Surgery assisting robot

Abstract

To provide a surgery assisting robot capable of thinning a robot arm.SOLUTION: A surgery assisting robot 100 includes: a robot arm 60 having a surgical instrument 4 attached to a tip thereof and including a joint 64B; and wiring 150 arranged inside the robot arm 60. The joint 64B rotates in a direction of bending the robot arm 60. The wiring 150 runs along a longer direction of the robot arm 60, and is arranged inside the robot arm 60 so as to cross a rotation axis AX-1 of the joint 64B and an AX1-Yb plane orthogonal to the longer direction of the robot arm 60.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] This disclosure relates to a surgical assistance robot. [Background technology]

[0002] Conventionally, a surgical support robot has been known. For example, Patent Document 1 discloses a medical manipulator including a manipulator arm and a positioner for moving the manipulator arm. In Patent Document 1, the positioner is a vertical articulated robot and includes a plurality of links. The links are connected to each other by a joint that rotates in a direction that bends the manipulator arm. In addition, a motor and a reducer are arranged in the joint. Inside the positioner, a power supply cable that supplies power to the positioner is arranged. In Patent Document 1, a base end side portion of the power supply cable is arranged so as to bypass the reducer along a direction different from the rotation axis direction of the reducer. As a result, the size of the reducer is suppressed compared to a configuration in which the power supply cable is inserted inside the hollow shaft part of the reducer and is routed along the rotation axis of the reducer and to the side of the reducer. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-151354 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the base end portion of the power supply cable is arranged to bypass the reducer along a direction different from the rotation axis direction of the reducer, thereby preventing the reducer from becoming large. While this makes it possible to prevent the manipulator arm from becoming large, there is a demand for a thinner manipulator arm.

[0005] This disclosure has been made to solve the above-mentioned problems, and provides a surgical support robot that allows the robot arm to be made thin. [Means for solving the problem]

[0006] In order to achieve the above object, a surgical support robot according to one aspect of this disclosure comprises a robot arm having a joint and a surgical instrument attached to a tip thereof, and wiring arranged inside the robot arm, the joint including a first joint that rotates in a direction to bend the robot arm, and the wiring arranged inside the robot arm so as to run along the longitudinal direction of the robot arm and cross a plane perpendicular to the rotation axis of the first joint and the longitudinal direction of the robot arm.

[0007] In the surgical support robot according to one aspect of the disclosure, as described above, the wiring is arranged inside the robot arm so as to run along the longitudinal direction of the robot arm and cross a plane perpendicular to the rotation axis of the first joint and the longitudinal direction of the robot arm. This prevents the wiring from expanding in the direction of the rotation axis of the first joint, making it unnecessary to increase the width of the robot arm in the direction of the rotation axis. This allows the robot arm to be made thinner. Effect of the Invention

[0008] According to the present disclosure, the robot arm can be made thinner. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration of a surgery support system according to one embodiment. [Diagram 2] FIG. 2 is a diagram showing a display unit of the medical cart according to one embodiment. [Diagram 3] FIG. 1 is a diagram showing a configuration of a medical cart according to an embodiment. [Figure 4] FIG. 1 illustrates a configuration of a robot arm according to one embodiment. [Diagram 5] FIG. [Figure 6]FIG. 2 is a perspective view showing a configuration of an arm operation unit according to one embodiment. [Figure 7] FIG. 13 is a diagram for explaining translational movement of a robot arm. [Figure 8] FIG. 13 is a diagram for explaining the rotational movement of the robot arm. [Figure 9] FIG. 2 is a control block diagram of a surgical support robot according to one embodiment. [Figure 10] FIG. 2 is a control block diagram of a robot arm according to one embodiment. [Figure 11] FIG. 2 is a control block diagram of a medical cart and a positioner according to one embodiment. [Figure 12] FIG. 11 is a cross-sectional view of a robot arm according to one embodiment, as viewed from the Yb direction. [Figure 13] FIG. 13 is a cross-sectional view of a bending joint of a robot arm according to one embodiment, taken from the Yb direction. [Figure 14] FIG. 4 is a diagram showing a reduction ratio at each joint. [Figure 15] FIG. 13 is a cross-sectional view of a torsional joint of a robot arm according to one embodiment, as viewed from the Yb direction. [Figure 16] FIG. 13 is a cross-sectional view of a bending joint of a robot arm according to one embodiment, taken from the Xb direction. [Figure 17] FIG. 4 is a perspective view of a first restriction portion according to one embodiment. [Figure 18] FIG. 4 is a perspective view of a second restriction portion according to one embodiment. [Figure 19] FIG. 13 is a diagram showing a humanoid robot according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (Configuration of surgical support system) The configuration of a surgery support system 100 according to this embodiment will be described. The surgery support system 100 includes a surgery support robot 1 and a remote control device 2.

[0011] In this specification, the longitudinal direction of the surgical instrument 4 is defined as the Z direction. The tip side of the surgical instrument 4 is defined as the Z1 side, and the base side of the surgical instrument 4 is defined as the Z2 side. The direction perpendicular to the Z direction is defined as the X direction. One side of the X direction is defined as the X1 side, and the other side is defined as the X2 side. The direction perpendicular to the Z direction and the X direction is defined as the Y direction. One side of the Y direction is defined as the Y1 side, and the other side is defined as the Y2 side.

[0012] In addition, in this specification, the left-right direction as seen by an operator operating the display unit 33a of the input device 33 is defined as the Xa direction. The rightward direction is defined as the Xa1 direction, and the leftward direction is defined as the Xa2 direction. The front-rearward direction as seen by an operator operating the display unit 33a of the input device 33 is defined as the Ya direction. The forward direction is defined as the Ya1 direction, and the rearward direction is defined as the Ya2 direction. The direction perpendicular to the floor surface on which the surgical support robot 1 is placed is defined as the Za direction. The upward direction is defined as the Za1 direction, and the downward direction is defined as the Za2 direction.

[0013] In this specification, as shown in Fig. 12, the longitudinal direction of a first housing 141, a second housing 142, and a third housing 143 (to be described later) when the robot arm 60 is not bent is defined as the Zb direction. The longitudinal direction of the robot arm 60 is defined as the Zb direction. As shown in Fig. 12, the direction perpendicular to the Zb direction and along the rotation axis AX1 of the joint 64B is defined as the Xb direction. The direction perpendicular to the Zb direction and the Xb direction is defined as the Yb direction.

[0014] As shown in FIG. 1, a surgical support robot 1 is placed in an operating room. A remote control device 2 is placed at a position separated from the surgical support robot 1. An operator such as a doctor inputs commands to the remote control device 2 to cause the surgical support robot 1 to perform a desired operation. The remote control device 2 transmits the input command to the surgical support robot 1. The surgical support robot 1 operates based on the received command. The surgical support robot 1 is placed in an operating room, which is a sterilized field.

