Robotic Arm

Abstract

A robot arm, the robot arm has a parallel link, the parallel link is provided with a first end member, a second end member, a first link, and a second link; the robot arm also has an actuator, a first cover, and a second cover, wherein the actuator is configured to span the first end member and the second end member, the position where the actuator is installed on the first end member and the position where the second link is installed on the first end member are sandwiched between the position where the first link is installed on the first end member, and the position where the actuator is installed on the second end member is the same as the position where the second link is installed on the second end member; the first cover is arranged opposite to the first link from a side of the first link located on the opposite side of the second link, and the first cover at least covers the actuator; the second cover is arranged opposite to the first link from a side of the first link located on the second link side, and the second cover at least covers the second link and the actuator.

Description

Technical Field

[0001] The present disclosure relates to a robotic arm. Background Art

[0002] In recent years, surgical operations using surgical support devices have become increasingly popular (see, for example, Patent Document 1). The surgical support device includes a robotic arm that holds instruments used in surgery (hereinafter also referred to as surgical instruments). The robotic arm may include instruments used during surgery, such as an endoscope, forceps, and an electric scalpel. The surgical instruments corresponding to the type and situation of the surgery are held on the robotic arm.

[0003] The robot arm has one or more link mechanisms, and the robot arm is moved to a desired position and holds the surgical instrument by moving the link mechanisms. The link mechanisms are moved by a driving force supplied by an actuator provided on the robot arm.

[0004] The link mechanism used in the robot arm may include a four-link link. The four-link link may include a parallel link, in which the links facing each other have the same length. Patent Document 1 discloses a robot arm using a parallel link.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2018-175863 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] Sometimes a cover is provided on the robot arm, and the cover covers the periphery of the link mechanism, the actuator, etc. The cover is used to divide the inside and the outside of the robot arm.

[0010] When the link mechanism is a parallel link, the first cover and the second cover are respectively mounted to the first link and the second link facing each other. When the parallel link moves, the first link and the second link move in opposite directions. The first cover moves together with the first link to which the first cover is mounted, and the second cover moves together with the second link to which the second cover is mounted. Therefore, the parallel link of the robot arm can move in a state where the first cover and the second cover are mounted.

[0011] On the other hand, if the first cover and the second cover are in contact with each other, foreign matter may be generated if the first cover and the second cover slide against each other when the first cover and the second cover move relative to each other. It is preferred that foreign matter not be generated in a robot arm used in a clean area of ​​surgery.

[0012] If a gap is provided between the first cover and the second cover, it is possible to suppress the first cover and the second cover from sliding against each other and generating foreign matter. However, the inside and outside of the first cover and the second cover may be communicated via the gap.

[0013] A sliding mechanism such as an actuator and a parallel link is disposed inside the first cover and the second cover. Foreign matter may be generated in the sliding mechanism, and the generated foreign matter may be released to the outside of the robot arm through the above-mentioned gap. It is preferred that the robot arm used in the clean area of ​​surgery does not release foreign matter.

[0014] The present disclosure discloses one example of a robotic arm suitable for use in a surgical clean area.

[0015] Solutions to the problem

[0016] In one embodiment of the present invention, a robot arm comprises: a parallel link, in which a first end member, a second end member, a first link, and a second link are provided, and the first end member and the second end member are arranged to be separated from each other; the first link and the second link are arranged to span the first end member and the second end member, and the first link and the second link are arranged to be spaced apart from each other; an actuator, the actuator is arranged to span the first end member and the second end member, and the length of the actuator in the longitudinal direction changes, thereby generating a driving force to make the first end member and the second end member rotate relative to each other, and the actuator is arranged to The position where the first link is installed on the first end part is sandwiched between the position where the first end part is installed and the position where the second link is installed on the first end part, and the position where the actuator is installed on the second end part is the same as the position where the second link is installed on the second end part; a first cover, the first cover is arranged opposite to the first link from the side of the first link located on the opposite side of the second link, and the first cover at least covers the actuator; and a second cover, the second cover is arranged opposite to the first link from the side of the first link located on the second link side, and the second cover at least covers the second link and the actuator.

[0017] According to the robot arm of the present disclosure, since the first cover and the second cover are both arranged relative to the same first connecting rod, when the parallel connecting rod moves, the first cover and the second cover do not slide relative to each other. Here, the first cover and the second cover are both arranged relative to the same first connecting rod can be understood to mean, for example, that the first cover and the second cover are both connected to the first connecting rod.

