Surgical instrument

Abstract

To provide a surgical instrument enabling roll-rotation of a shaft, and pitch / yaw joint movement of an end effector by four drive shafts, and capable of moving an elongate element for operating the end effector in the longitudinal direction of the shaft.SOLUTION: A surgical instrument 40a includes: a first drive shaft 44a for roll rotation of a shaft 42; a second drive shaft 44b and a third drive shaft 44c for pitch joint movement of a first joint 45a and yaw joint movement of a second joint 45b; and a fourth drive shaft 44d for moving a rod 47 in the longitudinal direction. The surgical instrument 40a includes a lever 48 which includes a shaft part 481a rotating around a shaft center by driving force from the fourth drive shaft 44d, an arm 481 disposed in the shaft part 481a, and an engaging part 482 disposed in the arm 481 and engaged with the rod 47.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to surgical instruments. [Background technology]

[0002] 2. Description of the Related Art Conventionally, surgical instruments equipped with a drive shaft are known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a surgical instrument including a drive shaft, a disk to which the drive shaft is fixed, an eccentric cam pin provided on the disk, a drive bar that engages with the eccentric cam pin, a pivot drive shaft that serves as a pivot for the drive bar, a core rod that moves back and forth in the longitudinal direction of the shaft by rotation of the drive bar about the pivot drive shaft, and a blade that opens and closes by the back and forth movement of the core rod. In the surgical instrument disclosed in the above-mentioned Patent Document 1, of the four drive shafts extending vertically from a base, two drive shafts are used as pivot shafts to move the core rod back and forth to drive the end effector, and one drive shaft is used to rotate the shaft. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] US Patent No. 7,306,597 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the above-mentioned Patent Document 1, since the core rod is moved back and forth using two drive shafts as pivot shafts to drive the end effector, there is an insufficient number of drive shafts for pitch and yaw joint movement of the end effector, which is inconvenient in that it is difficult to perform pitch and yaw joint movement of the end effector. Therefore, there is a problem that it is difficult to rotate the shaft in roll and perform pitch and yaw joint movement of the end effector with four drive shafts, and to move the rod (elongated element) for operating the end effector in the longitudinal direction of the shaft.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a surgical instrument that has four drive axes that allow for roll rotation of a shaft and pitch and yaw articulation of an end effector, and that can move an elongated element for actuating the end effector in the longitudinal direction of the shaft. [Means for solving the problem]

[0007] In order to achieve the above object, a surgical instrument according to one aspect of the present invention includes a base attached to a robot arm, a housing having a lid portion covering the base, a shaft having a proximal end connected to the base, a wrist joint connected to a distal end side of the shaft and including a first joint capable of pitch articulation about a first rotation axis perpendicular to a longitudinal direction of the shaft and a second joint capable of yaw articulation about a second rotation axis perpendicular to the longitudinal direction and the first rotation axis, an end effector connected to the distal end of the wrist joint, an elongated element provided to extend in the longitudinal direction of the shaft and having a distal end connected to the end effector, and a surgical instrument provided on the base and adapted to be operated by the robot. The robot comprises at least four drive shafts that are rotated by driving force from a motor provided on the arm, and a lever that moves the elongated element in the longitudinal direction, the at least four drive shafts including a first drive shaft for rolling the shaft around the longitudinal axis, a second drive shaft and a third drive shaft for pitching the first joint around the first rotation axis and yawing the second joint around the second rotation axis, and a fourth drive shaft for moving the elongated element in the longitudinal direction, and the lever includes a shaft portion that rotates around an axis by driving force from the fourth drive shaft, an arm provided on the shaft portion, and an engagement portion provided on the arm that engages with the elongated element.

[0008] In the surgical instrument according to one aspect of the present invention, as described above, the lever includes a shaft portion that rotates around the axis by the driving force from the fourth drive shaft, an arm provided on the shaft portion, and an engagement portion provided on the arm that engages with the elongated element. In this way, the shaft portion of the lever itself that moves the elongated element in the longitudinal direction serves as the rotation axis of the lever, and it is not necessary to use the drive shaft as the rotation axis. As a result, the elongated element can be moved in the longitudinal direction of the shaft using only one drive shaft to operate the end effector. As a result, it is possible to provide a surgical instrument that can rotate the shaft in roll and articulate the end effector in pitch and yaw directions using four drive shafts, and can move the elongated element for operating the end effector in the longitudinal direction of the shaft. Effect of the Invention

[0009] According to the present invention, as described above, four drive axes are provided to allow roll rotation of the shaft, pitch and yaw articulation of the end effector, and translation of an elongated element for actuating the end effector along the length of the shaft. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the configuration of a robotic surgery system according to one embodiment. [Diagram 2] FIG. 2 is a block diagram showing a control configuration of a robotic surgery system according to one embodiment. [Diagram 3] FIG. 1 is a perspective view showing a state in which a surgical instrument is attached to a robot arm via an adapter according to one embodiment. [Figure 4] FIG. 1 is an exploded perspective view showing a state in which a surgical instrument is attached to a robot arm via an adapter according to one embodiment. [Diagram 5] FIG. 1 is a bottom perspective view of a surgical instrument according to one embodiment. [Figure 6] FIG. 1 is a top view of a surgical instrument according to one embodiment. [Figure 7] FIG. 2 is a perspective view of a surgical instrument according to one embodiment with a lid portion removed. [Figure 8] FIG. 2 is a plan view of a surgical instrument according to one embodiment with a lid portion removed. [Figure 9] FIG. 2 is a cross-sectional view showing a state in which a lid portion of a surgical instrument according to one embodiment is removed. [Figure 10] FIG. 13 is a side view illustrating an end effector, wrist joint and shaft in accordance with one embodiment. [Figure 11] FIG. 13 is a cross-sectional view of an end effector, wrist joint, and shaft in accordance with one embodiment. [Figure 12] 11 is a cross-sectional view of the third joint part taken along the line C1-C1 of FIG. 10. FIG. [Figure 13] FIG. 13 is an exploded perspective view of an end effector and rod according to one embodiment. [Figure 14]FIG. 13 is a perspective view of a guide portion within a wrist joint of a surgical instrument according to one embodiment. [Figure 15] FIG. 2 is a perspective view illustrating a memory substrate and a fixing portion according to an embodiment. [Figure 16] 1 is a cross-sectional view illustrating a memory substrate and a fixing portion according to an embodiment. [Figure 17] FIG. 1 is a perspective view of a wrist joint of a surgical instrument according to one embodiment. [Figure 18] FIG. 1 is an exploded perspective view of a wrist joint of a surgical instrument according to one embodiment. [Figure 19] FIG. 13 is a cross-sectional view showing first and fourth jaws of a wrist joint of a surgical instrument according to one embodiment. [Figure 20] 13 is a cross-sectional view showing second and third jaws of a wrist joint of a surgical instrument according to one embodiment. FIG. [Figure 21] FIG. 13 is an enlarged view of the first and fourth jaws of a wrist joint of a surgical instrument according to one embodiment. [Figure 22] FIG. 13 is an enlarged view of the second and third jaws of the wrist joint of a surgical instrument according to one embodiment. [Diagram 23] FIG. 1 illustrates a wrist joint of a surgical instrument in an unrotated state in accordance with one embodiment. [Figure 24] FIG. 13 illustrates a wrist joint of a surgical instrument rotated by an angle θ1 according to one embodiment. [Diagram 25] FIG. 13 illustrates a wrist joint of a surgical instrument rotated by an angle θ2 according to one embodiment. [Figure 26] FIG. 13 illustrates a wrist joint of a surgical instrument rotated by an angle θ3 according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0012] (Configuration of Robotic Surgery System) The configuration of a robotic surgery system 100 according to one embodiment will be described with reference to FIGS.