[0015] (Configuration of surgical support robot) As shown in FIG. 1, the surgery support robot 1 includes a medical cart 3, a positioner 40, an arm base 50, a plurality of robot arms 60, and an arm operation unit 80.

[0016] As shown in Fig. 3, the medical cart 3 moves the positioner 40. The medical cart 3 includes an input device 33. The input device 33 receives operations for moving and changing the posture of the positioner 40, the arm base 50, and the multiple robot arms 60, mainly for preparation of surgery before the treatment. The medical cart 3 includes an operation handle 34, and a stabilizer 34c and an electric cylinder 34d shown in Fig. 9.

[0017] 2, the input device 33 includes a display unit 33a, a joystick 33b, and an enable switch 33c. The display unit 33a is, for example, a liquid crystal panel. Numbers corresponding to the multiple robot arms 60 are displayed on the display unit 33a. The type of surgical instrument 4 attached to each of the multiple robot arms 60 is also displayed on the display unit 33a. A check mark CM indicating that the pivot position PP has been set is displayed on the display unit 33a.

[0018] 3, the joystick 33b is disposed near the input device 33 of the medical cart 3. By selecting an operation mode displayed on the input device 33 and operating the joystick 33b, the positioner 40 is moved three-dimensionally.

[0019] The enable switch 33c is disposed near the joystick 33b of the medical cart 3. The enable switch 33c permits or prohibits movement of the positioner 40. Then, when the enable switch 33c is pressed down to permit movement of the positioner 40, the positioner 40 is moved by operating the joystick 33b.

[0020] The operating handle 34 is disposed near the display unit 33a of the medical cart 3. The operating handle 34 has a throttle 34a that is held and turned by an operator such as a nurse or an engineer to operate the movement of the medical cart 3. Specifically, the operating handle 34 is disposed below the input device 33. The medical cart 3 moves forward when the throttle 34a is turned from the front side to the back side. The medical cart 3 moves backward when the throttle 34a is turned from the back side to the front side. The speed of the medical cart 3 is changed according to the amount of turning of the throttle 34a. The operating handle 34 is configured to be rotatable left and right in the R direction, and the medical cart 3 rotates together with the turning of the operating handle 34.

[0021] An enable switch 34b for permitting or prohibiting movement of the medical cart 3 is disposed on the operation handle 34 of the medical cart 3. When the enable switch 34b is pressed down to permit movement of the medical cart 3, the medical cart 3 is moved by operating the throttle 34a of the operation handle 34.

[0022] 1, the positioner 40 is, for example, a seven-axis articulated robot. The positioner 40 is placed on a medical cart 3. The positioner 40 adjusts the position of the arm base 50. The positioner 40 moves the position of the arm base 50 in three dimensions.

[0023] The positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link portions 42 are connected to each other by joints 43.

[0024] The arm base 50 is attached to the tip of the positioner 40. The base ends of the multiple robot arms 60 are attached to the arm base 50. The multiple robot arms 60 can be folded and stored. The arm base 50 and the multiple robot arms 60 are covered with a sterile drape when used. The robot arms 60 also support a surgical instrument 4.

[0025] 9, a status indicator 53 and an arm status indicator 54 are arranged on the arm base 50. The status indicator 53 displays the status of the surgery assistance system 100. The arm status indicator 54 displays the status of the robot arm 60.

[0026] A plurality of robot arms 60 are provided. Specifically, four robot arms 60a, 60b, 60c, and 60d are provided. The robot arms 60a, 60b, 60c, and 60d have the same configuration as each other.

[0027] As shown in FIG. 4, the robot arm 60 includes an arm portion 61, a first link portion 72, a second link portion 73, a translational movement mechanism portion 70, and a joint 64.

[0028] The robot arm 60 has axes JT1, JT2, JT3, JT4, JT5, JT6, and JT7 as rotation axes, and axis JT8 as a linear axis. Axes JT1 to JT7 are rotation axes of a joint 64 of the arm unit 61. The JT7 axis is a rotation axis of a first link unit 72. The JT8 axis is a linear axis along which the translation mechanism 70 moves the second link unit 73 relative to the first link unit 72 in the Z direction. The arm unit 61 includes a base unit 62, a link unit 63, and a joint 64.

[0029] In this embodiment, the joint 64 includes a joint 64B and a joint 64R. The joint 64B is a bending joint that rotates so that the robot arm 60 is bent. The rotation axis of the joint 64B is called a bend axis. The joint 64 having the JT2 axis, the JT4 axis, and the JT6 axis as its rotation axis is the joint 64B. The joint 64R is a bending joint that rotates around the longitudinal direction of the robot arm 60 as its rotation axis. The rotation axis of the joint 64R is called a roll axis. The joint 64 having the JT1 axis, the JT3 axis, and the JT5 axis as its rotation axis is the joint 64R, which is a torsion joint. The detailed structures of the joint 64B and the joint 64R will be described later. The joint 64B and the joint 64R are examples of a first joint and a second joint, respectively.

[0030] The arm unit 61 is a seven-axis articulated robot arm. The first link unit 72 is disposed at the tip of the arm unit 61. The arm operation unit 80, which will be described later, is attached to the second link unit 73. The translation mechanism unit 70 is disposed between the first link unit 72 and the second link unit 73. A holder 71 that holds a surgical instrument 4 is disposed on the second link unit 73.

[0031] A surgical instrument 4 is attached to the tip of each of the multiple robot arms 60. The surgical instrument 4 includes, for example, replaceable instruments, an endoscope 6 for capturing an image of the surgical site, and a pivot position setting instrument 7 for setting a pivot position PP (described later). The surgical instrument 4 as an instrument includes a driven unit 4a, forceps 4b, and a shaft 4c.

[0032] 1, an endoscope 6 is attached to the tip of one of the multiple robot arms 60, for example, robot arm 60c, and surgical instruments 4 other than the endoscope 6 are attached to the tips of the remaining robot arms, for example, robot arms 60a, 60b and 60d. The endoscope 6 is attached to one of the two robot arms 60b and 60c that are arranged in the middle of the four robot arms 60 that are arranged adjacent to each other.

[0033] (Instrument configuration) As shown in Fig. 5, the tip of the instrument is provided with, for example, forceps 4b. In addition to the forceps 4b, the tip of the instrument is provided with instruments having joints, such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and cleaning tools, snare wires, and clip appliers. The tip of the instrument is provided with instruments without joints, such as cutting blades, cauterizing probes, cleaners, catheters, and suction orifices.

[0034] The forceps 4b includes a first support 4e and a second support 4f. The first support 4e supports the base end side of the jaw members 104a and 104b rotatably around the JT11 axis. The second support 4f supports the base end side of the first support 4e rotatably around the JT10 axis. The shaft 4c rotates around the JT9 axis. The jaw members 104a and 104b open and close around the JT12 axis.

[0035] (Arm operation section configuration) 6, the arm operating unit 80 is attached to the robot arm 60 and operates the robot arm 60. Specifically, the arm operating unit 80 is attached to the second link portion 73.

