Manipulator assist device and manipulator system

Abstract

A manipulator assist device is provided with a manipulator assist device main body connected to the base end of a manipulator, the base end of which can be attached to and detached from a medical device. A medical device is provided with a driven gear that engages with a gear provided in the medical device when connected to the medical device, and an end effector that operates by power transmitted from the driven gear. The manipulator assist device main body is provided with: an assist gear that engages with the driven gear when the manipulator assist device main body is connected to the manipulator; a handle transmitting driving force to the auxiliary gear; and a main body part provided with an auxiliary gear and a handle.

Description

Technical Field

[0001] The invention relates to a manipulator assisting device and a manipulator system. Background Art

[0002] A laparoscopic surgery is known in which a rod-shaped surgical instrument is inserted into the patient's body cavity from a hole opened in the patient's abdomen to perform the surgery. The surgical instrument is also called a manipulator, and a movable part called an end effector capable of rotating and grasping biological tissue is provided at the front end of the manipulator. For example, the above-mentioned manipulator is described in Patent Documents 1 to 3. For example, Patent Document 4 describes a rack used for cleaning the above-mentioned manipulator.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: U.S. Patent Application Publication No. 2002 / 0032452

[0006] Patent Document 2: Japanese Patent Application Publication No. 2011-194129

[0007] Patent Document 3: Patent No. 5830258

[0008] Patent Document 4: Patent No. 6472532 Summary of the invention

[0009] Problems to be solved by the invention

[0010] Since the manipulator is inserted into the patient's body cavity for use, it is necessary to clean the inside and outside and sterilize each time it is used. Here, the movable part of the end effector has a complex mechanism in order to be able to perform the above-mentioned rotation operation and the grasping action of the biological tissue. Therefore, in order to completely clean and sterilize the manipulator, it is preferred to make the movable part of the end effector take different postures for cleaning. However, the manipulators described in Patent Documents 1 to 3 are structures based on the premise of being connected to the arm of a surgical assistance robot and driven. On the other hand, when cleaning the manipulator, the manipulator is usually removed from the surgical assistance robot, so it is impossible to make the movable part of the end effector take different postures for cleaning, and there is a concern that the cleaning is not complete. Patent Document 4 only mentions the injection of water into the inside of the manipulator and the spraying of the cleaning liquid, and there is no consideration of making the movable part of the end effector take different postures for cleaning.

[0011] In addition, during a surgical procedure using a manipulator, if a problem occurs with the surgical assisting robot, it is necessary to remove the manipulator from the surgical assisting robot and pull the manipulator out of the patient's body cavity. Here, depending on the state of the movable part of the end effector when the problem occurs with the surgical assisting robot, it is sometimes not preferable to pull out the manipulator as it is. For example, when the joint as the movable part is in a flexed state in the patient's body cavity and the forceps as the movable part is in an open state in the patient's body cavity, it is not preferable to pull out the manipulator as it is from the perspective of safety. In this case, it is preferable to pull out the manipulator after the joint as the movable part is in a straight state and the forceps as the movable part is in a closed state. However, the manipulators described in Patent Documents 1 to 3 are structures based on the premise of being connected to the arm of the surgical assisting robot and driven. On the other hand, when a problem occurs with the surgical assisting robot, since the normal operation of the manipulator via the surgical assisting robot cannot be expected, there is a concern that it is difficult to pull out the manipulator from the patient's body cavity. In Patent Document 4, there is no consideration of such a subject.

[0012] The present invention is a solution made to solve at least a part of the above-mentioned problems, and an object of the present invention is to provide an assisting device capable of operating an end effector of a manipulator without a surgery assisting robot.

[0013] Solutions to Solve Problems

[0014] The present invention is proposed to solve at least a part of the above-mentioned problems and can be implemented as the following aspects.

[0015] (1) According to one embodiment of the present invention, a manipulator assisting device is provided. The manipulator assisting device comprises a manipulator assisting device body connected to a base end portion of a manipulator, the manipulator being a manipulator whose base end portion can be attached and detached from a medical device, and comprising a driven gear that engages with a gear provided in the medical device when connected to the medical device, and an end effector that is actuated by power transmitted from the driven gear. The manipulator assisting device body comprises: an auxiliary gear that engages with the driven gear when the manipulator assisting device body is connected to the manipulator; a handle that transmits driving force to the auxiliary gear; and a main body on which the auxiliary gear and the handle are mounted.

[0016] According to this structure, the manipulator assisting device body includes: an auxiliary gear that engages with the driven gear when the manipulator assisting device body is connected to the manipulator; and a handle that transmits the driving force to the auxiliary gear. Therefore, on the basis of connecting the manipulator assisting device body to the base end of the manipulator, by operating the handle of the manipulator assisting device body, the driven gear of the manipulator can be moved via the auxiliary gear, thereby moving the end effector. That is, according to this structure, it is possible to provide an auxiliary device that can move the end effector of the manipulator without a medical device (surgical assisting robot) by operating the handle of the manipulator assisting device body. As a result, on the basis of connecting the manipulator assisting device body to the base end of the manipulator, by operating the handle of the manipulator assisting device body to clean it, the movable part of the end effector can be made to take different postures to clean the manipulator. In addition, based on the connection of the manipulator assisting device body to the base end of the manipulator, by operating the handle of the manipulator assisting device body, the manipulator can be pulled out from the patient's body cavity after the movable part of the end effector is in a safe shape when pulled out from the patient's body cavity (for example, the joint of the movable part is in a straight state and the forceps of the movable part are in a closed state).

[0017] (2) In the manipulator assisting device of the above scheme, the handle is preferably configured to be able to slide on the main body, and the relative position of the auxiliary gear with respect to the main body is changed by the sliding movement. In a case where the driven gear of the manipulator includes a first driven gear and a second driven gear, the handle is slid while the manipulator assisting device main body is connected to the manipulator, so that the auxiliary gear can be selectively engaged with one of the first driven gear and the second driven gear.

[0018] According to this structure, the manipulator assisting device can selectively engage the auxiliary gear with one of the first driven gear and the second driven gear of the manipulator by sliding the handle while the manipulator assisting device body is connected to the manipulator. Therefore, in the case where the manipulator has the first driven gear and the second driven gear for making the movable part of the end effector perform different actions, the manipulator assisting device can selectively move the movable part of the end effector by selectively engaging the auxiliary gear with one of the first driven gear and the second driven gear.

[0019] (3) In the robot assisting device of the above aspect, the robot assisting device body preferably includes a nozzle connected to a flow path included in the robot when the robot assisting device body is connected to the robot.

[0020] According to this structure, the robot assisting device body is provided with a nozzle, so when the robot assisting device body is connected to the robot, a cleaning fluid for cleaning the inside of the robot body can be easily supplied to the flow path of the robot through the nozzle. As a result, the efficiency and accuracy of cleaning the robot can be improved.

[0021] (4) In the manipulator assisting device of the above scheme, it is preferred that the manipulator assisting device body has a gear drive mode that allows the handle to slide in the body and restricts approach to the nozzle, and a cleaning mode that restricts the sliding movement of the handle and allows approach to the nozzle, and also has a switching unit for switching between the gear drive mode and the cleaning mode.

[0022] According to this structure, the user can make the manipulator perform the desired action by connecting the manipulator auxiliary device body to the manipulator and switching the gear drive mode and the cleaning mode through the switching unit. In addition, in the gear drive mode, the sliding movement of the handle is allowed and the approach to the nozzle is restricted, and in the cleaning mode, the sliding movement of the handle is restricted and the approach to the nozzle is allowed. As a result, when the auxiliary device is in each mode, the user can be prevented from performing operations other than the operations allowed in each mode. That is, the user's erroneous operation can be prevented.

[0023] (5) In the manipulator assisting device of the above scheme, it is preferred that the manipulator assisting device body has a neutral mode in addition to the gear driving mode and the cleaning mode. In the neutral mode, the sliding movement of the handle is allowed, while on the other hand, the approach to the nozzle is restricted and the auxiliary gear is not engaged with the driven gear of the manipulator. The switching unit switches the gear driving mode, the cleaning mode, and the neutral mode. The switching unit allows the switching between the gear driving mode and the neutral mode, and the switching between the cleaning mode and the neutral mode, and restricts the switching between the gear driving mode and the cleaning mode without passing through the neutral mode.

[0024] According to this structure, the switching unit allows the switching between the gear drive mode and the neutral mode, and the switching between the cleaning mode and the neutral mode, and restricts the switching between the gear drive mode and the cleaning mode without passing through the neutral mode. Therefore, in the process of operating the manipulator in the gear drive mode accompanied by the action of the end effector, it is possible to suppress erroneous operation such as erroneous switching to the cleaning mode accompanied by counting of the counter mechanism, and the usability of the manipulator auxiliary device can be improved.

[0025] (6) In the manipulator auxiliary device of the above scheme, it is preferred that the auxiliary gear is arranged on the front end side of the main body, the handle is arranged on the base end side of the main body, the auxiliary gear and the handle are connected via a main shaft inserted into the main body, the nozzle has a flow path for the circulation of a cleaning fluid, a base end opening connected to the flow path at the base end side of the main body, and a front end opening connected to the flow path at the front end side of the main body, the switching part is a dial, which is a disc-shaped dial with a cutout, arranged between the handle and the main body, and can rotate around the main shaft inserted into the main body, by rotating the dial to a first position where the cutout and the base end opening do not overlap, the dial limits approach to the nozzle, and by rotating the dial to a second position where the cutout and the base end opening overlap, the dial allows approach to the nozzle.

[0026] According to this structure, the manipulator assisting device uses a dial as a switching part, and the dial is a disc-shaped dial with a cutout, which is arranged between the handle and the main body and can rotate around the main axis. Therefore, by rotating the dial to the first position where the cutout and the base end opening do not overlap, the dial can inhibit the approach to the nozzle, and by rotating the dial to the second position where the cutout and the base end opening overlap, the dial can allow the approach to the nozzle.

[0027] (7) In the manipulator assisting device of the above scheme, it is preferred that a first long hole is provided in the above-mentioned main body, and the first long hole is used to enable the above-mentioned main shaft to slide and move on a plane orthogonal to the above-mentioned main shaft, and a second long hole is provided in the above-mentioned dial, and the second long hole passes through the front end surface and the base end surface of the above-mentioned dial, and when the above-mentioned dial is rotated to the above-mentioned first position, the second long hole of the above-mentioned dial becomes in the same direction as the above-mentioned first long hole of the above-mentioned main body, and by rotating the above-mentioned dial to the above-mentioned first position, the above-mentioned second long hole of the above-mentioned dial becomes in the same direction as the above-mentioned first long hole of the above-mentioned main body, thereby the above-mentioned dial allows the above-mentioned sliding movement of the above-mentioned handle, and by rotating the above-mentioned dial to the above-mentioned second position, the above-mentioned second long hole of the above-mentioned dial becomes in a different direction from the above-mentioned first long hole of the above-mentioned main body, thereby the above-mentioned dial restricts the above-mentioned sliding movement of the above-mentioned handle.

[0028] According to this structure, the second long hole is provided on the dial used as the switching part, and the second long hole is in the same direction as the first long hole of the main body when the dial is rotated to the first position. Therefore, by rotating the dial to the first position, the second long hole of the dial and the first long hole of the main body are in the same direction, so that the dial can allow the sliding movement of the handle, and by rotating the dial to the second position, the second long hole of the dial and the first long hole of the main body are in different directions, so that the dial can restrict the sliding movement of the handle.

[0029] (8) In the robot assisting device of the above aspect, it is preferable that a bulge portion is formed on a peripheral edge portion of the second long hole in the dial so as to bulge toward the second long hole.

[0030] According to this structure, a raised portion is formed on the peripheral portion of the second long hole of the dial, and the peripheral portion is raised toward the second long hole. Therefore, by forming the raised portion between the position where the auxiliary gear of the manipulator assisting device body and the driven gear of the manipulator are engaged and the position where they are not engaged, the user can easily grasp the mechanism, and the handle can be prevented from shaking between the engaged position and the disengaged position.

[0031] (9) In the manipulator assisting device of the above scheme, it is preferred that the auxiliary gear and the handle are connected via a main shaft inserted into the main body, and the handle disengages the auxiliary gear from the driven gear by causing an axial deviation of the main shaft in a longitudinal direction relative to the manipulator assisting device body when a torque exceeding a predetermined amount relative to the handle is applied.

[0032] According to this structure, when a torque exceeding a predetermined amount is applied to the handle, the handle causes an axial deviation through the main shaft to release the engagement between the auxiliary gear and the driven gear. Therefore, even when a torque exceeding a predetermined amount is applied to the handle, excessive rotation of the driven gear can be suppressed, and failure of the end effector caused by excessive rotation of the driven gear can be suppressed.

[0033] (10) In the robot assisting device of the above aspect, it is preferable that the robot assisting device main body further includes an action unit that switches a counter mechanism included in the robot to a state in which a counting operation can be performed.

