Operation assistance device

Abstract

An operation assistance device according to the present invention is provided with: an operation unit that is operated by an operator; an arm part which has a first movable part capable of rotating in a direction about a first rotation axis, and which varies the position and orientation of the operation part; and a placement part provided with a placement surface on which a part of the forearm used by the operator to perform the operation on the operation part is placed. The first rotation shaft is located at a position where the distance between the first rotation shaft and the wrist is closer than the distance between the operation part and the wrist when the operation part is operated by rotating the operation part with the wrist of the forearm as a rotation center in a state in which the forearm of the operator is placed on the placement surface.

Description

Technical Field

[0001] This invention relates to the technology of operation assistance devices that assist in procedures such as surgery. Background Technology

[0002] There are auxiliary devices that enable operators to perform more delicate operations. For example, in the medical field, there are surgeries called microsurgery that require delicate manipulation. In microsurgery, devices with operation support functions are sometimes used when the surgeon is performing the operation on the patient (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent document 8: International Publication No. 2023 / 127025. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] The device described in Patent Document 1 is a surgical assistance system having a main device and a slave device. The main device is operated to move the slave device, which is placed at a remote location, thereby enabling surgery on the patient.

[0008] However, the devices operated by surgical personnel tend to be large, which creates problems such as limited installation space and the inability to place items around the device.

[0009] The present invention is made in view of the above circumstances, and its object is to achieve miniaturization of the device and improve its usability.

[0010] Solution for solving the problem

[0011] The present invention relates to an operating aid comprising: an operating part operated by an operator; an arm having a first movable part and allowing the position and orientation of the operating part to be variable, the first movable part being rotatable about a first rotation axis; and a mounting part having a mounting surface on which a portion of the forearm used by the operator to operate the operating part is mounted, wherein the first rotation axis is positioned such that when the operator operates the operating part by rotating the wrist of the forearm with the forearm mounted on the mounting surface, the distance between the first rotation axis and the wrist is closer than the distance between the operating part and the wrist.

[0012] When the operation of the operating part, which is rotated around the wrist as the rotation center, is defined as "wrist rotation operation", according to the above structure, the range of hand movement caused by wrist rotation operation and the range of arm movement caused by wrist rotation operation will largely overlap.

[0013] The effects of the invention

[0014] According to the present invention, the device can be miniaturized and its usability improved. Attached Figure Description

[0015] Figure 1 This is a block diagram illustrating a structural example of a surgical assistance system according to an embodiment of the present invention.

[0016] Figure 2 This is a block diagram showing an example of the structure of the main device.

[0017] Figure 3 This is a block diagram showing a structural example of a main device equipped with parts for both right-hand and left-hand use.

[0018] Figure 4 This is a block diagram showing a specific structural example of the main device.

[0019] Figure 5 This is a perspective view showing an example of the structure of the main device.

[0020] Figure 6 It is a perspective view showing the operation of the main unit.

[0021] Figure 7 This is a perspective view of a part that is not shown in order to illustrate the second movable part in the main device.

[0022] Figure 8 It is a three-dimensional view showing the first movable part and its surrounding area.

[0023] Figure 9 This is a perspective view of a portion near the first movable part, which is not shown in order to illustrate the first rotation axis.

[0024] Figure 10 This is a perspective view showing the first movable part in a rotated state.

[0025] Figure 11 This is a schematic diagram used to illustrate the second movable part.

[0026] Figure 12 This is a schematic diagram used to illustrate the third movable part.

[0027] Figure 13 This is a schematic diagram showing the state of rotation of the third movable part.

[0028] Figure 14It is a schematic diagram used to explain the fourth, fifth, and sixth movable parts.

[0029] Figure 15 This is a schematic three-dimensional diagram used to explain the seventh movable part.

[0030] Figure 16 This is a schematic diagram showing the seventh movable part in a closed state relative to the gripping part.

[0031] Figure 17 This is a schematic diagram showing the seventh movable part in the open state relative to the gripping part.

[0032] Figure 18 This is a diagram used to illustrate the first rotation axis.

[0033] Figure 19 This is a diagram used to illustrate the first rotation axis.

[0034] Figure 20 This is a diagram showing the base section before and after rotating relative to the armrest.

[0035] Figure 21 It is a diagram used to illustrate the area that may exist in front of the surgeon's wrist, and the area that may exist at the base of the pedestal.

[0036] Figure 22 It is a diagram that uses other indicators to illustrate the positional relationship between the wrist's rotation center, operating part, and first rotation axis.

[0037] Figure 23 This is a diagram showing a variation of the handrail structure.

[0038] Figure 24 This is a block diagram illustrating an example of the structure of a simulation system. Detailed Implementation

[0039] <1. Structure of the Operation Assistance System>

[0040] Hereinafter, the structure of the operation assistance system S according to the embodiment will be described with reference to the accompanying drawings.

[0041] As one implementation of the operation assistance system S, the surgical assistance system SA is given as an example.

[0042] Furthermore, the structures shown in the accompanying drawings are merely examples for implementing the present invention. Therefore, various modifications can be made based on design, etc., without departing from the technical concept of the present invention. Additionally, for structures that have been described once, to avoid repetition, the same reference numerals are sometimes used thereafter and further description is omitted.

[0043] like Figure 1As shown, the surgical assistance system SA is configured to include a master device 1A and a slave device 2A. The master device 1A and the slave device 2A are connected by a wired or wireless communication network NW, such as the Internet. Thus, the slave device 2A can receive information about input operations to the master device 1A, and the master device 1A can receive information detected by the slave device 2A.

[0044] In the surgical assistance system SA, the various parts of the device 2A are driven according to the operation of the main device 1A by the surgical operator, thereby performing surgery on the patient.

[0045] The main device 1A is used by the operator performing the surgery, i.e., the surgeon. The secondary device 2A is a device installed in the operating room where the patient lies, and on which the actual surgery is performed.

[0046] like Figure 2 As shown, the main device 1A includes an arm 4 and an operating unit 5 operated by a surgical operator. The arm 4 is configured to change the position and orientation of the operating unit 5 based on the surgical operator's operation.

[0047] In addition, the slave device 2A includes: a holding mechanism for holding surgical instruments such as forceps and scalpels; and a variable mechanism for changing the position and orientation of the holding mechanism. Although the structure of the slave device 2A is not shown, the variable mechanism of the slave device 2A makes each part variable in such a way that the position and orientation of the surgical instrument held by the holding mechanism corresponds to the position and orientation of the operating part 5 of the main device 1A.

[0048] Thus, the surgeon operates the operating unit 5 of the main device 1A, thereby being able to freely manipulate the surgical instruments of the slave device 2A, which are located at a remote position.

[0049] The master device 1A and the slave device 2A are installed separately. The master device 1A and the slave device 2A can be installed in separate rooms or in the same room. That is, the master device 1A and the slave device 2A can also be installed in the same room and connected by a wire.

[0050] In the embodiments shown below, the specific structure of device 2A is omitted from the illustrations.

[0051] Reference Figure 2 The structure of the main device 1A is explained. Furthermore, Figure 2 In this document, only the control-related parts of the main unit 1A are selected and shown.

[0052] The main device 1A includes a main control unit 3, the aforementioned arm 4 which is the object controlled by the main control unit 3, and an operation unit 5.

[0053] The main control unit 3 is configured to include, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The CPU and other arithmetic processing devices execute programs stored in ROM and programs loaded in RAM, thereby realizing the intended function.

[0054] The arm 4 is configured to have multiple movable parts 6. The arm 4 also includes: a drive unit 7 that drives the movable parts 6; and a detection unit 8 that detects the amount of movement of the movable parts 6.

[0055] The operating unit 5, like the arm unit 4, includes a movable part 9, a drive part 10, and a detection part 11.

[0056] The movable part 6 of the arm 4 and the movable part 9 of the operating part 5 are configured to be movable by rotation. Alternatively, a portion of the movable part 6 and the movable part 9 may have a structure that allows them to be movable by a parallel linkage mechanism.