[0018] By configuring the first cover and the second cover relative to the first connecting rod, it is possible to prevent a gap from being easily formed between the first cover and the second cover. In other words, it is easy to reduce the gap between the first cover and the second cover in terms of design. By connecting both the first cover and the second cover to the first connecting rod, even if a gap is formed between the first cover and the second cover, the first connecting rod can close the gap because the first connecting rod is present in the gap.

[0019] The position where the actuator is mounted on the first end member and the position where the second link is mounted on the first end member are sandwiched between the position where the first link is mounted on the first end member, and the position where the actuator is mounted on the second end member is the same as the position where the second link is mounted on the second end member. Therefore, when the parallel link moves, the distance moved by the first link is shorter than the distance moved by the second link. For example, compared with the case where the second cover is configured relative to the second link, the moving distance of the first cover and the second cover configured relative to the first link is also shortened. That is, compared with the case where the second cover is configured relative to the second link, the moving distance of the first cover and the second cover relative to the entire robot arm is shortened, and the first cover and the second cover are less likely to slide against each other and other components.

[0020] In the robot arm of one aspect of the present disclosure, preferably, the first end of the first link is mounted at the rotation center of the first end member, and the second end of the first link is mounted at the rotation center of the second end member.

[0021] Since the first link is mounted at the rotation center of the first end member and the rotation center of the second end member, it is easy to suppress the movement of the first link even if the parallel link moves. In other words, even if the second link moves with the rotation of the first end member and the second end member, it is difficult for the first link to move relative to the entire robot arm (in other words, the movement amount of the first link relative to the entire robot arm can be reduced).

[0022] In a robotic arm of one embodiment of the present invention, the lengths of the first distance and the second distance are preferably the same, wherein the first distance is the distance from the installation position of the first connecting rod to the installation position of the second connecting rod in the first end component, and the second distance is the distance from the installation position of the first connecting rod to the installation position of the actuator in the first end component.

[0023] Since the lengths of the first distance and the second distance are the same, even if the parallel link moves due to the driving force of the actuator, it is easy to suppress the movement of the first link. In other words, even if the first end member and the second end member rotate due to the driving force of the actuator and the second link moves accordingly, the first link is not easy to move relative to the entire robot arm (in other words, the movement amount of the first link relative to the entire robot arm can be reduced.).

[0024] Effects of the Invention

[0025] According to the robot arm of the present disclosure, since the first cover and the second cover are not easily slidable, it is possible to obtain an effect that the robot arm is suitable for use in a clean area of ​​surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a perspective view for explaining the appearance of the robot arm according to the present embodiment.

[0027] Figure 2 Yes Description Figure 1 A three-dimensional diagram of the structure of the robotic arm.

[0028] Figure 3 Yes Description Figure 1 An exploded perspective view of the structure of the robotic arm.

[0029] Figure 4 Yes Description Figure 3 FIG. 2 is a diagram showing the configuration of the first link, the second link, and the actuator.

[0030] Figure 5 Yes Description Figure 3 FIG. 2 is a diagram showing the configuration of the first link, the second link, and the actuator.

[0031] Figure 6 It is a diagram for explaining the movement of the robot arm when the actuator contracts.

[0032] Figure 7 Yes Description Figure 6 FIG. 1 is a diagram showing the relative movement between the first end member and the second end member.

[0033] Figure 8 It is a diagram for explaining the movement of the robot arm when the actuator is extended.

[0034] Fig. 9 Yes Description Figure 8 FIG. 1 is a diagram showing the relative movement between the first end member and the second end member.

[0035] Description of Reference Numerals

[0036] 1…Robotic arm; 15…1st end member; 25…2nd end member; 31…1st connecting rod; 41…2nd connecting rod; 51…Actuator; 61…1st cover; 71…2nd cover DETAILED DESCRIPTION

[0037] Reference Figures 1 to 9 A robot arm 1 according to an embodiment of the present disclosure is described. The robot arm 1 corresponds to an arm portion in a master-slave type surgical support robot. The robot arm 1 may also correspond to an arm portion in a surgical support robot other than the master-slave type. The robot arm 1 may also correspond to an arm portion in a surgical support device other than the surgical support robot.

[0038] like Figure 1 As shown, the robot arm 1 includes a first mounting portion 10 , a second mounting portion 20 disposed at a distance from the first mounting portion 10 , and an arm portion 30 extending across the first mounting portion 10 and the second mounting portion 10 .