[0036] The arm operation unit 80 includes an enable switch 81 , a joystick 82 , a linear switch 83 , a mode switching button 84 , a mode indicator 84 a , a pivot button 85 , and an adjustment button 86 .

[0037] The enable switch 81 permits or prohibits movement of the robot arm 60 using the joystick 82 and the linear switch 83. When the enable switch 81 is pressed while the arm operation unit 80 is being held by an operator such as a nurse or assistant, movement of the surgical instrument 4 by the robot arm 60 is permitted.

[0038] The joystick 82 is an operating tool for controlling the movement of the surgical instrument 4 by the robot arm 60. The joystick 82 controls the movement direction and movement speed of the robot arm 60. The robot arm 60 is moved according to the direction and angle at which the joystick 82 is tilted.

[0039] The linear switch 83 is a switch for moving the surgical instrument 4 in the Z direction, which is the longitudinal direction of the surgical instrument 4. The linear switch 83 includes a linear switch 83a for moving the surgical instrument 4 in a direction for inserting the surgical instrument 4 into the patient P, and a linear switch 83b for moving the surgical instrument 4 in a direction away from the patient P. Both the linear switch 83a and the linear switch 83b are push button switches.

[0040] The mode switching button 84 is a push button switch for switching between a translational movement mode shown in FIG. 7 and a rotational movement mode shown in FIG. 8. As shown in FIG. 7, in the translational movement mode of the robot arm 60, the robot arm 60 is moved so that the tip 4d of the surgical instrument 4 moves on the XY plane. As shown in FIG. 8, in the rotational movement mode of the robot arm 60, when the pivot position PP is not stored in the storage unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates around the forceps 4b, and when the pivot position PP is stored in the storage unit 32, the robot arm 60 is moved so that the surgical instrument 4 rotates around the pivot position PP. Note that the surgical instrument 4 is rotated with the shaft 4c of the surgical instrument 4 inserted into the trocar T. The mode switching button 84 is disposed on the surface of the arm operation unit 80 on the Z direction side.

[0041] The mode indicator 84a indicates the switched mode. When the mode indicator 84a is lit, it indicates the rotational movement mode, and when it is off, it indicates the translational movement mode. The mode indicator 84a also serves as a pivot position indicator that indicates that the pivot position PP has been set. The mode indicator 84a is disposed on the surface of the arm operation unit 80 on the Z direction side.

[0042] The pivot button 85 is a push button switch for setting a pivot position PP that serves as a fulcrum for the movement of the surgical instrument 4 attached to the robot arm 60.

[0043] The adjustment button 86 is a button for optimizing the position of the robot arm 60. After setting the pivot position PP for the robot arm 60 to which the endoscope 6 is attached, pressing the adjustment button 86 optimizes the positions of the other robot arms 60 and the arm base 50.

[0044] (Remote Control Device) 1, the remote control device 2 is placed, for example, inside or outside an operating room. The remote control device 2 includes an operation unit 120 including an arm 121 and an operation handle 21, a foot pedal 22, a touch panel 23, a monitor 24, a support arm 25, and a support bar 26. The operation unit 120 constitutes an operation handle for an operator such as a doctor to input commands.

[0045] The operation unit 120 is a handle for operating the surgical instrument 4. The operation unit 120 also receives an operation amount for the surgical instrument 4. A control device 130, which will be described later, controls the surgical instrument 4 and the robot arm 60 to move the surgical instrument 4 to a desired position based on the operation amount of the operation unit 120. The operation unit 120 includes an operation unit 120 arranged on the left side as viewed from an operator such as a doctor and operated by the operator's left hand, and an operation unit 120 arranged on the right side and operated by the operator's right hand. The operation unit 120L and the operation unit 120R each include an operation handle 21L and an operation handle 21R.

[0046] The monitor 24 is a scope-type display device for displaying an image captured by the endoscope 6. The support arm 25 supports the monitor 24 so that the height of the monitor 24 matches the height of the face of an operator such as a doctor. The touch panel 23 is disposed on a support bar 26. The surgery support robot 1 can be operated by the remote control device 2 when a sensor provided near the monitor 24 detects the head of the operator. The operator operates the operation unit 120 and the foot pedal 22 while visually checking the affected area on the monitor 24. This inputs commands to the remote control device 2. The commands input to the remote control device 2 are transmitted to the surgery support robot 1.

[0047] (Control system configuration) As shown in FIG. 9, the surgery support system 100 includes a control device 130, an arm control unit 31a, a positioner control unit 31b, and an operation control unit 110.

[0048] The control device 130 is disposed inside the medical cart 3 so as to communicate with the arm control unit 31a and the positioner control unit 31b, and controls the entire surgery support system 100. Specifically, the control device 130 communicates with and controls each of the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110. The control device 130 is connected to the arm control unit 31a, the positioner control unit 31b, and the operation control unit 110 via a LAN or the like. The control device 130 is disposed inside the medical cart 3.

[0049] An arm control unit 31a is provided for each of the multiple robot arms 60. That is, inside the medical cart 3, multiple arm control units 31a corresponding to the number of the multiple robot arms 60 are provided.

[0050] As shown in Fig. 9, the input device 33 is connected to the control device 130 via a LAN or the like. The status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d are serially connected to the positioner control section 31b via a communication network capable of sharing information with each other via a wire 145. Note that Fig. 9 shows the status indicator 53, the arm status indicator 54, and the like all connected to one wire 145, but in reality, a wire 145 is provided for each of the status indicator 53, the arm status indicator 54, the operating handle 34, the throttle 34a, the joystick 33b, the stabilizer 34c, and the electric cylinder 34d.

[0051] As shown in FIG. 10, the arm unit 61 is provided with a plurality of servo motors M1, an encoder E1, and a reducer so as to correspond to a plurality of joints 64. The encoder E1 detects the rotation angle of the servo motor M1. The reducer reduces the rotation of the servo motor M1 to increase the torque. Inside the medical cart 3, a servo control unit C1 for controlling the servo motor M1 is disposed adjacent to the arm control unit 31a. In addition, the servo control unit C1 is electrically connected to the encoder E1 for detecting the rotation angle of the servo motor M1.

[0052] The second link section 73 is provided with a servo motor M2 for rotating a driven member disposed in the driven unit 4a of the surgical instrument 4, an encoder E2, and a reducer. The encoder E2 detects the rotation angle of the servo motor M2. The reducer reduces the rotation of the servo motor M2 to increase the torque. The medical cart 3 is also provided with a servo control section C2 for controlling the servo motor M2 that drives the surgical instrument 4. The servo control section C2 is electrically connected to an encoder E2 for detecting the rotation angle of the servo motor M2. Note that a plurality of servo motors M2, encoders E2, and servo control sections C2 are provided.