[0034] According to this structure, the robot assisting device body has the action part, so when the robot assisting device body is connected to the robot, the counter mechanism of the robot can be switched to a state capable of performing counting operation via the action part. As a result, the number of times the robot is cleaned can be easily managed using the counter mechanism.

[0035] (11) According to one aspect of the present invention, a manipulator system is provided. The manipulator system comprises: the manipulator assisting device of the above aspect; and a manipulator, wherein the manipulator comprises: a driven gear that engages with a gear on the medical device side when the manipulator is connected to the medical device; an end effector that is actuated by power transmitted from the driven gear; and a manipulator body on which the driven gear and the end effector are mounted.

[0036] According to this structure, a manipulator system can be provided, comprising: a manipulator connected to a medical device (surgery support robot) and having an end effector actuated by the medical device; and a manipulator support device capable of actuating the end effector of the manipulator without the medical device.

[0037] (12) In the manipulator system of the above scheme, the manipulator preferably further comprises: a flow path for circulating a cleaning fluid for cleaning the interior of the manipulator body; and a counter mechanism for counting the number of cleanings, the counter mechanism comprising: a counter disk, which displays the count number on the main surface and is rotatably fixed to the manipulator body; and a counter rod, which is rotatably fixed to the manipulator body, and the counter disk is rotated when the counter mechanism rotates to one side of the rotation direction, and is not rotated when the counter mechanism rotates to the other side. When the manipulator auxiliary device is connected to the manipulator, the counter rod is in a state of being relatively rotated to the other side, and the end of the counter rod protrudes to the outside of the manipulator body. When the manipulator auxiliary device is removed from the manipulator and the end of the counter rod protruding to the outside of the manipulator body is retracted into the manipulator body, the counter rod is in a state of being relatively rotated to the one side, and the counter mechanism counts by rotating the counter disk.

[0038] According to this structure, when the manipulator auxiliary device is connected to the manipulator and changes to the cleaning mode by rotating the dial, the counter rod becomes a state of rotating relatively to the other side, and the end of the counter rod protrudes to the outside of the manipulator body. That is, with the manipulator auxiliary device being connected to the manipulator and changing to the cleaning mode as an opportunity, the counter mechanism can be switched to a state in which counting actions can be performed. In addition, in order to remove the manipulator auxiliary device from the manipulator and install the manipulator on the medical device (surgical assistance robot), when the end of the counter rod protruding to the outside of the manipulator body is retracted into the inside of the manipulator body, the counter rod becomes a state of rotating relatively to one side, and the counter mechanism counts by rotating the counter disk. That is, with the end of the counter rod protruding to the outside being retracted into the inside of the manipulator body as an opportunity, the counter mechanism can automatically count.

[0039] In addition, the present invention can be implemented in various schemes, for example, it can be implemented in the form of a manipulator for loading and unloading medical devices such as a surgical assistance robot, a manipulator assisting device connected to the manipulator, a cleaning nozzle for cleaning the manipulator, a manipulator assisting device having a cleaning nozzle, a manipulator system having a manipulator assisting device and a manipulator, a surgical assistance robot having a manipulator assisting device or a manipulator, and their manufacturing methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is an explanatory diagram illustrating the structure of a robot system.

[0041] Figure 2 It is an explanatory diagram showing the structure of an end effector.

[0042] Figure 3 It is an explanatory diagram showing the structure of the main body device viewed from the base end side.

[0043] Figure 4 This is an explanatory diagram showing the state transition of the auxiliary device.

[0044] Figure 5 It is an explanatory diagram showing the structure of the assist device viewed from the proximal end side.

[0045] Figure 6 It is an explanatory diagram showing the structure of the assist device viewed from the front end side.

[0046] Figure 7 It is an exploded perspective view of the auxiliary device.

[0047] Figure 8 This is a diagram for explaining the connection between the auxiliary device and the robot.

[0048] Fig. 9 Yes means Figure 4 A diagram showing the state of the assist device in each mode.

[0049] Fig.10 Yes means Figure 4 A diagram showing the relationship between the dial and the spindle in each mode.

[0050] Fig.11 Yes means Figure 4 A diagram showing the relationship between the auxiliary gear and the driven gear in each mode.

[0051] Fig.12 It is an explanatory diagram showing a longitudinal section of the assist device.

[0052] Fig.13 This is an explanatory diagram illustrating the structure of a counter mechanism of the robot.

[0053] Fig.14 This is an explanatory diagram of the working part that causes the counter mechanism to operate.

[0054] Fig.15 It is an explanatory diagram illustrating the structure of the cleaning nozzle.

[0055] Fig.16 It is an explanatory diagram illustrating the structure of the cleaning nozzle.

[0056] Fig.17This is a diagram showing how to use the cleaning nozzle.

[0057] Fig.18 It is an explanatory diagram showing the structure of a robot according to the second embodiment.

[0058] Fig.19 It is a diagram showing the state of the assist device in each mode according to the second embodiment.

[0059] Fig. 20 It is a diagram showing the relationship between the auxiliary gear and the driven gear in each mode of the third embodiment.

[0060] Fig.21 It is an explanatory diagram of an assist device and a manipulator according to a fourth embodiment.

[0061] Fig. 22 It is an explanatory diagram showing the state transition of the assist device according to the fifth embodiment.

[0062] Fig.23 It is an explanatory diagram illustrating the structure of a washer nozzle according to a sixth embodiment.

[0063] Fig.24 It is an explanatory diagram illustrating the structure of a cleaning nozzle according to a seventh embodiment. DETAILED DESCRIPTION

[0064] <First embodiment>

[0065] Figure 1 It is an explanatory diagram illustrating the structure of a manipulator system 9. The manipulator system 9 includes a manipulator 2 and a manipulator assisting device 1 (hereinafter also referred to as "assisting device 1"). The manipulator 2 is mounted on the robot arm of a surgical assisting robot (medical device) and is used in laparoscopic surgery, etc. The assisting device 1 is a device that assists the use of the manipulator 2. In addition, the manipulator 2 may also be configured to be mounted on a medical device that is directly operated by a user instead of being mounted on a surgical assisting robot (medical device). The assisting device 1 generally has the following functions a, b, and c. The details will be described later.

[0066] (a) a function of assisting the manipulator 2 to be removed from the patient's body cavity;

[0067] (b) a function for counting the number of times the robot 2 is used,

[0068] (c) A function to assist in cleaning the inside of the robot 2.

[0069] In addition, Figure 1 For the sake of convenience, the relative ratio of the size of each component is described in a manner different from the actual size. In addition, a part of each component is described in an exaggerated manner. Figure 1In the figure, mutually orthogonal XYZ axes are shown. The X axis corresponds to the length direction of the auxiliary device 1 and the robot 2, the Y axis corresponds to the width direction of the auxiliary device 1 and the robot 2, and the Z axis corresponds to the height direction of the auxiliary device 1 and the robot 2. Figure 1 The left side (-X axis direction) is called the "front end side" of the auxiliary device 1 and the robot 2. Figure 1 The right side (+X axis direction) of the auxiliary device 1 and the manipulator 2 is called the "base end side". Of the two ends of the auxiliary device 1 and the manipulator 2 in the length direction (X axis direction), the end located on the front end side is called the "front end", and the other end located on the base end side is called the "base end". The front end and its vicinity are called the "front end", and the base end and its vicinity are called the "base end". These aspects are Figure 1 It will also be used in the future.

[0070] Figure 2 It is an explanatory diagram showing the structure of the end effector 21 . Figure 3 2 is an explanatory diagram showing the structure of the main device 23 as viewed from the base end side. Figure 1 As shown, the robot 2 includes an end effector 21, a main shaft 22, and a main device 23 from the front end side toward the base end side. In other words, the end effector 21 is attached to the front end of the main device 23 (specifically, the robot body 231) via the main shaft 22.

[0071] The end effector 21 is a movable part disposed at the front end of the robot 2. Figure 2 As shown, the end effector 21 includes a forceps 211, a first joint 212, a first extension 213, a second joint 214, and a second extension 215. The forceps 211 is composed of two elongated gripping members, and grips the biological tissue by separating and contacting the front ends of the gripping members while the base ends are fixed. Figure 2 In the example of , in order to facilitate grasping of the living tissue, the contact surface of the front end portion of the grasping member is set to a wave shape. The first joint 212 is provided between the forceps 211 and the first extension portion 213. The first joint 212 is fixed relative to the first extension portion 213 in a state in which the forceps 211 can be rotated. The first extension portion 213 is an extension portion provided between the first joint 212 and the second joint 214. The second joint 214 is provided between the first extension portion 213 and the second extension portion 215. The second joint 214 is fixed relative to the second extension portion 215 in a state in which the first extension portion 213 can be bent. The second extension portion 215 is an extension portion provided on the base end side of the second joint 214.

[0072] The spindle 22 is a rod-shaped component disposed between the end effector 21 and the main device 23. Figure 2As shown, the main shaft 22 is rotatable about its axis. Inside the main shaft 22, a power transmission member for operating each part of the end effector 21 described above is housed.

[0073] The main device 23 is a device disposed at the base end of the manipulator 2. The main device 23 can be attached to and detached from the surgical assisting robot and the assisting device 1. Figure 3 As shown, the main device 23 has a manipulator body 231 as a box body constituting the main body of the main device 23. Four driven gears 235 and a cleaning port 2361 are provided on the base end surface 236 of the manipulator body 231, which transmit power to the four power transmission components of the main device 23 respectively. The cleaning port 2361 is an opening connected to the flow path formed inside the main device 23 and the main shaft 22. Except for the cleaning port 2361 and the forceps 211 of the end effector 21, the inside of the manipulator 2 is sealed. In other words, except for the cleaning port 2361 and the forceps 211, the manipulator 2 cannot allow fluid to enter and exit the inside of the manipulator 2. In order to improve the airtightness of the inside of the manipulator 2, it is preferred that the number of openings provided in the manipulator 2 is small. Therefore, in the manipulator 2 of the present embodiment, only one opening (cleaning port 2361) is provided except for the forceps 211. In addition, a detachable cover that blocks the cleaning port 2361 can also be provided on the manipulator 2.

[0074] The driven gear 235 includes a holding shaft gear 2351, a main shaft gear 2352, a front end rotating shaft gear 2353, and a bending shaft gear 2354. The holding shaft gear 2351 is a gear that transmits power for switching the open state and the holding state of the forceps 211. The main shaft gear 2352 is a gear that transmits power for rotating the main shaft 22. The front end rotating shaft gear 2353 is a gear that transmits power for rotating the forceps 211. The bending shaft gear 2354 is a gear that transmits power for bending the second joint 214. Some of these driven gears 235 (in Figure 3 In the example, about half of the gears are covered by the gear cover 237, and the remaining part is exposed to the outside. When the manipulator 2 is connected to the surgical assistance robot, the driven gear 235 engages with the gear on the surgical assistance robot side. In addition, when the manipulator 2 is connected to the auxiliary device 1, the driven gear 235 engages with the auxiliary gear 17 ( Figure 6 , Figure 7 ) is engaged. Other components of the robot 2 will be described later. In addition, the holding shaft gear 2351 functions as a "first driven gear", and the bending shaft gear 2354 functions as a "second driven gear".

[0075] Figure 4 1 is an explanatory diagram showing the state transition of the auxiliary device 1. The auxiliary device 1 has Figure 4The three action modes shown. Cleaning mode M2 ​​is a mode for performing the function of assisting (c) the cleaning of the inside of the manipulator 2. Gear drive mode M3 is a mode for performing the function of assisting (a) the disengagement of the manipulator 2. Neutral mode M1 is a mode that must be changed when switching between cleaning mode M2 ​​and gear drive mode M3, and there is no function to be performed in neutral mode. The method of changing between the modes will be described later.

[0076] Figure 5 It is an explanatory diagram showing the structure of the assist device 1 viewed from the proximal end side. Figure 6 It is an explanatory diagram showing the structure of the assist device 1 viewed from the front end side. Figure 7 1 is an exploded perspective view of the auxiliary device 1. Figure 5 , Figure 6 , Figure 7 , the structure of the auxiliary device 1 is described. The auxiliary device 1 has a handle 11, a dial 12, a main shaft 13, a frame 14, a side lock button 15, a pin 16, an auxiliary gear 17, a protrusion 18 and a cleaning nozzle 19. The auxiliary device 1 is equivalent to the "manipulator auxiliary device body".

[0077] The handle 11 is a component disposed at the most proximal end of the auxiliary device 1 and used by the user to operate the auxiliary device 1. The handle 11 is connected to the auxiliary gear 17 via the main shaft 13 inserted into the interior of the frame 14, and transmits driving force to the auxiliary gear 17. The handle 11 includes a gripping portion 111 gripped by the user, and a cylindrical extension portion 112 extending from the gripping portion 111 toward the front end side (i.e., the dial 12 side). The handle 11 is fixed by coupling the screw 113 to the inner thread of the main shaft 13 via a washer 114, with the main shaft 13 inserted into the inner side of the extension portion 112 and the knob latch spring 115 built into the gripping portion 111. As a result, the handle 11 is fixed in a state where it is forced toward the front end side (i.e., the dial 12 side).