[0057] The drive unit 7 of the arm part 4 and the drive unit 10 of the operating part 5 are configured as motors or other drives. The drive units 7 and 10 are driven to suppress the natural rotation of the movable parts 6 and 9 due to gravity. That is, the drive units 7 and 10 are driven to maintain the position and posture of the operating part 5 as changed by the surgical operator.

[0058] Therefore, the surgeon can easily maintain the operating part 5 in the desired position and posture.

[0059] Furthermore, the drive units 7 and 10 are driven to reproduce the pressure and tactile sensations, such as resistance, experienced by the surgical instruments of the device 2A, in the operation unit 5 of the main device 1A. This function provides tactile feedback to the surgical operator.

[0060] The main control unit 3 supplies control signals to the drive unit 7 and drive unit 10, thereby driving the drive unit 7 and drive unit 10 to achieve the mobility of the movable unit 6 and movable unit 9. That is, the main control unit 3 performs the drive control function F1.

[0061] In addition, the main control unit 3 implements the force feedback function F2. Furthermore, the force feedback function F2 can also be implemented as a function of the drive control function F1.

[0062] The main control unit 3 receives detection signals from the detection units 8 and 11, which are generated by detecting the mobility of the movable parts 6 and 9. Based on the detection signals received from the detection units 8 and 11, the main control unit 3 calculates the mobility of the movable parts 6 and 9 and converts it into the mobility of the corresponding movable parts in the slave device 2A. That is, the main control unit 3 performs the mobility calculation function F3.

[0063] Furthermore, the transformation process can also be performed from device 2A.

[0064] From device 2A, the corresponding movable part is made movable according to the transformed movable amount.

[0065] Furthermore, it is considered that the surgical operator uses both hands to operate the main device 1A. Specifically, the main device 1A may have an arm 4 and an operating part 5 for the right hand and an arm 4 and an operating part 5 for the left hand.

[0066] For example, such as Figure 3 As shown, the main device 1A may also include a main control unit 3, a right-hand arm 4R and a right-hand operation unit 5R, a left-hand arm 4L and a left-hand operation unit 5L.

[0067] Furthermore, not limited to this, the arm 4 and operating section 5 may also be provided with an arm 4 and operating section 5 for the left foot and an arm 4 and operating section 5 for the right foot. In addition, in the case of multiple surgical operators, the arm 4 and operating section 5 may be provided with an arm 4 and operating section 5 prepared for surgical operator A and an arm 4 and operating section 5 prepared for surgical operator B.

[0068] That is, the structures of various arm parts 4 and operating parts 5 are considered.

[0069] The structure of the right-hand arm 4R and right-hand operating part 5R is identical to that of the left-hand arm 4L and left-hand operating part 5L. Specifically, these identical structures are configured separately, with the arm 4 and operating part 5 located on the left side from the surgeon's perspective serving as the left-hand arm 4 and operating part 5, and the arm 4 and operating part 5 located on the right side from the surgeon's perspective serving as the right-hand arm 4 and operating part 5. This allows the arm 4 and operating part 5 to be manufactured as a single component, thereby reducing costs and enabling component reuse.

[0070] Alternatively, the structure of the right-hand arm part 4R and the right-hand operating part 5R can be symmetrical to the structure of the left-hand arm part 4L and the left-hand operating part 5L.

[0071] Unless otherwise specified, the arm part 4 and the operating part 5 described below refer to the right-hand arm part 4R and the right-hand operating part 5R. Furthermore, the description of the structure of the left-hand arm part 4L and the left-hand operating part 5L is omitted here, as it is the same as that of the right-hand arm part 4R and the right-hand operating part 5R.

[0072] <2. Example of the structure of the main device>

[0073] The main device 1A has an arm 4 configured to have multiple movable parts 6. Specifically, such as... Figure 4 As shown, the arm 4 is provided with a first movable part 6a, a second movable part 6b, a third movable part 6c, a fourth movable part 6d, a fifth movable part 6e, and a sixth movable part 6f, which are movable parts 6 corresponding to 6DoF (Six Degrees of Freedom).

[0074] Alternatively, the drive unit 7 of the main device 1A may be provided in each of the plurality of movable parts 6. Alternatively, some movable parts 6 may not have a corresponding drive unit 7. Figure 4 In the example shown, the main device 1A is provided with a first drive unit 7a corresponding to the first movable part 6a, a second drive unit 7b corresponding to the second movable part 6b, and a third drive unit 7c corresponding to the third movable part 6c.

[0075] The main device 1A includes a detection unit 8 disposed in each of the plurality of movable parts 6. Specifically, the main device 1A is provided with a first detection unit 8a corresponding to the first movable part 6a, a second detection unit 8b corresponding to the second movable part 6b, a third detection unit 8c corresponding to the third movable part 6c, a fourth detection unit 8d corresponding to the fourth movable part 6d, a fifth detection unit 8e corresponding to the fifth movable part 6e, and a sixth detection unit 8f corresponding to the sixth movable part 6f.

[0076] The main device 1A has an operating unit 5 that includes a movable part 9. The movable part 9 of the operating unit 5 is a movable part 9 used to give the main device 1A a seventh degree of freedom, and is referred to below as the seventh movable part 9g.

[0077] Similarly, the detection unit 11 provided in the operation unit 5 is described as the seventh detection unit 11g corresponding to the seventh movable part 9g.

[0078] Furthermore, the operating unit 5 has a seventh drive unit 10g corresponding to the seventh movable unit 9g as the drive unit 10, but this is not mandatory. In the following description, an example in which the operating unit 5 is provided with a seventh drive unit 10g will be explained.

[0079] The main control unit 3 receives detection signals from the first detection unit 8a, the second detection unit 8b, the third detection unit 8c, the fourth detection unit 8d, the fifth detection unit 8e, the sixth detection unit 8f, and the seventh detection unit 11g, which are movable parts 6, and these signals are generated by detecting the mobility related to the first movable part 6a, the second movable part 6b, the third movable part 6c, the fourth movable part 6d, the fifth movable part 6e, the sixth movable part 6f, and the seventh movable part 9g.

[0080] The main control unit 3 converts these detection signals into values ​​corresponding to the mobility of each movable part in the slave device 2A and sends them to the slave device 2A.

[0081] The main control unit 3 supplies control signals to the first drive unit 7a, the second drive unit 7b, the third drive unit 7c, and the seventh drive unit 10g in order to enable the first movable part 6a, the second movable part 6b, the third movable part 6c, and the seventh movable part 9g to move.

[0082] Figure 5 This is a three-dimensional view of the main device 1A.

[0083] In addition to having Figure 5 In addition to the main control unit 3 (not shown), the arm 4 (shown), and the operation unit 5, the device also includes a frame 12 that supports the arm 4 and a handrail 13 mounted on the frame 12.

[0084] An arm 4 is installed on the handrail 13 mounted on the frame portion 12, thereby indirectly supporting the arm 4 on the frame portion 12. Alternatively, the arm 4 can be installed directly on the frame portion 12.

[0085] Furthermore, in the following description, the direction in which the arm 4 is mounted on the frame 12 is described as downwards, and the vertical direction is recorded as such.

[0086] In addition, the frame portion 12 is formed by a horizontally extending mounting portion 14 and a pair of feet 15 extending downward from both ends of the mounting portion 14.

[0087] In the following description, the direction in which the mounting part 14 of the frame part 12 extends is defined as the left-right direction, and the direction orthogonal to the up-down direction and the left-right direction is defined as the front-back direction.

[0088] The upper surface of the handrail 13 is set as the mounting surface 13a.

[0089] like Figure 6 As shown, the surgeon positions their body behind the frame 12, for example, by placing their right wrist on the mounting surface 13a of the armrest 13 and holding the rod-shaped operating part 5.

[0090] The arm 4 and the operating part 5 are integrated and movable in the left-right direction relative to the mounting part 14 of the frame part 12. Furthermore, the armrest 13 is mounted to the frame part 12 in the same direction as the arm 4 and the operating part 5 move in the left-right direction. That is, the arm 4, the operating part 5, and the armrest 13 are integrated and slide in the left-right direction relative to the mounting part 14.