[0013] As shown in FIG. 1, the robotic surgery system 100 includes a remote control device 10 and a patient-side device 20. The remote control device 10 is provided to remotely control medical equipment provided in the patient-side device 20. When an operation mode command to be executed by the patient-side device 20 is input to the remote control device 10 by an operator, a surgeon, the remote control device 10 transmits the operation mode command to the patient-side device 20 via a controller 24. In response to the operation mode command transmitted from the remote control device 10, the patient-side device 20 operates medical instruments such as a surgical instrument 40 attached to a robot arm 21a and an endoscope 40b attached to a robot arm 21b. In this way, minimally invasive surgery is performed.

[0014] The patient-side device 20 constitutes an interface for performing surgery on the patient P. The patient-side device 20 is placed beside the operating table 30 on which the patient P lies. The patient-side device 20 has a plurality of robot arms 21a, 21b, of which an endoscope 40b is attached to one robot arm 21b, and a surgical instrument 40a is attached to the other robot arm 21a. The robot arms 21a, 21b are commonly supported by an arm base 22. The robot arms 21a, 21b have a plurality of joints, and each joint is provided with a drive unit including a servo motor and a position detector such as an encoder. The robot arms 21a, 21b are configured to be controlled by a drive signal given via a controller 24 so that the medical instruments attached to the robot arms 21a, 21b perform desired operations.

[0015] The arm base 22 is supported by a positioner 23 placed on the floor of the operating room. The positioner 23 includes a vertical articulated robot. The positioner 23 is configured to three-dimensionally move the position of the arm base 22. The controller 24 is a control circuit having a computing unit such as a CPU and memories such as a ROM and a RAM.

[0016] A surgical instrument 40a serving as a medical instrument is detachably attached to the distal end of the robot arm 21a. The surgical instrument 40a includes a housing 41 (see FIG. 3), a shaft 42 (see FIG. 3), and an end effector 43 (see FIG. 3). Examples of the end effector 43 include, but are not limited to, grasping forceps, scissors, hooks, high-frequency knives, snare wires, clamps, staplers, clip appliers, electric scalpels, and needles, and various treatment tools can be applied. In surgery using the patient-side device 20, the robot arm 21a introduces the surgical instrument 40a into the body of the patient P through a cannula (trocar) placed on the body surface of the patient P. The end effector 43 of the surgical instrument 40a is disposed in the vicinity of the surgical site.

[0017] An endoscope 40b serving as a medical instrument is removably attached to the tip of the robot arm 21b. The endoscope 40b photographs the inside of the body cavity of the patient P, and the photographed images are output to the remote control device 10. A 3D endoscope or a 2D endoscope capable of photographing three-dimensional images is used as the endoscope 40b. In surgery using the patient-side device 20, the robot arm 21b introduces the endoscope 40b into the body of the patient P via a trocar placed on the body surface of the patient P. Then, the endoscope 40b is placed in the vicinity of the surgical site.

[0018] The remote control device 10 constitutes an interface with an operator. The remote control device 10 is a device that allows the operator to operate the medical instruments attached to the robot arms 21a and 21b. That is, the remote control device 10 is configured to be able to transmit, via the controller 24, operation mode commands to be executed by the surgical instruments 40a and the endoscope 40b input by the operator to the patient-side device 20. The remote control device 10 is installed, for example, beside the operating table 30 so that the state of the patient P can be clearly seen while operating the master. The remote control device 10 can also be installed in a room separate from the operating room in which the operating table 30 is installed.

[0019] The operation modes to be executed by the surgical instrument 40a are the operation (series of positions and postures) of the surgical instrument 40a and the operation modes realized by the individual functions of the surgical instrument 40a. For example, when the surgical instrument 40a is a vessel sealer, the operation modes to be executed by the surgical instrument 40a are the pitch rotation operation and yaw rotation operation of the wrist of the end effector 43, the operation of opening and closing the jaws, the operation of coagulating tissue by supplying a coagulation current to the end effector, and the operation of incising tissue by supplying a cutting current to the end effector.

[0020] The operation mode to be executed by the endoscope 40b is, for example, the position and attitude of the tip of the endoscope 40b, or the setting of the zoom magnification.

[0021] As shown in FIGS. 1 and 2, the remote control device 10 includes an operating handle 11, an operating pedal section 12, a display section 13, and a control device 14.

[0022] The operating handle 11 is provided to remotely operate the medical instruments attached to the robot arm 21a. Specifically, the operating handle 11 receives operations by an operator to operate the medical instruments (surgical instrument 40a, endoscope 40b). Two operating handles 11 are provided along the horizontal direction. That is, one of the two operating handles 11 is operated by the operator's right hand, and the other of the two operating handles 11 is operated by the operator's left hand.

[0023] The operating handle 11 is disposed so as to extend from the rear side to the front side of the remote control device 10. The operating handle 11 is configured so as to be movable within a predetermined three-dimensional operation area. That is, the operating handle 11 is configured so as to be movable in the up-down direction, the left-right direction, the front-rear direction, and by rotation.

[0024] The remote control device 10 and the patient-side device 20 constitute a master-slave type system in controlling the movements of the robot arms 21a and 21b. That is, the operation handle 11 constitutes a master-side operation unit in the master-slave type system, and the robot arms 21a and 21b to which medical instruments are attached constitute a slave-side operation unit. When an operator operates the operation handle 11, the operation of the robot arm 21a or the robot arm 21b is controlled so that the tip of the robot arm 21a (the end effector 43 of the surgical instrument 40a) or the tip of the robot arm 21b (the endoscope 40b) moves while tracing the movement of the operation handle 11.

[0025] In addition, the patient-side device 20 is configured to control the operation of the robot arm 21a according to the set operation magnification. For example, when the operation magnification is set to 1 / 2, the end effector 43 of the surgical instrument 40a is controlled to move a distance that is 1 / 2 the movement distance of the operating handle 11. This allows delicate surgery to be performed accurately.

[0026] The operation pedal unit 12 includes a plurality of pedals for executing functions related to the medical instrument, including a coagulation pedal, a cutting pedal, a camera pedal, and a clutch pedal, and is operated by the feet of an operator.

[0027] The coagulation pedal can be used to perform an operation to coagulate the surgical site using the surgical instrument 40a. Specifically, when the coagulation pedal is operated, a current for coagulation is supplied to the surgical instrument 40a, and the surgical site is coagulated. The cutting pedal can be used to perform an operation to cut the surgical site using the surgical instrument 40a. Specifically, when the cutting pedal is operated, a current for cutting is supplied to the surgical instrument 40a, and the surgical site is cut.

