the front end of linear axis A and the rear end of linear axis B are coupled, and when surgical instrument unit 1001 is attached to adapter 1002, the front end of linear axis B and the rear end of linear axis C are coupled. The methods for coupling linear axis A and linear axis B, and the methods for coupling linear axis B and linear axis C, will be described in detail in section F below.

[0171] Figure 15 An enlarged cross-section is shown near the adapter 1002 during operation (i.e., when actuators 1401 and 1402 in drive unit 1003 are driven). Figure 15 In the example shown, the actuator 1401, located on the upper side of the paper, moves forward toward the front (or distal) end, and the driving force is translated to the line on the surgical instrument unit 1001 side via linear axes A to C. Furthermore, the actuator 1402, located on the lower side of the paper, retracts backward (or proximal) towards the rear, and the driving force is translated to the line on the surgical instrument unit 1001 side via linear axes A to C.

[0172] Reference Figures 12 to 15 Describe the operation and function of the components in each of the drive unit 1003, adapter 1002, and surgical instrument unit 1001 when driving the surgical instrument device 1000.

[0173] Regarding the drive unit:

[0174] The drive unit 1003 can drive the actuator to move the linear axis A back and forth along the longitudinal axis. Forward movement corresponds to the linear axis A moving forward toward the front end (or distal end), and backward movement corresponds to the linear axis A moving backward toward the end (or proximal end). The actuator preferably includes a sensor capable of detecting the current position of the linear axis A, such as a translation encoder.

[0175] For example, the drive unit 1003 is coupled to the front end of the arm 210 of the medical arm device 110 (see [link]). Figure 1 and Figure 2 And based on control signals from a control unit 120 such as the main device, the actuator is driven to operate, or in conjunction with a surgical manipulation device 300 held and manipulated by the surgeon's hand (participating in...). Figure 3 The actuator is coupled to the front end of the handle 310 and is driven to operate based on the manipulation performed by the surgeon on the handle 310.

[0176] adapter:

[0177] The adapter 1002 includes a linear shaft B as a translational transmission unit, which is configured to transmit the driving force generated by the drive unit 1003 (in other words, the movement of the linear shaft A in the longitudinal axis direction) to the surgical instrument unit 1001. The linear shaft B is coupled at its rear end to the front end of the linear shaft A, and at its front end to the rear end of the linear shaft C. Therefore, when the actuator is driven on the drive unit 1003 side and the linear shaft A moves back and forth in the longitudinal axis direction, the linear shaft B follows this movement and moves back and forth in the longitudinal axis direction. Consequently, the linear shaft C of the surgical instrument unit 1001 also moves back and forth in the longitudinal axis direction. Thus, the driving force of the actuator in the drive unit 1003 is transmitted to the surgical instrument unit 1001 in a translational manner via the adapter 1002.

[0178] The surgical instrument unit 1001 is a clean area that has undergone sterilization before use, while the drive unit 1003 is a non-clean area that has hardly undergone sterilization. The adapter 1002 serves to separate the clean and non-clean areas. The adapter 1002 has a structure such that when the linear shaft B, which acts as a translation drive, moves back and forth in the longitudinal axis direction, the clean and non-clean areas are separated to prevent them from mixing. The separation structure of the adapter 1002 will be described in detail in the next section, E-3.

[0179] Surgical instrument unit:

[0180] The front end of the linear shaft C is coupled to a line that pulls an end actuator, such as a clamping member (see section D above). Therefore, the linear shaft C moves back and forth in the longitudinal axis direction via the linear shaft B, which is a translational transmission part of the adapter 1002, and pulls the line, enabling the operation of the end actuator, such as the opening and closing operation of the clamping member and the rotation operation of the wrist.

[0181] E-3. Adapter drip-proof structure

[0182] Figure 16 and Figure 17 It is a perspective cross-sectional view of adapter 1002 taken from a plane parallel to the longitudinal axis. Figure 16 This shows the state of each of the linear axes B in its initial position immediately following the attachment. Figure 17 The diagram shows the state in which each of the linear axes B has moved (the upper linear axis B moves forward toward the front end (distal side), and the lower linear axis B moves backward toward the rear end (proximal side).

[0183] The main body of adapter 1002 has a substantially cylindrical shape with its height direction along the longitudinal axis, and through holes 1611 are formed in the longitudinal axis direction to allow insertion of a number of linear shafts B corresponding to the number of translation transmission mechanisms. Meanwhile, Figure 16 and Figure 17 Only the linear shaft B and its two through holes 1611 are shown to avoid complicating the figures. Furthermore, a rib 1612 is formed near the center of the cylinder of the adapter 1002 body along the outer circumferential direction. (See from...) Figures 12 to 15 As can be seen, the cylindrical body of the adapter 1002 is received by the drive unit 1003 on one side and by the surgical instrument unit 1001 on the other side. Ribs 1612 correspond to the locked positions of the drive unit 1003 and the surgical instrument unit 1002 inserted from both sides of the cylinder. A spring ( ) applies a reaction force to the drive unit 1003 and the surgical instrument unit 1002 abutting against it. Figure 16 and Figure 17 (Not shown in the image) Attached to the two sides of rib 1612.

[0184] A pair of tubular elastomers (shielding rubber in this embodiment) 1601 and 1602 are attached to each of the linear shafts B. Figure 16 The upper part of the image magnifies the appearance and cross-section of shielding rubbers 1601 and 1602. Each of shielding rubbers 1601 and 1602 comprises a double-folded shielding rubber with a flanged (or cap-like) structure. Figure 16As shown in the lower part, when folded outward, each of the shielding rubber elastomers 1601 and 1602 moves along the outer peripheral surface of the linear axis B and then along the inner peripheral surface of the through hole 1611. As the linear axis B moves in the longitudinal axial direction, each of the shielding rubbers 1601 and 1602 can be deformed by rolling (being rolled) while smoothly changing the fold length with low friction and without oil supply.

[0185] like Figure 16 As shown, shielding rubbers 1601 and 1602 are arranged symmetrically such that the ends corresponding to the brims of the respective "caps" face each other. When both ends of shielding rubbers 1601 and 1602 are connected to the linear shaft B, a structure with a sealed air chamber is obtained. Therefore, the clean area on the front end side (or distal end side) and the non-clean area on the rear end side (or proximal end side) of the linear shaft B are completely separated.