[0039] The first mounting portion 10 has a structure for mounting the robot arm 1 on the surgical support robot. Figures 1 to 9 The first mounting portion 10 may also have a structure for connecting to another robot arm other than the robot arm 1 .

[0040] like Figure 2 As shown in FIG. 1 , the first mounting portion 10 has first end members 15A and 15B. Figure 1 As shown, the first mounting portion 10 has a mounting plate 11 for mounting on a surgical support robot and first mounting covers 12A and 12B covering the first mounting portion 10. The first mounting covers 12A and 12B have the same structure. The first end member 15A and the first end member 15B have the same structure.

[0041] like Figure 1 As shown, the mounting plate 11 is a circular plate-shaped member, and has a cylindrical or columnar protruding portion in the central region of the mounting plate 11. The mounting plate 11 is attached to the first end members 15A and 15B.

[0042] The first mounting cover 12A is a member that covers the first end member 15A to hide it from the outside, and has a cylindrical shape with a bottom surface. The first mounting cover 12A is mounted on the first end member 15A with its cylindrical opening facing the first end member 15A.

[0043] The first mounting cover 12B is a member that covers the first end member 15B to hide it from the outside, and has a cylindrical shape with a bottom surface. The first mounting cover 12B is mounted on the first end member 15B with its cylindrical opening facing the first end member 15B.

[0044] like Figure 3 , Figure 4 , Figure 5 As shown, the first end member 15A, 15B is a member that together with the second end member 25A, 25B, the first connecting rod 31A, 31B, and the second connecting rod 41A, 41B constitutes a parallel link. Specifically, the first end member 15A, the second end member 25A, the first connecting rod 31A, and the second connecting rod 41A constitute a parallel link, and the first end member 15B, the second end member 25B, the first connecting rod 31B, and the second connecting rod 41B constitute a parallel link.

[0045] The first end members 15A and 15B are plate-like members each having a substantially D-shaped outer shape. The mounting plate 11 is mounted on the D-shaped straight portion of the first end members 15A and 15B. The first end members 15A and 15B are arranged so that the curved portion of the D shape is located on one side of the arm 30. The first end members 15A and 15B are arranged in a row so that the first connecting rods 31A and 31B, the second connecting rods 41A and 41B, and the actuator 51 are arranged between the first end members 15A and 15B. The first end members 15A and 15B are fixed to each other in a state where they are arranged in a row at a predetermined interval.

[0046] The second mounting portion 20 has a structure for mounting other additional robot arms to the robot arm 1 (however, detailed illustration is omitted here). The second mounting portion 20 may have a structure for mounting a device other than the robot arm to the robot arm 1, such as a device for holding instruments used in surgical operations.

[0047] like Figure 1 As shown in FIG. 1 , the second mounting portion 20 has second mounting covers 22A and 22B covering the second mounting portion 20. Figure 2 , Figure 3 As shown in the figures, the second mounting portion 20 includes second end members 25A and 25B. The second mounting cover 22A and the second mounting cover 22B have the same structure. The second end member 25A and the second end member 25B have the same structure.

[0048] like Figure 1 As shown, the second mounting cover 22A is a member that covers the second end member 25A to hide it from the outside, and is a cylindrical member having a bottom surface. The second mounting cover 22A is mounted on the second end member 25A with its cylindrical opening facing the second end member 25A.

[0049] The second mounting cover 22B is a member that covers the second end member 25B to hide it from the outside, and is a cylindrical member having a bottom surface. The second mounting cover 22B is mounted on the second end member 25B with its cylindrical opening facing the second end member 25B. Figure 3 , Figure 4 , Figure 5 As shown in FIGS. 1 and 2 , the second end members 25A and 25B constitute a parallel link together with the first end members 15A and 15B, the first links 31A and 31B, and the second links 41A and 41B.

[0050] The second end members 25A and 25B are plate-like members having a substantially D-shaped outer shape. The second end members 25A and 25B are arranged so that the curved portion of the D-shape is located on one side of the arm 30. The second end members 25A and 25B are arranged in a row so that the first connecting rods 31A and 31B, the second connecting rods 41A and 41B, and the actuator 51 are arranged between the second end members 25A and 25B. The second end members 25A and 25B are fixed to each other in a state where they are arranged in a row at a predetermined interval.