[0053] The translational movement mechanism 70 includes a servo motor M3 for translating the surgical instrument 4, an encoder E3, and a reducer. The encoder E3 detects the rotation angle of the servo motor M3. The reducer reduces the rotation of the servo motor M3 to increase the torque. The medical cart 3 is also provided with a servo control unit C3 for controlling the servo motor M3 for translating the surgical instrument 4. The encoder E3 for detecting the rotation angle of the servo motor M3 is electrically connected to the servo control unit C3.

[0054] 11, the positioner 40 is provided with a plurality of servo motors M4, an encoder E4, and a reducer so as to correspond to a plurality of joints 43 of the positioner 40. The encoder E4 is configured to detect the rotation angle of the servo motor M4. The reducer is configured to reduce the speed of rotation of the servo motor M4 to increase the torque.

[0055] The medical cart 3 has front wheels as drive wheels and rear wheels steered by the operation handle 34. The rear wheels are arranged closer to the operation handle 34 than the front wheels. The medical cart 3 is also provided with a servo motor M5 for driving each of the front wheels of the medical cart 3, an encoder E5, a reducer, and a brake. The reducer is configured to reduce the rotation of the servo motor M5 to increase the torque. The operation handle 34 of the medical cart 3 is also provided with a potentiometer P1 shown in FIG. 3, and the servo motor M5 of the front wheels is driven based on the rotation angle detected by the potentiometer P1 in response to the twist of the throttle 34a. The rear wheels of the medical cart 3 are of a dual wheel type, and the rear wheels are steered based on the left and right rotation of the operation handle 34. 3 is disposed on the rotation shaft of the operation handle 34 of the medical cart 3, and a servomotor M5a, an encoder E5a, and a reducer are disposed on the rear wheels of the medical cart 3. The reducer is configured to reduce the speed of rotation of the servomotor M5a to increase the torque. The servomotor M5a is driven based on the rotation angle detected by the potentiometer P2 in response to the left and right rotation of the operation handle 34. That is, the steering of the rear wheels by the left and right rotation of the operation handle 34 is configured to be power-assisted by the servomotor M5a.

[0056] The medical cart 3 moves in the front-rear direction by driving the front wheels, and the rear wheels are steered by turning the operating handle 34 of the medical cart 3, so that the medical cart 3 turns in the left-right direction.

[0057] As shown in FIG. 11, the medical cart 3 is provided with a servo control unit C4 for controlling a servo motor M4 that moves the positioner 40. The servo control unit C4 is electrically connected to an encoder E4 for detecting the rotation angle of the servo motor M4. The medical cart 3 is provided with a servo control unit C5 for controlling a servo motor M5 that drives the front wheels of the medical cart 3. The servo control unit C5 is electrically connected to an encoder E5 for detecting the rotation angle of the servo motor M5. The medical cart 3 is provided with a servo control unit C5a for controlling a servo motor M5a that power-assists the steering of the rear wheels of the medical cart 3. The servo control unit C5a is electrically connected to an encoder E5a for detecting the rotation angle of the servo motor M5a.

[0058] As shown in FIG. 9, the control device 130 controls the robot arm 60 based on an operation received by the arm operation unit 80. For example, the control device 130 controls the robot arm 60 based on an operation received by the joystick 82 of the arm operation unit 80. Specifically, the arm control unit 31a outputs an input signal input from the joystick 82 to the control device 130. The control device 130 generates a position command based on the received input signal and a rotation angle detected by the encoder E1, and outputs the position command to the servo control unit C1 via the arm control unit 31a. The servo control unit C1 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1, and outputs the current command to the servo motor M1. As a result, the robot arm 60 is moved in accordance with the operation command input to the joystick 82.

[0059] The control device 130 controls the robot arm 60 based on an input signal from the linear switch 83 of the arm operation unit 80. Specifically, the arm control unit 31a outputs the input signal input from the linear switch 83 to the control device 130. The control device 130 generates a position command based on the received input signal and the rotation angle detected by the encoder E1 or E3, and outputs the position command to the servo control unit C1 or C3 via the arm control unit 31a. The servo control unit C1 or C3 generates a current command based on the position command input from the arm control unit 31a and the rotation angle detected by the encoder E1 or E3, and outputs the current command to the servo motor M1 or M3. As a result, the robot arm 60 is moved in accordance with the operation command input to the linear switch 83.

[0060] The positioner control unit 31b is disposed in the medical cart 3. The positioner control unit 31b controls the positioner 40 and the medical cart 3. A servo motor SM, an encoder EN, and a reducer are disposed in the positioner 40 so as to correspond to a plurality of joints 43 of the positioner 40. A servo control unit SC that controls the servo motor SM of the positioner 40 is disposed in the medical cart 3. The medical cart 3 is disposed with a servo motor SM that drives each of a plurality of front wheels of the medical cart 3, an encoder EN, a reducer, a servo control unit SC, and a brake.

[0061] The operation control section 110 is disposed in the main body of the remote operation device 2. The operation control section 110 controls the operation section 120. The operation control section 110 is disposed so as to correspond to each of the operation section 120 for the left hand and the operation section 120 for the right hand. A servo motor SM, an encoder EN, and a reducer are disposed in the operation section 120 so as to correspond to the multiple joints of the operation section 120. A servo control section SC that controls the servo motor SM of the operation section 120 is disposed in the main body of the remote operation device 2 adjacent to the operation control section 110.

[0062] (Detailed structure of the robot arm) As shown in FIG. 12, the robot arm 60 includes a first housing 141, a second housing 142, and a third housing 143. The robot arm 60 also includes a wiring 150. The first housing 141 and the second housing 142 are rotated relative to each other by a joint 64B that is a bend axis. The second housing 142 and the third housing 143 are rotated relative to each other by a joint 64R that is a roll axis. The first housing 141, the second housing 142, and the third housing 143 are each cylindrical. That is, the first housing 141, the second housing 142, and the third housing 143 are each hollow. The first housing 141, the second housing 142, and the third housing 143 are also made of, for example, metal.

[0063] 13, the first housing 141 includes a frame portion 141a made of metal and a cover portion 141b made of resin. The first housing 141 has a stepped shape on the Zb1 side, which is the tip side. The second housing 142 includes a frame portion 142a made of metal and a cover portion 142b made of resin. The second housing 142 has a stepped shape on the Zb2 side, which is the tip side.

[0064] (Detailed structure of bending joint corresponding to bending axis) A detailed structure of the joint 64B, which is a bending joint, will be described. In this embodiment, as shown in Fig. 13, the joint 64B includes a servo motor SMB, a first reducer 161, a bevel gear 163, and a second reducer 162. The servo motor SMB is an example of a first motor. The second reducer 162 is an example of a reducer for the first joint.

[0065] The servo motor SMB is relatively small. For example, the maximum diameter of the servo motor SMB is about 35 mm. The servo motor SMB is also a high-rotation type. For example, the rotation speed of the servo motor SMB is 7500 rpm or more. As an example, the rotation speed of the servo motor SMB is 10000 rpm. The servo motor SMB is attached to the frame portion 141a of the first housing 141.

