Work-assisting robots

Abstract

The present invention relates to a work assist robot. The work assist robot (10) comprises: a plurality of multi-joint arms (12, 14); a lifting component (16) for lifting the plurality of multi-joint arms (12, 14) respectively; and a main body (18) provided with the lifting component (16). The multi-joint arms (12, 14) have seven or more degrees of freedom, including the degree of freedom of up and down movement generated by the lifting component (16).

Description

Technical Field

[0001] The present invention relates to a work assisting robot. Background Art

[0002] In recent years, medical treatment solutions utilizing robots (manipulators) have been proposed to reduce the burden on surgical operators and save manpower in medical facilities. In the field of surgery, proposals have been made regarding surgical manipulator systems, in which the surgeon operates a remotely controlled surgical manipulator to perform medical treatment on the patient. Furthermore, robotic systems have been proposed that utilize multiple multi-jointed arms mounted on a base to perform nursing and medical-related tasks on patients (see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 17 / 002142 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, the two multi-jointed arms installed in the robotic system are configured to move from a base fixed beneath the bed around both sides of the bed to perform medical treatment. Therefore, during medical treatment using the multi-jointed arms, caregivers and medical practitioners must avoid interfering with the multi-jointed arms, which places restrictions on their positions and movements.

[0008] The present invention has been made in view of such circumstances, and one of its objects is to provide a new technology for realizing the required motions and postures of a plurality of multi-jointed arms in a space-saving manner.

[0009] Solutions for solving problems

[0010] To address the aforementioned issues, a work assist robot according to one aspect of the present invention includes: a plurality of multi-jointed arms; a lifting unit for lifting each of the plurality of multi-jointed arms; and a main body having the lifting unit. The multi-jointed arms have seven or more degrees of freedom, including the degree of freedom of vertical movement generated by the lifting unit.

[0011] According to this aspect, the lifting component staggers the height positions of the multiple multi-jointed arms, allowing the multi-jointed components to face the same direction without interfering with each other. This allows the required movements and postures of the multiple multi-jointed arms to be achieved while saving space. Furthermore, the multiple multi-jointed arms can approach the object being assisted from the same side, rather than from opposite sides.

[0012] Alternatively, the plurality of multi-articular arms may include a first multi-articular arm and a second multi-articular arm. Alternatively, the lifting component may include: a first lifting component that lifts and lowers the first multi-articular arm; and a second lifting component that lifts and lowers the second multi-articular arm. Alternatively, the first multi-articular arm that is moved above the second multi-articular arm by the first lifting component may be configured so as to overlap with the second multi-articular arm while extending toward the object of work assistance when viewed from above and below. As a result, the area formed by the projection of the first and second multi-articular arms onto the horizontal plane is small, making it easier for workers such as caregivers and medical practitioners to perform work around the work assistance robot without interfering with the multi-articular arms.

[0013] Alternatively, the first multi-jointed arm may include a first joint closest to the first lifting member and a second joint located immediately below the first joint. Alternatively, the first joint may include a first rotation axis that extends along the axis of vertical movement of the first lifting member. Alternatively, the second joint may include a second rotation axis that intersects the first rotation axis. This allows the entire system from the first lifting member to the second joint to be comprised of vertically extending links, thereby reducing the dedicated area of ​​the work assist robot.

[0014] Alternatively, the second multi-jointed arm may include a third joint closest to the second lifting member and a fourth joint positioned immediately below the third joint. Alternatively, the third joint may include a third rotation axis that extends along the axis of vertical movement of the second lifting member. Alternatively, the fourth joint may include a fourth rotation axis that intersects the third rotation axis. This allows the entire system from the second lifting member to the fourth joint to consist of vertically extending links, thereby reducing the dedicated area of ​​the work assist robot.

[0015] Alternatively, the first lifting member and the second lifting member may be arranged side by side on the upper portion of the main body member. This prevents the lifting members from being exposed on the sides of the main body member, thereby reducing the dedicated area of ​​the work assist robot.

[0016] The robot may further include a moving mechanism for moving the main body member to a predetermined position relative to the object of work assistance.

[0017] The multi-joint arm may have a mounting portion at a distal end thereof, and one of a plurality of end effectors used as a surgical instrument may be selected and mounted on the mounting portion.

[0018] Furthermore, arbitrary combinations of the above-mentioned constituent elements and modes in which the present invention is expressed as methods, apparatuses, systems, etc., may also be additional modes of the present invention.