[0051] The arm portion 30 has a rod-like outer shape and is configured to be mounted to the first mounting portion 10 and the second mounting portion 20 in a manner that allows rotation relative to the first mounting portion 10 and the second mounting portion 20, respectively. Figure 3 , Figure 4 , Figure 5 As shown, the arm portion 30 includes first links 31A and 31B, second links 41A and 41B, one actuator 51 , a first cover 61 , and a second cover 71 .

[0052] The first connecting rods 31A and 31B are rod-shaped components that are arranged across the first mounting portion 10 and the second mounting portion 20. Specifically, the first connecting rod 31A is a rod-shaped component that is arranged across the first end components 15A and 15B and the second end components 25A and 25B. The first connecting rod 31B is a rod-shaped component that is arranged across the first end components 15A and 15B and the second end components 25A and 25B. The first connecting rod 31A and the first connecting rod 31B have the same structure. The first connecting rod 31A is arranged on one side of the first end component 15A and the second end component 25A. The first connecting rod 31B is arranged on one side of the first end component 15B and the second end component 25B. The first links 31A and 31B constitute a parallel link together with the first end members 15A and 15B, the second end members 25A and 25B, and the second links 41A and 41B.

[0053] The end of the first connecting rod 31A on the first mounting portion 10 side is mounted to the first end member 15A, 15B in a manner that allows rotation around the rotation axis 32L via the rotation shaft 32A. The end of the first connecting rod 31B on the first mounting portion 10 side is mounted to the first end member 15A, 15B in a manner that allows rotation around the rotation axis 32L via the rotation shaft 32A. The rotation shaft 32A is a cylindrical member that is configured to at least span across the first connecting rods 31A, 31B. The central axis of the rotation shaft 32A is the rotation axis 32L. The rotation axis 32L passes through a position at or near the center of the D-shaped curved portion of the first end member 15A, 15B.

[0054] The end of the first connecting rod 31A on the second mounting portion 20 side is mounted to the second end member 25A, 25B in a manner that allows rotation around the rotation axis 33L via the rotation shaft 33A. The end of the first connecting rod 31B on the second mounting portion 20 side is mounted to the second end member 25A, 25B in a manner that allows rotation around the rotation axis 33L via the rotation shaft 33A. The rotation shaft 33A is a cylindrical member that is configured to at least span across the first connecting rods 31A, 31B. The central axis of the rotation shaft 33A is the rotation axis 33L. The rotation axis 33L passes through a position at or near the center of the D-shaped curved portion of the second end member 25A, 25B.

[0055] The first links 31A and 31B are arranged at a distance from each other in the extending direction of the rotation axis 32L and the rotation axis 33L. The first link 31A and the second link 41A are arranged in parallel at a distance. The first link 31B and the second link 41B are arranged in parallel at a distance.

[0056] The second connecting rods 41A and 41B are rod-shaped components that are arranged across the first mounting portion 10 and the second mounting portion 20. Specifically, the second connecting rod 41A is a rod-shaped component that is arranged across the first end components 15A and 15B and the second end components 25A and 25B. The second connecting rod 41B is a rod-shaped component that is arranged across the first end components 15A and 15B and the second end components 25A and 25B. The second connecting rod 41A and the second connecting rod 41B have the same structure. The second connecting rod 41A is arranged on one side of the first end component 15A and the second end component 25A. The second connecting rod 41B is arranged on one side of the first end component 15B and the second end component 25B. Figure 2 and Figure 3 As shown in FIGS. 1 and 2 , the second links 41A and 42B constitute a parallel link together with the first end members 15A and 15B, the second end members 25A and 25B, and the first links 31A and 31B.

[0057] The end of the second connecting rod 41A on the first mounting portion 10 side is mounted to the first end member 15A, 15B in a manner that allows rotation around a rotation axis 42L via a rotation shaft 42A. The end of the second connecting rod 41B on the first mounting portion 10 side is mounted to the first end member 15A, 15B in a manner that allows rotation around a rotation axis 42L via a rotation shaft 42A. The rotation shaft 42A is a cylindrical member arranged across the second connecting rods 41A, 41B. The central axis of the rotation shaft 42A is the rotation axis 42L. The rotation axis 42L passes through a position away from the center of the D-shaped curved portion of the first end member 15A, 15B.