[0186] Figure 18 This shows the state of the two linear axes B in their initial positions immediately following the attachment. Figure 19 This illustrates a state where the upper linear axis B retracts to the posterior side (proximal side) and the lower linear axis B advances to the anterior side (distal side). Figure 20 The diagram shows a cross-section of adapter 1002 with the upper linear axis B advancing to the front end (distal side) and the lower linear axis B retracting to the rear end (proximal side). (Refer to...) Figures 18 to 20 In any state, the clean area on the front end (or distal end) of the linear axis B and the unclean area on the rear end (or proximal end) are completely separated by an air chamber defined by a pair of shielding rubbers 1601 and 1602, and the clean area is not contaminated by the mixture of areas.

[0187] Within a predetermined movable range, the volume of the air chamber remains constant regardless of the position of the linear axis B along the longitudinal axis. For example... Figures 18 to 20 As shown, as the linear shaft B moves forward to the front end (distal side) or backward to the rear end (proximal side), the shielding rubbers 1601 and 1602 smoothly deform by rolling (being rolled) to move the position of the broken line in the longitudinal axis direction, thereby changing the height of the top of the "cap" according to the current position of the linear shaft B. Due to such rolling deformation, no reaction force such as restoring force is generated in the shielding rubbers 1601 and 1602. Because the corresponding shielding rubbers 1601 and 1602 deform smoothly by rolling, the linear shaft B can be supported with low friction and without oil supply.

[0188] Figures 21 to 23 The diagram shows how the air chamber changes as the linear axis B moves along the longitudinal axis. Additionally, in each figure, the interior of the air chamber is filled with dots. Figure 21This shows the state where linear axis B has advanced to the front end (far end). Figure 22 The diagram shows the state of linear axis B in its initial position, and Figure 23 This shows the state where the linear axis B has retreated to the rear side (proximal side).

[0189] Apply a preload to the air chamber to the extent that the shielding rubbers 1601 and 1602 are strained. For example... Figures 21 to 23 As shown, the volume of the air chamber remains constant as the linear shaft B moves along the longitudinal axis. Therefore, no resistance is generated due to the pressurization and depressurization of the air chamber when the linear shaft B moves along the longitudinal axis. Furthermore, there is no sliding portion, such as a sliding bearing, between the linear shaft B and the through-hole 1611, and the air chamber formed in the gap between a pair of shielding rubbers 1601 and 1602 completely separates the surgical instrument unit 1001 side and the drive unit 1003 side, thus achieving a completely leak-proof structure. Moreover, strict fitting tolerances are not required for the linear shaft B to be inserted through the through-hole 1611, and therefore, the adapter 1002 can be manufactured at low cost.

[0190] As in Figures 21 to 23 It can also be seen that the drip-proof structure in adapter 1002 can be achieved using a pair of shielding rubbers 1601 and 1602 facing each other. Figure 16 As shown at the top, the shielding rubbers 1601 and 1602, with their flanged double-fold structure, have a simple shape that makes it easy to reduce size and lower costs through mass production. Shielding rubbers 1601 and 1602 can also be referred to as "rolling diaphragms".

[0191] Figure 24 An example of the external configuration of adapter 1002 is shown. Adapter 1002 has a generally cylindrical shape with height in the longitudinal axial direction, and each end face of the cylinder engages with each of the surgical instrument unit 1001 and the drive unit 1003. Furthermore, a linear shaft B forming a translational transmission mechanism protrudes from and retracts from the corresponding end face of adapter 1002.

[0192] A guide pin 2401 and a guide pin 2402 protrude from the side of the adapter 1002 on the front (or distal) side and the rear (or proximal) side, respectively. Each of the guide pins 2401 and 2402 serves to guide the direction of manipulation when attached to the surgical instrument unit 1001 and the drive unit 1003, and its details will be described later.

[0193] Furthermore, on the end face of the front (or distal) side of the adapter 1002, two protrusions 2403 and 2404 are provided at positions 180 degrees apart about the longitudinal axis. When the surgical instrument unit 1001 has been attached to the adapter 1002, these protrusions 2403 and 2404 adjust the rotation range of the locking device, and their details will be described in the next section E-4.

[0194] Figure 25 The shapes of the rear end of linear axis C and the front end of linear axis B are shown. Although not shown, the shape of the front end of linear axis A is the same as the shape of the rear end of linear axis C, and furthermore, the shape of the rear end of linear axis B is also the same. Linear axis C has a protrusion at the rear end (hereinafter also referred to as a "hook"). Similarly, linear axis A has a hook at the front end. The hooks of linear axis A and linear axis C are formed to have substantially the same shape and the same dimensions. On the other hand, as... Figure 25 As shown, the front and rear ends of the linear shaft B each have a recess (hereinafter also referred to as a "groove"). The grooves at both ends of the linear shaft B have openings for receiving the pins of the linear shafts A and C, and U-shaped notches for locking the pins entering through the openings. The schemes for coupling and separating the pins and grooves between the linear shafts A and B, and between the linear shafts C and B, will be described in section F below, along with the attachment and disengagement processes between the adapter 1002 and the drive unit 1003, and between the surgical instrument unit 1001 and the adapter 1002.

[0195] E-4. Locking device for surgical instrument unit

[0196] As described above, within the surgical instrument unit 1001, linear shafts C corresponding to the lines of the drive front end (clamping member, etc.) are arranged along the longitudinal axis direction, and each of the linear shafts C is coupled to the end of the corresponding line. The surgical instrument unit 1001 includes a locking device that fixes (locks) the position of the linear shafts C and releases (unlocks) the fixation.

[0197] When the connection between the surgical instrument unit 1001 and the adapter 1002 is not completed, the locking device mainly serves to fix the linear axis C (or restrict the movement of the linear axis C) in the locked state, and to prevent the adapter 1002 from separating from the surgical instrument unit 1001 in the unlocked state. The locking device will be described in detail in this section.