[0091] Before performing surgery, the surgeon moves the arm 4, the operating part 5, and the armrest 13 to an appropriate position in the left-right direction, and then uses a fixing component (not shown) to fix the left-right position of the arm 4, the operating part 5, and the armrest 13 relative to the mounting part 14.

[0092] Therefore, it is possible to prevent the arm part 4, the operating part 5, and the handrail 13 from accidentally sliding in the left and right direction relative to the mounting part 14 during surgery, and to prevent operational errors.

[0093] <2-1. Example of arm structure>

[0094] Refer to the attached diagram to illustrate the specific structure of arm 4. Figure 7 This is a 3D view of arm part 4, which is related to... Figure 5 Compared to the diagram viewed from the opposite side in the left-right direction.

[0095] like Figure 5 as well as Figure 7 As shown, the movable parts 6 of the arm 4, from the base 4a installed on the armrest 13 toward the front end 4b, are sequentially the first movable part 6a, the second movable part 6b, the third movable part 6c, the fourth movable part 6d, the fifth movable part 6e, and the sixth movable part 6f. That is, the first movable part 6a is the movable part 6 of the arm 4 that is closest to the base 4a.

[0096] Specifically, the arm portion 4 includes: a base portion 16, which is mounted on the armrest 13 and forms a base portion 4a; a first intermediate portion 17, which is disposed on the front end portion 4b side of the base portion 16; a second intermediate portion 18, which is disposed on the front end portion 4b side of the first intermediate portion 17; a support portion 19, which forms the front end portion 4b and supports the operating portion 5; a first connecting portion 20, which connects the base portion 16 and the first intermediate portion 17; a second connecting portion 21, which connects the first intermediate portion 17 and the second intermediate portion 18; and a third connecting portion 22, which connects the second intermediate portion 18 and the support portion 19.

[0097] The first movable part 6a of the arm 4 is configured to rotate relative to the armrest 13.

[0098] The second movable part 6b is configured to allow the first connecting part 20 to rotate relative to the base part 16.

[0099] The third movable part 6c is configured to allow the second connecting part 21 to rotate relative to the first intermediate part 17.

[0100] The fourth movable part 6d is configured to allow the third connecting part 22 to rotate relative to the second intermediate part 18.

[0101] The fifth movable part 6e is configured as the part of the third connecting part 22 that rotates to change the positional relationship between the second intermediate part 18 and the support part 19.

[0102] The sixth movable part 6f is configured to allow the operating part 5 to rotate relative to the support part 19.

[0103] <2-1-1. First movable part>

[0104] First, the structure of the first movable part 6a will be explained in detail.

[0105] Figure 8 This is a perspective view showing a portion of the mounting portion 14 in the frame portion 12, the handrail 13, and the vicinity of the base portion 4a in the arm portion 4. Furthermore, Figure 8 In this figure, the wiring and other details used to enable the first movable part 6a to move are omitted. Similarly, the wiring and other details used to enable the movement of each movable part 6 are omitted in the following figures.

[0106] The armrest 13 includes: a proximal portion 13b, which is mounted on the proximal side in the front-rear direction relative to the mounting portion 14, i.e., the side of the surgical operator; and an inner portion 13c, which is mounted on the inner side in the front-rear direction relative to the mounting portion 14. The mounting surface 13a is formed by the upper surfaces of the proximal portion 13b and the inner portion 13c.

[0107] The mounting surface 13a is also a part of the surgical operator's forearm and a surface that allows a part of the forearm to slide when the forearm is moved, so it is desirable to be a surface with low friction.

[0108] Figure 9 This is a perspective view showing the inner portion 13c of the armrest 13 and the area near the base 4a of the arm 4. That is, Figure 9 It is not shown in the figure. Figure 8 The figure shows the mounting part 14 and the proximal part 13b.

[0109] like Figure 9 As shown, an insertion port 23 is provided on the inner side portion 13c of the handrail 13. The insertion port 23 is a cylindrical hole that opens downwards.

[0110] The base portion 16 of the arm portion 4 includes: a base portion 16a that is generally box-shaped; and a cylindrical protrusion 24 that protrudes upward from the base portion 16a. The protrusion 24 is shaped to prevent it from falling downward from the insertion port 23 when inserted into the insertion port 23.

[0111] The protrusion 24 is inserted into the insertion port 23, thereby the arm 4 is supported by the armrest 13.

[0112] In addition, the protrusion 24 can rotate in the direction D1 about the first rotation axis Ax1 when it is inserted into the insertion port 23. The first rotation axis Ax1 is a shaft shared by the insertion port 23 and the protrusion 24.

[0113] That is, such as Figure 8 , Figure 9 as well as Figure 10 As shown, the protrusion 24 rotates about the first rotation axis Ax1 when inserted into the insertion port 23, thereby causing the arm portion 4 as a whole to rotate relative to the armrest 13 about the first rotation axis Ax1. That is, the protrusion 24 of the base portion 16 is configured as a first movable portion 6a that is movable relative to the armrest 13.

[0114] Furthermore, consider various structures of the insertion port 23 and protrusion 24, which are designed to allow the arm portion 4 to rotate relative to the armrest 13 in the direction about the first rotation axis Ax1 without causing the base portion 16 to detach from the armrest 13. The illustrated example is merely one instance.

[0115] As described above, the arm 4 includes a first drive unit 7a, which serves as a mechanism for rotating the arm 4 in a direction D1 about the first rotation axis Ax1. Furthermore, in the direction D1 about the first rotation axis Ax1, the clockwise direction when viewed from above is designated as direction D1a, and the counterclockwise direction is designated as direction D1b.

[0116] like Figure 8 as well as Figure 9 As shown, the first drive unit 7a is configured to protrude downward at the front portion 13b of the armrest 13. The first drive unit 7a is, for example, a motor having a cylindrical drive shaft with the vertical direction as the axis.

[0117] The base portion 16 is provided with a portion that serves as the driving object of the first drive portion 7a. Specifically, the base portion 16 has a side protrusion 25 formed at its lower end, which protrudes in the direction opposite to the direction in which the first connecting portion 20 extends. Furthermore, in the following description, for the base portion 16a of the base portion 16, the direction in which the first connecting portion 20 extends is described as the depth direction, and the horizontal direction orthogonal to the depth direction is described as the width direction. That is, the depth direction and the width direction are directions that change according to the rotation state of the base portion 16 relative to the armrest 13.

[0118] The lateral protrusion 25 is configured to protrude from the base 16a in the depth direction.

[0119] The lateral protrusion 25 has an outer peripheral surface 25a, which is a surface that forms an arc centered on the first rotation axis Ax1 and is a side-facing surface.

[0120] On the outer peripheral surface 25a, the rope 26 is stretched along the arc. One end of the rope 26 is attached to the end of the arc on the outer peripheral surface 25a, and the other end is attached to the drive shaft of the motor, which serves as the first drive unit 7a.

[0121] When the motor, which serves as the first drive unit 7a, rotates in a predetermined direction, the rope 26 is wound around the motor shaft. Thus, as... Figure 8 as well as Figure 10 As shown, the base portion 16 rotates in the direction D1b about the first rotation axis Ax1.

[0122] Furthermore, the base portion 16 is subjected to force by a force-applying member such as a spring (not shown), causing the base portion 16 to rotate relative to the handrail 13 in the direction D1a of the direction D1 around the first rotation axis Ax1. Therefore, when the motor, which is the first drive unit 7a, rotates in the opposite direction to the predetermined direction, the rope 26 is released according to the amount of rotation, and rotates in the direction of force application, i.e., direction D1a, due to the force-applying member such as the spring.

[0123] The amount of rotation of the base portion 16 relative to the armrest 13 can be detected by the first detection unit 8a, as described above. Figure 9 As shown, the first detection unit 8a is configured as a coaxial cylindrical shape above the first drive unit 7a. The first detection unit 8a can detect the driving amount or rotation amount of the first drive unit 7a, such as a motor. Furthermore, the first detection unit 8a can also be configured to detect the angle of the base part 16 relative to the armrest 13, thereby detecting the rotation amount of the base part 16 relative to the armrest 13.