[0066] In this embodiment, the first reducer 161 reduces the rotation of the servo motor SMB and outputs it. The first reducer 161 includes a planetary reducer. The planetary reducer has planetary gears. The planetary gears are a gear mechanism having a structure in which a plurality of planetary gears revolve around a sun gear while rotating on their own axes.

[0067] In this embodiment, the servo motor SMB and the first reducer 161 are integrated. The rotation axis AX2 of the servo motor SMB coincides with the rotation axis AX2 of the first reducer 161. The servo motor SMB and the first reducer 161 are disposed in this order from the Zb2 side toward the Zb1 side.

[0068] In this embodiment, the bevel gear 163 reduces the rotation output from the first reducer 161 and outputs it. The bevel gear 163 transmits the rotation of the servo motor SMB in a direction perpendicular to the direction of the rotation axis AX2 of the servo motor SMB. In other words, the rotation axis AX1 of the bevel gear 163 is perpendicular to the rotation axis AX2 of the servo motor SMB. The bevel gear 163 is a gear shaped like an inclined bevel. The bevel gear 163 is connected to the first reducer 161 and the second reducer 162.

[0069] In this embodiment, the second reducer 162 reduces the rotation output from the bevel gear 163 and outputs it. The second reducer 162 includes any one of a strain wave gear reducer, an RV reducer (registered trademark), and a cycloid reducer (registered trademark). In this embodiment, the second reducer 162 is a strain wave gear reducer. A strain wave gear is a gear that utilizes the differential between an elliptical gear and a circular gear. A strain wave gear reducer is smaller and lighter than an RV reducer (registered trademark) and a cycloid reducer (registered trademark). One side of the second reducer 162 is connected to the bevel gear 163 by a screw 151 and is attached to the first housing 141 by the screw 151. The other side of the second reducer 162 is attached to a frame portion 142a of the second housing 142 by the screw 151.

[0070] In this embodiment, the reduction ratio r2 of the second reducer 162 shown in FIG. 14 is higher than the reduction ratio r1 of the first reducer 161. The allowable range of the reduction ratio r1 of the first reducer 161 is 1 or more and 15 or less. The allowable range of the reduction ratio r2 of the second reducer 162 is 20 or more and 200 or less. For example, the ratio r2 / r1 between the reduction ratio r2 of the second reducer 162 and the reduction ratio r1 of the first reducer 161 is about 7 to 8. Note that the six first reducers 161 shown in FIG. 14 each have the same reduction ratio but different sizes of the reducers. Similarly, the second reducers 162 each have different sizes.

[0071] In this embodiment, the reduction ratio r3 of the bevel gear 163 is lower than the reduction ratio r2 of the second reducer 162 and the reduction ratio r1 of the first reducer 161. The allowable range of the reduction ratio r3 of the bevel gear 163 is 2 or more and 5 or less. For example, the reduction ratio r1 of the first reducer 161 and the reduction ratio r3 of the bevel gear 163, r1 / r3, is about 1.1 to 3. In FIG. 14, the JT2 axis, the JT4 axis, and the JT6 axis correspond to the bend axis. The gear parts of the JT2 axis, the JT4 axis, and the JT6 axis refer to the bevel gear 163. The bevel gears 163 mounted on the JT2 axis, the JT4 axis, and the JT6 axis are different in size and number of teeth.

[0072] In this embodiment, as shown in Fig. 13, the servo motor SMB, the first reducer 161, the bevel gear 163, and the second reducer 162 are housed in a cylindrical first housing 141. The servo motor SMB is arranged so that the rotation axis AX2 is along the Zb direction, which is the longitudinal direction of the cylindrical first housing 141. In the first housing 141, the servo motor SMB, the first reducer 161, the bevel gear 163, and the second reducer 162 are arranged in this order. The servo motor SMB, the first reducer 161, and the bevel gear 163 are arranged so as to be along the Zb direction. The second reducer 162 is arranged on the Xb1 side of the bevel gear 163.

[0073] In this embodiment, the servo motor SMB, the first reducer 161, and the bevel gear 163 are disposed on one side of a center line CL1 that passes through the center of the cylindrical first housing 141 along the longitudinal direction of the first housing 141. The second reducer 162 is disposed across the center line CL1. The center line CL1 of the first housing 141 is a line that passes through the center of the first housing 141 in the Xb direction and is along the Zb direction. The servo motor SMB, the first reducer 161, and the bevel gear 163 are disposed on the Xb2 side of the center line CL1 in the first housing 141. The second reducer 162 is disposed so as to straddle the center line CL1.

[0074] That is, in this embodiment, in the joint 64B, which is a bending joint, the rotational axis AX2 of the servo motor SMB and the rotational axis AX2 of the first reducer 161 are coaxial, the rotational axis AX1 of the joint 64B and the rotational axis AX1 of the second reducer 162 are coaxial, the rotational axis AX2 of the first reducer 161 and the rotational axis AX1 of the second reducer 162 are perpendicular to each other, and the bevel gear 163 transmits rotation in a direction perpendicular to the rotational axis AX2 of the first reducer 161.

[0075] (Detailed structure of the torsional joint corresponding to the roll axis) A detailed structure of the joint 64R, which is a torsion joint, will be described. In this embodiment, as shown in FIG. 15, the joint 64R includes a servo motor SMR, a first reducer 171, a helical gear 173, and a second reducer 172. The servo motor SMR is an example of a second motor. The first reducer 171 and the second reducer 172 are an example of a reducer for the second joint. Note that the helical gear is sometimes called a helical gear or a helical gear.

[0076] The servo motor SMR is disposed in the second housing 142. The servo motor SMB has a similar configuration to the servo motor SMR.

[0077] In this embodiment, the first reducer 171 reduces the rotation of the servo motor SMR and outputs the reduced rotation. The servo motor SMR and the first reducer 171 are integrated. The first reducer 171 includes a planetary reducer. The configuration of the first reducer 171 is similar to the configuration of the first reducer 161.

[0078] In this embodiment, the helical gear 173 reduces the rotation output from the first reduction gear 171 and outputs the reduced rotation. The helical gear 173 transmits the rotation of the servo motor SMR in a direction along the direction of the rotation axis AX12 of the servo motor SMR. The helical gear 173 is connected to the first reduction gear 171 and the second reduction gear 172.

[0079] In this embodiment, the second reducer 172 reduces the rotation output from the helical gear 173 and outputs the reduced rotation. One side of the second reducer 172 is connected to the helical gear 173 and is attached to the second housing 142 with screws 151. The other side of the second reducer 172 is attached to the third housing 143 with screws 151. The second reducer 172 includes any one of a strain wave gear reducer, an RV reducer (registered trademark), and a cycloid reducer (registered trademark).