[0198] Figure 26The appearance of the locking device 2600 is shown (front, side, rear, and three-dimensional views). The locking device 2600 is attached to the inside of the tubular receiving portion of the receiving adapter 1002 and is located at the rear end (or proximal side) of the surgical instrument unit 1001, allowing it to rotate about a longitudinal axis along its inner circumference. The locking device 2600 has a shape resembling a bottomless cup with an opening on its bottom surface 2601. The bottom surface 2601 has a locking claw 2602 with steps and a release portion 2603 with an enlarged opening radius. Furthermore, an actuating element 2604, configured to manipulate locking and unlocking, protrudes from the outer circumference of the locking device 2600. A user, such as a surgeon, can manipulate locking and unlocking by rotating the locking device 2600 about its longitudinal axis using the actuating element 2604 to change the rotational position of the locking claw 2602 and the release portion 2603.

[0199] Furthermore, the locking device 2600 has an uneven shape formed at the end corresponding to the edge of the cup shape, and has two recesses 2605 and 2606 at positions 180 degrees apart about the longitudinal axis. These recesses 2605 and 2606 serve to determine the range of rotation of the locking device 2600 about the longitudinal axis by allowing the insertion of two protrusions 2403 and 2404 protruding from the end face on the front (or distal) side of the adapter 1002 when attached to the adapter 1002.

[0200] Figure 27 and Figure 28 The external configuration of the locking device 2600 in the unlocked state, along with the linear axis C whose movement is restricted, is shown. Meanwhile, Figure 27 The state of the locking device 2600 as viewed from the rear (or proximal) side of the surgical instrument unit 1001 is shown, and Figure 28 The image shows the locking device 2600 as viewed from the front (or distal) side of the surgical instrument unit 1001. A linear groove 2702 is formed circumferentially in the tubular receiving portion 2701 at the rear end of the surgical instrument unit 1001. An actuating element 2604, protruding from the outer periphery of the locking device 2600, is exposed to the outside through the groove 2702 from the receiving portion 2701. A user, such as a surgeon, can use the actuating element 2604 to rotate the locking device 2600 about its longitudinal axis. Figure 27 and Figure 28 At the rotational position of the locking device 2600 shown, the rear ends of the two linear shafts C are located at the release portion 2603 with an enlarged opening radius, and therefore, the movement of the linear shafts C is unrestricted. Therefore, Figure 27 and Figure 28 The rotational position of the locking device 2600 shown can be referred to as the unlocked state or the unlocked position.

[0201] Figure 29 and Figure 30 The external configuration of the locking device 2600 in the locked state is shown. Meanwhile, Figure 29 The state of the locking device 2600 as viewed from the rear (or proximal) side of the surgical instrument unit 1001 is shown, and Figure 30 The state of the locking device 2600 as viewed from the front (or distal) side of the surgical instrument unit 1001 is shown. Furthermore, Figure 31 A cross-section of the locking device 2600 in the locked state is shown. As described above, a user, such as a surgeon, can rotate the locking device 2600 about its longitudinal axis using the manipulating element 2604. Figure 29 and Figure 30 At the rotational position of the locking device 2600 shown, the rear ends of the two linear shafts C abut against the stepped locking pawl 2602. (Refer to...) Figure 31 The contraction portion 3101 is formed in front of the hook pin at the rear end of the linear axis C. Then, in Figure 29 and Figure 30 At the rotational position of the locking device 2600 shown, the locking pawl 2602 locks the retractable portion 3101 to fix the linear shaft C (or restrict the movement of the linear shaft C). Therefore, Figure 29 and Figure 30 The rotational position of the locking device 2600 shown can be referred to as the locked state or the locked position. When the linear shaft C is fixed, the line coupled to the linear shaft C cannot move in the longitudinal axis direction, and therefore, the operation of end actuators such as clamping members is restricted.

[0202] Refer again Figure 26 An uneven shape is formed at the end corresponding to the cup-shaped edge of the locking device 2600, and two recesses 2605 and 2606 are provided at positions 180 degrees apart about the longitudinal axis. On the other hand, referring again... Figure 24 Two protrusions 2403 and 2404 are provided on the end face of the front end (or the far end) of the adapter 1002 to protrude at positions 180 degrees apart about the longitudinal axis.

[0203] The surgical instrument unit 1001 can be attached to the adapter 1002 at a relatively rotatable position in which the two protrusions 2403 and 2404 of the adapter 1002 are respectively accommodated in the two recesses 2605 and 2606 of the locking device 2600. When the locking layer 2600 rotates about the longitudinal axis, the two protrusions 2403 and 2404 on the adapter 1002 side collide with the ends of the recesses 2605 and 2606 of the locking device 2600, thereby adjusting the rotation. That is, the locking device 2600 can rotate about the longitudinal axis within the range in which the protrusions 2403 and 2404 respectively engage in the recesses 2605 and 2606.

[0204] Next, the relationship between the switching locking and unlocking of the operating and locking device 2600 that attaches the surgical instrument unit 1001 to the adapter 1002 will be described.

[0205] Reference Figure 27 and Figure 29 A linear L-shaped groove 2703 is formed in the tubular receiving portion 2701 of the surgical instrument unit 1001. This linear L-shaped groove 2703 has an L-shape and extends circumferentially after advancing along the longitudinal axis from the rear edge, then bends at a right angle. The L-shaped groove 2703 has a locking groove that bends along the longitudinal axis at the tip of the L-shaped foot. Furthermore, referring again... Figure 24 The guide pin 2401 protrudes from the side of the front end (or the far end) of the adapter 1002.

[0206] With the guide pin 2401 on the adapter 1002 side aligned with the entrance of the L-shaped groove 2703 of the receiving portion 2701 on the surgical instrument unit 1001 side, the surgical instrument unit 1001 is first inserted into the adapter 1002 along the longitudinal axis, such that the guide pin 2401 follows the L-shape of the L-shaped groove 2703. Then, when the curved portion of the L-shape is reached, the surgical instrument unit 1001 is rotated about 45 degrees about the longitudinal axis. Then, when the tip of the L-shaped foot of the L-shaped groove 2703 is finally reached, the guide pin 2401 is pushed into the locking groove at the innermost part of the L-shaped groove 2703 by the reaction force of the spring attached to the side of the rib 1612 (as described above), thus attaching the surgical instrument unit 1001 to the adapter 1002.

[0207] When the locking device 2600 is set to the unlocked state with the guide pin 2401 of the adapter 1002 fitted in the L-shaped groove 2703, the restriction on the movement of the linear axis C is released, and the guide pin 2401 of the adapter 1002 is locked to restrict the separation of the surgical instrument unit 1001.