[0124] <2-1-2. Second movable part>

[0125] Then, refer to Figure 11 The second movable part 6b will be explained. Furthermore, the second movable part 6b is the connection portion between the base part 16 and the first connecting part 20. Moreover, in the following description, reference will be made to... Figure 11 We will use a simpler diagram than the ones mentioned above to illustrate this.

[0126] in addition, Figure 11 It shows the relationship between the left and right directions. Figure 8 , Figure 9 A diagram showing the state when viewed from the opposite direction.

[0127] besides, Figure 11 The illustrations of the second intermediate part 18, the support part 19, the second connecting part 21 in the arm part 4, as well as the first drive part 7a, the first detection part 8a, etc., are omitted.

[0128] Two shaft portions 27, 27 are provided in the base portion 16. These two shaft portions 27, 27 are provided on the front end portion 4b side of the protrusion 24 and are formed in the shape of rods.

[0129] The two shaft portions 27 are positioned such that their axial direction is the width direction of the base 16a, and the two shaft portions 27 are separated in the vertical direction. The two shaft portions 27 are the upper shaft portion 27a and the lower shaft portion 27b.

[0130] The first connecting part 20 has two parallel links 28, 28. The two parallel links 28 are a parallel link 28a located above and a parallel link 28b located below.

[0131] One end 28a1 of a parallel connecting rod 28a is mounted on the upper shaft 27a of the two shaft portions 27.

[0132] One end 28b1 of the parallel connecting rod 28b is mounted on the lower shaft 27b of the two shaft portions 27.

[0133] The parallel link 28a is rotatable relative to the shaft 27a in the direction about the shaft 27a. That is, the parallel link 28a is rotatable relative to the base 16a of the base 16 in the direction about the shaft 27a.

[0134] Similarly, the parallel link 28b can rotate relative to the shaft 27b in the direction about the shaft 27b, thereby being able to rotate relative to the base 16a of the base 16 in the direction about the shaft 27b.

[0135] Two rod-shaped shaft portions 29, 29 are provided in the first intermediate portion 17. The axial direction of the shaft portion 29 is consistent with the axial direction of the shaft portion 27, i.e., the width direction of the base portion 16a.

[0136] The other end 28a2 of the parallel connecting rod 28a is mounted on the upper shaft 29a of the two shaft portions 29.

[0137] The other end 28b2 of the parallel connecting rod 28b is mounted on the lower shaft 29b of the two shaft portions 29.

[0138] The parallel link 28a is rotatable about the shaft 29a. That is, the parallel link 28a is rotatable about the shaft 29a relative to the first intermediate part 17.

[0139] Similarly, the parallel link 28b can rotate in the direction about the shaft 29b, thereby being able to rotate relative to the first intermediate part 17 in the direction about the shaft 29b.

[0140] The base portion 16 and the first intermediate portion 17 are connected by two parallel connecting rods 28a and 28b, thereby maintaining the posture of the first intermediate portion 17 relative to the base portion 16, and only making the position of the first intermediate portion 17 relative to the base portion 16 change.

[0141] The first intermediate portion 17 rotates relative to the base portion 16 with approximately the middle of the shaft portions 27a and 27b as its rotation center. That is, the shaft portion 27, as well as one end 28a1 of the parallel link 28a and one end 28b1 of the parallel link 28b, are configured as the second movable portion 6b.

[0142] and, Figure 11 In the diagram, a solid line represents the state of the first intermediate part 17 before it rotates relative to the base part 16, and a double-dotted line represents the state after it rotates.

[0143] The structure of the second drive unit 7b, which is used to realize the rotational action of the second movable part 6b, will be described.

[0144] A rotating member 30 is mounted on one end 28a1 of the parallel connecting rod 28a mounted on the shaft 27a. The surface of the rotating member 30 facing the base 16a in the width direction is formed in a fan shape. The rotating member 30 is mounted coaxially with the shaft 27a, is integral with one end 28a1, and rotates about the shaft 27a.

[0145] On the side of the arc forming the rotating member 30, the rope 31 is stretched. One end of the rope 31 is fixed near one end of the arc of the rotating member 30.

[0146] The other end of the rope 31 is mounted on the drive shaft of the second drive unit 7b, which is a motor or the like disposed on the outer periphery of the rotating member 30. Figure 11 In the middle, rope 31 is represented by a thick solid line.

[0147] When the motor, which serves as the second drive unit 7b, rotates in a predetermined direction, the rope 31 is wound around the motor shaft. As a result, the parallel link 28a rotates relative to the base 16a in a predetermined direction D2a.

[0148] Furthermore, the parallel link 28a is subjected to force by a force-applying member such as a spring (not shown), causing the parallel link 28a to rotate relative to the base 16a in a direction opposite to direction D2a, i.e., direction D2b. Therefore, when the motor, which serves as the second drive unit 7b, rotates in a direction opposite to the predetermined direction, the rope 31 is released according to the amount of rotation, and rotates in the direction of force application, i.e., direction D2b, due to the force-applying member such as the spring.

[0149] Parallel link 28b rotates along with parallel link 28a relative to base portion 16, thereby maintaining a parallel state with parallel link 28a.

[0150] The amount of rotation of the parallel connecting rod 28a relative to the base 16a of the base portion 16 can be detected by the second detection unit 8b. For example... Figure 11 As shown, the second detection unit 8b and the second drive unit 7b are mounted coaxially. The second detection unit 8b can detect the driving amount or rotation amount of the second drive unit 7b, such as a motor. Furthermore, the second detection unit 8b can also be configured to detect the angle of the parallel link 28a relative to the base 16a.

[0151] <2-1-3. Third movable part>

[0152] Then, refer to Figure 12 The third movable part 6c is described. The third movable part 6c is the connection part between the first intermediate part 17 and the second connecting part 21.

[0153] Figure 12 The diagram illustrates the structure related to the third movable part 6c, which is... Figure 11 The omitted structure.

[0154] One end 32a1 of the parallel connecting rod 32a is also installed on the shaft portion 27a, which is mounted on the base 16a and extends in the width direction of the base 16a.

[0155] In the shaft portion 29a installed in the first intermediate portion 17, one end 32b1 of the parallel link 32b parallel to the parallel link 32a is also installed.

[0156] At the other end 32a2 of the parallel link 32a and the other end 32b2 of the parallel link 32b, a shaft-shaped portion protruding in the width direction of the base 16a is formed respectively.

[0157] One end 28c1 and the other end 28c2 of a parallel link 28c, which are parallel to the parallel link 28a, are respectively installed in the shaft-shaped portion formed at the other end 32a2 of the parallel link 32a and the shaft-shaped portion formed at the other end 32b2 of the parallel link 32b.

[0158] That is, when viewed from the side, parallel links 28a, 28c, 32a, and 32b form the sides of a parallelogram.

[0159] One end 28c1 of the parallel link 28c is circumferentially rotatable relative to the axial portion formed at the other end 32a2 of the parallel link 32a. That is, the angle between the parallel link 28c and the parallel link 32a is variable when viewed from the side.

[0160] In addition, the other end 28c2 of the parallel link 28c is circumferentially rotatable relative to the axial portion formed at the other end 32b2 of the parallel link 32b.

[0161] In addition to shaft portions 29a and 29b, the first intermediate portion 17 also has a rod-shaped shaft portion 29c. The axial direction of the shaft portion 29c is the same as that of the shaft portions 29a and 29b, and is in the width direction of the base portion 16a.

[0162] The second connecting part 21, which connects the first intermediate part 17 and the second intermediate part 18, has two parallel links 33. The two parallel links 33 are a parallel link 33a located relatively close to the base part 16 and a parallel link 33b located relatively far away from the base part 16.

[0163] One end 33a1 of the parallel link 33a is connected to one end 32b1 of the parallel link 32b. Figure 12 In the example shown, parallel links 32b and 33a are located on opposite sides of the shaft 29a in the circumferential direction. Parallel links 32b and 33a are integrated and rotate about the shaft 29a.

[0164] One end 33b1 of the parallel link 33b is rotatably mounted on the shaft 29c.