[0080] In this embodiment, the reduction ratio r2 of the second reducer 172 shown in FIG. 14 is higher than the reduction ratio r1 of the first reducer 171. The allowable range of the reduction ratio r1 of the first reducer 171 is 1 or more and 15 or less. The allowable range of the reduction ratio r2 of the second reducer 172 is 20 or more and 200 or less. For example, r2 / r1 between the reduction ratio r2 of the second reducer 172 and the reduction ratio r1 of the first reducer 171 is about 7 to 8. In addition, in FIG. 14, the JT1 axis line, the JT3 axis line, and the JT5 axis line correspond to the roll axis. The gear parts of the JT1 axis line, the JT3 axis line, and the JT5 axis line refer to the helical gear 173. In addition, the helical gears 173 mounted on the JT1 axis line, the JT3 axis line, and the JT5 axis line have different sizes and numbers of teeth.

[0081] In this embodiment, the reduction ratio of the helical gears 173 is lower than the reduction ratio of the second reducer 172 and the reduction ratio of the first reducer 171. The allowable range of the reduction ratio r3 of the helical gears 173 is equal to or greater than 2 and equal to or less than 3. For example, the ratio r1 / r3 between the reduction ratio r1 of the first reducer 171 and the reduction ratio r3 of the helical gears 173 is approximately 1.1 to 3. Note that, as shown in FIG. 14, the helical gears 173 have different sizes and numbers of teeth.

[0082] In this embodiment, as shown in Fig. 15, the servo motor SMR, the first reducer 171, the helical gear 173, and the second reducer 172 are housed in a cylindrical second housing 142. The servo motor SMR is disposed so that the rotation axis AX12 is along the Zb direction, which is the longitudinal direction of the cylindrical second housing 142. In the second housing 142, the servo motor SMR, the first reducer 171, the helical gear 173, and the second reducer 172 are disposed in this order. The servo motor SMB, the first reducer 171, the helical gear 173, and the second reducer 172 are disposed so as to be along the Zb direction.

[0083] In this embodiment, the servo motor SMR, the first reducer 171, and one part of the helical gear 173 are disposed on one side of a center line CL2 passing through the center of the cylindrical second housing 142 along the longitudinal direction of the second housing 142. The other part of the helical gear 173 and the second reducer 172 are disposed across the center line CL2 of the second housing 142. The center line CL2 of the second housing 142 is a line passing through the center of the second housing 142 in the Xb direction and the Yb direction and along the Zb direction. The rotation axis AX12 of the servo motor SMR, the first reducer 171, and one part of the helical gear 173 is located on the Xb2 side of the center line CL2 in the second housing 142.

[0084] In this embodiment, as shown in FIG. 14, the reduction ratio r1 of the first reducers 161 and the first reducers 161 is common to the joints 64. The reduction ratio r2 of the second reducers 162 and the second reducers 172 is common to the joints 64. The reduction ratios r3 of the bevel gear 163 and the helical gear 173 are different from each other. This adjusts the total reduction ratio r4 of the joints 64. That is, the reduction ratios r3a, r3b, r3c, r3d, r3e, and r3f of the bevel gear 163 or the helical gear 173 are different from each other. This adjusts the total reduction ratios r4a, r4b, r4c, r4d, r4e, and r4f of each of the joints 64.

[0085] That is, in this embodiment, the joint 64R is a torsion joint, the rotational axis AX12 of the servo motor SMR and the rotational axis AX12 of the first reducer 171 are coaxial, the rotational axis AX11 of the joint 64R and the rotational axis AX11 of the second reducer 172 are coaxial, the rotational axis AX12 of the first reducer 171 and the rotational axis AX11 of the second reducer 172 are parallel, and the helical gear 173 transmits rotation in a direction parallel to the rotational axis AX12 of the first reducer 171.

[0086] (wiring) As shown in FIG. 13, in this embodiment, the wiring 150 is disposed inside the joint 64B. The wiring 150 is disposed inside the robot arm 60 so as to extend along the longitudinal direction of the robot arm 60 and to cross the AX1-Yb plane perpendicular to the rotation axis AX1 of the joint 64B and the longitudinal direction of the robot arm 60. In addition, even when the first housing 141 and the second housing 142 are disposed along the Zb direction when the robot arm 60 is not bent, and even when the first housing 141 and the second housing 142 are bent when the robot arm 60 is bent, the wiring 150 is disposed so as to cross the rotation axis AX1 of the joint 64B and the AX1-Yb plane perpendicular to the longitudinal direction of the robot arm 60. In addition, the rotation axis AX1 of the joint 64B is the rotation axis AX1 of the second reducer 162. In addition, the wiring 150 includes a power line and a signal line. Further, being perpendicular to the rotation axis AX1 is a concept that includes a case where it intersects with the rotation axis AX1 at an angle of 90 degrees and a case where it intersects with the rotation axis AX1 at an angle close to 90 degrees.

[0087] In this embodiment, the wiring 150 is disposed from the inside of the first housing 141 to the inside of the second housing 142. Specifically, the first housing 141 includes a first opening 141c. The second housing 142 includes a second opening 142c. The wiring 150 is disposed from the first opening 141c to the second opening 142c. In a state in which the first housing 141 and the second housing 142 are bent, in which the robot arm 60 is bent, the first opening 141c opens toward the Zb1 side. In a state in which the first housing 141 and the second housing 142 are arranged along the Zb direction, in which the robot arm 60 is not bent, the first opening 141c opens toward the Zb1 side. In addition, the first opening 141c is formed along the Yb direction. The second opening 142c is opened toward the Zb2 side. In addition, the second opening 142c is formed along the Yb direction. The first opening 141c and the second opening 142c are disposed to face each other.

[0088] In this embodiment, the first opening 141c and the second opening 142c are spaced apart from each other in the longitudinal direction of the robot arm 60. In a state in which the first housing 141 and the second housing 142 are arranged along the Zb direction with the robot arm 60 not bent, the first opening 141c and the second opening 142c are spaced apart from each other in the Zb direction. Whether the robot arm 60 is not bent or is bent, the first opening 141c and the second opening 142c are spaced apart from each other. For this reason, the end 141d on the Zb1 side of the first housing 141 and the end 142d on the Zb2 side of the second housing 142 do not interfere with each other.

[0089] In this embodiment, as shown in FIG. 16, the first housing 141 includes a first restricting portion 141e that restricts movement of the wiring 150 extending from the second housing 142. As shown in FIG. 17, the first restricting portion 141e has a substantially U-shape. The wiring 150 is disposed in a notch 141f between legs of the substantially U-shaped first restricting portion 141e. The wiring 150 abuts against the notch 141f. This restricts movement of the wiring 150 in the Yb direction. The first restricting portion 141e is attached to the frame portion 141a of the first housing 141 by a screw or the like. A first opening 141c is formed by a gap between the frame portion 141a and the cover portion 141b. The first restricting portion 141e is disposed between the frame portion 141a and the cover portion 141b.