[0019] Effects of the Invention

[0020] According to the present invention, the required movements and postures of a plurality of multi-joint arms can be realized in a space-saving manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a perspective view of the work assist robot according to this embodiment.

[0022] Figure 2 It shows Figure 1 Diagram of the mechanism of the work assist robot.

[0023] Figure 3 This is a diagram showing the mechanism of a work assist robot when a plurality of multi-joint arms are directed in the same direction.

[0024] Figure 4 This is a schematic diagram showing how a plurality of work-assisting robots are used to perform surgery on a patient lying on a bed.

[0025] Figure 5 This is a schematic diagram showing how a patient lying on a bed is examined using a work assist robot.

[0026] Figure 6 This is a schematic diagram showing an examination of a patient sitting on a chair using a work assist robot.

[0027] Figure 7 is a schematic diagram showing the following state, Figure 7 (a) shows a state where the multi-joint arm according to this embodiment is bent at the joints. Figure 7 (b) shows a state where the multi-joint arm according to the modification example is bent. Figure 7 (c) shows a state where the multi-joint arm according to another modification example is bent. DETAILED DESCRIPTION

[0028] The following describes embodiments of the present invention with reference to the accompanying drawings. Identical or equivalent structural elements, components, and processes shown in the various drawings are denoted by the same reference numerals, and duplicate descriptions are omitted as appropriate. The embodiments are illustrative and do not limit the invention. All features described in the embodiments, and any combination thereof, do not necessarily limit the essence of the invention.

[0029] Figure 1 It is a perspective view of the work assist robot according to this embodiment. Figure 2 It shows Figure 1 Diagram of the mechanism of the work assist robot. Figure 3 This is a diagram showing the mechanism of a work assist robot when a plurality of multi-joint arms are directed in the same direction. Figure 1The work assist robot 10 shown includes: multiple multi-joint arms 12, 14; a lifting component 16, which lifts and lowers the multiple multi-joint arms 12, 14 respectively; a main body component 18, which is provided with the lifting component 16; and a moving mechanism 20, which moves the main body component 18 to a predetermined position relative to the object of work assistance.

[0030] The lifting unit 16 includes a first lifting unit 16a, which raises and lowers the multi-jointed arm 12, and a second lifting unit 16b, which raises and lowers the multi-jointed arm 14. The multi-jointed arm 12 has seven joints 12a to 12g, starting from the side closest to the first lifting unit 16a. The multi-jointed arm 14 has seven joints 14a to 14g, starting from the side closest to the second lifting unit 16b.

[0031] Joints 12a through 12g each have rotation axes 22a through 22g, and joints 14a through 114g each have rotation axes 24a through 24g. In other words, the multi-jointed arm 12 has eight degrees of freedom (seven or more degrees of freedom), including the degree of freedom for vertical movement generated by the first lifting member 16a. Similarly, the multi-jointed arm 14 has eight degrees of freedom (seven or more degrees of freedom), including the degree of freedom for vertical movement generated by the second lifting member 16b.

[0032] In this way, Figure 1 、 Figure 3 As shown, the work assist robot 10 according to this embodiment uses a lifting member 16 to stagger the height positions of the multiple multi-jointed arms 12 and 14, thereby enabling the multi-jointed arms 12 and 14 to face the same direction without interfering with each other. Therefore, the required movements and postures of the multiple multi-jointed arms 12 and 14 can be achieved in a space-saving manner.

[0033] In addition, if Figure 1 、 Figure 3 As shown, the multi-joint arm 12 is moved to the upper side of the multi-joint arm 14 by the first lifting member 16a so as to overlap with the multi-joint arm 14 when viewed from the top and bottom and to extend toward the object of the work assistance. Figure 1 As shown, the area S formed by projecting the multi-joint arms 12 and 14 onto the horizontal plane is reduced, and workers such as caregivers and medical practitioners can easily perform work around the work support robot 10 without interfering with the multi-joint arms 12 and 14.

[0034] Furthermore, the first lifting member 16a and the second lifting member 16b are arranged side by side on the main body member 18 of the work assist robot 10. This prevents the lifting members 16 from being exposed to the sides of the main body member 18, thereby reducing the dedicated area of ​​the work assist robot 10.