[0028] The camera pedal is used to control the position and attitude of the endoscope 40b that captures images inside the body cavity. Specifically, the camera pedal enables the operation of the endoscope 40b by the operation handle 11. In other words, while the camera pedal is being pressed, the position and attitude of the endoscope 40b can be controlled by the operation handle 11. For example, the endoscope 40b is operated by using both the left and right operation handles 11. Specifically, the endoscope 40b is rotated by rotating the left and right operation handles 11 around the midpoint of the left and right operation handles 11. In addition, the endoscope 40b moves backward by pushing in both the left and right operation handles 11. In addition, the endoscope 40b moves forward by pulling both the left and right operation handles 11. In addition, the endoscope 40b moves up, down, left and right by moving both the left and right operation handles 11 up, down, left and right.

[0029] The clutch pedal is used to temporarily disconnect the operational connection between the robot arm 21a and the operating handle 11 to stop the operation of the surgical instrument 40a. Specifically, while the clutch pedal is being operated, the robot arm 21a of the patient-side device 20 does not move even if the operating handle 11 is operated. For example, when the operating handle 11 is brought near the end of the movable range by operation, the clutch pedal is operated to temporarily disconnect the operational connection and return the operating handle 11 to near the center position. Then, when the operation of the clutch pedal is stopped, the robot arm 21a and the operating handle 11 are reconnected, and the operation of the operating handle 11 can be resumed near the center.

[0030] The display unit 13 is capable of displaying an image captured by the endoscope 40b. The display unit 13 is composed of a scope-type display unit or a non-scope-type display unit (FIG. 1 shows a scope-type display unit). The scope-type display unit is, for example, a display unit that is peered into. The non-scope-type display unit is a concept that includes an open-type display unit having a flat screen that is not peered into like a typical personal computer display.

[0031] When a scope-type display unit is attached, a 3D image captured by an endoscope 40b attached to the robot arm 21b of the patient-side device 20 is displayed. When a non-scope-type display unit is attached, a 3D image captured by an endoscope 40b provided in the patient-side device 20 is also displayed. When a non-scope-type display unit is attached, a 2D image captured by an endoscope 40b provided in the patient-side device 20 may be displayed.

[0032] As shown in FIG. 2, the control device 14 includes, for example, a control unit 141 having a computing unit such as a CPU, a storage unit 142 having memories such as a ROM and a RAM, and an image control unit 143. The control device 14 may be configured by a single control device that performs centralized control, or may be configured by a plurality of control devices that perform distributed control in cooperation with each other. The control unit 141 determines whether the operation mode command inputted through the operation handle 11 is an operation mode command to be executed by the robot arm 21a or an operation mode command to be executed by the endoscope 40b, depending on the switching state of the operation pedal unit 12. Then, when the control unit 141 determines that the operation mode command inputted through the operation handle 11 is an operation mode command to be executed by the surgical instrument 40a, it transmits the operation mode command to the robot arm 21a via the controller 24. As a result, the robot arm 21a is driven by the controller 24, and the operation of the surgical instrument 40a attached to the robot arm 21a is controlled by this drive.

[0033] Furthermore, when the control unit 141 determines that the operation mode command input to the operation handle 11 is an operation mode command to be executed by the endoscope 40b, it transmits the operation mode command to the robot arm 21b via the controller 24. This causes the robot arm 21b to be driven, and this drive controls the operation of the endoscope 40b attached to the robot arm 21b.

[0034] The memory unit 142 stores, for example, a control program corresponding to the type of surgical instrument 40a, and the control unit 141 reads out these control programs according to the type of attached surgical instrument 40a, so that the operating commands of the operating handle 11 and / or operating pedal unit 12 of the remote control device 10 can perform operations suitable for the individual surgical instrument 40a.

[0035] The image control unit 143 transmits the image acquired by the endoscope 40b to the display unit 13. The image control unit 143 performs processing and correction of the image as necessary.

[0036] (Construction of surgical instruments, adapters, drapes and robotic arms) Next, the configurations of the surgical instrument 40a, the adapter 60, the drape 70, and the robot arm 21a will be described with reference to FIGS.

[0037] Here, the longitudinal direction of the surgical instrument 40a (the longitudinal direction of the shaft 42) is the Y direction, the distal end side of the surgical instrument 40a (toward the end effector 43) in the Y direction is the Y1 direction, and the opposite side of the Y1 direction is the Y2 direction. The direction in which the surgical instrument 40a and the adapter 60 are adjacent to each other is the Z direction, the Z direction toward the surgical instrument 40a in the Z direction is the Z1 direction, and the opposite side of the Z1 direction is the Z2 direction. The direction perpendicular to the Y direction and the Z direction is the X direction, one side of the X direction is the X1 direction, and the other side of the X direction is the X2 direction.

[0038] 3 and 4, the surgical instrument 40a is removably attached to the robot arm 21a of the robotic surgery system 100. Specifically, the surgical instrument 40a is removably attached to the robot arm 21a via an adapter 60. The adapter 60 is a drape adapter for sandwiching a sterilized drape 70 for covering the robot arm 21a between the adapter 60 and the robot arm 21a.

[0039] The surgical instrument 40a is attached to the Z1 direction side of the adapter 60. The adapter 60 is attached to the Z1 direction side of the robot arm 21a.

[0040] The robot arm 21a is covered with a drape 70 since it is used in the clean area. Here, in the operating room, a clean operation is performed to prevent the incised part and medical equipment from being contaminated by pathogens or foreign objects. In this clean operation, a clean area and a contaminated area other than the clean area are set. The surgical site is placed in the clean area. The members of the operating team, including the operator, take care that only sterilized objects are placed in the clean area during the operation, and when an object located in the contaminated area is moved to the clean area, the object is sterilized. Similarly, when an assistant of the operating team, including the operator, places his / her hands in the contaminated area, the hand is sterilized before directly contacting the object located in the clean area. The instruments used in the clean area are sterilized or covered with a sterilized drape 70.

[0041] As shown in FIG. 4, the drape 70 includes a main body 71 that covers the robot arm 21a, and an attachment 72 that is sandwiched between the robot arm 21a and the adaptor 60. The main body 71 is made of a flexible film member formed into a film shape. The flexible film member is made of a resin material such as thermoplastic polyurethane or polyethylene. The main body 71 has an opening so that the robot arm 21a and the adaptor 60 can engage with each other. The attachment 72 is provided at the opening of the main body 71. The attachment 72 is made of a resin molded member. The resin molded member is made of a resin material such as polyethylene terephthalate. The attachment 72 is formed to be harder (less flexible) than the main body 71. The attachment 72 has an opening so that the robot arm 21a and the adaptor 60 can engage with each other. The opening of the attachment 72 may be provided to correspond to the portion where the robot arm 21a and the adaptor 60 engage with each other. Furthermore, the attachment portion 72 may have a plurality of openings provided to correspond to a plurality of engaging portions between the robot arm 21a and the adapter 60.

[0042] As shown in Figures 5 and 7, the surgical instrument 40a includes a plurality of (four) drive shafts 44a, 44b, 44c, and 44d. The drive shafts 44a to 44d are provided in a housing 41 and are rotatable about a rotation axis extending in the Z direction. The drive shafts 44a to 44d are rotationally driven by a driving force from a motor of a drive unit 212 provided in the robot arm 21a. The drive shafts 44a to 44d are provided to operate (drive) the shaft 42, the end effector 43, and a wrist joint 45 described later.