[0090] In this embodiment, as shown in FIG. 16, the second housing 142 includes a second restricting portion 142e that restricts movement of the wiring 150 extending from the first housing 141. As shown in FIG. 18, the second restricting portion 142e has a substantially U-shape. The wiring 150 is disposed in a notch portion 142f between legs of the substantially U-shaped second restricting portion 142e. The wiring 150 abuts against the notch portion 142f. This restricts movement of the wiring 150 in the Yb direction. As shown in FIG. 13, the second restricting portion 142e is attached to the frame portion 142a of the second housing 142 by screws or the like.

[0091] In this embodiment, the servo motor SMB is disposed in the first housing 141 on the Xb2 side of a center line CL1 that passes through the center of the first housing 141 along the longitudinal direction of the first housing 141. The second reducer 162 is disposed across the center line CL1, and the wiring 150 is disposed on the Xb1 side of the center line CL1. The first reducer 161 and the bevel gear 163 are disposed on the Xb2 side of the center line CL1 of the first housing 141.

[0092] In this embodiment, as shown in Fig. 15, the second reducer 172 of the joint 64R is hollow. In the joint 64R, the wiring 150 is disposed inside the robot arm 60 so as to pass through the inside of the second reducer 172. The wiring 150 is disposed inside the second housing 142 from the first opening 141c of the first housing 141 through the second opening 142c of the second housing 142. The wiring 150 is disposed so as to extend from the second housing 142 to the third housing 143 through the inside of the second reducer 172.

[0093] In this embodiment, a cylindrical wire protection member 144 is disposed. The wire protection member 144 is disposed inside the hollow second reducer 172, and the wire 150 is inserted therein. The wire protection member 144 is formed from a flexible member. The wire protection member 144 is formed from, for example, resin. The wire protection member 144 is disposed from the second housing 142 to the third housing 143. Note that the wire protection member 144 is not necessarily required.

[0094] [Effects of this embodiment] The wiring 150 is disposed inside the robot arm 60 so as to extend along the longitudinal direction of the robot arm 60 and cross the AX1-Yb plane perpendicular to the rotation axis AX1 of the joint 64B and the longitudinal direction of the robot arm 60. As a result, the wiring 150 does not expand in the direction of the rotation axis AX1 of the joint 64B, and therefore there is no need to increase the width of the robot arm 60 in the direction of the rotation axis AX1. This allows the robot arm 60 to be made thinner.

[0095] The robot arm 60 includes a first housing 141 and a second housing 142 that are rotated relatively to each other by a joint 64B, and the wiring 150 is arranged from the inside of the first housing 141 to the inside of the second housing 142. As a result, the wiring 150 arranged from the inside of the first housing 141 to the inside of the second housing 142 does not expand in the direction of the rotation axis AX1, so that both the first housing 141 and the second housing 142 can be made thin.

[0096] The wiring 150 is arranged from the first opening 141c to the second opening 142c. This makes it possible to easily arrange the wiring 150 from the inside of the first housing 141 to the inside of the second housing 142 via the first opening 141c and the second opening 142c.

[0097] The first opening 141c and the second opening 142c are spaced apart from each other in the longitudinal direction of the robot arm 60. As a result, the first opening 141c and the second opening 142c are spaced apart from each other, so that the first housing 141 and the second housing 142 can be disposed at a distance from each other. Therefore, interference between the first housing 141 and the second housing 142 can be suppressed.

[0098] First housing 141 includes first restricting portion 141e that restricts movement of wiring 150 extending from second housing 142. This allows movement of wiring 150 within first housing 141 to be restricted by first restricting portion 141e.

[0099] Second housing 142 includes second restricting portion 142e that restricts movement of wiring 150 extending from first housing 141. This allows movement of wiring 150 within second housing 142 to be restricted by second restricting portion 142e.

[0100] The wiring 150 is disposed inside the robot arm 60 so as to extend along the longitudinal direction of the robot arm 60 and cross the AX1-Yb plane perpendicular to the rotation axis AX1 of the second reducer 162 and the longitudinal direction of the robot arm 60. This prevents the wiring 150 from expanding in the direction of the rotation axis of the second reducer 162, as occurs when the wiring 150 is disposed through the inside of the reducer. Therefore, even when the second reducer 162 is disposed at the joint 64B, the robot arm 60 can be made thin.

[0101] In the first housing 141, the servo motor SMB is disposed on one side of a center line CL1 that passes through the center of the first housing 141 along the longitudinal direction of the first housing 141, the second reducer 162 is disposed across the center line CL1, and the wiring 150 is disposed on the other side of the center line CL1. As a result, the servo motor SMB is disposed close to one side of the center line CL1 of the housing, so that the wiring 150 can be easily disposed on the other side of the center line CL1.

[0102] The wiring 150 is disposed inside the robot arm 60 so as to pass through the inside of the hollow second reducer 172. Here, the joint 64R rotates about the longitudinal direction of the robot arm 60 as the rotation axis AX11, and therefore the pair of the second housing 142 and the third housing 143 connected by the joint 64R are disposed on a straight line along the direction of the rotation axis AX11. Therefore, even if the wiring 150 is disposed so as to pass through the inside of the hollow second reducer 172, the wiring 150 does not bulge in the joint 64R.

[0103] The surgical support robot 1 further includes a tubular wire protection member 144 that is disposed inside the hollow second reducer 172 and into which the wire 150 is inserted. This makes it possible to suppress damage to the wire 150 caused by contact between the second reducer 172 and the wire 150.

[0104] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments described above, and further includes all modifications or variations within the meaning and scope of the claims.

[0105] In the above embodiment, an example has been shown in which the wiring 150 is disposed from the first opening 141c of the first housing 141 to the second opening 142c of the second housing 142, but the present disclosure is not limited to this. In the present disclosure, a hole having a diameter equivalent to that of the wiring 150 may be provided in the first housing 141, and a hole having a diameter equivalent to that of the wiring 150 may be provided in the second housing 142, so that the wiring 150 is disposed from the hole of the first housing 141 to the hole of the second housing 142. This restricts the movement of the wiring 150 by the hole of the first housing 141 and the hole of the second housing 142.

[0106] In the above embodiment, the first opening 141c and the second opening 142c are separated from each other, but the present disclosure is not limited to this. In the present disclosure, the first opening 141c and the second opening 142c may be arranged so as to be adjacent to each other. In this case, the first housing 141 and the second housing 142 are arranged so as to be in contact with each other.

[0107] In the above embodiment, the movement of the wiring 150 is restricted by the first restricting portion 141e and the second restricting portion 142e having a substantially U-shape, but the present disclosure is not limited to this. In the present disclosure, the movement of the wiring 150 may be restricted by an adhesive tape or the like.

[0108] In the above embodiment, an example has been described in which the cylindrical wire protection member 144 is disposed inside the hollow second reducer 172, but the present disclosure is not limited to this. In the present disclosure, if there is no risk of damage to the wire 150 due to interference between the second reducer 172 and the wire 150, the wire protection member 144 does not need to be disposed.