[0078] Dial 12 is used to switch between Figure 4The "switching section" of the neutral mode M1, the cleaning mode M2, and the gear drive mode M3 described in the above description functions. The dial 12 is a disc-shaped component, in other words, a circular plate-shaped component. The dial 12 is arranged between the handle 11 and the frame 14. The dial 12 is formed with a notch 121 in which a part of the outer circumference is recessed toward the center of the dial 12, and a second long hole 122 arranged in the center. The second long hole 122 is an elliptical through hole that passes through the front end surface and the base end surface of the dial 12. The dial 12 is fixed to the frame 14 in a state where the main shaft 13 is inserted into the second long hole 122. Therefore, the dial 12 can rotate around the main shaft 13. A cam structure 123 for actuating the pin 16 is provided on the peripheral portion of the front end side (frame 14 side) of the dial 12. The details of the cam structure 123 will be described later. Two dial locking pins 124 are provided on the surface of the front end side (frame 14 side) of the dial 12. The dial lock pin 124 is a protrusion that protrudes toward the front end side (frame 14 side). A position indicator 120 is provided on the surface of the base end side (handle 11 side) of the dial 12. The position indicator 120 is a memory mark, one end of the memory is present at a position corresponding to one end of the second long hole 122, the other end of the memory is present at a position corresponding to the other end of the second long hole 122, and the center of the memory is present at a position corresponding to the center of the second long hole 122.

[0079] The spindle 13 is a cylindrical component extending in the longitudinal direction (X-axis direction) of the auxiliary device 1. The spindle 13 is inserted through the handle 11, the dial 12 and the frame 14 from the base end side to the front end side. At the front end of the spindle 13, the auxiliary gear 17 is fixed via a bearing 131 and a washer 171. A spring 128 extending in the X-axis direction and a dial rotation spring 129 extending in the YZ-axis direction are arranged between the frame 14 and the dial 12. The spring 128 is arranged to surround the spindle 13. The dial 12 is urged toward the base end side (i.e., the handle 11 side) by the spring 128. The dial 12 is urged toward the circumferential direction (YZ-axis direction) of the dial 12 by the dial rotation spring 129. In addition, the spindle 13 may be cylindrical, polygonal, or cylindrical as long as it is rod-shaped.

[0080] The frame 14 is a box body constituting the main body of the auxiliary device 1, and functions as a "main body". The frame 14 is arranged between the dial 12 and the auxiliary gear 17. A first long hole 145 is formed in the center of the frame 14. The first long hole 145 is an elliptical through hole that passes through the front end face and the base end face of the frame 14. The main shaft 13 is inserted through the first long hole 145. The base end side (dial 12 side) of the frame 14 is a bottomed cylinder with a bottom and a raised edge. The bottom of the frame 14 is also referred to as a "base end face 142". Two groups of two recesses 143 are formed on the base end face 142. In the assembled state of the auxiliary device 1, the dial 12 ( Figure 5 ). In the assembled state, the dial lock pin 124 of the dial 12 is engaged with one side of the recess 143, thereby fixing the dial 12 in a state where the dial 12 rotates relative to the frame 14. In addition, the dial lock pin 124 of the dial 12 is engaged with the other side of the recess 143, thereby fixing the dial 12 in a state where the dial 12 does not rotate relative to the frame 14.

[0081] At the front end side (the auxiliary gear 17 side) of the frame 14, flanges 141 are formed at four corners that protrude outward in the circumferential direction (i.e., a total of four flanges 141 are formed at each of the four corners). In addition, two receiving portions 144 are formed between one flange 141 and the other flange 141. The two receiving portions 144 are recessed portions formed at opposite positions of the frame 14 (in the ±Y axis direction of the frame 14). A side lock button 15 ( Figure 5 , Figure 6 ).

[0082] The side lock button 15 is a component for maintaining the connection between the auxiliary device 1 and the manipulator 2 and releasing the connection between the auxiliary device 1 and the manipulator 2. The side lock button 15 has a shaft 152 that protrudes toward the frame 14 side. The side lock button 15 is fixed to the frame 14 by fitting the shaft 152 relative to the shaft hole (not shown) provided in the housing portion 144 of the frame 14. At the front end of the side lock button 15, on the outside of the side lock button 15 (the opposite side to the frame 14), a claw 151 that protrudes toward the outside is provided.

[0083] The pin 16 is a flat plate-shaped elongated member, and is a member that functions as an "action portion" that switches the counter mechanism (details of which will be described later) of the manipulator 2 to a state in which the counter can be decremented. A long hole 161 is formed at the center of the pin 16, extending along the extension direction of the pin 16 and penetrating one surface and the other surface of the pin 16. A spring (not shown) is arranged in the long hole 161 of the pin 16. The spring is arranged so that one end abuts against the frame 14 and the other end pushes the base end side (handle 11 side) of the portion of the long hole 161 of the pin 16. The pin 16 is urged toward the base end side (handle 11 side) by the spring.

[0084] The auxiliary gear 17 is a gear that engages with the driven gear 235 of the manipulator 2 when the auxiliary device 1 is connected to the manipulator 2. The auxiliary gear 17 is arranged on the front end side of the frame 14. The auxiliary gear 17 is fixed to the front end of the main shaft 13 via the bearing 131 and the washer 171. Therefore, when the user rotates the handle 11, the auxiliary gear 17 transmits the rotational force to the auxiliary gear 17 via the main shaft 13, and rotates in the same direction as the rotation direction of the handle 11.

[0085] The protrusion 18 is a component that is mounted on the surface on the front end side of the frame 14 so that a part of the frame 14 protrudes toward the front end side. By having the protrusion 18, when the auxiliary device 1 is connected to the robot 2, a space for the auxiliary gear 17 to rotate can be formed between the frame 14 of the auxiliary device 1 and the robot 2 ( Figure 6 ).

[0086] The cleaning nozzle 19 is a component for connecting to the flow path inside the manipulator 2 when the auxiliary device 1 is connected to the manipulator 2 to supply a cleaning fluid (for example, a cleaning fluid for cleaning medical equipment) to the flow path inside the manipulator 2. In other words, the cleaning nozzle 19 is a component for cleaning the manipulator 2. A first base end opening 191 and a second base end opening 192 for connecting an external device (irrigator) are provided on the surface of the base end side of the cleaning nozzle 19. The details of the cleaning nozzle 19 will be described later.

[0087] Figure 8 1 is an explanatory diagram of the connection between the auxiliary device 1 and the manipulator 2. Figure 8 As shown, the main device 23 of the manipulator 2 is provided with a cover 232 on one surface of the manipulator body 231. A counter mechanism is housed inside the cover 232 (details will be described later). A window 233 for displaying the "number of times" counted by the counter mechanism is provided in the center of the cover 232. The window 233 is a through hole that penetrates the outer side and the inner side of the cover 232. A rod 234 is also installed on the main device 23. The rod 234 has a protrusion 2341 for the user to hold, and a pair of arms 2342 extending toward the side 2311 of the manipulator body 231, respectively. The rod 234 is fixed in a state where the end 2343 of the arm 2342 can rotate relative to the side 2311 of the manipulator body 231. In addition, the side 2311 is a surface adjacent to the surface of the manipulator body 231 on which the cover 232 is provided. As described above, four driven gears 235 are provided on the base end surface 236 of the manipulator body 231.

[0088] like Figure 8 As shown, in the auxiliary device 1, the front end of the auxiliary device 1 can be attached and detached relative to the base end of the manipulator 2. Specifically, as shown by the blank arrow, when the auxiliary device 1 is pushed relative to the manipulator 2, the claw 151 of the side lock button 15 is hooked on the manipulator 2, thereby the auxiliary device 1 can maintain the connection state between the auxiliary device 1 and the manipulator 2. In addition, as shown by the arrow with diagonal hatching, by the user pushing the side lock button 15 toward the frame 14 side, the hook of the claw 151 on the manipulator 2 is released, and the connection between the auxiliary device 1 and the manipulator 2 can be released.

[0089] Fig. 9 Yes means Figure 4 A diagram showing the state of the assist device 1 in each mode is shown. Fig.10 Yes means Figure 4 The diagram shows the relationship between the dial 12 and the spindle 13 in each mode. Fig.11 Yes means Figure 4 FIG. 1 is a diagram showing the relationship between the auxiliary gear 17 and the driven gear 235 in each mode. Figure 4 , Fig. 9 , Fig.10 , Fig.11 , the operation mode of the auxiliary device 1 is explained.

[0090] Fig. 9 (A) is a diagram showing the state of the assist device 1 in the neutral mode M1. Fig.10 (A) is a diagram showing the dial 12 in the first position. In the neutral mode M1, the dial 12 blocks the openings of the cleaning nozzle 19 (the first base end opening 191 and the second base end opening 192). Therefore, access to the cleaning nozzle 19 is restricted. In addition, in the neutral mode M1, Fig.11 As shown in FIG. 1 , the handle 11 and the main shaft 13 connected to the handle 11 are located at the center P1 of the second long hole 122 of the dial 12. Therefore, the auxiliary gear 17 (P1) located at the front end of the main shaft 13 and any of the driven gears 235 of the manipulator 2 are not engaged. Fig.10 As shown in (A), the second long hole 122 of the dial 12 is set in the same direction as the first long hole 145 of the frame 14 (the extending direction of the long axis of the second long hole 122 is consistent with the extending direction of the long axis of the first long hole 145). Therefore, the handle 11 and the main shaft 13 connected to the handle 11 are allowed to slide. The sliding movement is performed on the YZ plane intersecting the main shaft 13 (X axis).

[0091] Fig. 9 (B) is a diagram showing the state of the assist device 1 in the cleaning mode M2. Fig.10 (B) is a diagram showing the dial 12 in the second position. In the cleaning mode M2, the position of the cutout 121 of the dial 12 coincides with the position of the opening (the first base end opening 191 and the second base end opening 192) of the cleaning nozzle 19. Therefore, access to the cleaning nozzle 19 is permitted. In addition, in the cleaning mode M2, Fig.10 As shown in (B), the second long hole 122 of the dial 12 is in a different direction from the first long hole 145 of the frame 14 (the direction in which the long axis of the second long hole 122 extends is different from the direction in which the long axis of the first long hole 145 extends). Therefore, the movement of the spindle 13 is restricted by the dial 12 and the frame 14, thereby restricting the sliding movement of the handle 11 and the spindle 13 connected to the handle 11. In other words, Fig.10In (B), the sliding movement of the handle 11 and the main shaft 13 is restricted by the phase shift between the second long hole 122 and the first long hole 145 .

[0092] Fig. 9 (C) and (D) are diagrams showing the state of the auxiliary device 1 in the gear drive mode M3. In the gear drive mode M3, the opening of the cleaning nozzle 19 (the first base end opening 191 and the second base end opening 192) is blocked by the dial 12. Therefore, access to the cleaning nozzle 19 is restricted. In addition, in the gear drive mode M3, Fig.10 As shown in (A), the second long hole 122 of the dial 12 is in the same direction as the first long hole 145 of the frame 14. Therefore, the handle 11 and the main shaft 13 connected to the handle 11 are allowed to slide.

[0093] like Fig. 9 (C) and Fig.11 As shown, in the neutral mode M1, by sliding the handle 11 toward one end of the second long hole 122, the main shaft 13 connected to the handle 11 slides toward one end P2 of the second long hole 122, thereby the auxiliary device 1 changes to the gear drive mode M3. As a result, the relative position of the auxiliary gear 17 located at the front end of the main shaft 13 with respect to the frame 14 is also changed from position P1 to position P2, and the auxiliary gear 17 engages with the driven gear 235 of the manipulator 2 (specifically, the holding shaft gear 2351). By rotating the handle 11 in this state, the auxiliary device 1 can operate the forceps 211 of the manipulator 2. Similarly, as Fig. 9 (C) and Fig.11As shown, in the neutral mode M1, by sliding the handle 11 toward the other end side of the second long hole 122, the main shaft 13 connected to the handle 11 slides toward the other end side P3 of the second long hole 122, and the auxiliary device 1 changes to the gear drive mode M3. As a result, the relative position of the auxiliary gear 17 located at the front end of the main shaft 13 with respect to the frame 14 is also changed from position P1 to position P3, and the auxiliary gear 17 engages with the driven gear 235 (specifically, the bending shaft gear 2354) of the manipulator 2. By rotating the handle 11 in this state, the auxiliary device 1 can operate the second joint 214 of the manipulator 2. In this way, in the gear drive mode M3, when the auxiliary device 1 is connected to the manipulator 2, the user slides the handle 11, so that the auxiliary gear 17 of the auxiliary device 1 selectively engages with one of the driven gears 235 of the manipulator 2, and one of the end effectors 21 can be operated. Furthermore, in the gear drive mode M3, the handle 11 is not temporarily stopped at the position P1 (neutral mode M1) from the state where the handle 11 and the main shaft 13 are located at one end side P2 of the second long hole 122, but is slid to the other end side of the second long hole 122, thereby enabling the handle 11 and the main shaft 13 to be located at the other end side P3 of the second long hole 122, and vice versa.