[0043] Each of the multiple drive shafts 44a to 44d includes a protrusion 441 that engages with a drive transmission member 61 of the adapter 60 to transmit a driving force from the robot arm 21a to the shaft 42, the end effector 43, and the wrist joint 45. The protrusions 441 protrude from the surfaces of the drive shafts 44a to 44d on the Z2 direction side toward the adapter 60 side (Z2 direction side). Furthermore, the multiple protrusions 441 are arranged linearly.

[0044] 4, the adapter 60 includes a drive transmission member 61. The drive transmission member 61 is configured to transmit the drive force from the robot arm 21a to the multiple drive shafts 44a to 44d of the surgical instrument 40a. In other words, a plurality of drive transmission members 61 are provided corresponding to the multiple drive shafts 44a to 44d of the surgical instrument 40a. The drive transmission member 61 is provided rotatably about a rotation axis extending in the Z direction.

[0045] The multiple drive transmission members 61 include engagement recesses 611 that engage with protrusions 441 of the multiple drive shafts 44a to 44d of the surgical instrument 40a. The engagement recesses 611 are provided on the surgical instrument 40a side (Z1 direction side) of the drive transmission member 61, and are recessed from the Z1 direction side surface of the drive transmission member 61 toward the opposite side to the surgical instrument 40a side (Z2 direction side). The multiple drive transmission members 61 include engagement recesses on the Z2 direction side surface that engage with engagement protrusions 213 of the robot arm 21a, which will be described later.

[0046] The robot arm 21a includes a frame 211, a drive unit 212, and a plurality of engaging protrusions 213. A plurality (four) of the drive units 212 are provided to correspond to the plurality of drive shafts 44a to 44d of the surgical instrument 40a and the plurality of drive transmission members 61 of the adapter 60. The drive unit 212 includes an absolute encoder and a servo motor, and is configured to rotate the engaging protrusions 213 about a rotation axis extending in the Z direction. The engaging protrusions 213 engage with engaging recesses on the surface of the drive transmission member 61 on the Z2 direction side. The engaging protrusions 213 protrude from the surface on the Z1 direction side of the robot arm 21a toward the Z1 direction side (the adapter 60 side). The drive unit 212 is configured to rotate the drive transmission member 61 of the adapter 60 engaged with the engagement protrusion 213 around a rotation axis extending in the Z direction, and to rotate the drive shafts 44a to 44d of the surgical instrument 40a engaged with the drive transmission member 61 around a rotation axis extending in the Z direction.

[0047] (Detailed configuration of surgical instruments) Next, the detailed configuration of the surgical instrument 40a will be described with reference to FIGS.

[0048] 6 to 26, the surgical instrument 40a includes a housing 41, a shaft 42, an end effector 43, and a plurality of drive shafts 44a to 44d. The surgical instrument 40a also includes a wrist joint 45, a wire 46, a rod 47, a lever 48, a driving force transmission section 49, a holding member 50, and a spring member 51. The rod 47 is an example of an "elongated element" in the claims.

[0049] As shown in FIG. 7, the housing 41 has a base 411 and a lid portion 412 (see FIG. 4). The base 411 is attached to the robot arm 21a (see FIG. 4) via an adapter 60. The base 411 is provided with a plurality of drive shafts 44a to 44d. The lid portion 412 covers the base 411. Specifically, the lid portion 412 covers the base 411 from the side opposite to the attachment surface of the base 411 to the robot arm 21a (Z1 direction side). The lid portion 412 is attached to the base 411 in a detachable manner.

[0050] The shaft 42 is provided to extend in the Y direction. The proximal end (the end on the Y2 direction side) of the shaft 42 is connected to the base 411. The wrist joint 45 is connected to the distal end (the end on the Y1 direction side) of the shaft 42.

[0051] The end effector 43 is connected to the distal end of the wrist joint 45. The end effector 43 has a first jaw 431 and a second jaw 432.

[0052] As shown in Figures 10 and 11, the first jaw 431 is provided with a cutting electrode 81. The first jaw 431 is also provided with coagulation electrodes. The coagulation electrodes are provided on both sides of the cutting electrode 81 in the width direction so as to sandwich the cutting electrode 81. The second jaw 432 is also provided with a ground electrode. The end effector 43 is configured to be able to cut and coagulate the surgical site.

[0053] As shown in Figures 7 to 9, the multiple drive shafts 44a to 44d include a first drive shaft 44a for rolling the shaft 42 around an axis in the Y direction, a second drive shaft 44b and a third drive shaft 44c for pitching the first joint 45a around the rotation axis A1 and yawing the second joint 45b around the rotation axis A2, and a fourth drive shaft 44d for moving the rod 47 in the Y direction.

[0054] The first drive shaft 44a is connected to a gear 422 that is connected to the proximal end of the shaft 42. When the first drive shaft 44a is driven to rotate, the shaft 42 is rotated in roll via the gear 422. The second drive shaft 44b and the third drive shaft 44c are connected to a wire 46 that is connected to a wrist joint 45. When the second drive shaft 44b and the third drive shaft 44c are driven to rotate, the wrist joint 45 is caused to perform pitch or yaw joint motion via the wire 46. The movement of the rod 47 in the Y direction by the fourth drive shaft 44d will be described later.

[0055] As shown in FIG. 7, FIG. 10, and FIG. 11, the wrist joint 45 is connected to the distal end side (Y1 direction side) of the shaft 42 and configured to be capable of articulation. Specifically, the wrist joint 45 has a first joint part 451, a second joint part 452, and a third joint part 453. The first joint part 451 is connected to the distal end side (Y1 direction side) of the shaft 42. The second joint part 452 is connected to the first joint part 451 via a first joint 45a. The second joint part 452 is disposed on the distal end side (Y1 direction side) of the first joint part 451 and meshes with the first joint part 451 so as to be capable of pitch articulation. The third joint part 453 is connected to the second joint part 452 via a second joint 45b. The third joint part 453 is disposed on the distal end side of the second joint part 452 and engages with the second joint part 452 so as to be capable of yaw joint movement. The third joint part 453 has a shape in which the diameter gradually decreases toward the distal end side (Y1 direction side) in order to connect the shaft 42 and the end effector 43 having a smaller diameter than the shaft 42. Details of the wrist joint 45 will be described later. The first joint part 451, the second joint part 452, and the third joint part 453 are examples of the "first joint part", the "second joint part", and the "third joint part" in the claims, respectively.

[0056] The wires 46 are provided to drive the wrist joint 45. The wires 46 cause the wrist joint 45 to perform pitch and yaw joint movements. Four wires 46 are provided inside the shaft 42 and extend in the Y direction. Two of the four wires 46 connect the wrist joint 45 to the second drive shaft 44b, and the other two connect the wrist joint 45 to the third drive shaft 44c.

[0057] For example, as shown in FIG. 12, the four wires 46 include wires 46a, 46b, 46c, and 46d. The distal ends of the wires 46a, 46b, 46c, and 46d are fixed to the third joint part 453. The proximal ends of the wires 46a and 46b are wound around the second drive shaft 44b. The wires 46a and 46b are wound around the second drive shaft 44b in opposite directions. That is, when the second drive shaft 44b rotates in one direction, one of the wires 46a and 46b is pulled in the proximal direction (Y2 direction), and the other of the wires 46a and 46b is loosened and pulled out in the distal direction (Y1 direction). Furthermore, by rotating the second drive shaft 44b in the other direction opposite to the one direction, the other of the wires 46a and 46b is pulled in the proximal direction (Y2 direction), and one of the wires 46a and 46b is loosened and pulled out in the distal direction (Y1 direction). The wires 46a, 46b, 46c, and 46d are examples of the "first wire," "second wire," "third wire," and "fourth wire" in the claims, respectively.