[0165] The second intermediate portion 18 is provided with two rod-shaped shaft portions 34 extending in the width direction of the base portion 16a. The two shaft portions 34 are shaft portion 34a located relatively close to the base portion 16 and shaft portion 34b located relatively far away from the base portion 16.

[0166] The other end 33a2 of the parallel link 33a is rotatably mounted on the shaft 34a.

[0167] The other end 33b2 of the parallel link 33b is rotatably mounted on the shaft 34b.

[0168] Explain the mobility of the third movable part 6c.

[0169] The parallel link 32a is able to rotate relative to the shaft 27a in the direction about the shaft 27a.

[0170] When the parallel link 32a rotates in one of the directions around the shaft 27a, the parallel link 28c moves in a generally forward direction in conjunction with it, and the parallel link 32b rotates in the direction around the shaft 29a.

[0171] When the parallel link 32b rotates in the direction about the shaft 29a, the parallel link 33a also rotates in the same direction about the shaft 29a.

[0172] Therefore, as Figure 13As shown, the second intermediate portion 18 rotates relative to the first intermediate portion 17 with approximately the midpoint between the shaft portions 29a and 29c as its rotation center. Furthermore, the first intermediate portion 17 and the second intermediate portion 18 are connected by two parallel links 33a and 33b, thereby maintaining the posture of the second intermediate portion 18 relative to the first intermediate portion 17, allowing only the position of the second intermediate portion 18 relative to the first intermediate portion 17 to change.

[0173] Based on the above, it can be understood that the shaft portion 29a, shaft portion 29c, one end 33a1 of the parallel link 33a, and one end 33b1 of the parallel link 33b are configured as the third movable part 6c.

[0174] The structure of the third drive unit 7c, which is used to realize the rotational action of the third movable part 6c, will be described.

[0175] A rotating member 35 is mounted on one end 32a1 of the parallel connecting rod 32a mounted on the shaft 27a. The surface of the rotating member 35 facing the base 16a in the width direction is formed into a fan shape. The rotating member 35 is mounted coaxially with the shaft 27a, for example, and is integral with one end 32a1 to rotate about the shaft 27a.

[0176] Furthermore, the rotating member 35 is a different member from the rotating member 30 described in the structure of the second drive unit 7b.

[0177] For example, a rotating member 30 is provided on one side of the base 16a in the width direction, and a rotating member 35 is provided on the other side.

[0178] Figure 12 as well as Figure 13 In the figure, the rotating member 30 is not shown, but the rotating member 35 is shown.

[0179] On the side of the arc forming the rotating member 35, the rope 36 is stretched. One end of the rope 36 is fixed near one end of the arc of the rotating member 35.

[0180] The other end of the rope 36 is mounted on the drive shaft of the third drive unit 7c, which is a motor or the like arranged on the outer periphery of the rotating member 35.

[0181] When the motor, which serves as the third drive unit 7c, rotates in a predetermined direction, the rope 36 is wound around the motor's shaft. The rotating member 35 rotates in the direction about the shaft 27a, and one end 32a1 of the parallel connecting rod 32a rotates in the direction about the shaft 27a. As a result, the parallel connecting rod 32a rotates relative to the base 16a in the predetermined direction D3a, from Figure 12 The state shown Figure 13 The state changes are shown.

[0182] Furthermore, the parallel link 32a is subjected to force by a force-applying member such as a spring (not shown), causing the parallel link 32a to rotate relative to the base 16a in a direction opposite to direction D3a, i.e., direction D3b. Therefore, when the motor, which serves as the third drive unit 7c, rotates in a direction opposite to the predetermined direction, the rope 36 is released according to the amount of rotation, and rotates in the direction of force application, i.e., direction D3b, due to the force-applying member such as the spring.

[0183] The amount of rotation of the parallel link 32a relative to the base 16a of the base portion 16 can be detected by the third detection unit 8c. For example... Figure 12 as well as Figure 13 As shown, the third detection unit 8c and the third drive unit 7c are mounted coaxially. The third detection unit 8c can detect the driving amount or rotation amount of the third drive unit 7c, such as a motor. Furthermore, the third detection unit 8c can also be configured to detect the angle of the parallel link 32a relative to the base 16a.

[0184] Furthermore, the third movable part 6c is a movable part 6 provided together with the first movable part 6a and the second movable part 6b mentioned above, mainly to make the position of the operation part 5 changeable.

[0185] Furthermore, the shaft portion 29a, shaft portion 29c, one end 33a1 of the parallel link 33a, and one end 33b1 of the parallel link 33b, which are the third movable part 6c, are positioned horizontally separated from the point where the arm portion 4 is supported by the armrest 13. Moreover, the point where the arm portion 4 is supported by the armrest 13 is the point where the protrusion 24 connects to the insertion port 23.

[0186] On the other hand, the position of the third drive unit 7c, such as the motor that is movable to the third movable part 6c, is near the connection point between the protrusion 24 and the insertion port 23 in the horizontal direction.

[0187] The third drive unit 7c, such as the motor, is usually a heavy object. Therefore, the further away the connection point between the protrusion 24 and the insertion port 23 is from the third drive unit 7c in the horizontal direction, the greater the force required to rotate the first intermediate part 17 and the second intermediate part 18 downward due to the lever principle, that is, the greater the force required to rotate the first intermediate part 17 in the direction D2b, making it difficult to maintain the position of the first intermediate part 17 and the parts arranged on the front side of the first intermediate part 17.

[0188] In addition, the driving force required for the third drive unit 7c to maintain or assist the position of the first intermediate part 17 and the parts arranged on the front side of the first intermediate part 17 is also increased, resulting in the enlargement of the third drive unit 7c.

[0189] To avoid such a vicious cycle, the third drive unit 7c is positioned near the connection point between the protrusion 24 and the insertion port 23, in other words, it is positioned directly below the inner part 13c of the armrest 13.

[0190] Therefore, the force required to rotate the first intermediate part 17 in the direction D2b due to gravity can be reduced, and the third drive part 7c can be miniaturized.

[0191] <2-1-4. Fourth movable part>

[0192] Reference Figure 14 Explain the fourth movable part 6d.

[0193] The fourth movable part 6d is the connection part between the second intermediate part 18 and the third connecting part 22.

[0194] and, Figure 14 The base portion 16, the first intermediate portion 17, and the first connecting portion 20 are omitted from the diagram.

[0195] A cylindrical engaging protrusion 37 protruding upwards is formed in the second intermediate portion 18. Furthermore, the term "upper" refers to the portion of the arm 4. Figure 14 The orientation shown indicates the direction in which the engaging protrusion 37 protrudes. Therefore, depending on the orientation of the arm 4, the protruding direction of the engaging protrusion 37 is not limited to the top, but sometimes also becomes the oblique upward direction.

[0196] The third connecting part 22 includes a mounting platform 38 installed on the second intermediate part 18 and two connecting rods. The two connecting rods 39 of the third connecting part 22 are a base end connecting rod 39a extending from the mounting platform 38 and formed into a rod shape, and an end end connecting rod 39b connecting the base end connecting rod 39a to the support part 19.

[0197] A through hole 38a extending along the thickness direction is formed approximately at the center of the mounting platform 38. With the engaging protrusion 37 inserted into the through hole 38a, the mounting platform 38 is mounted on the second intermediate portion 18.

[0198] The mounting platform 38 can rotate relative to the second intermediate part 18 in the direction D4 about the axis of the engaging protrusion 37.

[0199] That is, the engaging protrusion 37 of the second intermediate part 18 and the mounting platform part 38 with the through hole 38a are configured as the fourth movable part 6d.

[0200] A fourth detection unit 8d is provided inside the second intermediate part 18. The fourth detection unit 8d can detect the angle or rotation of the mounting platform 38 relative to the second intermediate part 18.

[0201] Furthermore, the location where the fourth detection unit 8d is installed is not limited to the interior of the second intermediate part 18; it can be installed at a position where the angle or rotation of the mounting platform 38 relative to the second intermediate part 18 can be detected.

[0202] <2-1-5. Fifth Movable Part>

[0203] The fifth movable part 6e is configured as the portion in the third connecting part 22 that changes the positional relationship between the second intermediate part 18 and the support part 19. Specifically, refer to... Figure 14 Please provide an explanation.