[0208] Meanwhile, the attachment and disengagement process of the surgical instrument unit 1001 and the adapter 1002 will be described in detail in the next part F.

[0209] Note that when the surgical instrument unit 1001 is not attached to the adapter 1002, and the locking device 2600 is locked, the locking device 2600 is pressed by the pretension of the wire in the surgical instrument unit 1001. Therefore, the risk of accidental disengagement of the locking device 2600 is low.

[0210] F. Attachment and Separation Processes

[0211] When using a sterilized surgical instrument unit 1001, attachment is performed in the following order: first, the adapter 1002 is attached to the drive unit 1003, and then the surgical instrument unit 1001 is attached to the adapter 1002. On the other hand, when replacing a used surgical instrument unit 1001, disassembly is performed in the following order: first, the surgical instrument unit 1001 is disassembled from the adapter 1002, and then the adapter 1002 is disassembled from the drive unit 1003.

[0212] F-1. Attachment of the adapter to the drive unit

[0213] Reference Figures 32 to 35 The process of attaching adapter 1002 to drive unit 1003 is described.

[0214] First, the actuators in drive unit 1003 are driven to stop all linear axes A at the attachment and disengagement positions (see...). Figure 32 The attachment and disengagement positions of linear axis A are reference positions in the longitudinal axis direction of linear axis A, used to properly couple the corresponding ends of linear axis A and linear axis B when adapter 1002 is attached to drive unit 1003, and are predefined.

[0215] like Figure 33 As shown in the enlarged view on the left, the drive unit 1003 includes a tubular receiving portion 3301 at the front end receiving adapter 1002. Similar to the receiving portion 2701 of the surgical instrument unit 1001 (as described above), a linear L-shaped groove 3302 is formed in the receiving portion 3301. This linear L-shaped groove 3302 has an L-shape and advances in the longitudinal axis direction from the rear edge by bending at a right angle in the circumferential direction. The L-shaped groove 3302 has a locking groove that bends in the longitudinal axis direction at the tip of the L-shaped foot. Furthermore, referring again... Figure 24 The guide pin 2402 protrudes from the side of the rear end (or proximal end) of the adapter 1002.

[0216] With the guide pin 2402 on the adapter 1002 side aligned with the entrance of the L-shaped groove 3302 of the receiving portion 3302 on the drive unit 1003 side, the guide pin 2402 is inserted into the L-shaped groove 3302, and the adapter 1002 is inserted into the receiving portion 3301 along the longitudinal axis direction, such that the guide pin 2402 conforms to the L-shape of the L-shaped groove 3302 (see...). Figure 33 ).

[0217] When the guide pin 2402 reaches the L-shaped curved portion of the L-shaped groove 3302, the adapter 1002 is then rotated approximately 45 degrees relative to the drive unit 1003 about the longitudinal axis (see...). Figure 34The front edge of the receiving portion 3301 on the drive unit 1003 side abuts against the rib 1612 of the adapter 1002 at the location where the guide pin 2402 reaches the L-shaped curved portion of the L-shaped groove 3302. (See reference...) Figure 25 As described, a hook pin is formed at the front end of linear shaft A, and a hook groove is formed at the rear end of linear shaft B. The hook groove has an opening for receiving the hook pin and a U-shaped notch for locking the hook pin entering from the opening. When the guide pin 2402 reaches the L-shaped curved portion of the L-shaped groove 3302, the hook pin and the hook groove are positioned to just overlap each other, with the opening of the hook groove facing the hook pin. Then, during the rotation of adapter 1002 about 45 degrees relative to drive unit 1003 about the longitudinal axis, the hook pin located at the front end of linear shaft A is received in the opening of the hook groove of linear shaft B and is secured by the U-shaped notch (see...). Figure 34 The left side of the linear axis B is hooked, thereby coupling the linear axis B with the linear axis A. When the adapter 1002 is attached to the receiving part 3301 on the drive unit 1003 side such that the guide pin 2402 is set along the L-shaped groove 3302, the hook pin located at the front end of the linear axis A can be guided to follow the path hooked by the notch of the hook groove located at the rear end of the linear axis B.

[0218] Then, when the tip of the L-shaped foot of the L-shaped groove 3302 is reached, the guide pin 2402 is finally pushed into the locking groove at the innermost part of the L-shaped groove 3302 by the reaction force of the spring attached to the side of the rib 1612, thereby locking the guide pin 2402 and attaching the adapter 1002 to the drive unit 1003 (see...). Figure 35 Since the guide pin 2402 of adapter 1002 is locked, the separation of adapter 1002 from drive unit 1003 is restricted.

[0219] F-2. Attachment of Surgical Instrument Unit and Adapter

[0220] Reference Figures 36 to 39 The process of attaching the surgical instrument unit 1001 to the adapter 1002 is described.

[0221] After the attachment of adapter 1002 to drive unit 1003 is completed according to the process described in section F-1 above, the attachment of surgical instrument unit 1001 to adapter 1002 is performed. Therefore, at this time, each of the linear axes B of adapter 1002 is coupled to each of the corresponding linear axes A on the drive unit 1003 side.

[0222] First, the actuator in drive unit 1003 is driven to stop the linear axis B coupled to linear axis A at the attachment and disengagement positions (see...). Figure 36The attachment and disengagement positions of linear axis B are reference positions in the longitudinal axis direction of linear axis B, used to properly couple the corresponding ends of linear axis B and linear axis C when adapter 1002 is attached to drive unit 1003 and surgical instrument unit 1001 is further attached to adapter 1002. When linear axis A is set in the attachment and disengagement positions, linear axis B coupled to linear axis A is naturally set in the attachment and disengagement positions.

[0223] As described above, a linear L-shaped groove 2703 is formed in the tubular receiving portion 2701 of the surgical instrument unit 1001. This linear L-shaped groove 2703 has an L-shape and proceeds circumferentially after advancing along the longitudinal axis from the rear edge, by bending at a right angle. The L-shaped groove 2703 includes a locking groove that bends along the longitudinal axis at the tip of the L-shaped foot (see [link to documentation]). Figure 27 and Figure 29 Furthermore, the guide pin 2401 protrudes from the side of the front (or distal) end of the adapter 1002 (see [link]). Figure 24 ).