[0058] The proximal ends of the wires 46c and 46d are wound around the third drive shaft 44c. The wires 46c and 46d are wound around the third drive shaft 44c in opposite directions. That is, when the third drive shaft 44c rotates in one direction, one of the wires 46c and 46d is pulled in the proximal direction (Y2 direction), and the other of the wires 46c and 46d is loosened and drawn out in the distal direction (Y1 direction). When the third drive shaft 44c rotates in the other direction opposite to the one direction, the other of the wires 46c and 46d is pulled in the proximal direction (Y2 direction), and one of the wires 46c and 46d is loosened and drawn out in the distal direction (Y1 direction).

[0059] 10, the wrist joint 45 includes a first joint 45a that can rotate about a rotation axis A1 perpendicular to the longitudinal direction of the shaft 42 to perform pitch joint movement, and a second joint 45b that can rotate about a rotation axis A2 perpendicular to the longitudinal direction of the shaft 42 and the rotation axis A1 to perform yaw joint movement. The wire 46 causes the wrist joint 45 to perform pitch joint movement and yaw joint movement by driving the wires 46a and 46b by the second drive shaft 44b and by driving the wires 46c and 46d by the third drive shaft 44c. The wrist joint 45 rotates the first joint 45a about the rotation axis A1 (pitch joint movement) and the second joint 45b about the rotation axis A2 (yaw joint movement) by the second drive shaft 44b and the third drive shaft 44c. The second drive shaft 44b is configured to rotate in a first direction to apply tension to the wire 46a, and to rotate in a second direction opposite to the first direction to apply tension to the wire 46b. The third drive shaft 44c is configured to rotate in a third direction to apply tension to the wire 46c, and to rotate in a fourth direction opposite to the third direction to apply tension to the wire 46d. When tension is applied to the wire 46a by the rotation of the second drive shaft 44b and tension is applied to the wire 46d by the rotation of the third drive shaft 44c, or when tension is applied to the wire 46b by the rotation of the second drive shaft 44b and tension is applied to the wire 46c by the rotation of the third drive shaft 44c, the first joint 45a performs a pitch joint movement around the rotation axis A1. When tension is applied to the wire 46a by the rotation of the second drive shaft 44b and tension is applied to the wire 46c by the rotation of the third drive shaft 44c, or when tension is applied to the wire 46b by the rotation of the second drive shaft 44b and tension is applied to the wire 46d by the rotation of the third drive shaft 44c, the second joint 45b performs a yaw joint movement about the rotation axis A2. Note that the rotation axis A1 and the rotation axis A2 are examples of the "rotation axis A1" and the "rotation axis A2" in the claims, respectively.

[0060] 12, the first joint 45a rotates in the A1b direction about the rotation axis A1 as the second drive shaft 44b pulls the wire 46a and loosens the wire 46b, and the third drive shaft 44c pulls the wire 46d and loosens the wire 46c. Also, the first joint 45a rotates in the A1a direction about the rotation axis A1 as the second drive shaft 44b pulls the wire 46b and loosens the wire 46a, and the third drive shaft 44c pulls the wire 46c and loosens the wire 46d.

[0061] The second joint 45b rotates in the A2a direction about the rotation axis A2 as the wire 46a is pulled and the wire 46b is loosened by the second drive shaft 44b, and the wire 46c is pulled and the wire 46d is loosened by the third drive shaft 44c. The second joint 45b rotates in the A2b direction about the rotation axis A2 as the wire 46b is pulled and the wire 46a is loosened by the second drive shaft 44b, and the wire 46d is pulled and the wire 46c is loosened by the third drive shaft 44c.

[0062] Further, the four wires 46a to 46d have their respective ends 46e (see FIG. 10) fixed near the proximal end of the third joint part 453. FIG. 12 is a cross-sectional view of the third joint part 453 as viewed along the arrows C1-C1 in FIG. 10. As shown in FIG. 12, the cross section of the third joint part 453 is divided into four regions, a first region D1 to a fourth region D4, by a plane B1 parallel to both the longitudinal direction (Y direction) of the shaft 42 and the rotation axis A1, and a plane B2 parallel to both the longitudinal direction (Y direction) of the shaft 42 and the rotation axis A2. The four wires 46a to 46d pass through the first region D1 to the fourth region D4, respectively, and their respective ends 46e are fixed near the proximal end of the third joint part 453. Specifically, the wire 46a passes through a position offset from the planes B1 and B2 of the first region D1, the wire 46b passes through a position offset from the planes B1 and B2 of the second region D2, the wire 46c passes through a position offset from the planes B1 and B2 of the third region D3, and the wire 46d passes through a position offset from the planes B1 and B2 of the fourth region D4. In FIG. 12, the first region D1 is disposed in the first quadrant, the second region D2 is disposed in the third quadrant, the third region D3 is disposed in the second quadrant, and the fourth region D4 is disposed in the fourth quadrant. The planes B1 and B2 are examples of the "first plane" and "second plane" of the claims, respectively.

[0063] 7 to 9 and 11, the rod 47 is provided to drive the end effector 43. The rod 47 is provided inside the shaft 42 so as to extend in the Y direction. The distal end of the rod 47 is connected to the end effector 43. Specifically, the distal end of the rod 47 is connected to the first jaw 431.

[0064] 11 and 13, the first jaw 431 has a support shaft 431a rotatably supported by the second jaw 432 and a connection portion 431b connected to the distal end of the rod 47, and rotates about the axis of the support shaft 431a by movement of the rod 47 in the Y direction. This allows the first jaw 431 to rotate about the axis of the support shaft 431a by movement of the rod 47 in the Y direction, and to open and close the first jaw 431 relative to the second jaw 432. The end effector 43 is a single-opening type in which the first jaw 431 opens and closes relative to the second jaw 432.

[0065] A pair of support shafts 431a are provided on both sides of the first jaw 431. The pair of support shafts 431a are inserted into a pair of holes 432a provided in the second jaw 432 and rotatably supported. The connection portion 431b has a long hole portion 431c. A pair of long hole portions 431c are provided. One and the other ends of a pin portion 47d provided at the distal end of the rod 47 so as to extend in a direction perpendicular to the Y direction are inserted into the pair of long hole portions 431c and supported so as to be slidable along the long hole portions 431c. When the rod 47 is moved in the Y1 direction, the pin portion 47d is slidably moved along the long hole portions 431c, and a force in a direction in which the first jaw 431 opens is applied. Therefore, the first jaw 431 rotates in an opening direction around the axis of the support shaft 431a. Furthermore, when the rod 47 is moved in the Y2 direction, the pin portion 47d is slid along the long hole portion 431c, thereby applying a force in a closing direction to the first jaw 431. As a result, the first jaw 431 rotates in the closing direction around the axis of the support shaft 431a.