[0058] The end of the second connecting rod 41A located on the second mounting portion 20 side is mounted on the second end member 25A, 25B in a manner that allows rotation around the rotation axis 43L via the rotation shaft 43A. The end of the second connecting rod 41B located on the second mounting portion 20 side is mounted on the second end member 25A, 25B in a manner that allows rotation around the rotation axis 43L via the rotation shaft 43A. The rotation shaft 43A is a cylindrical member arranged across the second connecting rods 41A, 41B. The central axis of the rotation shaft 43A is the rotation axis 43L. The rotation axis 43L passes through a position away from the center of the D-shaped curved portion of the second end member 25A, 25B.

[0059] The second links 41A and 41B are arranged at a distance from each other in the extending direction of the rotation axis 42L and the rotation axis 43L. The second link 41A is arranged at a distance and in parallel with the first link 31A. The second link 41B is arranged at a distance and in parallel with the first link 31B.

[0060] The actuator 51 is a rod-shaped member arranged across the first mounting portion 10 and the second mounting portion 20. The actuator 51 generates a driving force to move the parallel link composed of the first end member 15A, 15B, the second end member 25A, 25B, the first link 31A, 31B, and the second link 41A, 42B. In other words, the actuator 51 generates a driving force to relatively rotate the first end member 15A, 15B and the second end member 25A, 25B.

[0061] The actuator 51 is driven by pressurized gas supplied from the outside to the cylinder, so that the length of the actuator 51 in the longitudinal direction changes. Air is used as the gas. The actuator 51 may also use a gas other than air. The actuator 51 may also use a fluid other than gas.

[0062] A spring 53 generating an urging force is provided in the actuator 51. The length of the actuator 51 in the longitudinal direction is controlled by the balance between the urging force of the spring 53 and the force generated by the cylinder that supplies gas from the outside. In addition, the magnitude of the force applied from the actuator 51 to the parallel link is controlled. In addition, the spring 53 may not be provided in the actuator 51.

[0063] The end of the actuator 51 on the first end member 15A, 15B side is attached to the first end member 15A, 15B via the rotation shaft 52A so as to be rotatable around the rotation axis 52L. The central axis of the rotation shaft 52A is the rotation axis 52L.

[0064] like Figure 4 and Figure 5 As shown, the end of the actuator 51 on the first end member 15A, 15B side is mounted at a position 52P, and a position 32P where the first links 31A, 31B are mounted is sandwiched between the position 52P and a position 42P where the second links 41A, 41B are mounted in the first end members 15A, 15B. Figure 4 and Figure 5 The first end member 15A is not shown.

[0065] The position 32P is a position through which the rotation axis 32L of the first end members 15A and 15B passes. The position 32P is also a center position of relative rotation between the first end members 15A and 15B and the arm 30. The position 42P is a position through which the rotation axis 42L of the first end members 15A and 15B passes. The position 52P is a position through which the rotation axis 52L of the first end members 15A and 15B passes.

[0066] The end of the actuator 51 located on the second end member 25A, 25B side is mounted on the second end member 25A, 25B in a manner that can rotate around the rotation axis 43L via the rotation shaft 43A. The end of the actuator 51 located on the second end member 25A, 25B side is mounted at a position 43P of the second end member 25A, 25B where the second connecting rods 41A, 41B are mounted. The position 43P is a position in the second end member 25A, 25B where the rotation axis 43L passes.

[0067] The position 33P of the second end members 25A and 25B where the first links 31A and 31B are attached is a position through which the rotation axis 33L passes. The position 33P is also the center position of the relative rotation between the second end members 25A and 25B and the arm 30 .

[0068] like Figure 4 and Figure 5 As shown in FIG. 1 , position 32P, position 42P, and position 52P are arranged on the same straight line. Figure 4 and Figure 5 As shown, the first distance D1 from the position 32P to the position 42P and the second distance D2 from the position 32P to the position 52P are the same length. The position 32P, the position 42P, and the position 52P may not be arranged on the same straight line. It is preferred that the first distance D1 and the second distance D2 have the same length, but they may be different lengths within the scope of the present disclosure.

[0069] like Figure 3 As shown, the first cover 61 and the second cover 71 constitute the outer shape of the arm 30 and cover at least the second link 41 and the actuator 51. The first cover 61 and the second cover 71 form a space for accommodating at least the second link 41 and the actuator 51 together with the first links 31A and 31B.