[0035] The multi-jointed arm 12 also includes a joint 12a, which is closest to the first lifting member 16a, and a joint 12b, which is located next to the joint 12a. The joint 12a has a rotation axis 22a, which is aligned with the axis Za of the vertical movement of the first lifting member 16a. Here, the term "rotation axis 22a aligned with axis Za" not only includes the case where axis Za is parallel to the rotation axis 22a but also includes the case where the angle between axis Za and the rotation axis 22a is within the range of 0±45°, 0±30°, or 0±15°.

[0036] The joint 12b has a rotation axis 22b that intersects the rotation axis 22a. Here, the intersection of the rotation axis 22b and the rotation axis 22a not only includes the case where the rotation axis 22a and the rotation axis 22b are orthogonal, but also includes the case where the angle formed by the rotation axis 22a and the rotation axis 22b is within the range of 90±45°, 90±30°, or 90±15°. In this way, the work assist robot 10 can be composed of links La and Lb extending in the vertical direction from the first lifting component 16a to the joint 12b. Therefore, the joint 12b and the links La and Lb will not be exposed on the side of the main body component 18, which can reduce the dedicated area of ​​the work assist robot 10.

[0037] The multi-jointed arm 14 also includes a joint 14a, which is closest to the second lifting member 16b, and a joint 14b, which is located next to the joint 14a. Joint 14a has a rotation axis 24a, which is aligned with the axis Zb of the vertical movement of the second lifting member 16b. Here, "rotation axis 24a aligned with axis Zb" not only includes the case where axis Zb is parallel to rotation axis 24a but also includes the case where the angle between axis Zb and rotation axis 24a is within the range of 0±45°, 0±30°, or 0±15°.

[0038] The joint 14b has a rotation axis 24b that intersects the rotation axis 24a. Here, the intersection of the rotation axis 24b and the rotation axis 24a refers not only to the case where the rotation axis 24a and the rotation axis 24b are orthogonal, but also to the case where the angle formed by the rotation axis 24a and the rotation axis 24b is within the range of 90±45°, 90±30°, or 90±15°. In this way, the work assist robot 10 can be composed of the connecting rods L'a and L'b extending in the vertical direction from the second lifting component 16b to the joint 14b, so that the joint 14b and the connecting rods L'a and L'b will not be exposed on the side of the main body component 18, which can reduce the dedicated area of ​​the work assist robot 10.

[0039] Furthermore, in the work assist robot 10, the multi-jointed arm 12 and the upper multi-jointed arm 14 are capable of moving 360 degrees around the main body 18. Therefore, the work space that can be configured so that the multi-jointed arm can reach the desired area is expanded, making it easier to place the work assist robot 10 in a location where it is less likely to interfere with the operator.

[0040] Furthermore, the multi-jointed arms 12 and 14 have a mounting portion 26 at their distal ends, and one end effector selected from a variety of end effectors used as surgical instruments can be mounted on the mounting portion 26. Examples of end effectors used as surgical instruments include forceps devices and endoscopes.

[0041] Next, how to use the work assisting robot 10 will be described. Figure 4 This is a schematic diagram showing how a plurality of work-assisting robots are used to perform surgery on a patient lying on a bed. Figure 5 This is a schematic diagram showing how a patient lying on a bed is examined using a work assist robot. Figure 6 This is a schematic diagram showing an examination of a patient sitting on a chair using a work assist robot.

[0042] like Figure 4 As shown, each of the work assist robots 10a and 10b can approach the patient P, which is the object of work assistance, with its multiple multi-jointed arms 12 and 14 from both sides or from the same side. Furthermore, each of the work assist robots 10a and 10b can be configured to grasp the relative position of each other based on various information, such as wireless communication, GPS position information, position information of surrounding objects generated by radar, and image data captured by imaging means such as cameras.

[0043] Thus, the operation assist robots 10a and 10b do not interfere with each other, and the operation assist robots can be placed at appropriate positions relative to the patient P. In addition, the operation assist robots 10a and 10b can be placed at positions that do not interfere with the doctor or the operator. Figure 4 The mounting portion 26 of each multi-joint arm shown is mounted with a forceps device 28 and an endoscope.

[0044] Alternatively, it can be, Figure 5 、 Figure 6 As shown, the mounting portion 26a of the multi-joint arm 12 incorporates a camera for capturing images of the affected part and the medical treatment portion of the patient P. Furthermore, a medical treatment instrument 30 for examining the patient P is mounted on the mounting portion 26b of the other multi-joint arm 14 .