[0094] like Figure 4 As shown, when the auxiliary device 1 is in the neutral mode M1, the dial 12 is moved from Fig.10 (A) The first position shown is Fig.10 (B) to the second position shown in the cleaning mode M2. In addition, when the auxiliary device 1 is in the cleaning mode M2, the handle 11 is turned toward the base end side ( Figure 1 : +X axis direction) pulling, or the side lock button 15 is pushed toward the frame 14 side, thereby returning to the neutral mode M1. Figure 4 As shown, when the auxiliary device 1 is in the neutral mode M1, the handle 11 is moved toward the end of the second long hole 122 of the dial 12 ( Fig.11 :P2, P3) to change to the gear drive mode M3. In addition, when the auxiliary device 1 is in the gear drive mode M3, the handle 11 is moved to the center of the second long hole 122 of the dial 12 ( Fig.11 : P1) moves, thereby returning to neutral mode M1.

[0095] In this way, the dial 12 of the auxiliary device 1 is Fig.10 In the first position shown in (A), the positions of the cutout 121 and the cleaning nozzle 19 are different, and the directions of the second long hole 122 and the first long hole 145 are aligned. Fig.10In the second position shown in (B), the positions of the cutout 121 and the cleaning nozzle 19 are aligned, and the second long hole 122 and the first long hole 145 are in different directions (in other words, the direction of the second long hole 122 and the direction of the first long hole 145 are in different directions). As a result, the dial 12 of the auxiliary device 1 can function as the following switching unit: allowing the switching between the cleaning mode M2 ​​and the neutral mode M1, allowing the switching between the gear drive mode M3 and the neutral mode M1, and on the other hand, limiting the switching between the gear drive mode M3 and the cleaning mode M2 ​​without passing through the neutral mode M1.

[0096] Furthermore, making the positions of the cutout 121 and the cleaning nozzle 19 different means that the cutout 121 of the dial 12 and the opening (the first base end opening 191 and the second base end opening 192) of the cleaning nozzle 19 do not overlap, and also includes Fig. 9 The modes exemplified in (A), (C), and (D) are cases where the dial 12 blocks at least a portion of the opening of the cleaning nozzle 19, thereby preventing the flusher from being mounted on the opening of the cleaning nozzle 19. In addition, aligning the positions of the cutout 121 and the cleaning nozzle 19 means that the cutout 121 of the dial 12 overlaps with the opening of the cleaning nozzle 19 (the first base end opening 191 and the second base end opening 192), including Fig. 9 The embodiment illustrated in (B) is a case where the dial 12 does not block the opening of the washer nozzle 19 , and thus the washer can be mounted on the opening of the washer nozzle 19 .

[0097] Fig.12 It is an explanatory diagram showing a longitudinal section of the assist device 1 . Fig.12 (A) is a longitudinal sectional view of the assist device 1 in a normal state. The dial 12 is rotated by a dial rotation spring 129 (see FIG. 1 ) built between the dial 12 and the frame 14. Figure 7 ), Fig.10 (B) The second position shown is Fig.10 (A) The handle 11 is biased toward the dial 12 by the built-in knob lock spring 115. Therefore, in the normal state, the automatic rotation of the dial 12 accompanied by the force of the dial rotation spring 129 is suppressed by the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14). Here, the normal state refers to a state in which the handle 11 is not pulled and the side lock button 15 is not pressed. In addition, as Fig.12 As shown in FIG. 1A , the dial lock pin 124 provided on the surface on the front end side of the dial 12 engages with the recess 143 provided on the base end surface 142 of the frame 14 , thereby maintaining the state of the dial 12 (first and second positions).

[0098] Fig.12(B) is a longitudinal sectional view of the assist device 1 when returning from the cleaning mode M2 ​​to the neutral mode M1. In the cleaning mode M2, as shown by the arrow indicating the diagonal hatching, when the handle 11 is pulled toward the base end side, the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14 side) disappears. In addition, the dial 12 is urged toward the handle 11 side by the spring 128. As a result, the engagement between the dial lock pin 124 and the recess 143 is disengaged, and the dial 12 is released. Fig.10 (B) The second position shown is Fig.10 (A) The first position shown in FIG. 1 automatically rotates to return from the cleaning mode M2 ​​to the neutral mode M1. In the cleaning mode M2, as shown by the blank arrow, when the side lock button 15 is pushed toward the frame 14, the side lock button 15 moves toward the frame 14 and the dial 12 is pressed toward the handle 11, and the engagement between the dial lock pin 124 and the recess 143 is disengaged, and the dial 12 automatically rotates from the second position to the first position, and returns from the cleaning mode M2 ​​to the neutral mode M1.

[0099] In addition, if Fig.11 As shown, the holding shaft gear 2351 and the bending shaft gear 2354 of the present embodiment can rotate in any direction D1 indicated by the solid line. On the other hand, it is preferable not to excessively rotate in the direction D2 indicated by the dotted line. Here, "excessive rotation" means that the torque applied to the handle 11 exceeds a predetermined amount. Therefore, the auxiliary device 1 of the present embodiment includes a torque limit mechanism. Specifically, in the gear drive mode M3, when the handle 11 located on the end side P2 of the second long hole 122 and the main shaft 13 are rotated in the direction indicated by the solid arrow, the main shaft 13 does not cause axial deviation, and the rotational force is continuously transmitted to the holding shaft gear 2351 through the auxiliary gear 17. On the other hand, in the case of rotation in the direction indicated by the dotted arrow, as shown in FIG. Fig.12 As shown by the two-dot chain line in (A), the main shaft 13 causes axial deviation (a phenomenon in which the main shaft 13 is tilted relative to the longitudinal direction of the auxiliary device 1, that is, the X-axis direction), thereby releasing the engagement between the auxiliary gear 17 and the holding shaft gear 2351, and the rotational force cannot be transmitted to the holding shaft gear 2351. This is achieved by balancing the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14 side) and the force of the deviation of the main shaft 13. In the gear drive mode M3, the handle 11 and the main shaft 13 are located at the other end side P3 of the second long hole 122. In the case of rotating in the direction indicated by the solid arrow, the main shaft 13 does not cause axial deviation, while in the case of rotating in the direction indicated by the dotted arrow, the main shaft 13 causes axial deviation.

[0100] Fig.13 It is an explanatory diagram illustrating the structure of the counter mechanism of the manipulator 2 . Fig.13(A) shows the first state of the counter mechanism. Fig.13 (B) represents the second state of the counter mechanism. Fig.13 In the figure, the cover 232 is removed (see Figure 8 ) state of robot 2. Fig.13 In the figure, for the sake of convenience, different types of shadows are marked on some parts, the structure of the counter mechanism and its surrounding parts are hidden in the structure of the robot body 231, and the window 233 of the cover 232 is shown in dotted lines. Fig.13 , the function of counting the number of times the (b) robot 2 is used is described.

[0101] like Fig.13 As shown, the manipulator 2 is provided with a mechanical counter mechanism. The manipulator 2 can be used multiple times by cleaning it after use. The counter mechanism counts the remaining number of uses of the manipulator 2, in other words, the number of times the manipulator 2 is cleaned. The counter mechanism includes a counter disk 238, a counter rod 230 (first component), and a locking rod 239 (second component). The counter disk 238 is a component having a disc shape, in other words, a circular plate shape. The counter disk 238 is fixed relative to the manipulator body 231 so as to be able to rotate around the axis 2303. The counter disk 238 displays a count number 2381 such as "E, 1, 2, ···, 16, 17" on the main surface (the surface in the +Z axis direction). In the counter disk 238, only one count number can be observed and confirmed from the outside through the window 233 (dashed line) of the cover 232, and the user can confirm the remaining number of uses of the manipulator 2. That is, the counter disk 238 and the window 233 function as a "display unit". In addition, the count number "E" of the count number 2381 means that the remaining number of uses of the robot 2 has been used up. On the main surface of the counter disk 238, a protrusion 2382 is formed in which a part of the main surface is raised toward the cover 232, next to the count number 2381 "E" (next to the opposite side of the count number 2381 "1").

[0102] The counter lever 230 is fixed relative to the robot body 231 so as to be rotatable about the axis 2303 (in other words, coaxial with the counter disk 238). The counter lever 230 has a first extension portion 2301 extending toward the locking lever 239 and a second extension portion 2302 extending toward the base end of the robot body 231. Fig.13 As shown in (B), when the counter lever 230 itself (counter lever 230) rotates to one side S1, the counter disk 238 rotates by one storage amount corresponding to the count number 2381. On the other hand, when the counter lever 230 itself (counter lever 230) rotates to the other side S2, the counter disk 238 is not rotated. The counter lever 230 corresponds to the "first member".

[0103] The locking rod 239 is fixed relative to the manipulator body 231 so as to be rotatable about the shaft 2394. A recess 2391 is formed in the locking rod 239, and the recess 2391 is used to engage the first extension portion 2301 of the counter rod 230 with a part of the counter rod 230 side. The locking rod 239 has an extension portion 2392 extending toward the base end of the manipulator body 231. The locking rod 239 is a structure that is stretched and matched with the counter rod 230 by a spring 2393. Fig.13 As shown in (A), the lock lever 239 restricts the rotation of the counter lever 230 to the other side S2 by engaging the first extension portion 2301 of the counter lever 230 with the recessed portion 2391 of the lock lever 239. The lock lever 239 corresponds to the "second member".

[0104] That is, Fig.13 As shown in (A), in the first state of the counter mechanism, the locking rod 239 (second component) is engaged with the counter rod 230 (first component), and the counter rod 230 is relatively rotated to one side S1. Therefore, in the first state of the counter mechanism, the end 2304 of the counter rod 230 is retracted into the manipulator body 231. In this way, since the end 2304 is retracted into the manipulator body 231, there is no component located in the incision 2312, and the manipulator 2 can be connected to the surgical assistance robot in the first state (refer to Figure 8 ). In addition, Fig.13 As shown in (B), in the second state of the counter mechanism, the locking rod 239 (second component) and the counter rod 230 (first component) are not engaged, and the counter rod 230 is relatively rotated toward the other side S2 by being stretched by the spring 2393. Therefore, in the second state of the counter mechanism, the end 2304 of the counter rod 230 protrudes to the outside of the manipulator body 231. In this way, since the end 2304 protrudes to the outside of the manipulator body 231, the end 2304 located in the incision 2312 interferes, thereby hindering the connection of the surgical assistance robot to the manipulator 2 in the second state.

[0105] Fig.14 1 is an explanatory diagram of the function part that causes the counter mechanism to operate. Fig.14 In the auxiliary device 1, only the dial 12, the pin 16, and the spindle 13 are extracted. Fig.14 , the state transition between the first state and the second state is explained.

[0106] A cam structure 123 for moving the pin 16 is provided at the peripheral portion of the front end side (frame 14 side) of the dial 12. The cam structure 123 is a cylindrical cam having a recessed portion 1231 recessed at the front end of the dial 12 where the wall thickness of the dial 12 is thinner, a convex portion 1233 protruding at the front end of the dial 12 where the wall thickness of the dial 12 is thicker, and an inclined portion 1232 provided between the recessed portion 1231 and the convex portion 1233. As described above, the pin 16 is urged toward the base end side (handle 11 side) by the spring disposed in the long hole 161 of the pin 16. When the auxiliary device 1 is in the neutral mode M1 or the gear drive mode M3, the pin 16 ( Fig.14 : dotted line) is housed in the recessed portion 1231, so the front end portion 162 of the pin 16 is housed in the frame 14. On the other hand, when the auxiliary device 1 changes from the neutral mode M1 to the cleaning mode M2, the base end of the pin 16 slides on the inclined portion 1232 and moves toward the convex portion 1233 as the dial 12 rotates, thereby pressing the pin 16 and protruding the front end portion 162 of the pin 16 from the front end of the frame 14. In addition, when the pressure from the cam structure 123 is released, the pin 16 returns to the state of being housed in the frame 14 by the urging force of the spring in the long hole 161. In this way, when the pin 16 moves, the pin 16 slides in the through hole provided in the frame 14, but the pin 16 is guided by the surface that defines the through hole of the frame 14, so that the pin 16 can move without shaking.

[0107] As a result, when the auxiliary device 1 is switched to the cleaning mode M2, the end 2395 of the locking rod 239 (second component) is pushed inward toward the front end side by the front end portion 162 protruding from the frame 14, the engagement between the locking rod 239 and the counter rod 230 (first component) is released, and the counter rod 230 stretched by the spring 2393 relatively rotates toward the other side S2. In other words, when the auxiliary device 1 is switched to the cleaning mode M2, the end 2395 of the locking rod 239 is pushed inward toward the front end side by the front end portion 162 of the pin 16 protruding from the frame 14, thereby switching from the counter mechanism to the cleaning mode M2. Fig.13 The first state shown in (A) Fig.13 The "first operation" for changing the counter mechanism from the first state to the second state is to push the end 2395 of the locking lever 239 (second component) toward the front end of the manipulator 2, thereby releasing the engagement between the locking lever 239 and the counter lever 230 (first component), and rotating the counter lever 230 pulled by the spring 2393 relatively toward the other side S2. In other words, the dial 12 can be said to be moved from the first state to the second state. Fig.10 (A) The first position shown is Fig.10 (B) shows the operation of rotating to the second position.