[0224] The locking device 2600 of the surgical instrument unit 1001, when the inlet of the L-shaped groove 2703 of the receiving portion 2701 on the surgical instrument unit 1001 side is aligned with the guide pin 2401 on the adapter 1002 side, inserts the guide pin 2401 into the L-shaped groove 2703, and inserts the adapter 1002 into the receiving portion 2701 along the longitudinal axis direction, such that the guide pin 2401 follows the L-shape of the L-shaped groove 2703 (see...). Figure 37 ).

[0225] When the guide pin 2401 reaches the L-shaped bend of the L-shaped groove 2703, the surgical instrument unit 1001 is then rotated approximately 45 degrees relative to the adapter 1002 about its longitudinal axis. The rear end edge of the receiving portion 2701 on the side of the surgical instrument unit 1001 abuts against the rib 1612 of the adapter 1002 at the location where the guide pin 2401 reaches the L-shaped bend of the L-shaped groove 2703. (See reference...) Figure 25 As described, a hook pin is formed at the rear end of the linear shaft C, and a hook groove is formed at the front end of the linear shaft B. The hook groove has an opening for receiving the hook pin and a U-shaped notch for locking the hook pin entering from the opening. When the guide pin 2401 reaches the L-shaped bend of the L-shaped groove 2703, the hook pin and the hook groove are positioned to just overlap each other, with the opening of the hook groove facing the hook pin. Then, during the rotation of the surgical instrument unit 1101 about 45 degrees relative to the adapter 1002 about the longitudinal axis, the hook pin located at the rear end of the linear shaft C is received in the opening of the hook groove of the linear shaft B and is secured by the U-shaped notch (see...). Figure 38The left side of the linear axis C is hooked, thereby coupling the linear axis C with the linear axis B. When the receiving part 2701 of the surgical instrument unit 1001 is attached to the adapter 1002 such that the guide pin 2401 is arranged along the L-shaped groove 2703, the hook pin located at the rear end of the linear axis C can be guided to follow the path hooked by the notch of the hook groove located at the front end of the linear axis B.

[0226] Then, when the tip of the L-shaped foot of the L-shaped groove 2703 is reached, the guide pin 2401 is finally pushed into the innermost locking groove of the L-shaped groove 2703 by the reaction force of the spring attached to the side of the rib 1612 to lock the guide pin 2401, and the surgical instrument unit 1001 can be attached to the adapter 1002 (see...). Figure 38 Because the guide pin 2601 of the adapter 1002 is locked, the separation of the surgical instrument unit 1001 from the adapter 1002 is restricted.

[0227] In this way, when the attachment of the surgical instrument unit 1001 to the adapter 1002 is completed, the operating element 2604, which protrudes from the outer periphery of the locking device 2600, is manipulated along the groove 2702 in the circumferential direction of the receiving portion 2701 to place the locking device 2600 of the surgical instrument unit 1001 in the unlocked state and release the restriction on the movement of the linear axis C (see...). Figure 39 Therefore, the drive unit 1003 is configured to be in an operable state capable of driving the end effector of the surgical instrument unit 1001 via the linear shaft B of the adapter 1002, which serves as a translational transmission unit. Furthermore, since the guide pins 2401 and 2402 of the adapter 1002 are locked by the reaction force of the springs even though the locking device 2600 is in the unlocked state, separation of the surgical instrument unit 1001 and the adapter 1002 is restricted.

[0228] F-3. Separation of surgical instrument unit and adapter

[0229] Reference Figures 40 to 43 The process for separating the surgical instrument unit 1001 from the adapter 1002 is described.

[0230] The surgical instrument unit 1001, adapter 1002, and drive unit 1003 are in a state where they have been attached according to the process described in sections F-1 and F-2 above. Therefore, at this time, the corresponding linear axes A to C are coupled to each other.

[0231] First, the actuator is driven in drive unit 1003 to stop each of the set of linear axes A to C coupled to drive unit 1003, adapter 1002 and surgical instrument unit 1001 at the attachment and disengagement positions (see [link]). Figure 40 ).

[0232] At this time, the locking device 2600 of the surgical instrument unit 1001 is in the unlocked state. First, the locking device 2600 is rotated in the opposite direction about the longitudinal axis using the operating element 2604 to switch to the locked state and fix the linear axis C (see...). Figure 41 Furthermore, since the guide pin 2401 is pushed into the locking groove at the innermost part of the L-shaped groove 2703 of the receiving portion 2701 on the surgical instrument unit 1001 side and is in a locked state, the locked state of the guide pin 2401 is released. Since the guide pin 2401 is pushed into the locking groove by the reaction force of the spring attached to the side of the rib 1612, the guide pin 2401 can be removed from the locking groove by pushing the surgical instrument unit 1001 toward the adapter 1002 once, and additionally, the guide pin 2401 can be unlocked by rotating the adapter 1002 in the opposite direction about the longitudinal axis.

[0233] Next, the surgical instrument unit 1001 rotates approximately 45 degrees relative to the adapter 1002 about the longitudinal axis in the opposite direction to that at attachment. During this reverse rotation of approximately 45 degrees, the hook pin at the rear end of the linear shaft C disengages from the hook groove at the front end of the linear shaft B, and the linear shaft B and linear shaft C separate (see [reference]). Figure 42 ).

[0234] When the surgical instrument unit 1001 rotates counter-rotatingly relative to the adapter 1002 about the longitudinal axis and the guide pin 2401 reaches the L-shaped curved portion of the L-shaped groove 2703, the surgical instrument unit 1001 is then pulled longitudinally from the adapter 1002, causing the guide pin 2401 to conform to the L-shape of the L-shaped groove 2703. Then, when the guide pin 2401 on the adapter 1002 side exits from the inlet of the L-shaped groove 2703 of the receiving portion 2701 on the surgical instrument unit 1001 side, the separation of the surgical instrument unit 1001 from the adapter 1002 is completed (see [link to original text]). Figure 43 ).

[0235] F-4. Separation of adapter and drive unit

[0236] Reference Figures 44 to 47 The process for disconnecting adapter 1002 from drive unit 1003 is described.

[0237] After the surgical instrument unit 1001 is separated from the adapter 1002 according to the process described in section F-3 above, the adapter 1002 is separated from the drive unit 1003. Therefore, each of the linear axes B of the adapter 1002 is coupled to each of the corresponding linear axes A on the drive unit 1003 side.