[0045] (Bending of the arm)

[0046] Figure 7(a) is a schematic diagram showing a state where the multi-joint arm according to this embodiment is bent at the joints. Figure 7 (b) is a schematic diagram showing a state where the multi-joint arm according to the modification example is bent. Figure 7 (c) is a schematic diagram showing a bent state of a multi-joint arm according to another modification.

[0047] Figure 7 In the multi-joint arm 12 shown in (a), the link Le connecting the joint 12d and the joint 12e is L-shaped (see Figure 1 ). Therefore, when the multi-joint arm 12 is bent at the joint 12d, the link from the joint 12a to the joint 12d and the link from the joint 12e to the joint 12g can be substantially parallel.

[0048] Figure 7 In the multi-jointed arm 12 shown in (b), the link Ld connecting the joint 12c and the joint 12d is L-shaped. Therefore, when the multi-jointed arm 12 is bent at the joint 12d, the link from the joint 12a to the joint 12c and the link from the joint 12d to the joint 12g can be roughly parallel.

[0049] Figure 7 In the multi-jointed arm 12 shown in (c), the link Ld connecting the joint 12c and the joint 12d, and the link Le connecting the joint 12d and the joint 12e are arranged in a U-shape (V-shape). Therefore, when the multi-jointed arm 12 is bent at the joint 12d, the link from the joint 12a to the joint 12d and the link from the joint 12d to the joint 12g can be roughly parallel.

[0050] While the present invention has been described above with reference to the aforementioned embodiments, the present invention is not limited to the aforementioned embodiments. Appropriate combinations or replacements of the structures of the embodiments also fall within the scope of the present invention. Furthermore, based on the knowledge of those skilled in the art, appropriate combinations and replacements of the combinations and processing sequences in the embodiments, or various design changes and other modifications to the embodiments can be made, and the resulting embodiments also fall within the scope of the present invention.

[0051] Industrial applicability

[0052] The present invention can be used as an auxiliary robot for operations such as surgery, nursing, manufacturing, and transportation.

[0053] Description of Reference Signs

[0054] 10: Work assist robot; 12: Multi-joint arm; 12a, 12b, 12c, 12d, 12e, 12f, 12g: Joints; 14: Multi-joint arm; 14a, 14b, 14c, 14d, 14e, 14f, 14g: Joints; 16: Lifting component; 16a: First lifting component; 16b: Second lifting component; 18: Main body component; 20: Moving mechanism; 22a, 22b: Rotating axis; 26, 26a: Mounting part.

Claims

1. A work assist robot, characterized in that: have: multiple multi-jointed arms; a lifting component for lifting the plurality of multi-joint arms respectively; and The main body part is provided with the lifting part, The multi-jointed arm has seven or more degrees of freedom including the degree of freedom of up and down movement generated by the lifting component. The plurality of multi-joint arms include a first multi-joint arm and a second multi-joint arm. The lifting member includes: a first lifting member that lifts the first multi-joint arm; and a second lifting member that lifts the second multi-joint arm. The first multi-joint arm moved above the second multi-joint arm by the first lifting member is configured to overlap with the second multi-joint arm when viewed from the top and bottom and to extend toward the object to be assisted in the operation. The first lifting component and the second lifting component are arranged side by side on the upper part of the main body component. The first lifting component and the second lifting component cause the first multi-joint arm and the second multi-joint arm to be offset in height direction.

2. The work assist robot according to claim 1, characterized in that: The first multi-jointed arm has: a first joint, which is closest to the first lifting component; The second joint, which is just below the first joint, The first joint has a first rotation axis, which is an axis along which the first lifting component moves up and down. The second joint has a second rotation axis that intersects the first rotation axis.

3. The work assist robot according to claim 2, characterized in that: The second multi-joint arm has: a third joint, which is closest to the second lifting component; and a fourth joint, which is next to the third joint. The third joint has a third rotation axis, which is an axis along which the second lifting component moves up and down. The fourth joint has a fourth rotation axis that intersects the third rotation axis.

4. The work assist robot according to any one of claims 1 to 3, characterized in that: The device further includes a moving mechanism that moves the main body member to a predetermined position relative to an object for work assistance.

5. The work assist robot according to any one of claims 1 to 3, characterized in that: The multi-joint arm has a mounting portion at a front end, and one of a plurality of end effectors used as surgical instruments can be selected and mounted on the mounting portion.

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