[0070] The first cover 61 is a component arranged relative to the first connecting rods 31A and 31B, and is arranged at a position on the side of the first connecting rods 31A and 31B that is opposite to the second connecting rods 41A and 411B. The end of the first cover 61 located on the side of the first end parts 15A and 15B has a semi-cylindrical shape centered on the rotation axis 32L. The end of the first cover 61 located on the side of the second end parts 25A and 25B has a semi-cylindrical shape centered on the rotation axis 33L. The central area of ​​the first cover 61 in the longitudinal direction is formed into a semi-cylindrical shape having a central axis extending from the first mounting portion 10 toward the second mounting portion 20 on the actuator 51 side.

[0071] The second cover 71 is a component arranged relative to the first connecting rods 31 and 31B, and is arranged at a position on one side of the first connecting rods 31A and 31B on the side of the second connecting rods 41A and 41B. The end of the second cover 71 located on the side of the first end parts 15A and 15B has a semi-cylindrical shape centered on the rotation axis 32L. The end of the second cover 71 located on the side of the second end parts 25A and 25B has a semi-cylindrical shape centered on the rotation axis 33L. The central area of ​​the second cover 71 in the longitudinal direction is formed into a semi-cylindrical shape having a central axis extending from the first mounting portion 10 toward the second mounting portion 20 on the actuator 51 side.

[0072] Next, we will refer to Figures 6 to 9 The operation of the robot arm 1 having the above structure will be described. Figure 6 and Figure 7 The operation when the dimension of the actuator 51 in the longitudinal direction is shortened will be described. Figure 6 and Figure 7 The operation when the actuator 51 contracts will be described.

[0073] Figure 6FIG. 2 shows the operation of the robot arm 1 in a state where the first end members 15A and 15B are fixed to the fixing portion 80 of the surgical support robot. Figure 6 It is shown Figure 1 FIG. 1 is a diagram showing the operation of the robot arm 1 in a state where the mounting plate 11 is fixed to the fixing portion 80 of the surgical support robot. Figure 6 In the figure, the first end member 15A, the second end member 25A, and the second link 41B are not shown.

[0074] When the dimension of the actuator 51 in the longitudinal direction is shortened, as shown in FIG. Figure 6 As shown in FIG. 1 , the distance between the rotation axis 52A and the rotation axis 43A becomes shorter. The first link rods 31A and 31B rotate about the rotation axis 32A relative to the first end members 15A and 15B. In other words, the first link rods 31A and 31B rotate along the rotation axis 32L with the rotation axis 32L as the center. Figure 6 The second link 41 rotates in the right direction (also referred to as the clockwise direction) relative to the first end member 15 about the rotation axis 42A. In other words, the second link 41 rotates along the rotation axis 32L as the center. Figure 6 Turn in the right direction (clockwise).

[0075] The second end members 25A and 25B move toward the first link 31A and 31B as the first link 31A and 31B and the second link 41A and 41B rotate. Figure 6 In other words, the second end members 25A and 25B move along the rotation axis 32L. Figure 6 In addition, the second end members 25A and 25B rotate around the rotation axis 33A. In other words, the second end members 25A and 25B rotate around the rotation axis 33L along the Figure 6 The second end members 25A and 25B change their relative positions with respect to the first end members 15A and 15B, and maintain their relative postures with respect to the first end members 15A and 15B.

[0076] Figure 7 FIG. 2 shows the relative movement between the first end members 15A, 15B and the second end members 25A, 25B when the longitudinal dimension of the actuator 51 is shortened. Figure 6 Here, the description will focus on the relative movement between the first end members 15A, 15B and the second end members 25A, 25B. Figure 7 In the figure, the first end member 15A, the second end member 25A, and the second link 41B are not shown.

[0077] When the dimension of the actuator 51 in the longitudinal direction is shortened, as shown in FIG. Figure 7 As shown in FIG. 5 , the distance between the rotation axis 52A and the rotation axis 43A becomes shorter. The first end members 15A and 15B rotate about the rotation axis 32A. In other words, the first end members 15A and 15B rotate along the rotation axis 32L. Figure 7 Rotate in the left direction (counterclockwise).

[0078] The second end members 25A and 25B rotate around the rotation axis 33A. In other words, the second end members 25A and 25B rotate along the rotation axis 33L. Figure 6 The second connecting rod 41A rotates in the left direction (counterclockwise) in the direction of the first end member 15A, 15B. The second connecting rod 41A moves relative to the first connecting rod 31A in the direction of the first end member 15A, 15B along with the rotation of the first end member 15A, 15B and the second end member 25A, 25B. The second connecting rod 41B moves relative to the first connecting rod 31B in the direction of the first end member 15A, 15B along with the rotation of the first end member 15A, 15B and the second end member 25A, 25B.