[0108] In addition, when the counter mechanism is Fig.13In the second state shown in (B), the user places his finger on the end 2304 of the counter lever 230 protruding to the outside of the robot body 231 to rotate the counter lever 230 to one side S1, thereby the counter mechanism is moved from Fig.13 The second state shown in (B) Fig.13 (A) The first state is changed. At this time, the counter disk 238 rotates by a storage amount equivalent to the count 2381 along with the rotation of the counter rod 230, and the number displayed to the outside through the window 233 decreases (-1). In this way, the second state is a state in which the counter mechanism can decrease. The "second operation" for changing the counter mechanism from the second state to the first state is an operation by the user to rotate the counter rod 230 to one side S1.

[0109] Thus, in the counter mechanism of the present embodiment, the number of transitions from the second state to the first state based on the second operation is counted. In addition, in the counter mechanism of the present embodiment, the second operation is performed by the user's hand, and on the other hand, since the first operation requires the rotation operation of the dial 12, the first operation becomes more difficult (not easy to operate) compared with the second operation.

[0110] The counter mechanism changes from the second state to the first state (in other words, the counter disk 238 rotates a predetermined number of times) Fig.13 In the example of 17 times, the protrusion 2382 of the counter disk 238 interferes with (contacts) the protrusion provided on the edge of the window 233, that is, the inner side surface (the surface on the counter disk 238 side) of the cover 232, thereby restricting the rotation of the counter disk 238 and the counter lever 230 above that. As a result, the counter mechanism of this embodiment cannot be turned to the first state when the number of transitions from the second state to the first state based on the second operation reaches a predetermined number of times. Fig.13 (A) The first state transition is shown. At this time, the count number 2381 displayed on the outside from the window 233 is "E". That is, if the count number 2381 "E" is displayed on the window 233, although the auxiliary device 1 can be installed after the use of the manipulator 2 and cleaned in the cleaning mode M2, the counter rod 230 cannot be rotated to one side S1 (the protrusion 2382 of the counter disk 238 interferes with the protrusion provided on the edge of the window 233), so the manipulator 2 cannot be installed on the robot arm and the manipulator 2 cannot be used. In addition, Fig.13 In the example of , although the predetermined number of times is set to 17 times, the predetermined number of times is arbitrarily determined according to the durability of the robot 2 to the sterilization process.

[0111] In addition, if Fig.14 As shown, on the surface of the base end side (handle 11 side) of the dial 12, there is provided a position display 120 to indicate the position for moving the dial 12 from Fig.10(A) The first position shown is Fig.10 (B) shows an arrow indicating the direction of rotation of the second position 1201. In addition, a raised portion 1221 may be formed on the periphery of the second long hole 122 in the dial 12, where the periphery of the dial 12 is raised toward the center in the longitudinal direction of the second long hole 122. The raised portion 1221 is provided at the boundary portions of the handle 11 and the spindle 13 at the respective positions P1, P2, and P3 in the neutral mode M1 and the gear drive mode M3.

[0112] Fig.15 as well as Fig.16 It is an explanatory diagram illustrating the structure of the cleaning nozzle 19 . Fig.16 (A) is a longitudinal sectional view of the cleaning nozzle 19 inserted into the robot 2. Fig.16 (B) Yes Fig.16 (A) is a cross-sectional view of the first flow channel 191L ​​taken along the line AA. Fig.16 (C) Yes Fig.16 (A) is a cross-sectional view of the second flow path 192L along the BB line. In addition, the AA line is a line perpendicular to the extension direction of the first flow path 191L, and the BB line is a line perpendicular to the extension direction of the second flow path 192L. Therefore, Fig.16 (B) is a cross-sectional view taken along a plane perpendicular to the extending direction of the first flow path 191L. Fig.16 (C) is a cross-sectional view taken along a plane perpendicular to the extending direction of the second flow path 192L. Fig.15 , Fig.16 The structure of the cleaning nozzle 19 will be described.

[0113] The cleaning nozzle 19 includes a nozzle body 190. The nozzle body 190 includes a first surface 1901 located at the base end side and a second surface 1902 located at the front end side. A protrusion 1903 is provided that extends further toward the front end side from the second surface 1902 of the nozzle body 190. A cutout 194 is formed at the lower portion of the nozzle body 190, where a portion of the nozzle body 190 is cut away. In addition, the cutout 194 can be omitted. Fig.16 As shown in (A), when the auxiliary device 1 is connected to the robot 2, the front end of the nozzle body 190 (specifically, the front end of the protrusion 1903) is inserted into the robot 2 from the cleaning port 2361 (opening) provided on the base end surface 236 of the robot body 231. The first base end opening 191 and the second base end opening 192 are provided at the base end of the nozzle body 190 (specifically, the first surface 1901). The first front end opening 193 and the second front end opening 195 are provided at the front end of the nozzle body 190 (specifically, the front end of the protrusion 1903). When the auxiliary device 1 is connected to the robot 2, the first front end opening 193 and the second front end opening 195 are connected to the cleaning port 2361 of the robot 2.

[0114] A first flow path 191L ​​and a second flow path 192L are formed inside the nozzle body 190. The first flow path 191L ​​is a flow path whose front end is connected to the first front end opening 193 and whose base end is connected to the first base end opening 191. The second flow path 192L is a flow path whose front end is connected to the second front end opening 195 and whose base end is connected to the second base end opening 192. Fig.16 As shown in (B) and (C), the cross-sectional area of ​​the second flow path 192L is smaller than the cross-sectional area of ​​the first flow path 191L. Fig.16 As shown in (A), a portion of the second base end opening 192 side of the second flow path 192L is formed as an expanded flow path 192La with a larger cross-sectional area so that a flushing device as an external device can be inserted. Fig.16 The second flow path 192L shown in (C) and having a smaller cross-sectional area than the first flow path 191L ​​refers to the portion other than the expanded flow path 192La in the second flow path 192L. In the example shown in the figure, the cross-sectional shape of the first flow path 191L ​​and the cross-sectional shape of the second flow path 192L are both circular, but the cross-sectional shapes of the first flow path 191L ​​and the second flow path 192L can be any shape other than a circle.

[0115] like Fig.16 As shown in (A), the second flow path 192L is formed on the inner side of the second flow path forming member 196. The second flow path forming member 196 is arranged inside the nozzle body 190 at an angle relative to the extension direction (X-axis direction) of the nozzle body 190. A portion of the front end side of the second flow path forming member 196 protrudes from the inner circumferential surface of the first flow path 191L ​​into the first flow path 191L. Therefore, the protrusion 1903 and the second flow path forming member 196 form a double tube structure on the front end side of the nozzle body 190, and a portion of the front end side of the second flow path 192L is arranged on the inner side of the first flow path 191L. In addition, the front end portion of the second flow path forming member 196 protrudes from the first front end opening 193 to the front end side (the manipulator 2 side, the flow path 2L side in the manipulator 2). Therefore, the second front end opening 195 at the front end of the second flow path 192L protrudes from the first front end opening 193 and is located closer to the front end side (the manipulator 2 side, the flow path 2L side in the manipulator 2) than the first front end opening 193. The protruding length L of the second front end opening 195 , in other words, the linear distance L between the second front end opening 195 and the first front end opening 193 , can be arbitrarily determined.

[0116] Here, when the flow resistance of the first flow path 191L ​​is set to FR1, the flow resistance of the second flow path 192L is set to FR2, and the flow resistance of the flow path 2L inside the manipulator 2 (in other words, the flow path 2L connected to the cleaning port 2361 of the manipulator 2) is set to FR3, in the manipulator system 9 of this embodiment, the relationship shown in the following formula (1) holds. That is, the flow resistance FR2 of the second flow path 192L is greater than the flow resistance FR3 of the flow path 2L inside the manipulator 2.

[0117] FR3<FR2···(1)

[0118] In the robot system 9, the relationship shown in the following formula (2) is preferably established. That is, the flow resistance FR1 of the first flow path 191L ​​is smaller than the flow resistance FR3 of the flow path 2L inside the robot 2, and the flow resistance FR2 of the second flow path 192L is larger than the flow resistance FR3 of the flow path 2L inside the robot 2.

[0119] FR1<FR3<FR2···(2)

[0120] The magnitude relationship among the flow path resistance FR1, the flow path resistance FR2, and the flow path resistance FR3, that is, the relationship of equations (1) and (2), can be confirmed by the amount of water flowing out from the first base end opening 191, the second base end opening 192, and the forceps 211 when the first flow path 191L, the second flow path 192L, and the flow path 2L of the manipulator 2 are filled with water from the first base end opening 191. In addition, regarding the flow path resistance FR1 and the flow path resistance FR2, it can be known that FR1<FR2 based on the magnitude relationship between the cross-sectional areas of the first flow path 191L ​​and the second flow path 192L.

[0121] Fig.17 It is an explanatory diagram of the method of using the cleaning nozzle 19. Fig.17 (A) shows a state where the cleaning fluid is injected into the flow path 2L inside the robot 2 . Fig.17 (B) shows a state where the cleaning fluid is discharged from the flow path 2L inside the robot 2 .

[0122] use Fig.17(A) A case where a cleaning fluid is injected into the flow path 2L and the interior of the main device 23, the interior of the main shaft 22, and the end effector 21 are cleaned is described. In this case, the front end portion of the flusher 3 filled with the cleaning fluid is inserted into the first flow path 191L ​​from the first base end opening 191. The cleaning fluid supplied from the flusher 3 by inserting the plunger into the flusher 3 flows out from the first front end opening 193 through the first flow path 191L ​​and is supplied to the flow path 2L of the manipulator 2. When the cleaning fluid flows into the flow path 2L, the air in the flow path 2L is pushed out from the second front end opening 195 to the second flow path 192L and discharged to the outside through the second base end opening 192. Thus, the cleaning fluid can be smoothly injected into the flow path 2L in the manipulator 2 without excessive force.

[0123] use Fig.17 (B) The case of discharging the cleaning fluid filled with the flow path 2L in the manipulator 2 to the outside is described. In this case, the front end of the washer 3 filled with air (or other gases) is inserted into the second flow path 192L (specifically, the expanded flow path 192La) from the second base end opening 192. The air supplied from the washer 3 by inserting the plunger into the washer 3 flows out from the second front end opening 195 through the second flow path 192L and is supplied to the flow path 2L of the manipulator 2. When air flows into the flow path 2L, the cleaning fluid in the flow path 2L is pushed out from the first front end opening 193 to the first flow path 191L ​​and discharged to the outside through the first base end opening 191. As a result, the cleaning fluid can be smoothly discharged from the flow path 2L in the manipulator 2 without excessive force. That is, it can also be said that the first flow path 191L ​​is a flow path for liquid, and the second flow path 192L is a flow path for gas (air).

[0124] In addition, if Fig.17 As shown by the blank arrow in (A), when the washer 3 is pushed toward the robot 2, in other words, when an external force is applied from the first base end opening 191, the position of the cleaning nozzle 19 in the auxiliary device 1 slides from the base end side toward the front end side (in other words, toward the robot 2). Fig.17 As shown by the blank arrow in (B), when the flusher 3 is pushed toward the manipulator 2, in other words, when an external force is applied from the second base end opening 192, the position of the cleaning nozzle 19 in the auxiliary device 1 slides from the base end side toward the front end side (in other words, toward the side of the manipulator 2). This is achieved by fixing the cleaning nozzle 19 relative to the frame 14 of the auxiliary device 1 in a slidable state. Here, when an external force is applied from the first base end opening 191 or the second base end opening 192, the cleaning nozzle 19 slides along the X-axis from the base end side toward the front end side (in other words, toward the side of the manipulator 2). For example, Fig.17As shown in (A), the first front end opening 193 and the first base end opening 191 located at both ends of the first flow path 191L ​​are arranged in a straight line along the sliding direction (X axis) of the cleaning nozzle 19. On the other hand, the second base end opening 192 located at the base end of the second flow path 192L is arranged on an imaginary line VL intersecting the sliding direction (X axis).

[0125] Each component constituting the auxiliary device 1 described above and each component constituting the manipulator 2 can be formed of a well-known resin material or a well-known metal material. In this way, the auxiliary device 1 and the manipulator 2 do not use electronic components, etc., and the auxiliary device 1 and the manipulator 2 are simple structures composed of a combination of components formed of commonly used materials, so they can also withstand water wetting in the cleaning process and high temperatures in the sterilization process.