[0204] Specifically, one end 39a1 of the base-end side connecting rod 39a is connected to the mounting platform portion 38. In addition, a cylindrical shaft-like portion extending laterally is formed at the other end 39a2 of the base-end side connecting rod 39a.

[0205] One end 39b1 of the end-side connecting rod 39b is rotatably mounted to the shaft-like portion formed at the other end 39a2 of the base-side connecting rod 39a, and the other end 39b2 of the end-side connecting rod 39b is mounted to the support portion 19.

[0206] The end-side connecting rod 39b is rotatable relative to the base-side connecting rod 39a in a direction D5 about the axial portion provided at the other end 39a2. That is, the angle Ang1 between the base-side connecting rod 39a and the end-side connecting rod 39b is variable.

[0207] The other end 39a2 of the base-side connecting rod 39a and one end 39b1 of the end-side connecting rod 39b are configured as the fifth movable part 6e.

[0208] A fifth detection unit 8e is provided at the connection between the base end connecting rod 39a and the end connecting rod 39b. This fifth detection unit 8e can detect the angle or rotation of the end connecting rod 39b relative to the base end connecting rod 39a.

[0209] <2-1-6. Sixth movable part>

[0210] The sixth movable part 6f is the connection between the support part 19 and the operating part 5. Specifically, refer to... Figure 14 Please provide an explanation.

[0211] A cylindrical mounting protrusion 40 is formed in the support portion 19, extending in the opposite direction to the end-side connecting rod 39b.

[0212] The operating unit 5 has a pen-shaped grip 41 and a connecting part 42 that connects the grip 41 to the support part 19.

[0213] A through hole 42a is formed in the connecting part 42, which is inserted into the mounting protrusion 40 of the support part 19.

[0214] With the mounting protrusion 40 of the support portion 19 inserted into the through hole 42a, the connecting portion 42 can rotate relative to the support portion 19 in the direction D6 about the mounting protrusion 40. The holding portion 41 and the connecting portion 42 are integrated to rotate relative to the support portion 19.

[0215] Furthermore, the gripping part 41 of the operating part 5 and the mounting protrusion 40 are arranged coaxially. Therefore, the gripping part 41 can rotate about the central axis of the gripping part 41.

[0216] A sixth detection unit 8f is provided inside the support part 19. The sixth detection unit 8f can detect the angle or rotation of the operating part 5 relative to the support part 19.

[0217] Furthermore, the location where the sixth detection unit 8f is installed is not limited to the inside of the support 19; it can be installed at a position that can detect the angle or rotation of the operating unit 5 relative to the support 19.

[0218] Furthermore, the sixth movable part 6f, together with the fourth movable part 6d and the fifth movable part 6e, is mainly provided to make the posture of the operating part 5 variable.

[0219] <2-1-7. Seventh movable part>

[0220] Reference Figure 15 , Figure 16 as well as Figure 17 This will explain the seventh movable part 9g of the operating unit 5. Furthermore, Figure 15 , Figure 16 as well as Figure 17 The figure shows only the operating part 5 and the support part 19 of the main device 1A.

[0221] The gripping part 41 of the operating part 5 has a claw part 43 that protrudes outward from near the center of the gripping part 41.

[0222] The claw portion 43 is configured to protrude obliquely from the grip portion 41 as it moves away from the central axis of the grip portion 41 as it approaches the support portion 19.

[0223] like Figures 15 to 17 As shown in the figures, the separation amount of the front end 43a of the claw 43 relative to the gripping part 41 is variable. That is, the angle between the gripping part 41 and the claw 43 is variable.

[0224] The connection portion of the gripping part 41 to the claw part 43 is set as the seventh movable part 9g.

[0225] like Figure 18As shown, the surgeon can operate by holding the gripping part 41 with their palm and pressing the claw part 43 with their index finger or the like. In other words, the action of grasping an object with small forceps can be reproduced using the gripping part 41 and the claw part 43. Based on this grasping action, actions such as grasping a patient's part with forceps as a surgical instrument held in the device 2A, and cutting a patient's part with a scalpel as a surgical instrument held in the device 2A can be realized.

[0226] The operation unit 5 is provided with a drive unit 10g, which drives the seventh movable part 9g in order to realize the force feedback function F2.

[0227] Specifically, a recess 44 is formed in the connecting portion 42, which is open to three of the four directions orthogonal to the rotation axis of the sixth movable portion 6f. A seventh drive portion 10g, such as a motor, is mounted in the recess 44.

[0228] A shaft insertion hole 44a is formed in the recess 44, and the drive shaft of the seventh drive unit 10g is inserted into the shaft insertion hole 44a. The shaft insertion hole 44a is formed as a hole that passes through in a direction orthogonal to the rotation axis of the sixth movable part 6f.

[0229] The operation unit 5 is provided with a transmission section 45 for transmitting power from the drive shaft of the seventh drive unit 10g. The transmission section 45 is formed by a first facet 45a and a second facet 45b, which extend in mutually orthogonal directions to form an L-shape.

[0230] One end of the first face 45a is connected to the front end of the claw 43, and the other end of the first face 45a is continuously disposed with the second face 45b.

[0231] One end of the second face 45b is continuously disposed with the second face 45b, and the other end of the second face 45b is formed to have a driven surface 45c, which is formed in an arc centered on the base end of the claw portion 43.

[0232] The driven surface 45c is partially positioned facing the outer peripheral surface of the drive shaft of the seventh drive unit 10g. A rope 46 is stretched along the arc of the driven surface 45c. One end of the rope 46 is attached to the end of the arc of the driven surface 45c, and the other end is attached to the drive shaft of the motor that serves as the seventh drive unit 10g.

[0233] According to the drive of the seventh drive unit 10g or the operation of the surgical operator, the transmission unit 45 and the claw unit 43 become one unit and rotate with the base end of the claw unit 43 as the rotation center.

[0234] For example, when the motor, which serves as the seventh drive unit 10g, rotates in a predetermined direction, the rope 26 is wound around the motor's shaft. Thus, as... Figures 16 to 17As shown, the transmission part 45 and the claw part 43 are integrated and rotate with the base end of the claw part 43 as the rotation center, and the claw part 43 changes to a state in which the front end is far away from the gripping part 41.

[0235] When the surgeon applies pressure to bring the claw portion 43, whose front end is away from the grip portion 41, closer to the grip portion 41, such as Figures 17 to 16 As shown, the claw 43 changes from a state away from the gripping part 41 to a state close to the gripping part 41.

[0236] At this time, the seventh drive unit 10g changes the driving force of the motor of the seventh drive unit 10g according to the resistance of the surgical instrument such as forceps held by the device 2A, thereby enabling the main control unit 3 to realize the force feedback function F2.

[0237] A seventh detection unit 11g is provided inside the gripping part 41 of the operation part 5. This seventh detection unit 11g can detect the angle and rotation amount of the claw part 43 relative to the gripping part 41. Moreover, the location of the seventh detection unit 11g is not limited to the inside of the gripping part 41, but can be provided at any position that can detect the angle and rotation amount of the claw part 43 relative to the gripping part 41.

[0238] <3. Regarding the first axis of rotation>

[0239] Referring to the accompanying drawings, the first rotation axis Ax1 is an axis related to the mobility of the first movable part 6a, and is the rotation axis when the base part 16 rotates relative to the armrest 13.

[0240] like Figure 9 as well as Figure 19 As shown, the first rotation axis Ax1 is an axis extending in the vertical direction and passes through the handrail 13. More specifically, the first rotation axis Ax1 passes through the inner part 13c of the handrail 13.

[0241] Alternatively, the first rotation axis Ax1 can also be considered as an axis that passes through the inner side when viewed from above, relative to the shape of the armrest 13. That is, the first rotation axis Ax1 can also be an axis that passes through the mounting portion 14 of the frame portion 12, which is provided between the front portion 13b and the inner portion 13c.

[0242] Figure 20 The diagram shows the situation before and after the base portion 16 is rotated relative to the armrest 13. Furthermore, the operation of rotating the base portion 16 relative to the armrest 13 will be described here as the first rotation operation.