[0079] Next, we will refer to Figure 8 and Fig. 9 The operation when the size of the actuator 51 in the longitudinal direction increases will be described. Figure 8 and Fig. 9 The operation of the actuator 51 when it is extended will be described. Figure 8 FIG. 2 shows the operation of the robot arm 1 in a state where the first end members 15A and 15B are fixed to the fixing portion 80 of the surgical support robot. Figure 1 The operation of the robot arm 1 is shown in the state where the mounting plate 11 is fixed to the fixing part 80 of the surgical support robot. Figure 8 In the figure, the first end member 15A, the second end member 25A, and the second link 41B are not shown.

[0080] When the size of the actuator 51 in the longitudinal direction increases, as shown in FIG. Figure 8 As shown in FIG. 1 , the distance between the rotation axis 52A and the rotation axis 43A becomes longer. The first link rods 31A and 31B rotate about the rotation axis 32A relative to the first end members 15A and 15B. In other words, the first link rods 31A and 31B rotate along the rotation axis 32L with the rotation axis 32L as the center. Figure 8 The second links 41A and 41B rotate relative to the first end members 15A and 15B around the rotation axis 42A. In other words, the second links 41A and 41B rotate along the rotation axis 32L with the rotation axis 32L as the center. Figure 8 Turn left in the direction of the turn.

[0081] The second end members 25A and 25B move toward the first link 31 and the second link 41 as the first link 31 and the second link 41 rotate. Figure 8 In other words, the second end members 25A and 25B move downwardly with the rotation axis 32L as the center. Figure 8 In addition, the second end members 25A and 25B rotate around the rotation axis 33A. In other words, the second end members 25A and 25B rotate around the rotation axis 33L along the Figure 8 The second end members 25A and 25B change their relative positions with respect to the first end members 15A and 15B, and maintain their relative postures with respect to the first end members 15A and 15B.

[0082] Fig. 9 1 shows the relative movement between the first end members 15A, 15B and the second end members 25A, 25B when the length of the actuator 51 increases. Figure 8 Here, the description will focus on the relative movement between the first end members 15A, 15B and the second end members 25A, 25B. Fig. 9 In the figure, the first end member 15A, the second end member 25A, and the second link 41B are not shown.

[0083] When the size of the actuator 51 in the longitudinal direction increases, as shown in FIG. Fig. 9 As shown in FIG. 5 , the distance between the rotation axis 52A and the rotation axis 43A becomes longer. The first end members 15A and 15B rotate around the rotation axis 32A. In other words, the first end members 15A and 15B rotate along the rotation axis 32L. Fig. 9 Rotate in the right direction (clockwise).

[0084] The second end members 25A and 25B rotate around the rotation axis 33A. In other words, the second end members 25A and 25B rotate along the rotation axis 33L. Fig. 9 The second connecting rod 41A is rotated in the right direction (clockwise) in the direction of the first end member 15A, 15B and the second end member 25A, 25B. The second connecting rod 41B is relatively moved relative to the first connecting rod 31B in the direction of the second end member 25A, 25B as the first end member 15A, 15B and the second end member 25A, 25B rotate. The second connecting rod 41B is relatively moved relative to the first connecting rod 31B in the direction of the second end member 25A, 25B as the first end member 15A, 15B and the second end member 25A, 25B rotate.

[0085] According to the robot arm 1 having the above structure, since the first cover 61 and the second cover 71 are both arranged relative to the same first link 31A, 31B, when the parallel link moves, the first cover 61 and the second cover 71 do not slide relative to each other. Here, the first cover 61 and the second cover 71 are both arranged relative to the same first link 31A, 31B, as shown in FIG. Figures 1 to 9 As can be seen, both the first cover 61 and the second cover 71 are connected to the first links 31A, 31B. According to the above structure, the first cover 61 and the second cover 71 are less likely to slide against each other and generate foreign matter, so that the robot arm 1 can be easily used in a clean area during surgery.