[0238] First, the actuator is driven in drive unit 1003 to stop the linear axis B coupled to linear axis A in the attached and disengaged positions (see...). Figure 44 ).

[0239] At this time, since the guide pin 2402 is pushed into the locking groove at the innermost part of the L-shaped groove 3302 of the receiving part 3301 on the drive unit 1003 side and is in a locked state, the locking state of the guide pin 2402 is released. Since the guide pin 2401 is pushed into the locking groove by the reaction force of the spring attached to the side of the rib 1612, the guide pin 2402 can be removed from the locking groove by pushing the adapter 1002 toward the drive unit 1003 once (see...). Figure 45 ).

[0240] Next, the adapter 1002 rotates approximately 45 degrees relative to the drive unit 1003 about the longitudinal axis in a direction opposite to that at the time of attachment (see [link]). Figure 46 During the reverse rotation of approximately 45 degrees, the hook pin at the front end of linear axis A disengages from the hook groove at the rear end of linear axis B, and linear axis A and linear axis B separate.

[0241] When the adapter 1002 rotates in the opposite direction relative to the drive unit 1003 about the longitudinal axis and the guide pin 2402 reaches the L-shaped curved portion of the L-shaped groove 3302, the drive unit 1003 is then pulled from the adapter 1002 in the longitudinal direction, causing the guide pin 2402 to conform to the L-shape of the L-shaped groove 3302. Then, when the guide pin 2402 on the adapter 1002 side exits from the inlet of the L-shaped groove 3302 of the receiving portion 3301 on the drive unit 1003 side, the separation of the adapter 1002 from the drive unit 1003 is completed (see...). Figure 47 ).

[0242] G. Modified Example

[0243] In this section, a modified example of the surgical instrument device 1000 will be described.

[0244] G-1. Regarding the number of translational transmission mechanisms

[0245] Despite Figures 12 to 47 The description given assumes that the number of lines (or translational transmission mechanisms) is limited to two to avoid complicating the drawings, but similar translational transmission structures can be added depending on the actual number of lines to be used. For example, in section D above (see...) Figures 4 to 9In [the document], an example configuration for driving surgical instruments by inserting four wires (C1, C2, C3a, and C3b) has been described. However, even if a total of four translational drive components corresponding to the respective wires are provided, an adapter with a drip-proof structure can be manufactured to separate the surgical instrument unit in the clean area and the drive unit in the non-clean area.

[0246] G-2. Regarding locking devices

[0247] exist Figures 12 to 47 In the illustrated embodiment, it is assumed that the linear axis A of the drive unit 1003 operates in two directions along the longitudinal axis. However, if it is assumed that the linear axis A operates only in the direction of being pulled from the front end, a locking device similar to that provided in the surgical instrument unit 1001 for fixing the linear axis A when not in use can be provided.

[0248] G-3. About the adapter

[0249] The air chamber between shielding rubber 1601 and shielding rubber 1602 is sealed under preload, but an air pipe can be connected from the outside to perform pressurization, so that a constant air pressure is always maintained.

[0250] Although the air chamber is formed by symmetrically arranging shielding rubbers 1601 and 1602, each of which is a top-cap type, such that their flanges face each other, a single top-cap type shielding rubber can be used for a linear axis B.

[0251] The desired outcome is that the double-folded shielding rubber deforms smoothly by rolling while simultaneously changing the fold length with low friction and without an oil supply; however, the material is not particularly limited, as long as it meets this requirement. For example, a mixture of fiber web and rubber can be used to manufacture the shielding rubber.

[0252] When using multiple linear axes B, each shielding rubber can be molded as a single piece.

[0253] G-4. Regarding the actuator

[0254] The actuator that drives the linear axis A in the drive unit 1003 can be exemplified as follows. When multiple actuators are installed, two or more types of actuators can be used in combination.

[0255] ●Electromagnetic rotary motor

[0256] ●Electromagnetic linear motor

[0257] ●Pneumatic cylinder

[0258] ●Hydraulic cylinder

[0259] ●Hydraulic cylinder

[0260] ●Ultrasonic Rotary Motor

[0261] ● Ultrasonic linear motor

[0262] 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, anomalous planetary gear reducers, cable reducers, traction reducers, ball screws, sliding screws, worm gears, etc. Examples of position detectors include magnetic encoders, optical encoders, and potentiometers.

[0263] G-5. Identification of Surgical Instrument Units

[0264] This device is designed to perform operations involving the interchangeability and use of multiple types of surgical instrument units via adapters, using a single medical arm or surgical manipulation device. Therefore, each of the surgical instrument units can be equipped with an identification device to specify the type of surgical instrument (forceps, pneumoperitoneum tube, energy therapy device, tweezers, retractors, etc.).

[0265] The identification device needs to be readable from the drive unit (or a medical arm device or surgical manipulation device on which the drive unit is mounted) via an adapter. For example, the identification device can be an integrated circuit (IC) chip, but information such as the type of surgical instrument or the shape of the coupling part (e.g., the tubular receiver 2701) can be expressed via a two-dimensional barcode. When using an IC chip, various types of information, such as the shape, weight, and number of uses of the surgical instrument, can be recorded on the IC chip, in addition to the type of surgical instrument.

[0266] G-6. Regarding Operations

[0267] The adapter can be disposable after a single surgical procedure, and the surgical instrument unit can be sterilized and reused up to a predetermined number of times after use. Alternatively, the adapter and surgical instrument unit can be formed as a single unit and sterilized and reused up to a predetermined number of times after use. Alternatively, the adapter and surgical instrument unit can be formed as a single unit and be disposable after a single surgical procedure.

[0268] H. Effects

[0269] The effects of surgical instrument units, medical arm devices, and surgical manipulation devices that utilize the contents of this disclosure will be summarized.

[0270] According to this disclosure, the structure of the surgical instrument unit is simplified, thereby enabling cost reduction and facilitating sterilization.

[0271] According to this disclosure, since the surgical instrument unit is attached to the drive unit via an adapter with a drip-proof structure, the clean and non-clean areas can be completely separated, thus improving reliability.