[0126] As described above, according to the manipulator system 9 of the first embodiment, the manipulator assisting device 1 (manipulator assisting device main body) includes: the auxiliary gear 17 that engages with the driven gear 235 when the assisting device 1 is connected to the manipulator 2; and the handle 11 that transmits the driving force to the auxiliary gear 17. Therefore, after the assisting device 1 is connected to the base end of the manipulator 2, by operating the handle 11 of the assisting device 1, the driven gear 235 of the manipulator 2 can be operated via the auxiliary gear 17, and the end effector 21 can be operated. That is, according to the manipulator system 9, it is possible to provide an assisting device 1 that can operate the end effector 21 of the manipulator 2 without a medical device (surgery assisting robot) by operating the handle 11 of the assisting device 1. As a result, after the assisting device 1 is connected to the base end of the manipulator 2, by operating the handle 11 of the assisting device 1 to perform cleaning, the manipulator 2 can be cleaned by making the movable part (forceps 211, second joint 214) of the end effector 21 take different postures. In addition, based on the connection of the auxiliary device 1 to the base end of the manipulator 2, by operating the handle 11 of the auxiliary device 1, the manipulator 2 can be pulled out from the patient's body cavity after the movable part (forceps 211, second joint 214) of the end effector 21 is in a safe shape (for example, the second joint 214 is in a straight state and the forceps 211 is in a closed state).

[0127] In addition, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) can selectively engage the auxiliary gear 17 with one of the plurality of driven gears 235 (specifically, the gripping shaft gear 2351 as the first driven gear and the bending shaft gear 2354 as the second driven gear) provided in the manipulator 2 by sliding the handle 11 in a state where the auxiliary device 1 is connected to the manipulator 2. Therefore, in a case where the manipulator 2 has the first driven gear and the second driven gears 2351 and 2354 for making the movable part (the forceps 211 and the second joint 214) of the end effector 21 perform different actions, the auxiliary device 1 can selectively move the movable part (the forceps 211 and the second joint 214) of the end effector 21 by selectively engaging the auxiliary gear 17 with one of the first driven gear and the second driven gear 2351 and 2354.

[0128] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) is provided with a cleaning nozzle 19, so when the auxiliary device 1 is connected to the manipulator 2, a cleaning fluid for cleaning the inside of the manipulator 2 can be easily supplied to the flow path 2L of the manipulator 2 via the cleaning nozzle 19. In addition, according to the manipulator system 9, the auxiliary device 1 is provided with a pin 16 (acting part), so when the auxiliary device 1 is connected to the manipulator 2, the counter mechanism provided by the manipulator 2 can be switched to a state capable of performing a counting action via the pin 16 (acting part). As a result, the efficiency and accuracy of cleaning the manipulator 2 can be improved. In addition, using the counter mechanism, the number of times the manipulator 2 is cleaned can be easily managed.

[0129] Furthermore, according to the manipulator system 9 of the first embodiment, the user connects the auxiliary device 1 (manipulator auxiliary device body) to the manipulator 2, and switches between the gear drive mode M3 and the cleaning mode M2 ​​using the dial 12 (switching unit), thereby enabling the manipulator 2 to perform a desired action. In addition, in the gear drive mode M3, the sliding movement of the handle 11 is allowed and the approach to the cleaning nozzle 19 is restricted, and in the cleaning mode M2, the sliding movement of the handle 11 is restricted and the approach to the cleaning nozzle 19 is allowed. As a result, when the auxiliary device 1 is in each mode, the user can be prevented from performing operations other than those permitted in each mode. That is, the user's erroneous operation can be prevented.

[0130] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) has a neutral mode M1 in addition to the gear drive mode M3 and the cleaning mode M2. In addition, the dial 12 (switching unit) of the auxiliary device 1 allows the switching between the gear drive mode M3 and the neutral mode M1, and the switching between the cleaning mode M2 ​​and the neutral mode M1, and restricts the switching between the gear drive mode M3 and the cleaning mode M2 ​​without passing through the neutral mode M1. Therefore, in the process of causing the manipulator 2 to move in the gear drive mode M3 accompanied by the movement of the end effector 21, it is possible to suppress erroneous operation such as erroneous transition to the cleaning mode M2 ​​accompanied by the decrement of the counter mechanism, and the usability of the auxiliary device 1 can be improved.

[0131] Furthermore, according to the manipulator system 9 of the first embodiment, the relative position of the auxiliary gear 17 with respect to the frame 14 can be changed by sliding the handle 11 of the auxiliary device 1 (manipulator auxiliary device main body) in the frame 14 .

[0132] Furthermore, according to the manipulator system 9 of the first embodiment, the assisting device 1 (manipulator assisting device main body) uses the dial 12 as a switching unit, and the dial 12 is a disc-shaped dial 12 having a cutout 121, which is arranged between the handle 11 and the frame 14 and can rotate around the main shaft 13. Therefore, by rotating the dial 12 to the first position where the cutout 121 does not overlap with the base end openings 191 and 192 of the washing nozzle 19, the dial 12 can restrict the approach to the washing nozzle 19, and by rotating the dial 12 to the second position where the cutout 121 overlaps with the base end openings 191 and 192, the dial 12 can allow the approach to the washing nozzle 19.

[0133] Furthermore, according to the manipulator system 9 of the first embodiment, the dial 12 used as the switching unit in the assisting device 1 (manipulator assisting device main body) is provided with the second long hole 122, and when the dial 12 is in the first position, the second long hole 122 is in the same direction as the first long hole 145 of the frame 14. Therefore, by rotating the dial 12 to the first position, the second long hole 122 of the dial 12 and the first long hole 145 of the frame 14 are in the same direction, so that the dial 12 can allow the sliding movement of the handle 11, and by rotating the dial 12 to the second position, the second long hole 122 of the dial 12 and the first long hole 145 of the frame 14 are in different directions, so that the dial 12 can restrict the sliding movement of the handle 11.

[0134] Furthermore, according to the robot system 9 of the first embodiment, in the auxiliary device 1 (the robot auxiliary device body), a raised portion 1221 is formed at the peripheral edge of the second long hole 122 of the dial 12, the peripheral edge of which is raised toward the second long hole 122. Therefore, at the positions P2 and P3 ( Fig.11 ) and the non-engaging position P1( Fig.11 ), the raised portion 1221 is formed between the positions P2 and P3, which makes it easier for the user to grasp the mechanism and prevents the handle 11 from shaking between the engaged positions P2 and P3 and the unengaged position P1. That is, the handle 11 can be prevented from being located between the positions P2 and P1, or between the positions P3 and P1.

[0135] Furthermore, according to the manipulator system 9 of the first embodiment, when a torque exceeding a predetermined amount is applied to the handle 11 of the auxiliary device 1 (the main body of the manipulator auxiliary device), the engagement between the auxiliary gear 17 and the driven gear 235 is released by causing an "axial offset" in which the main shaft 13 is tilted relative to the longitudinal direction of the auxiliary device 1, that is, the X-axis direction. Therefore, even when a torque exceeding a predetermined amount is applied to the handle 11, excessive rotation of the driven gear 235 can be suppressed, and failure of the end effector 21 caused by excessive rotation of the driven gear 235 can be suppressed.

[0136] Furthermore, according to the manipulator system 9 of the first embodiment, a manipulator system 9 can be provided, comprising: a manipulator 2, which is connected to a medical device (surgical assistance robot) and has an end effector 21 that is actuated by the medical device; and an auxiliary device 1 that can perform the actions of the end effector 21 of the manipulator 2 without the medical device.

[0137] Furthermore, according to the manipulator system 9 of the first embodiment, when the auxiliary device 1 (manipulator auxiliary device body) is connected to the manipulator 2 and the mode is changed to the cleaning mode M2 ​​by the rotation of the dial 12, the counter rod 230 (first component) is relatively rotated to the other side S2, and the end 2304 of the counter rod 230 protrudes to the outside of the manipulator body 231. That is, the counter mechanism can be switched to a state in which the counting action (decrement) can be performed by connecting the auxiliary device 1 to the manipulator 2 and changing to the cleaning mode M2 ​​as an opportunity. In addition, in order to remove the auxiliary device 1 from the manipulator 2 and attach the manipulator 2 to the medical device (surgery assisting robot), when the end 2304 of the counter rod 230 (first component) protruding to the outside of the manipulator body 231 is retracted into the inside of the manipulator body 231, the counter rod 230 is relatively rotated to one side S1, and the counter mechanism counts (decrements) by the rotation of the counter disk 238. That is, the counter mechanism can automatically count (decrement) when the end portion 2304 of the counter rod 230 protruding to the outside is housed inside the robot body 231 .

[0138] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 is changed from Fig.13 The first state shown in (A) Fig.13 (B) The second state transition is performed by a second operation of the counter mechanism after the transition to the second state. Fig.13 The second state shown in (B) Fig.13(A) shows the first state transition. Then, the counter mechanism of the manipulator 2 counts the number of transitions from the second state to the first state based on the second operation. In the manipulator system 9 of the first embodiment, in a place where the manipulator 2 is cleaned, in a state where the auxiliary device 1 is connected to the manipulator 2, the first operation is performed by changing the auxiliary device 1 to the cleaning mode M2, but the second operation is not performed. This is because, even if the end 2304 of the counter rod 230 protrudes to the outside of the manipulator body 231 by the execution of the first operation, the end 2304 of the counter rod 230 is located on the inner side of the auxiliary device 1, so the second operation cannot be performed unless the auxiliary device 1 is removed. Therefore, it is possible to suppress multiple counts caused by erroneously operating the counter mechanism during the cleaning of the manipulator 2. On the other hand, in order to remove the auxiliary device 1 at a place where the manipulator 2 is used, the manipulator 2 in the state of executing the first operation (the state in which the end 2304 of the counter rod 230 protrudes to the outside of the manipulator body 231) is installed on the medical device (surgical assistance robot), and the second operation needs to be performed. Therefore, the counting of the counter mechanism can be performed reliably, and forgetting to count can be suppressed. That is, the counter mechanism has a first state in which counting is not possible and a second state in which counting is possible. Since only the number of transitions from the second state to the first state is counted, erroneous counting can be suppressed. By using such a counter mechanism to count the number of times the manipulator 2 is used, the number of times the manipulator 2 is used can be counted with high accuracy.

[0139] Furthermore, according to the manipulator system 9 of the first embodiment, in the manipulator 2, by utilizing the mechanical structure of the counter disk 238, the counter rod 230 (first component) and the locking rod 239 (second component), when transitioning from the second state to the first state, the counter disk is rotated by rotating the counter rod 230 (first component) of the counter mechanism relatively toward one side S1, thereby automatically counting (decrementing) the number of transitions.

[0140] Furthermore, according to the robot system 9 of the first embodiment, the counter mechanism of the robot 2 is Fig.13 In the first state shown in (A), the end 2304 of the counter rod 230 (first component) is retracted into the robot body 231. Fig.13 In the second state shown in (B), the end 2304 of the counter rod 230 (first component) protrudes outward from the robot body 231, so the user can understand the current state of the robot 2 (whether it is the first state or the second state, that is, before counting or after counting) at a glance. Fig.13In the second state shown in (B), the end 2304 of the counter rod 230 (first component) protrudes to the outside of the manipulator body 231, hindering the connection of the base end of the manipulator 2 to the medical device, thereby suppressing the transition from the second state to the first state, that is, forgetting to decrease the number of transitions, that is, forgetting to count.

[0141] Furthermore, according to the robot system 9 of the first embodiment, the counter mechanism of the robot 2 blocks the transition from the second state to the first state when the number of transitions from the second state to the first state reaches a predetermined number of times. Fig.13 In the second state shown in (B), the end 2304 of the counter rod 230 (first component) protrudes to the outside of the manipulator body 231 to hinder the base end of the manipulator 2 from being connected to the medical device, thereby preventing the user from mistakenly installing the manipulator 2 on the medical device and reuse it when the number of transitions from the second state to the first state exceeds the upper limit (i.e., the number of times the manipulator 2 is used).

[0142] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 has a window 233 as a display unit that displays the number of transitions and a counter disk 238, so the user can easily confirm the number of transitions from the second state to the first state (i.e., the number of times the manipulator 2 has been used) by confirming the display units 233 and 238. As a result, the usability of the manipulator 2 can be improved.

[0143] Furthermore, according to the manipulator system 9 of the first embodiment, the cleaning nozzle 19 of the auxiliary device 1 (manipulator auxiliary device body) includes a first flow path 191L ​​and a second flow path 192L having a smaller cross-sectional area than the first flow path 191L, the front end of the first flow path 191L ​​is connected to the first front end opening 193 and the base end is connected to the first base end opening 191, and the front end of the second flow path 192L is connected to the second front end opening 195 and the base end is connected to the second base end opening 192. Therefore, when the cleaning fluid for cleaning the inside of the manipulator 2 is injected from the flusher 3 as an external device, the flusher 3 is inserted only into the first base end opening 191, and the cleaning fluid is injected into the inside of the manipulator 2 from the first flow path 191L ​​through the cleaning port 2361 of the manipulator 2, so that the air inside the manipulator 2 can be released to the outside through the second front end opening 195, the second flow path 192L, and the second base end opening 192. As a result, the injection of the cleaning fluid into the inside of the manipulator 2 becomes easy. In addition, when the cleaning fluid is discharged after cleaning the manipulator 2, by inserting the washer 3 into the second base end opening 192 and injecting air into the manipulator 2 from the second flow path 192L through the cleaning port 2361 of the manipulator 2, the cleaning fluid inside the manipulator 2 can be easily discharged to the outside through the first front end opening 193, the first flow path 191L, and the first base end opening 191. As a result, the cleaning of the manipulator 2 can be efficiently performed using the cleaning nozzle 19.