[0109] In addition, in the above embodiment, an example in which four robot arms 60 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 60 may be any other number as long as at least one or more robot arms 60 are provided.

[0110] In the above embodiment, the arm unit 61 and the positioner 40 are configured as a 7-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured as an articulated robot having an axis configuration other than a 7-axis articulated robot. An example of an axis configuration other than a 7-axis articulated robot is a 6-axis or 8-axis robot.

[0111] In the above embodiment, the surgical support robot 1 includes the medical cart 3, the positioner 40, and the arm base 50, but the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the surgical support robot 1 may be configured with only the robot arm 60.

[0112] In the above embodiment, the present disclosure is applied to the surgery support robot 1, but the present disclosure is not limited to this. For example, the present disclosure may be applied to a joint 201 of a humanoid robot 200 as shown in FIG.

[0113] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0114] (Item 1) A robotic arm with joints and a surgical instrument attached to the tip; Wiring disposed inside the robot arm; the joints include a first joint that rotates in a direction to bend the robot arm, A surgical support robot, wherein the wiring is arranged inside the robot arm so as to run along the longitudinal direction of the robot arm and cross a plane perpendicular to the rotation axis of the first joint and the longitudinal direction of the robot arm.

[0115] (Item 2) the robot arm includes a first housing and a second housing that are rotated relatively to each other by the first joint; Item 2. The surgical support robot according to item 1, wherein the wiring is arranged from inside the first housing to inside the second housing.

[0116] (Item 3) the first housing includes a first opening, the second housing includes a second opening, 3. The surgical support robot according to claim 2, wherein the wiring is arranged from the first opening to the second opening.

[0117] (Item 4) Item 4. The surgical support robot according to item 3, wherein the first opening and the second opening are spaced apart from each other in the longitudinal direction of the robot arm.

[0118] (Item 5) The surgical support robot according to any one of claims 2 to 4, wherein the first housing includes a first regulating part that regulates movement of the wiring extending from the second housing.

[0119] (Item 6) The surgical support robot according to any one of claims 2 to 5, wherein the second housing includes a second regulating part that regulates movement of the wiring extending from the first housing.

[0120] (Item 7) The first joint is A first motor that rotates the first joint; a first joint reducer that transmits rotation of the first motor in a direction perpendicular to a rotation axis direction of the first motor, 7. The surgical support robot according to any one of claims 1 to 6, wherein the wiring is arranged inside the robot arm so as to run along the longitudinal direction of the robot arm and cross a plane perpendicular to the rotation axis of the first joint reducer and the longitudinal direction of the robot arm.

[0121] (Item 8) the robot arm further includes a cylindrical first housing in which the first motor and the first joint reduction gear are housed, the first motor is disposed in the first housing on one side of a center line passing through a center of the first housing along a longitudinal direction of the first housing, The first joint reducer is disposed across the center line, 8. The surgical support robot according to item 7, wherein the wiring is arranged on the other side of the center line.

[0122] (Item 9) The joint further includes a second joint that rotates about a rotation axis in a longitudinal direction of the robot arm, The second joint is A second motor that rotates the second joint; a hollow second joint reducer that transmits rotation of the second motor in a direction along a rotation axis direction of the second motor, 9. The surgical support robot according to any one of claims 1 to 8, wherein the wiring is arranged inside the robot arm so as to pass through the inside of the hollow second joint reducer.

[0123] (Item 10) Item 10. The surgical support robot described in item 9, further comprising a tubular wiring protection member that is disposed inside the hollow second joint reducer and into which the wiring is inserted. [Explanation of symbols]

[0124] 1. Surgical support robot 4 Surgical instruments 60 Robot Arm 64 Joints 64B Joint (1st joint) 64R Joint (2nd joint) 141 1st cabinet 141c 1st opening 141e First Regulatory Department 142 2nd cabinet 142c 2nd opening 142e Second Regulatory Department 144 Wiring protection material 150 Wiring 162 Second reducer (first joint reducer) 171 First reducer (second joint reducer) 172 Second reducer (second joint reducer) AX1 Rotation axis (rotation axis of the first joint) AX2 Servo motor rotation axis AX11 Rotation axis (rotation axis of the second joint) AX12 Servo motor rotation axis CL1 center line SMB servo motor (first motor) SMR servo motor (second motor)

Claims

1. A surgical support robot comprising a robotic arm with a surgical instrument attached to its tip and a wiring disposed inside the robotic arm, wherein the joint includes a first joint that rotates in a direction to bend the robotic arm, and the wiring is disposed inside the robotic arm along the longitudinal direction of the robotic arm and across a plane orthogonal to the longitudinal direction of the robotic arm and including the rotation axis of the first joint.

2. The surgical support robot according to claim 1, wherein the wiring is disposed inside the robotic arm along the longitudinal direction of the robotic arm and across the rotation axis of the first joint and the plane orthogonal to the longitudinal direction of the robotic arm.

3. The robotic arm includes a first housing and a second housing that are relatively rotated with respect to each other by the first joint, and the wiring is disposed from inside the first housing to inside the second housing. The surgical support robot according to claim 1.

4. The first housing includes a first opening, the second housing includes a second opening, and the wiring is disposed from the first opening to the second opening. The surgical support robot according to claim 3.

5. The surgical support robot according to claim 4, wherein the first opening and the second opening are spaced apart from each other in the longitudinal direction of the robotic arm.

6. The surgical support robot according to claim 3, wherein the first housing includes a first restricting portion that restricts movement of the wiring extending from the second housing.

7. The surgical support robot according to claim 3, wherein the second housing includes a second restricting portion that restricts movement of the wiring extending from the first housing.

8. The first joint includes a first motor that rotates the first joint and a first joint reducer that transmits the rotation of the first motor in a direction orthogonal to the rotation axis direction of the first motor, and the wiring is disposed inside the robotic arm along the longitudinal direction of the robotic arm and across the rotation axis of the first joint reducer and the plane orthogonal to the longitudinal direction of the robotic arm. The surgical support robot according to claim 2.

9. The robotic arm further includes a cylindrical first housing that houses the first motor and the first joint reducer. ​ ​ ​ The first motor is disposed on one side of the first housing in the first housing with respect to a center line passing through the center of the first housing along the longitudinal direction of the first housing. The first joint reduction gear is disposed across the center line. The wiring is disposed on the other side with respect to the center line. The surgical support robot according to claim 8.

10. The joint further includes a second joint that rotates about the longitudinal direction of the robot arm as a rotation axis. The second joint is a second motor that rotates the second joint, and a hollow second joint reduction gear that transmits the rotation of the second motor in a direction along the rotation axis direction of the second motor. The wiring is disposed inside the robot arm so as to pass through the inside of the hollow second joint reduction gear. The surgical support robot according to claim 1.

11. The surgical support robot according to claim 10, further comprising a cylindrical wiring protection member disposed inside the hollow second joint reduction gear and into which the wiring is inserted.

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