[0272] According to this disclosure, the adapter has a drip-proof structure for inserting a translational drive unit (linear shaft B) through a through-hole achieved by using a shielding rubber (rolling diaphragm) with a double-folded structure. When the translational drive unit performs translational movement, the shielding rubber smoothly deforms by rolling with low friction and without oil supply while changing its fold length, thus maintaining drip-proof performance. Therefore, strict fitting tolerances for inserting the translational drive unit are not required, and cost reduction can be achieved.

[0273] According to the anti-drip structure of the adapter disclosed herein, even if blood adheres to the sliding part of the translational drive, the translational drive can operate smoothly while maintaining anti-drip performance through the shielding rubber, thereby improving reliability.

[0274] By utilizing the drip-proof structure of the adapter according to this disclosure, the shielding rubber with a double-fold structure deforms smoothly by rolling with low friction and changing the fold length without oil supply, and thus, internal interference in the translational transmission part is reduced, and the transparency of the operation of surgical instruments is improved.

[0275] Industrial applicability

[0276] The present disclosure has been described in detail above with reference to specific embodiments. However, it is self-evident that those skilled in the art can make modifications and substitutions to the embodiments without departing from the spirit of the present disclosure.

[0277] This specification has primarily described embodiments of applying this disclosure to surgical robots to separate clean and non-clean areas in mechanisms for attaching and detaching surgical instrument units to be sterilized from drive units; however, the scope of this disclosure is not limited thereto. This disclosure can also be applied to fields beyond medical care to achieve separation between clean and non-clean areas in mechanisms for attaching and detaching two units, and to achieve complete separation of areas of each unit when attaching two separable units.

[0278] In short, this disclosure has been described by way of example, and the content described herein should not be interpreted in a restrictive manner. The scope of the claims should be considered in order to determine the gist of this disclosure.

[0279] Note that this disclosure may also have the following configurations.

[0280] (1) A medical manipulator system, comprising:

[0281] A surgical instrument unit, which includes surgical instruments at its front end;

[0282] A drive unit that drives the surgical instruments; and

[0283] An adapter that attaches the surgical instrument unit to the drive unit.

[0284] The adapter includes: a translational transmission unit that transmits the driving force generated by the drive unit to the surgical instrument unit; and an anti-drip unit that separates the surgical instrument unit side from the drive unit side in the translational transmission unit.

[0285] (2) The medical manipulator system according to (1) above, wherein,

[0286] The anti-drip section performs separation by providing an air chamber between the surgical instrument unit side and the drive unit side in the translational transmission section.

[0287] (3) The medical manipulator system according to (2) above, wherein,

[0288] The anti-drip section has a structure in which two elastomers, each having a double-fold structure, are arranged facing each other, and an air chamber is formed between the elastomers by connecting their two ends by the translational transmission section.

[0289] (4) The medical manipulator system according to (2) or (3) above, wherein,

[0290] The air chamber maintains a constant air pressure.

[0291] (5) The medical manipulator system according to any one of (1) to (3) above, wherein,

[0292] The drive unit includes a first linear axis and an actuator that causes translational movement of the first linear axis.

[0293] The adapter includes a second linear shaft that serves as the translational transmission unit.

[0294] The surgical instrument unit includes a third linear axis, and

[0295] When the adapter is attached to the drive unit, the second linear axis is coupled to the first linear axis. When the surgical instrument unit is attached to the adapter, the third linear axis is coupled to the second linear axis, and the driving force of the actuator is transmitted by the first linear axis, the second linear axis, and the third linear axis to drive the surgical instrument.

[0296] (6) The medical manipulator system according to (5) above, wherein,

[0297] The surgical instrument unit also includes a locking device that restricts the movement of the third linear axis.

[0298] (7) The medical manipulator system according to (6) above, wherein,

[0299] The locking device has a locked state in which the operation of the third linear axis is restricted and an unlocked state in which the restriction is lifted.

[0300] (8) The medical manipulator system according to (7) above, wherein,

[0301] The locking device is locked when the attachment of the surgical instrument unit to the adapter is not completed.

[0302] (9) The medical manipulator system according to any one of (5) to (8) above, wherein,

[0303] The surgical instrument unit includes a receiving portion of the adapter, the receiving portion including a guide portion that guides the coupling between the third linear axis and the second linear axis.

[0304] (10) The medical manipulator system according to (9) above, wherein,

[0305] The guide portion guides the movement of the receiving portion and the adapter to follow the path of the hook pin located at the end of the second linear axis engaging the hook groove located at the end of the third linear axis.

[0306] (11) The medical manipulator system according to (10) above, wherein,

[0307] The guide section performs guidance by causing a guide pin protruding from the outer periphery of the adapter to follow a specific shape of a groove formed in the receiving section.

[0308] (12) The medical manipulator system according to the above description (11) further includes:

[0309] A locking groove is provided at the end of the groove, and the guide pin is introduced into the locking groove.

[0310] (13) The medical manipulator system according to any one of (5) to (12) above, wherein,

[0311] The drive unit includes a receiving portion of the adapter, the receiving portion including a guide portion that guides the coupling between the first linear axis and the second linear axis.

[0312] (14) The medical manipulator system according to (13) above, wherein,

[0313] The guide portion guides the movement of the receiving portion and the adapter to follow the path of the hook pin located at the end of the second linear axis engaging the hook groove located at the end of the first linear axis.

[0314] (15) The medical manipulator system according to (14) above, wherein,

[0315] The guide section performs guidance by causing a guide pin protruding from the outer periphery of the adapter to follow a specific shape of a groove formed in the receiving section.

[0316] (16) The medical manipulator system according to (15) above further includes:

[0317] A locking groove is provided at the end of the groove and the guide pin is introduced into the locking groove.

[0318] (17) An adapter device, wherein a drive unit is attached to one end of the adapter device and a surgical instrument unit is attached to the other end of the adapter device, the adapter device comprising:

[0319] A translational transmission unit that transmits the driving force generated by the drive unit to the surgical instrument unit; and

[0320] The anti-drip section separates the surgical instrument unit side from the drive unit side in the translational transmission section.

[0321] (18) The adapter device according to (17) above, wherein,

[0322] The anti-drip section performs separation by providing an air chamber between the surgical instrument unit side and the drive unit side in the translational transmission section.

[0323] (19) The adapter device according to (18) above, wherein,

[0324] The anti-drip section has a structure in which two elastomers, each having a double-fold structure, are arranged facing each other, and an air chamber is formed between the elastomers by connecting their two ends by the translational transmission section.