[0144] Furthermore, according to the manipulator system 9 of the first embodiment, the second front end opening 195 of the cleaning nozzle 19 protrudes from the first front end opening 193 and is located closer to the front end side than the first front end opening 193, so that it is easier to discharge the air inside the manipulator 2 when the cleaning fluid is injected, and to inject air into the manipulator 2 when the cleaning fluid is discharged.

[0145] Furthermore, according to the manipulator system 9 of the first embodiment, the flow resistance FR2 of the second flow path 192L of the cleaning nozzle 19 is greater than the flow resistance FR3 of the flow path 2L of the manipulator 2, i.e., the flow path 2L connected to the cleaning port 2361 of the manipulator 2 (i.e., the flow resistance FR3 of the flow path inside the manipulator), so it is easier to discharge the air inside the manipulator 2 when the cleaning fluid is injected, and to inject air into the manipulator 2 when the cleaning fluid is discharged.

[0146] Furthermore, according to the robot system 9 of the first embodiment, it is possible to provide the assist device 1 including the cleaning nozzle 19 capable of efficiently performing cleaning of the robot 2 .

[0147] Furthermore, according to the manipulator system 9 of the first embodiment, the cleaning nozzle 19 of the auxiliary device 1 (manipulator auxiliary device body) can be slidably fixed to the frame 14 of the auxiliary device 1 from the base end side toward the front end side when an external force is applied from the first base end opening 191 or the second base end opening 192. Therefore, by pushing the external device 3 inserted into the first base end opening 191 or the second base end opening 192 toward the front end side, the front end portion of the cleaning nozzle 19 can be inserted deeper into the cleaning port 2361 of the manipulator 2, so that the cleaning nozzle 19 and the manipulator 2 can be fixed more reliably. As a result, the operability when injecting and discharging the cleaning fluid can be improved.

[0148] Furthermore, according to the manipulator system 9 of the first embodiment, the first front end opening 193 and the first base end opening 191 of the cleaning nozzle 19 are arranged in a straight line along the sliding direction of the cleaning nozzle 19, thereby enabling smooth injection and discharge of the cleaning fluid through the first front end opening 193, the first flow path 191L, and the first base end opening 191.

[0149] <Second embodiment>

[0150] In the second embodiment, the auxiliary gear 17 is described as being engaged with only the single driven gear 235 in the gear drive mode M3. The manipulator system 9A of the second embodiment includes an auxiliary device 1A instead of the auxiliary device 1 and a manipulator 2A instead of the manipulator 2.

[0151] Fig.18 2 is an explanatory diagram showing the structure of the manipulator 2A of the second embodiment. The manipulator 2A of the second embodiment is provided with a driven gear 235A instead of the driven gear 235. The driven gear 235A has a gripping shaft gear 2351 and a main shaft gear 2352, but does not have the front end rotation shaft gear 2353 and the bending shaft gear 2354 described in the first embodiment. Therefore, in the end effector 21 of the manipulator 2A, the forceps 211 can be opened / gripped and the main shaft 22 can be rotated, but the forceps 211 cannot be rotated and does not have the second joint 214.

[0152] Fig.19It is a diagram showing the state of the auxiliary device 1A in each mode of the second embodiment. The auxiliary device 1A of the second embodiment has a dial 12A instead of the dial 12. The dial 12A is provided with a position display 120A instead of the position display 120, and a second long hole 122A instead of the second long hole 122. The position display 120A and the second long hole 122A only have portions corresponding to the center P1 and one end side P2 described in the first embodiment. In other words, the position display 120A and the second long hole 122A do not have a portion corresponding to the other end side P3 described in the first embodiment. Therefore, as Fig.19 As shown in (C), in the gear drive mode M3, by sliding the handle 11 toward one end of the second long hole 122A, the main shaft 13 connected to the handle 11 slides toward one end P2 of the second long hole 122. As a result, the auxiliary gear 17 engages with the driven gear 235 (specifically, the gripping shaft gear 2351) of the manipulator 2A. By rotating the handle 11 in this state, the auxiliary device 1A can operate the forceps 211 of the manipulator 2A.

[0153] In this way, the structures of the auxiliary device 1A and the manipulator 2A can be modified in various ways, and in the gear drive mode M3, a structure in which the auxiliary gear 17 is engaged with only a single driven gear 235 (gripping shaft gear 2351) can also be adopted. In the second embodiment, the bending shaft gear 2354 is omitted, and a structure in which the auxiliary gear 17 is engaged with the gripping shaft gear 2351 in the gear drive mode M3 is illustrated. However, the gripping shaft gear 2351 can also be omitted, and a structure in which the auxiliary gear 17 is engaged with the bending shaft gear 2354 in the gear drive mode M3 can be adopted. In the manipulator system 9A of the second embodiment as described above, the same effect as that of the first embodiment described above can also be achieved.

[0154] <Third Embodiment>

[0155] In the third embodiment, a configuration in which the auxiliary gear 17 can selectively engage with all of the driven gears 235 in the gear drive mode M3 is described. A manipulator system 9B of the third embodiment includes an auxiliary device 1B instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as that of the first embodiment.

[0156] Fig. 201 is a diagram showing the relationship between the auxiliary gear 17 and the driven gear 235 in each mode of the third embodiment. The auxiliary device 1B has a dial 12B instead of the dial 12. A second long hole 122B is formed in the dial 12B instead of the second long hole 122. The second long hole 122B has an X-shape in which two long holes intersect. The second long hole 122B has an end P4 located on the main shaft gear 2352 side from the center P1, and an end P5 located on the front end rotating shaft gear 2353 side from the center P1, in addition to the positions P1 to P3 described in the first embodiment.

[0157] In the gear drive mode M3, the handle 11 is slid toward the end P4 of the second long hole 122B, so that the main shaft 13 connected to the handle 11 is slid toward the end P4 of the second long hole 122B. As a result, the relative position of the auxiliary gear 17 located at the front end of the main shaft 13 with respect to the frame 14 is also changed from the position P1 to the position P4, and the auxiliary gear 17 is engaged with the main shaft gear 2352 of the manipulator 2. By rotating the handle 11 in this state, the auxiliary device 1B can rotate the main shaft 22 of the manipulator 2. Similarly, in the gear drive mode M3, the handle 11 is slid toward the end P5 of the second long hole 122B, so that the main shaft 13 connected to the handle 11 is slid toward the end P5 of the second long hole 122B. As a result, the relative position of the auxiliary gear 17 located at the front end of the main shaft 13 with respect to the frame 14 is also changed from the position P1 to the position P5, and the auxiliary gear 17 is engaged with the front end rotating shaft gear 2353 of the manipulator 2. By rotating the handle 11 in this state, the assist device 1B can perform a rotation operation on the forceps 211 of the manipulator 2 .

[0158] In this way, the structure of the auxiliary device 1B can be changed in various ways, and a structure in which the auxiliary gear 17 can selectively engage with all of the driven gears 235 can also be adopted. In addition, the auxiliary device 1B can also adopt a structure in which the auxiliary gear 17 is engaged with any three gears of the driven gears 235. In this case, it is sufficient to change the shape of the second long hole 122B of the dial 12B. In the manipulator system 9B of the third embodiment as described above, the same effect as the first embodiment can also be achieved.

[0159] <Fourth embodiment>

[0160] In the fourth embodiment, a robot system 9C is described in which a part of the components described in the first embodiment is omitted. The robot system 9C of the fourth embodiment includes an assisting device 1C instead of the assisting device 1 and includes a robot 2C instead of the robot 2 .

[0161] Fig.211C and the robot 2C according to the fourth embodiment. The assisting device 1C does not include the cleaning nozzle 19 described in the first embodiment. Therefore, the assisting device 1C does not provide a cleaning nozzle 19 for cleaning the robot 2C. Figure 4 The cleaning mode M2 ​​changes in each action mode described in the above description. Therefore, the cutout 121 of the dial 12 can also be omitted. The manipulator 2C has a cover 232C instead of the cover 232. The window 233 for displaying the count 2381 of the counter disk 238 is not formed on the cover 232C. Therefore, in the manipulator 2C, the remaining number of uses of the manipulator 2C cannot be confirmed from the outside. However, the manipulator 2C counts the remaining number of uses internally by the counter mechanism described in the first embodiment.

[0162] In this way, the structure of the manipulator system 9C can be changed in various ways, and a part of the components described in the first embodiment, such as the cleaning nozzle 19 and the window 233, can be omitted. The above-mentioned structure that can be omitted is always just an example, and other structural parts not illustrated can also be omitted. For example, in the auxiliary device 1C, a structure in which the knob latch spring 115 and the dial rotation spring 129 are omitted, and the handle 11 and the dial 12 are not applied with force can also be adopted. For example, in the manipulator 2C, a structure in which the protrusion 2382 of the counter disk 238 is omitted so as not to hinder the transition from the second state to the first state more than a predetermined number of times can also be adopted. For example, in the manipulator 2C, the rod 234 can also be omitted. In the manipulator system 9C of the fourth embodiment as described above, the same effect as the first embodiment described above can also be achieved.

[0163] <Fifth embodiment>

[0164] In the fifth embodiment, a configuration that enables state transition without passing through the neutral mode M1 will be described. A manipulator system 9D of the fifth embodiment includes an assist device 1D instead of the assist device 1. The configuration of the manipulator 2 is the same as that of the first embodiment.

[0165] Fig. 22 is an explanatory diagram showing the state transition of the assisting device 1D according to the fifth embodiment. Fig.10 In the first position shown in (A), the dial 12 does not block the opening of the cleaning nozzle 19 (the first base end opening 191 and the second base end opening 192). In addition, in the auxiliary device 1D, the hole formed in the dial 12 for inserting the main shaft 13 is not the second long hole 122 described in the first embodiment, but a round hole that enables the handle 11 to slide regardless of whether the dial 12 is in the first state or the second state. In addition, in the auxiliary device 1D, the knob latch spring 115 and the dial rotation spring 129 are omitted, and no force is applied to the handle 11 and the dial 12. As a result, Fig. 22As shown, in the assist device 1D, the washing mode M2 ​​and the gear drive mode M3 can be directly switched without passing through the neutral mode M1.

[0166] In this way, the configuration of the manipulator system 9D can be variously modified, and the state transition of the assist device 1D may be performed without passing through the neutral mode M1. The manipulator system 9D of the fifth embodiment as described above can also achieve the same effects as those of the first embodiment.

[0167] <Sixth embodiment>

[0168] In the sixth embodiment, a configuration including a cleaning nozzle 19E different from that in the first embodiment will be described. A robot system 9E in the sixth embodiment includes an assisting device 1E instead of the assisting device 1. The configuration of the robot 2 is the same as that in the first embodiment.

[0169] Fig.23 This is an explanatory diagram illustrating the structure of a cleaning nozzle 19E according to the sixth embodiment. The auxiliary device 1E includes Fig.23 The cleaning nozzle 19E shown. In the cleaning nozzle 19E, only the first front end opening 193 is provided at the front end of the nozzle body 190E. When the auxiliary device 1E is connected to the manipulator 2, the first front end opening 193 is connected to the cleaning port 2361 of the manipulator 2. The second flow path forming component 196E is arranged inside the nozzle body 190E at an angle relative to the extension direction (X-axis direction) of the nozzle body 190E. The front end of the second flow path forming component 196E is located on the inner circumferential surface of the first flow path 191L, and the front end of the second flow path forming component 196E does not protrude into the first flow path 191L. Therefore, the second front end opening 195E provided at the front end of the second flow path 192L is provided on the inner circumferential surface of the first flow path 191L. In other words, the first flow path 191L ​​and the second flow path 192L merge in the second front end opening 195E. The straight-line distance L between the center of the second front end opening 195E and the first front end opening 193 can be determined arbitrarily, but is preferably as short as possible (small value).

[0170] In this way, the structure of the cleaning nozzle 19E can be changed in various ways, and the second front end opening 195E can also be set on the inner circumferential surface of the first flow path 191L. In the manipulator system 9E of the sixth embodiment as described above, the same effect as the first embodiment described above can also be achieved. In addition, according to the structure of the sixth embodiment, since the second front end opening 195E of the cleaning nozzle 19E is set on the inner circumferential surface of the first flow path 191L, the first flow path 191L ​​and the second flow path 192L merge in the second front end opening 195E, it is possible to provide a cleaning nozzle 19E and an auxiliary device 1E that can efficiently perform cleaning of the manipulator 2 by accommodating the second front end opening 195E in the first flow path 191L.

[0171] <Seventh embodiment>

[0172] In the seventh embodiment, a configuration including a cleaning nozzle 19F different from that in the first embodiment will be described. A robot system 9F in the seventh embodiment includes an assisting device 1F instead of the assisting device 1. The configuration of the robot 2 is the same as that in the first embodiment.