[0066] At the wrist joint 45, the rod 47 needs to bend along with the articulation of the wrist joint 45. Therefore, at the wrist joint 45, the rod 47 is guided by a guide portion 47b provided within the wrist joint 45 as shown in FIG. 13. Specifically, the portion of the rod 47 that passes through the wrist joint 45 is made of a wire 47c and is configured to be bendable. The guide portion 47b is made of resin and is configured to be bendable. The wire 47c is guided in its movement in the Y direction by the guide portion 47b, thereby preventing it from buckling. This allows the force caused by the movement of the rod 47 in the Y direction to be transmitted without escaping.

[0067] Here, in this embodiment, as shown in Figs. 7 to 9, the lever 48 moves the rod 47 in the Y direction. The lever 48 includes a shaft portion 481a that rotates around the axis by the driving force from the fourth drive shaft 44d, an arm 481 provided on the shaft portion 481a, and an engagement portion 482 that is provided on the arm 481 and engages with the rod 47. As a result, the shaft portion 481a provided on the lever 48 itself that moves the rod 47 in the Y direction is used as the rotation axis of the lever 48, so there is no need to use the drive shaft as the rotation axis. As a result, the rod 47 can be moved in the Y direction of the shaft 42 using only one drive shaft (the fourth drive shaft 44d) to operate the end effector 43. As a result, the four drive shafts 44a to 44d can rotate the shaft 42 in the roll direction, the end effector 43 can be articulated in the pitch and yaw directions, and the rod 47 for operating the end effector 43 can be moved in the Y direction of the shaft 42.

[0068] In this embodiment, the arms 481 are provided in a pair so as to face each other in the Z direction. The arms 481 include an arm 481 on the Z1 direction side and an arm 481 on the Z2 direction side provided so as to face the arm 481 on the Z1 direction side in the Z direction. The engagement portion 482 includes an engagement portion 482 on the Z1 direction side provided on the arm 481 on the Z1 direction side and an engagement portion 482 on the Z2 direction side provided on the arm 481 on the Z2 direction side. The engagement portion 482 on the Z1 direction side engages with the rod 47 from one side (Z1 direction side). The engagement portion 482 on the Z2 direction side engages with the rod 47 from the other side (Z2 direction side). As a result, the engagement portion 482 can engage with the rod 47 from one side and the other side of the rod 47, so that the driving force of the fourth drive shaft 44d can be reliably transmitted to the rod 47 via the lever 48. The arm 481 on the Z1 direction side and the arm 481 on the Z2 direction side are examples of the "first arm" and "second arm" in the claims, respectively. The engaging portion 482 on the Z1 direction side and the engaging portion 482 on the Z2 direction side are examples of the "first engaging portion" and "second engaging portion" in the claims, respectively.

[0069] Furthermore, in this embodiment, the engaging portion 482 on the Z1 direction side engages with the rod 47 from one side (the Z1 direction side) via the holding member 50. The engaging portion 482 on the Z2 direction side engages with the rod 47 from the other side via the holding member 50. This allows the engaging portion 482 to engage with the rod 47 from one side and the other side of the rod 47 via the holding member 50, so there is no need to provide the rod 47 with an engaged portion that engages with the engaging portion 482. As a result, the structure of the rod 47 can be simplified.

[0070] The pair of arms 481 are provided to be spaced apart from each other in the Z direction, and are connected to each other by a connection portion 483 extending in the Z direction. Each of the pair of arms 481 is provided to extend in the X direction from the connection portion 483 to the position of the rod 47. Each of the pair of arms 481 has a shaft portion 481a between an end portion on the connection portion 483 side and an end portion on the rod 47 side. Specifically, each of the pair of arms 481 has the shaft portion 481a on the connection portion 483 side rather than the center between the end portion on the connection portion 483 side and the end portion on the rod 47 side. In addition, an engagement portion 482 is provided at an end portion on the rod 47 side of each of the pair of arms 481.

[0071] Moreover, one engaging portion 482 of the pair of arms 481 protrudes in the Z2 direction and engages with an engaged portion 501 (described later) of the holding member 50 from the Z1 direction side. The other engaging portion 482 of the pair of arms 481 protrudes in the Z1 direction and engages with the engaged portion 501 from the Z2 direction side.

[0072] Moreover, one of the shaft portions 481a of the pair of arms 481 protrudes in the Z1 direction. One of the shaft portions 481a of the pair of arms 481 is rotatably supported by a frame member 52 provided inside the housing 41. Specifically, one of the shaft portions 481a of the pair of arms 481 is inserted into a supported portion 521 including a hole provided in the frame member 52 and rotatably supported. Moreover, the other of the shaft portions 481a of the pair of arms 481 protrudes in the Z2 direction. The other of the shaft portions 481a of the pair of arms 481 is rotatably supported by the base 411. Specifically, the other of the shaft portions 481a of the pair of arms 481 is inserted into a supported portion 411a including a recess provided in the base 411 and rotatably supported.

[0073] In this embodiment, the axis of the shaft portion 481a is disposed between the engaging portion 482 and the fourth drive shaft 44d in the X direction perpendicular to the Y direction. This allows the axis of the shaft portion 481a to be disposed between the engaging portion 482 and the fourth drive shaft 44d in the direction perpendicular to the Y direction, so that the lever 48 can be made more compact than when the axis of the shaft portion 481a is disposed outside the fourth drive shaft 44d. The axis of the shaft portion 481a is disposed closer to the fourth drive shaft 44d than the center between the engaging portion 482 and the fourth drive shaft 44d in the X direction.

[0074] In this embodiment, the driving force transmission unit 49 is provided between the fourth drive shaft 44d and the lever 48, and transmits the driving force from the fourth drive shaft 44d to the lever 48. This allows the driving force to be transmitted from the fourth drive shaft 44d to the lever 48 by the driving force transmission unit 49, so that the lever 48 can be disposed away from the fourth drive shaft 44d. As a result, even when it is difficult to secure a space for providing the lever 48 near the fourth drive shaft 44d, the space for providing the lever 48 can be easily secured.

[0075] Moreover, in this embodiment, the driving force transmission unit 49 has a gear train 491 including a spur gear 491a and a sector gear 491b, and the driving force is transmitted from the fourth drive shaft 44d to the lever 48 by the gear train 491. This allows the driving force to be reliably transmitted from the fourth drive shaft 44d to the lever 48 by the gear train 491, which transmits the driving force by meshing. Also, because the gear train 491 includes the sector gear 491b, the gear train 491 can be made more compact than when a spur gear is provided instead of the sector gear 491b.

[0076] In addition, in this embodiment, the driving force transmission unit 49 decelerates the rotation of the fourth drive shaft 44d and transmits it to the lever 48. As a result, the lever 48 can be driven with a torque that increases inversely proportional to the deceleration of the rotation of the fourth drive shaft 44d, so that the rod 47 can be easily moved in the Y direction by driving the lever 48. Note that being able to drive the lever 48 with a torque that increases inversely proportional to the deceleration of the rotation of the fourth drive shaft 44d is effective when the spring member 51 is provided as in this embodiment.

[0077] The sector gear 491b meshes with a spur gear 44d1 provided on the fourth drive shaft 44d. The sector gear 491b has a number of teeth that reduces the rotation speed of the fourth drive shaft 44d. The spur gear 491a meshes with a sector gear 483a provided on a connection portion 483 of the lever 48. The spur gear 491a and the sector gear 491b are supported by a common rotation shaft 491c and rotate integrally with each other by the rotation shaft 491c.