[0243] Figure 20 The solid line portion shows the state before the first rotation operation, and the dashed line portion shows the state after the first rotation operation.

[0244] The center of rotation of the surgeon's arm during the first rotation operation, CoR, is, for example, near the wrist.

[0245] like Figure 19 As shown, the distance between the first rotating shaft Ax1 and the rotating center CoR is closer than the distance between the operating unit 5 and the rotating center CoR. Specifically, when the distance between the first rotating shaft Ax1 and the rotating center CoR is set as distance DT1 and the distance between the rotating center CoR and the operating unit 5 is set as distance DT2, distance DT1 is shorter than distance DT2.

[0246] Therefore, when viewed from above, the area Ar1 that may exist in front of the surgeon's wrist during the first rotation operation largely overlaps with the area Ar2 that may exist at the base 16a of the base portion 16 (see reference). Figure 21 ).

[0247] For example, when performing surgery by using the main device 1A to operate the slave device 2A located at a remote location, various devices such as monitors that capture images of the slave device 2A and the patient's condition are installed near the main device 1A.

[0248] These various devices need to be positioned near the main device 1A and in a manner that does not obstruct the first rotation operation. Specifically, the various devices need to be positioned so as not to interfere with either region Ar1 or region Ar2.

[0249] Since most of the areas Ar1 and Ar2 are overlapping, the installation location of the main device 1A can be compactly concentrated. That is, the number of options for installing various devices, i.e., locations not covered by either area Ar1 or area Ar2, increases, providing a suitable operating environment.

[0250] Moreover, in other words, regarding the position of the first rotation axis Ax1, the distance between the first rotation axis Ax1 and the rotation center CoR is closer than the distance between the gripping part P1 in the gripping part 41 of the operation part 5 and the rotation center CoR.

[0251] Specifically, such as Figure 22 As shown, when the distance between the gripping part P1, which is held by the thumb and forefinger of the operator in the gripping part 41, and the rotation center CoR is set as distance DT3, distance DT1 is shorter than distance DT3.

[0252] <4. Variations>

[0253] In the example above, it is explained that the main device 1A does not have a corresponding drive unit 7 installed in the fourth movable part 6d, the fifth movable part 6e, and the sixth movable part 6f.

[0254] Alternatively, drive units 7 may be provided, each corresponding to the fourth movable part 6d, the fifth movable part 6e, and the sixth movable part 6f. In this case, not only the first movable part 6a, the second movable part 6b, and the third movable part 6c are driven, but also the fourth movable part 6d, the fifth movable part 6e, and the sixth movable part 6f are driven, thereby providing feedback to the surgeon regarding pressure, tactile feedback, and resistance received by the surgical instruments of the device 2A.

[0255] In the example above, the armrest 13 is divided into a proximal portion 13b and an inner portion 13c, and the mounting surface 13a is the upper surface of both the proximal portion 13b and the inner portion 13c. Additionally, the upper surface of the mounting portion 14 of the frame portion 12 is also a portion on which the surgeon's hand or similar object can be mounted.

[0256] In this situation, the surgical operator may feel the step difference between the proximal portion 13b and the mounting portion 14, and the step difference between the inner portion 13c and the mounting portion 14, which may affect the operation.

[0257] exist Figure 23 In the modified example shown, the armrest 13, in addition to having a front portion 13b and an inner portion 13c, also has an upper portion 13d, which is configured to cover the front portion 13b, the inner portion 13c, and a part of the frame portion 12 from above. Moreover, the mounting surface 13a is the upper surface of the upper portion 13d.

[0258] Therefore, the surgeon will not feel the step difference between the proximal part 13b, the mounting part 14, and the inner part 13c, allowing the hand placed on the mounting surface 13a to move smoothly.

[0259] Furthermore, the upper part 13d, the proximal part 13b, and the inner part 13c can be formed separately, and installed from the upper part relative to the proximal part 13b and the inner part 13c.

[0260] Alternatively, the upper part 13d may be integrated with the anterior part 13b and the inner part 13c.

[0261] Alternatively, the movable parts 6 and 9 in the main device 1A described above may be provided with movement restrictions. Specifically, the movable parts 6 and 9 may be provided with limiting mechanisms, so that they can only rotate within a predetermined angle.

[0262] For example, in the case of the first movable part 6a, a defined protrusion protruding upward is provided at the base 16a of the base part 16, and a defined recess, which is an arc-shaped groove, is provided in the inner portion 13c of the armrest 13 at a position corresponding to the defined protrusion. The armrest 13 and the base part 16 are assembled by engaging the defined protrusion provided at the base 16a with the defined recess provided at the inner portion 13c, thereby limiting the range of rotation of the base part 16 relative to the armrest 13 according to the length of the groove defined recess. The same configuration can also be applied to other movable parts 6 and 9, such as the second movable part 6b and the third movable part 6c.

[0263] Furthermore, it could also be a combination other than protrusions and recesses, such as a structure in which plate-shaped protrusions interfere with each other to limit the range of rotation, or a similar structure.

[0264] Furthermore, the surgical assistance system SA can also freely scale the amount of manipulation by the surgical operator on the main device 1A and the movable amount in the slave device 2A.

[0265] For example, if the operating amount in the main device 1A is 1 millimeter, the movable amount of the corresponding movable part in the slave device 2A is 1 micrometer.

[0266] Alternatively, when the operation in the main device 1A is a 10-degree rotation operation, the corresponding movable part in the device 2A can be rotated by 1 degree.

[0267] <5. Application Examples>

[0268] In order to perform surgery using device 2A, surgical operators such as doctors use the main device 1A in the example above, as illustrated above.

[0269] Not limited to this, the main device 1A can be used as a variety of devices.

[0270] For example, the operation assistance system S may include: a slave device 2A that performs work requiring fine details; and a master device 1A that provides operation instructions to the slave device 2A.

[0271] Alternatively, a main device 1A and a slave device 2A can be used as a drawing device for creating detailed drawings. Based on the operation of the main device 1A, the pen movement held by the slave device 2A enables the creation of detailed drawings.

[0272] Furthermore, the master device 1A is not limited to being paired with the slave device 2A. For example, the controller device 1B, as a variation of the master device 1A, may be configured as an input device to a computer device. For example, as Figure 24As shown, the simulation system SB, as one form of the operation assistance system S, includes: a controller device 1B, which is configured as an indicator in a virtual space that simulates the real space; a calculation processing device 51, which performs various calculations based on the operation of the controller device 1B; and a display device 52, which displays the calculation results of the calculation processing device 51.

[0273] Such a simulation system SB is, for example, a surgical simulation system used to improve surgical techniques. That is, an operator who wants to improve surgical techniques generally operates the controller device 1B while recognizing a virtual patient displayed on the display device 52.

[0274] The processing unit 51 calculates the position and orientation of tweezers, scalpels, etc. in virtual space based on operations on the controller unit 1B. Furthermore, it generates an image to be displayed on the display device 52 based on the calculation results.

[0275] The image generated by the processing unit 51 is sent to the display device 52 and displayed on the display section. Thus, the operator visually confirms the image displayed on the display section of the display device 52, thereby being able to grasp the result of their operation.

[0276] Alternatively, the simulation system SB could be a game system designed to achieve a predetermined goal in a virtual space. That is, the game user uses the controller device 1B as a controller to manipulate objects such as characters displayed on the display device 52 in the virtual space.

[0277] The arithmetic processing unit 51 performs arithmetic processing based on the input information to the controller unit 1B, and reflects the results in a virtual space. The arithmetic processing unit 51 generates an image of the virtual space reflecting the arithmetic results and provides it to the display unit 52.

[0278] The display device 52 displays an image supplied from the arithmetic processing device 51 as input to the controller device 1B.

[0279] The game user visually confirms the image displayed on the display device 52, thereby being able to grasp the results of their operation.