[0173] Fig.24 This is an explanatory diagram illustrating the structure of a cleaning nozzle 19F according to the seventh embodiment. The auxiliary device 1F includes Fig.24 The cleaning nozzle 19F shown in FIG. In the cleaning nozzle 19F, a first front end opening 193 and a second front end opening 195F are provided at different positions at the front end portion of the nozzle body 190F (specifically, the front end of the protrusion 1903). Fig.24 As shown, the first front end opening 193 and the second front end opening 195F are arranged at intervals in the Z-axis direction in the front end surface of the protrusion 1903. When the auxiliary device 1F is connected to the robot 2, the first front end opening 193 and the second front end opening 195F are respectively connected to the cleaning port 2361 of the robot 2. The second flow path forming member 196F is arranged in parallel inside the nozzle body 190F in the extension direction (X-axis direction) of the nozzle body 190E.

[0174] In this way, the structure of the cleaning nozzle 19F can be changed in various ways, and the first front end opening 193 and the second front end opening 195F can also be set at different positions at intervals. In the manipulator system 9F of the seventh embodiment as described above, the same effect as the first embodiment described above can also be achieved. In addition, according to the structure of the seventh embodiment, since the second front end opening 195F of the cleaning nozzle 19F is set at a position different from the first front end opening 193 in the front end portion of the nozzle body 190F, it is easy to manufacture the cleaning nozzle 19F and the auxiliary device 1F that can efficiently perform cleaning of the manipulator 2.

[0175] <Modification of this embodiment>

[0176] The present invention is not limited to the above-described embodiment, but can be implemented in various forms without departing from the gist of the invention. For example, the following modifications are possible.

[0177] [Modification 1]

[0178] In the above-mentioned first to seventh embodiments, an example of the structure of the manipulator system 9, 9A to 9F is shown. However, the structure of the manipulator system 9 can be changed in various ways. For example, the manipulator system 9 may also have other devices that are different from the auxiliary devices 1, 1A to 1F and the manipulators 2, 2A, 2C. For example, only a part of the structural part of the manipulator system 9 may be used. Specifically, it may be used only in the auxiliary devices 1, 1A to 1F, it may be used only in the manipulators 2, 2A, 2C, or it may be used only in the cleaning nozzles 19, 19E, 19F.

[0179] [Modification 2]

[0180] In the first to seventh embodiments described above, an example of the structure of the auxiliary device 1, 1A to 1F is shown. However, the structure of the auxiliary device 1 can be changed in various ways. For example, the shapes of the handle 11, the dial 12, the spindle 13, the frame 14, the side lock button 15, the pin 16, the auxiliary gear 17, the protrusion 18, and the cleaning nozzle 19 can also be appropriately changed. For example, the position display 120 and the direction display 1201 of the dial 12 (switching part) can also be omitted. For example, the pin 16 (action part) can also be omitted. In this case, the cam structure 123 of the dial 12 that causes the pin 16 to operate can also be omitted. For example, the counter mechanism is described as a decrementing structure, but the number of uses can also be counted by incrementing. For example, the cleaning nozzle 19 can also be a structure that does not slide and is fixed to the frame 14 when an external force is applied from the first base end opening 191 and the second base end opening 192. For example, the torque limit mechanism can also be realized by a method other than the axis offset caused by the spindle 13. In this case, the handle 11 and the main shaft 13 may be connected via an O-ring made of elastic body so that when the torque applied to the handle 11 exceeds a predetermined amount, the handle 11 may rotate idly relative to the main shaft 13 .

[0181] [Variation 3]

[0182] In the first to seventh embodiments described above, an example of the structure of the manipulator 2, 2A, 2C is shown. However, the structure of the manipulator 2 can be changed in various ways. For example, the movable part of the end effector 21 can be changed in various ways, and at least a part of the forceps 211, the first joint 212, the first extension 213, the second joint 214, and the second extension 215 can be omitted. In addition, other surgical instruments (for example, a laser scalpel, etc.) can be provided instead of the forceps 211. For example, the movable part of the end effector 21 can also be replaced. For example, the shape of each part (manipulator body 231, cover 232, window 233, rod 234, driven gear 235, gear cover 237, etc.) constituting the main device 23 can also be appropriately changed. For example, the cover 232 can also be non-openable and non-closable, and the gear cover 237 can also be omitted. For example, the counter mechanism can also be used for counting other than the number of times the manipulator 2 is washed. For example, the manipulator 2 can also not have a counter mechanism. For example, the counter rod 230 of the manipulator 2 may not have the end portion 2304 , and the end portion 2304 does not protrude to the outside of the manipulator body 231 in the second state of the counter mechanism.

[0183] [Variation 4]

[0184] The structures of the manipulator systems 9, 9A to 9F of the first to seventh embodiments and the structures of the manipulator systems 9, 9A to 9F of the modified examples 1 to 3 may be appropriately combined. For example, in the manipulator systems 9A and 9B that perform the gear drive mode M3 described in the second embodiment and the gear drive mode M3 described in the third embodiment, the components described in the fourth embodiment and the neutral mode M1 described in the fifth embodiment may be omitted, and the cleaning nozzles 19E and 19F described in the sixth and seventh embodiments may be provided.

[0185] Above, the present invention is described based on the implementation mode and the variation, but the implementation mode of the above-mentioned scheme is to facilitate the understanding of the present invention and does not limit the present invention. The present invention can be changed and improved without departing from the scope of its main purpose and technical solution, and the present invention includes its equivalents. In addition, if the feature of its technology is not described as a necessary feature in this specification, it can be appropriately deleted.

[0186] Explanation of symbols

[0187] 1. 1A to 1F—auxiliary device, 2. 2A, 2C—manipulator, 3—external instrument, flusher, 9. 9A to 9F—manipulator system, 11—handle, 12. 12A, 12B—dial (switching part), 13—spindle, 14—frame (main body), 15—side lock button, 16—pin (acting part), 17—auxiliary gear, 18—protrusion, 19. 19E, 19F—cleaning nozzle, 21—end effector, 22—spindle, 23—main device, 111—grip part, 112—extension part, 114—washer, 120. 120A—position display, 121—cutout, 122. 12 2A, 122B—second long hole, 123—cam structure, 124—dial locking pin, 131—bearing, 141—flange, 142—base end surface, 143—recess, 144—retractable portion, 145—first long hole, 151—claw, 152—shaft, 161—long hole, 162—front end portion, 171—washer, 190, 190E, 190F—nozzle body, 191—first base end opening, 191L—first flow path, 192—second base end opening, 192L—second flow path, 192La—enlarged flow path, 193—first front end opening, 194—cutout, 195, 195E, 195F —second front end opening, 196, 196E, 196F—second flow path forming member, 211—tweezers, 212—first joint, 213—first extension, 214—second joint, 215—second extension, 230—counter rod (first member), 231—manipulator body, 232, 232C—cover, 233—window (display), 234—rod, 235, 235A—driven gear, 236—base end surface, 237—gear cover, 238—counter disk (display), 239—locking rod (second member), 1201—direction display, 1221—raised portion, 1231—recessed portion, 1 232—inclined portion, 1233—convex portion, 1901—first surface, 1902—second surface, 1903—protrusion, 2301—first extension portion, 2302—second extension portion, 2303—axis, 2304—end portion, 2311—side surface, 2341—protrusion, 2342—arm portion, 2343—end portion, 2351—holding shaft gear, 2352—main shaft gear, 2353—front end rotating shaft gear, 2354—bending shaft gear, 2361—cleaning port, 2381—counting number, 2382—protrusion, 2391—recess, 2392—extension portion, 2394—axis, 2395—end portion.

Claims

1. A manipulator assist device, characterized in that: A manipulator assisting device body connected to a base end portion of a manipulator, wherein the manipulator is a manipulator whose base end portion can be attached to and detached from a medical device, and comprises a driven gear that engages with a gear provided in the medical device when connected to the medical device, and an end effector that is actuated by power transmitted from the driven gear. The above-mentioned robot auxiliary device body has: an auxiliary gear which engages with the driven gear when the manipulator auxiliary device body is connected to the manipulator; a handle that transmits driving force to the auxiliary gear; and The main body is provided with the auxiliary gear and the handle.

2. The manipulator assist device according to claim 1, characterized in that: The handle is configured to be slidable on the main body, and the relative position of the auxiliary gear with respect to the main body is changed by the sliding movement. In the case where the driven gear of the manipulator includes a first driven gear and a second driven gear, the auxiliary gear can be selectively engaged with one of the first driven gear and the second driven gear by sliding the handle while the manipulator auxiliary device body is connected to the manipulator.

3. The manipulator assist device according to claim 1 or 2, characterized in that: The robot assisting device body includes a nozzle that is connected to a flow path included in the robot when the robot assisting device body is connected to the robot.

4. The manipulator assist device according to claim 3, characterized in that: The above-mentioned manipulator auxiliary device body has a gear drive mode that allows the handle to slide in the above-mentioned main body and restricts approach to the above-mentioned nozzle, and a cleaning mode that restricts the above-mentioned sliding movement of the handle and allows approach to the above-mentioned nozzle, and also has a switching part for switching between the above-mentioned gear drive mode and the above-mentioned cleaning mode.

5. The manipulator assist device according to claim 4, characterized in that: The manipulator assisting device body has a neutral mode in addition to the gear driving mode and the cleaning mode. In the neutral mode, the sliding movement of the handle is allowed, while the approach to the nozzle is restricted and the auxiliary gear is not engaged with the driven gear of the manipulator. The switching unit switches the gear drive mode, the cleaning mode and the neutral mode. The switching unit allows switching between the gear drive mode and the neutral mode and switching between the washing mode and the neutral mode, and restricts switching between the gear drive mode and the washing mode without passing through the neutral mode.

6. The manipulator assisting device according to claim 4 or 5, characterized in that: The auxiliary gear is arranged at the front end side of the main body. The handle is arranged on the base end side of the main body. The auxiliary gear is connected to the handle via a main shaft inserted into the main body. The nozzle has a flow path for the cleaning fluid to flow, a base end opening at the base end side of the main body connected to the flow path, and a front end opening at the front end side of the main body connected to the flow path. The switching part is a dial, which is a disc-shaped dial with a cutout, arranged between the handle and the main body, and rotatable around the main shaft inserted into the main body. By rotating the dial to a first position where the cutout does not overlap the base end opening, the dial limits the approach to the nozzle. The dial allows access to the nozzle by rotating the dial to a second position where the cutout overlaps the base end opening.

7. The manipulator assist device according to claim 6, characterized in that: The main body is provided with a first long hole, and the first long hole is used to enable the main shaft to slide on a plane orthogonal to the main shaft. The dial is provided with a second long hole, which passes through the front end surface and the base end surface of the dial and becomes the same direction as the first long hole of the main body when the dial is rotated to the first position. By rotating the dial to the first position, the second long hole of the dial and the first long hole of the main body are in the same direction, so that the dial allows the sliding movement of the handle. By rotating the dial to the second position, the second long hole of the dial and the first long hole of the main body are oriented in different directions, and thus the dial restricts the sliding movement of the handle.

8. The manipulator assist device according to claim 7, characterized in that: A bulge is formed on the peripheral edge of the second long hole in the dial so that the peripheral edge bulges toward the second long hole.

9. The manipulator assist device according to any one of claims 1 to 8, characterized in that: The auxiliary gear is connected to the handle via a main shaft inserted into the main body. The handle releases the engagement between the auxiliary gear and the driven gear by causing an axial deviation in which the main shaft is tilted with respect to the longitudinal direction of the manipulator assisting device body when a torque exceeding a predetermined amount is applied to the handle.

10. The manipulator assisting device according to any one of claims 1 to 9, characterized in that: The robot assisting device body further includes an action unit that switches a counter mechanism included in the robot to a state in which a counting operation can be performed.

11. A robot system, characterized in that: have: The manipulator assist device according to any one of claims 1 to 10; and Robotic arm, The above-mentioned robot has: a driven gear which engages with a gear on the medical device side when the manipulator is connected to the medical device; an end effector that is actuated by power transmitted from the driven gear; and The robot body is equipped with the driven gear and the end effector.

12. The robot system according to claim 11, characterized in that: The above-mentioned manipulator also has: A flow path for circulating a cleaning fluid for cleaning the interior of the robot body; and A counter mechanism for counting the number of cleanings, The above-mentioned counter mechanism comprises: a counter plate which displays the count number on a main surface and is rotatably fixed to the robot body; and a counter lever rotatably fixed to the manipulator body, which rotates the counter plate when the counter mechanism rotates in one direction and does not rotate the counter plate when the counter mechanism rotates in the other direction; When the robot assisting device is connected to the robot, the counter rod is relatively rotated toward the other side, and the end of the counter rod protrudes to the outside of the robot body. When the robot auxiliary device is removed from the robot and the end of the counter rod protruding outside the robot body is stored inside the robot body, the counter rod is relatively rotated toward one side, and the counter mechanism counts by rotating the counter disk.

Images