[0078] In this embodiment, the holding member 50 holds the rod 47. The spring member 51 biases the holding member 50 toward the distal end side in the Y direction (Y1 direction side). The engagement portion 482 engages with the rod 47 via the holding member 50, and applies the gripping force of the end effector 43 by the reaction force of the spring member 51 when the holding member 50 is pushed toward the proximal end side in the Y direction (Y2 direction side) by the engagement portion 482. This allows the gripping force of the end effector 43 to be determined by the spring constant of the spring member 51, so that the gripping force of the end effector 43 can be applied stably. Also, unlike the case where the gripping force of the end effector 43 is applied using a wire like the wrist joint 45, the gripping force is less likely to be affected by slight stretching of the wire. This eliminates the need to set a precise tightening angle of the motor of the drive unit 212.

[0079] The holding member 50 has an engaged portion 501, a spring accommodating portion 502, and a rod holding portion 503. The engaged portion 501 engages with the engaging portion 482 of the lever 48. The engaged portion 501 is configured with a recess formed in a circumferential shape. A portion of the engaged portion 501 on the Z1 direction side is recessed toward the Z2 direction side, and one of the engaging portions 482 of the pair of arms 481 engages with the engaged portion 501. A portion of the engaged portion 501 on the Z2 direction side is recessed toward the Z1 direction side, and the other of the engaging portions 482 of the pair of arms 481 engages with the engaged portion 501. The spring accommodating portion 502 accommodates the spring member 51. The spring accommodating portion 502 includes a recess recessed toward the Y1 direction side. The spring accommodating portion 502 holds the spring member 51 between itself and a plate-shaped washer 53 provided on the Y2 direction side of the spring accommodating portion 502. The rod holding portion 503 holds a held portion 47a provided on the rod 47. The rod holding portion 503 includes a hole portion extending along the Y direction.

[0080] The spring member 51 is a compression coil spring having a predetermined spring constant. When the holding member 50 is moved in the Y2 direction by the lever 48, the spring member 51 is compressed between the spring accommodating portion 502 and the washer 53. When the holding member 50 is moved in the Y1 direction by the lever 48, the spring member 51 is expanded between the spring accommodating portion 502 and the washer 53.

[0081] The operation of moving the rod 47 in the Y direction by the lever 48 will be described. When the fourth drive shaft 44d is rotationally driven, the driving force from the fourth drive shaft 44d is transmitted to the lever 48 via the gear train 491 of the driving force transmission unit 49. This causes the lever 48 to rotate around the axis of the shaft portion 481a. When the rod 47 is moved in the Y1 direction, the side surface of the engaging portion 482 of the lever 48 on the Y1 direction side comes into contact with the side surface of the engaged portion 501 of the holding member 50 on the Y2 direction side, and the holding member 50 is pushed and moved in the Y1 direction. This causes the rod 47, whose held portion 47a is held by the rod holding portion 503 of the holding member 50, to move in the Y1 direction. In this case, the first jaw 431 is moved in the opening direction. Furthermore, when the rod 47 is moved in the Y2 direction, the Y2-side side surface of the engaging portion 482 of the lever 48 abuts against the Y1-side side surface of the engaged portion 501 of the holding member 50, and the holding member 50 is pushed and moved in the Y2 direction. This causes the rod 47, whose held portion 47a is held by the rod holding portion 503 of the holding member 50, to move in the Y2 direction. In this case, the first jaw 431 is moved in the closing direction.

[0082] (Configuration of memory board fixing mechanism) Next, the configuration of fixing mechanism 55 for circuit board 54 will be described with reference to FIGS. 8, 15 and 16. FIG.

[0083] As shown in FIG. 8, FIG. 15, and FIG. 16, the surgical instrument 40a includes a circuit board 54 and a fixing mechanism 55 for the circuit board 54. The circuit board 54 is provided on the base 411. The circuit board 54 is a memory board. The circuit board 54 stores information about the surgical instrument 40a, such as the type of the surgical instrument 40a and the number of times the surgical instrument 40a has been used. The fixing mechanism 55 fixes the circuit board 54 to the base 411. The fixing mechanism 55 is a snap-fit ​​fixing mechanism having a plurality (four pieces) of snap-fit ​​portions 551. The snap-fit ​​portions 551 are provided two each on the Y1 direction side and the Y2 direction side of the circuit board 54, and press the outer periphery of the circuit board 54 from the Z1 direction side. In addition, the snap-fit ​​portions 551 are pressed by the circuit board 54 and elastically deformed when the circuit board 54 is attached to the fixing mechanism 55 from the Z1 direction side toward the Z2 direction side. By providing a snap-fit ​​mechanism as fixing mechanism 55, it is possible to fix circuit board 54 to base 411 with a simple structure.

[0084] (Wrist Joint Configuration) Next, the configuration of wrist joint 45 will be described with reference to FIGS.

[0085] As shown in FIG. 17 and FIG. 18, the wrist joint 45 includes a first joint part 451 and a second joint part 452 adjacent to the first joint part 451 on the distal side (Y1 direction side) and rotatable relative to the first joint part 451. The wrist joint 45 also includes a third joint part 453 adjacent to the second joint part 452 on the distal side (Y1 direction side) and rotatable relative to the second joint part 452. As shown in FIG. 10 and FIG. 17, the second joint part 452 is rotatable about a rotation axis A1 relative to the first joint part 451. The rotation axis A1 extends in a direction perpendicular to the longitudinal direction (Y direction) of the shaft 42. The third joint part 453 is rotatable about a rotation axis A2 perpendicular to the rotation axis A1 relative to the second joint part 452. The rotation axis A2 extends in a direction perpendicular to the rotation axis A1 when viewed in the longitudinal direction (Y direction) of the shaft 42.

[0086] The first joint part 451 has a first meshing portion 454, a second meshing portion 455 arranged to face the first meshing portion 454 in a radial direction (A1 direction) perpendicular to the longitudinal direction of the shaft, a first abutment portion 471 adjacent to the radial outside of the first meshing portion 454, and a second abutment portion 472 adjacent to the radial outside of the second meshing portion 455. The first meshing portion 454, the second meshing portion 455, the first abutment portion 471 and the second abutment portion 472 are provided at an end of the first joint part 451 on the distal side (Y1 direction side).

[0087] The second joint part 452 has a third meshing part 456 meshing with the first meshing part 454, a fourth meshing part 457 arranged to face the third meshing part 456 in the radial direction (A1 direction) and meshing with the second meshing part 455, a third abutment part 473 abutting with the first abutment part 471, and a fourth abutment part 474 abutting with the second abutment part 472. The third meshing part 456, the fourth meshing part 457, the third abutment part 473, and the fourth abutment part 474 are provided at an end part on the proximal side (Y2 direction side) of the second joint part 452. The abutment between the first abutment part 471 and the third abutment part 473 reduces the load between the first meshing part 454 and the third meshing part 456. Due to the contact between the second contact portion 472 and the fourth contact portion 474, the load between the second meshing portion 455 and the fourth meshing portion 457 is reduced.