[0325] (20) The adapter device according to any one of (17) to (19) above further includes:

[0326] As the second linear axis of the translational transmission unit, the two ends of the second linear axis are respectively coupled to the first linear axis of the drive unit and the third linear axis of the surgical instrument unit.

[0327] Reference tag list

[0328] 100 Surgical Support System

[0329] 110 Medical Arm Device

[0330] 111 Active joint

[0331] 111A Actuator

[0332] 111B Torque Sensor

[0333] 111C Encoder

[0334] 112 Passive joint

[0335] 112A encoder

[0336] 113 Sensor Department

[0337] 120 control device

[0338] 130 Input Device

[0339] 210 arms

[0340] 220 Front end

[0341] 221 Surgical Instrument Unit

[0342] 222 drive unit

[0343] 300 Surgical Control Device

[0344] 310 Handle

[0345] 311 joystick

[0346] Button 312

[0347] 320 front end

[0348] 321 Surgical Instrument Unit

[0349] 322 drive unit

[0350] 400 surgical instrument units

[0351] 401 Opening and Closing Mechanism

[0352] 402 axis

[0353] 403 Drive Unit

[0354] 1000 Surgical Instruments

[0355] 1001 Surgical Instrument Unit

[0356] 1002 Adapter

[0357] 1003 Drive Unit

[0358] 1004 Cover Cloth

[0359] 1401, 1402 Actuators

[0360] 1601, 1602 Shielding Rubber

[0361] 1611 Through Hole

[0362] 1612 Ribs

[0363] 2401 Guide pin (for attachment to surgical instrument unit 1001)

[0364] 2402 Guide pin (for connection to drive unit 1003)

[0365] 2403, 2404 protrusions

[0366] 2600 Locking Device

[0367] 2601 Bottom

[0368] 2602 Locking Claw

[0369] 2603 Release Department

[0370] 2604 Control element

[0371] 2605, 2606 concave part

[0372] 2701 Reception Department

[0373] 2702 slot

[0374] 2703 L-shaped groove

[0375] 3101 Shrinkage section

[0376] 3301 Reception Department

[0377] 3302 L-shaped groove

Claims

1. A medical manipulator system, comprising: A surgical instrument unit, which includes surgical instruments at its front end; A drive unit that drives the surgical instruments; as well as An adapter that attaches the surgical instrument unit to the drive unit. The adapter includes: a translational transmission unit that transmits the driving force generated by the drive unit to the surgical instrument unit; and an anti-drip unit that separates the surgical instrument unit side from the drive unit side in the translational transmission unit. The anti-drip section achieves separation by providing an air chamber between the surgical instrument unit side and the drive unit side in the translational transmission section. The anti-drip section has a structure in which two elastomers, each having a double-fold structure, are arranged facing each other, and an air chamber is formed between the elastomers by connecting their two ends by the translational transmission section.

2. The medical manipulator system according to claim 1, wherein, The air chamber maintains a constant air pressure.

3. The medical manipulator system according to claim 1, wherein, The drive unit includes a first linear axis and an actuator that causes translational movement of the first linear axis. The adapter includes a second linear shaft that serves as the translational transmission unit. The surgical instrument unit includes a third linear axis, and When the adapter is attached to the drive unit, the second linear axis is coupled to the first linear axis. When the surgical instrument unit is attached to the adapter, the third linear axis is coupled to the second linear axis, and the driving force of the actuator is transmitted by the first linear axis, the second linear axis, and the third linear axis to drive the surgical instrument.

4. The medical manipulator system according to claim 3, wherein, The surgical instrument unit also includes a locking device that restricts the movement of the third linear axis.

5. The medical manipulator system according to claim 4, wherein, The locking device has a locked state in which the movement of the third linear axis is restricted and an unlocked state in which the restriction is lifted.

6. The medical manipulator system according to claim 5, wherein, The locking device is locked when the attachment of the surgical instrument unit to the adapter is not completed.

7. The medical manipulator system according to claim 3, wherein, The surgical instrument unit includes a receiving portion of the adapter, the receiving portion including a guide portion that guides the coupling between the third linear axis and the second linear axis.

8. The medical manipulator system according to claim 7, wherein, The guide portion guides the movement of the receiving portion and the adapter to follow the path of the hook pin at the end of the second linear shaft engaging with the groove at the end of the third linear shaft.

9. The medical manipulator system according to claim 8, wherein, The guide section performs guidance by causing a guide pin protruding from the outer periphery of the adapter to follow the L-shape of a groove formed in the receiving section.

10. The medical manipulator system according to claim 9, further comprising: A locking groove is provided at the end of the groove, and the guide pin is introduced into the locking groove.

11. The medical manipulator system according to claim 3, wherein, The drive unit includes a receiving portion of the adapter, the receiving portion including a guide portion that guides the coupling between the first linear axis and the second linear axis.

12. The medical manipulator system according to claim 11, wherein, The guide portion guides the movement of the receiving portion and the adapter to follow the path of the hook at the end of the second linear shaft engaging with the groove at the end of the first linear shaft.

13. The medical manipulator system according to claim 12, wherein, The guide section performs guidance by causing a guide pin protruding from the outer periphery of the adapter to follow the L-shape of a groove formed in the receiving section.

14. The medical manipulator system according to claim 13, further comprising: A locking groove is provided at the end of the groove, and the guide pin is introduced into the locking groove.

15. An adapter device, wherein a drive unit is attached to one end of the adapter device and a surgical instrument unit is attached to the other end of the adapter device, the adapter device comprising: The translational transmission unit transmits the driving force generated by the drive unit to the surgical instrument unit; as well as The anti-drip section separates the surgical instrument unit side from the drive unit side in the translational transmission unit. The anti-drip section achieves separation by providing an air chamber between the surgical instrument unit side and the drive unit side in the translational transmission section. The anti-drip section has a structure in which two elastomers, each having a double-fold structure, are arranged facing each other, and an air chamber is formed between the elastomers by connecting their two ends by the translational transmission section.

16. The adapter device according to claim 15, further comprising: As the second linear axis of the translational transmission unit, the two ends of the second linear axis are respectively coupled to the first linear axis of the drive unit and the third linear axis of the surgical instrument unit.

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