[0086] In addition, since the first cover 61 and the second cover 71 are both arranged relative to the first connecting rods 31A and 31B, it is not easy to form a gap between the first cover 61 and the second cover 71. In other words, it is easy to reduce the gap in design. Even if a gap is formed between the first cover 61 and the second cover 71, the first connecting rods 31A and 31B are also present in the gap. In other words, the first connecting rods 31 and 31B can close the gap. Therefore, foreign matter is not easy to be released from the inside of the first cover 61 and the second cover 71 to the outside, so that it is easy to use the robot arm 1 in a clean area during surgery.

[0087] The actuator 51 is mounted on the first end member 15A, 15B at a position where the first connecting rod 31A, 31B is mounted on the first end member 15A, 15B, between the position where the second connecting rod 41A, 41B is mounted on the first end member 15A, 15B. In addition, the actuator 51 is mounted on the second end member 25A, 25B at a position where the second connecting rod 41 is mounted on the second end member 25A, 25B at the same position.

[0088] Therefore, when the parallel link moves, the distance moved by the first link 31A, 31B is shorter than the distance moved by the second link 41A, 41B. That is, for example, the moving distance of the first cover 61 and the second cover 71 arranged relative to the first link 31A, 31B is also shortened compared to the case where the second cover 71 is arranged relative to the second link 41A, 41B. Compared to the case where the second cover 71 is arranged relative to the second link 41A, 41B, the moving distance of the first cover 61 and the second cover 71 relative to the entire robot arm 1 is shortened, and the first cover 61 and the second cover 71 are less likely to slide against other components. In addition, the possibility of foreign matter being generated from the first cover 61 and the second cover 71 is low, making it easy to use the robot arm 1 in a clean area during surgery.

[0089] Since the first connecting rods 31A and 31B are mounted to the rotation centers of the first end parts 15A and 15B and the second end parts 25A and 25B, it is easy to suppress the movement of the first connecting rods 31A and 31B even if the parallel connecting rods move. It is easy to suppress movement. In other words, even if the second connecting rods 41A and 41B move with the rotation of the first end parts 15A and 15B and the second end parts 25A and 25B, it is difficult for the first connecting rods 31A and 31B to move relative to the entire robot arm 1 (in other words, the movement amount of the first connecting rod relative to the entire robot arm can be reduced.). Therefore, the possibility of foreign matter being generated from the first cover 61 and the second cover 71 is low, making it easy to use the robot arm 1 in a clean area during surgery.

[0090] Since the first distance D1 and the second distance D2 are the same in length, even if the parallel link moves due to the driving force of the actuator 51, it is easy to suppress the movement of the first links 31A and 31B. In other words, even if the first end parts 15A and 15B and the second end parts 25A and 25B rotate due to the driving force of the actuator 51 and the second links 41A and 41B move accordingly, the first links 31A and 31B are not easy to move relative to the entire robot arm 1 (in other words, the movement amount of the first link relative to the entire robot arm can be reduced.). Therefore, the possibility of foreign matter being generated from the first cover 61 and the second cover 71 is small, so that it is easy to use the robot arm 1 in a clean area during surgery.

Claims

1. A robotic arm, characterized in that: The mechanical arm has: A parallel link, wherein a first end member, a second end member, a first link, and a second link are provided on the parallel link, The first end member and the second end member are arranged to be separated from each other. The first link and the second link are arranged to span the first end member and the second end member, and the first link and the second link are arranged to be spaced apart from each other; an actuator, the actuator being arranged to span the first end member and the second end member, and the length of the actuator in the longitudinal direction changes, thereby generating a driving force to cause the first end member and the second end member to rotate relative to each other, The position where the actuator is mounted on the first end member and the position where the second link is mounted on the first end member sandwich the position where the first link is mounted on the first end member. The actuator is mounted on the second end member at the same position as the second connecting rod is mounted on the second end member; a first cover, the first cover being arranged to face the first link from a side of the first link that is located on the opposite side to the second link, and the first cover covering at least the actuator; as well as A second cover is disposed to face the first link from a side of the first link that is located on the second link side, and the second cover covers at least the second link and the actuator.

2. The robotic arm according to claim 1, characterized in that: The first end of the first link is mounted at the rotation center of the first end member, and the second end of the first link is mounted at the rotation center of the second end member.

3. The robotic arm according to claim 1 or 2, characterized in that: The lengths of the first distance and the second distance are the same, where The first distance is a distance from a mounting position of the first link to a mounting position of the second link in the first end member. The second distance is a distance from a mounting position of the first link to a mounting position of the actuator in the first end member.

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