[0280] <6. Summary>

[0281] The operation assistance devices of the main device 1A of the surgical assistance system SA and the controller device 1B of the simulation system SB include: an operation unit 5, which is operated by an operator (surgical operator, game user); an arm 4, which has a first movable part 6a and allows the position and posture of the operation unit 5 to be variable, the first movable part being able to rotate about a first rotation axis Ax1; and a mounting part (handrail 13), which is provided with a mounting surface 13a, on which a portion of the forearm used by the operator to operate the operation unit 5 is mounted, and the first rotation axis Ax1 is located such that when the operator's forearm is mounted on the mounting surface 13a and the wrist in the forearm is rotated as the rotation center CoR, the distance between the first rotation axis Ax1 and the wrist is closer than the distance between the operation unit 5 and the wrist.

[0282] When the operation of the operating unit 5, which is rotated with the wrist as the rotation center, is defined as "wrist rotation operation", according to the above structure, the range of hand movement Ar1 caused by the wrist rotation operation and the range of arm 4 movement caused by the wrist rotation operation (e.g., the range of 16a movement Ar2) will be repeated in most parts.

[0283] Therefore, the range of motion of the operating aid and the operator can be compactly reduced, and the operating aid can be placed in a narrower space.

[0284] For reference Figure 19 As explained above, it is also possible that, in the operation auxiliary device that serves as the main device 1A and the controller device 1B, the first rotating shaft Ax1 is a shaft that passes through the mounting surface 13a.

[0285] This allows for a structure that compactly integrates the range of motion of the operating aids and the operator, and also enables the operating aids to be placed in narrower spaces.

[0286] For reference Figure 19 As explained above, it is also possible that, in the operation auxiliary device serving as the main device 1A and the controller device 1B, the first rotating axis Ax1 is an axis orthogonal to the mounting surface 13a.

[0287] Therefore, region Ar1 concerning the wrist and region Ar2 concerning the base 16a of the arm 4 are regions that extend in the horizontal direction.

[0288] In this case, by setting the first rotation axis Ax1 in such a way that most of the regions Ar1 and Ar2 are overlapping regions, the following effect can be maximized: the installation space for various devices arranged around the operation aid can be expanded.

[0289] For reference Figure 7As explained above, it is also possible that the first movable part 6a in the operation auxiliary device of the main device 1A and the controller device 1B is disposed on the opposite side of the mounting part (handrail 13) from the mounting surface 13a.

[0290] Therefore, a structure can be adopted that does not have a structure placed directly above the mounting part. That is, there is no need to place a structure that would obstruct the surgeon's view of what is at hand, making it easier for the operator to perform the procedure.

[0291] For reference Figure 7 As described above, it is also possible that a connecting part (insertion port 23) is provided on the opposite side of the mounting part (handrail 13) of the operating auxiliary device that serves as the main device 1A and the controller device 1B, which is connected to the arm part 4. The first movable part 6a is provided at the position closest to the connecting part among the multiple movable parts 6 provided in the arm part 4, that is, on the side of the base part 4a.

[0292] Therefore, it becomes easy to configure the first rotation axis Ax1 to be located close to the rotation center CoR.

[0293] For reference Figure 1 As explained above, the operation auxiliary device can also be configured as the master device 1A to remotely operate the slave device 2A.

[0294] Therefore, the main device 1A, which is used to move the movable part 9 of the slave device 2A located at a remote location, can be compactly converged.

[0295] For reference Figure 5 As explained above, the operation auxiliary device, which serves as the main device 1A and the controller device 1B, may include a frame portion 12 on which a mounting portion (handrail 13) is installed. The position of the mounting portion relative to the frame portion 12 may be variable, and the arm portion 4 may be located at a position corresponding to the position of the mounting portion relative to the frame portion 12.

[0296] That is, the arm 4 and the operating part 5 can be mounted in a way that allows them to slide relative to the mounting part 14 of the frame part 12 as a single unit.

[0297] Therefore, the arm part 4 and the operating part 5 can be moved to a position that is easy for the operator, such as the surgeon, to operate, and can appropriately assist in delicate operations.

[0298] Especially when there are right-hand arm 4R and left-hand arm 4L, the distance between the right-hand arm 4R and left-hand arm 4L can be adjusted according to individual differences, which can improve the ease of operation.

[0299] Furthermore, it is also possible to mount the arm in such a way that only one of the right-hand arm 4R and the left-hand arm 4L is movable relative to the mounting part 14.

[0300] For reference Figure 3 As described above, it is also possible that, in the operation assistance device serving as the main device 1A and the controller device 1B, the operation unit 5, the arm unit 4, and the mounting unit (handrail 13) are respectively provided with operation units 5 for the right hand and left hand. That is, it is also possible that the surgical assistance system SA is provided with a right-hand operation unit 5R, a right-hand arm unit 4R, and a right-hand handrail 13, as well as a left-hand operation unit 5L, a left-hand arm unit 4L, and a left-hand handrail 13.

[0301] Therefore, it can appropriately assist in surgeries and operations performed with both hands. Furthermore, the range of motion of the right-hand arm 4 and operating part 5, as well as the left-hand arm 4 and operating part 5, can be compactly reduced, thus minimizing interference between the right-hand and left-hand parts. Consequently, it is easy to configure the right-hand and left-hand parts, and the overall device, which serves as the main device 1A and controller device 1B, can be kept from becoming too large.

[0302] For reference Figure 24 As described above, the operation assistance device can also be configured as a controller (controller device 1B) in the simulation system SB, which includes: a controller; and an arithmetic processing device 51, which performs calculations based on the operation of the controller and displays the results on the display device 52.

[0303] This enables the operation assistance device (controller device 1B) in the simulation system to be compact and convergent, and reduces the limitations related to settings.

[0304] Moreover, the various examples mentioned above can be combined arbitrarily.

[0305] Explanation of reference numerals in the attached figures

[0306] S: Operation assistance system; SA: Surgical assistance system; SB: Simulation system; 1A: Main device (operation assistance device); 1B: Controller device (operation assistance device); 2A: Slave device; 4: Arm; 4L: Left-hand arm; 4R: Right-hand arm; 5: Operating part; 5L: Left-hand operating part; 5R: Right-hand operating part; 6a: First movable part; 12: Frame part; 13: Handrail (mounting part); 13a: Mounting surface; 23: Insertion port (connection part); Ax1: First rotation axis; CoR: Rotation center.

Claims

1. An operation assistance device, wherein the operation assistance device comprises: The operating unit is operated by the operator. An arm having a first movable portion that allows the position and orientation of the operating portion to be variable, the first movable portion being rotatable about a first rotation axis; and The device includes a mounting surface, on which a portion of the forearm used by the operator to perform the operation is mounted. The first rotation axis is located such that when the operator's forearm is placed on the mounting surface and the wrist in the forearm is used as the rotation center to operate the operating part, the distance between the first rotation axis and the wrist is closer than the distance between the operating part and the wrist.

2. The operation assistance device according to claim 1, characterized in that, The first rotating shaft is a shaft that passes through the mounting surface.

3. The operation assistance device according to claim 1, characterized in that, The first rotation axis is an axis orthogonal to the mounting surface.

4. The operation assistance device according to claim 1, characterized in that, The first movable part is disposed on the opposite side of the mounting surface relative to the mounting part.

5. The operation assistance device according to claim 4, characterized in that, A connecting portion is provided on the opposite side of the mounting surface of the mounting portion, and the connecting portion is connected to the arm portion. The first movable part is located at the position closest to the connecting part among the plurality of movable parts provided in the arm.

6. The operation assistance device according to claim 1, characterized in that, The operation assistance device is configured as a master device for remotely operating the slave device.

7. The operation assistance device according to claim 1, characterized in that, It has a frame part on which the mounting part is installed. The position of the mounting portion relative to the frame portion is variable. The arm is located at a position corresponding to the position of the mounting portion relative to the frame portion.

8. The operation assistance device according to claim 1, characterized in that, The operating part, the arm part, and the mounting part are respectively provided with an operating part for the right hand and an operating part for the left hand.

9. The operation assistance device according to claim 1, characterized in that, The operation assistance device is configured as a controller in the simulation system, which includes: the controller; and a computation processing device that performs calculations based on the operation of the controller and displays the results on a display device.

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