[0088] The second joint part 452 has a fifth meshing portion 458, a sixth meshing portion 459 disposed so as to face the fifth meshing portion 458 in the radial direction (A2 direction), a fifth abutment portion 475 adjacent to the radial outside of the fifth meshing portion 458, and a sixth abutment portion 476 adjacent to the radial outside of the sixth meshing portion 459. The fifth meshing portion 458, the sixth meshing portion 459, the fifth abutment portion 475 and the sixth abutment portion 476 are provided at an end portion on the distal side (Y1 direction side) of the second joint part 452.

[0089] The third joint part 453 has a seventh meshing part 460 meshing with the fifth meshing part 458, an eighth meshing part 461 arranged to face the seventh meshing part 460 in the radial direction (A2 direction) and meshing with the sixth meshing part 459, a seventh abutment part 477 abutting with the fifth abutment part 475, and an eighth abutment part 478 abutting with the sixth abutment part 476. The seventh meshing part 460, the eighth meshing part 461, the seventh abutment part 477, and the eighth abutment part 478 are provided at the end part on the proximal side (Y2 direction side) of the third joint part 453. The abutment between the fifth abutment part 475 and the seventh abutment part 477 reduces the load between the fifth meshing part 458 and the seventh meshing part 460. Due to the contact between the sixth contact portion 476 and the eighth contact portion 478, the load between the sixth meshing portion 459 and the eighth meshing portion 461 is reduced.

[0090] As shown in FIG. 18, the first meshing portion 454 and the second meshing portion 455 have different shapes. In addition, the third meshing portion 456 and the fourth meshing portion 457 have different shapes. This makes it difficult for the first meshing portion 454 of the first joint part 451 to mesh with the fourth meshing portion 457 of the second joint part 452, and makes it difficult for the second meshing portion 455 of the first joint part 451 to mesh with the third meshing portion 456 of the second joint part 452. This makes it possible to correctly mesh the first meshing portion 454 and the third meshing portion 456, and to correctly mesh the second meshing portion 455 and the fourth meshing portion 457, when assembling the first joint part 451 and the second joint part 452. As a result, the joint can be easily and accurately assembled, and even if a malfunction occurs, the cause can be easily identified, allowing for appropriate quality control of the surgical instrument.

[0091] Moreover, the fifth meshing portion 458 and the sixth meshing portion 459 have shapes different from each other. Moreover, the seventh meshing portion 460 and the eighth meshing portion 461 have shapes different from each other. This also enables accurate assembly of the joint and appropriate quality control of the surgical instrument.

[0092] Moreover, the first meshing portion 454 and the fourth meshing portion 457 have the same shape. Moreover, the second meshing portion 455 and the third meshing portion 456 have the same shape. This allows the meshing structure of the first meshing portion 454 and the third meshing portion 456 to be similar to the meshing structure of the second meshing portion 455 and the fourth meshing portion 457, so that the articulation of the wrist joint 45 can be supported in a well-balanced manner by the two meshing structures in the first joint part 451 and the second joint part 452.

[0093] The fifth meshing portion 458 and the eighth meshing portion 461 have the same shape. In addition, the sixth meshing portion 459 and the seventh meshing portion 460 have the same shape. This also allows the articulation movement of the wrist joint 45 to be supported in a well-balanced manner by the two meshing structures in the second joint part 452 and the third joint part 453.

[0094] Moreover, the first meshing portion 454, the fourth meshing portion 457, the fifth meshing portion 458, and the eighth meshing portion 461 have the same shape. Moreover, the second meshing portion 455, the third meshing portion 456, the sixth meshing portion 459, and the seventh meshing portion 460 have the same shape. That is, the first meshing portion 454 and the fifth meshing portion 458 have the same configuration, and the second meshing portion 455 and the sixth meshing portion 459 have the same configuration. Moreover, the third meshing portion 456 and the seventh meshing portion 460 have the same configuration, and the fourth meshing portion 457 and the eighth meshing portion 461 have the same configuration. Therefore, the description of the fifth meshing portion 458, the sixth meshing portion 459, the seventh meshing portion 460, and the eighth meshing portion 461 will be omitted as appropriate.

[0095] 19, the first meshing portion 454 includes a pair of first protrusions 454a arranged along the rotation direction of the second joint part 452, and a first recess 454b arranged between the pair of first protrusions 454a. Similarly, the fourth meshing portion 457 includes a pair of fourth protrusions 457a arranged along the rotation direction of the second joint part 452, and a fourth recess 457b arranged between the pair of fourth protrusions 457a.

[0096] 20, the second meshing portion 455 includes a pair of second recesses 455a arranged along the rotation direction of the second joint part 452, and a second protrusion 455b arranged between the pair of second recesses 455a. Similarly, the third meshing portion 456 includes a pair of third recesses 456a arranged along the rotation direction of the second joint part 452, and a third protrusion 456b arranged between the pair of third recesses 456a.

[0097] This makes it possible to prevent the first meshing portion 454 having the first recess 454b from easily meshing with the fourth meshing portion 457 having the fourth recess 457b, and also prevents the second meshing portion 455 having the second convex portion 455b from easily meshing with the third meshing portion 456 having the third convex portion 456b. As a result, it is possible to effectively prevent the first joint part 451 and the second joint part 452 from being assembled in the wrong direction.

[0098] As shown in Fig. 21 and Fig. 22, the first meshing portion 454, the second meshing portion 455, the third meshing portion 456, and the fourth meshing portion 457 have a shape in which arcs are connected, or a shape in which arcs and straight lines are connected, as viewed in the rotation axis direction (A1 direction) of the second joint part 452. This makes it easy to design the first meshing portion 454, the second meshing portion 455, the third meshing portion 456, and the fourth meshing portion 457. In addition, since the shapes of the first meshing portion 454, the second meshing portion 455, the third meshing portion 456, and the fourth meshing portion 457 can be easily inspected, the shapes of the first meshing portion 454, the second meshing portion 455, the third meshing portion 456, and the fourth meshing portion 457 can be more appropriately managed.

[0099] Specifically, the first meshing portion 454 and the fourth meshing portion 457 have a shape in which arcs are connected as shown in Fig. 21. The first meshing portion 454 and the fourth meshing portion 457 have an outer shape in which lines including an arc 4541 having a radius R1, an arc 4542 having a radius R2 connected to the arc 4541, an arc 4543 having a radius R3 connected to the arc 4542, an arc 4544 having a radius R4 connected to the arc 4543, an arc 4545 having a radius R3 connected to the arc 4544, an arc 4546 having a radius R2 connected to the arc 4545, and an arc 4547 having a radius R1 connected to the arc 4546 are connected to the arc 4546. Moreover, the first meshing portion 454 and the fourth meshing portion 457 have an axisymmetric shape when viewed in the rotation axis direction (A1 direction) of the second joint part 452.

[0100] 22, the second meshing portion 455 and the third meshing portion 456 have a shape in which a circular arc and a straight line are connected. The second meshing portion 455 and the third meshing portion 456 have an outer shape in which lines including a line segment 4551, a circular arc 4552 connected to the line segment 4551 and having a radius R5, a line segment 4553 connected to the circular arc 4552, a circular arc 4554 connected to the line segment 4553 and having a radius R6, a line segment 4555 connected to the circular arc 4554, a circular arc 4556 connected to the line segment 4555 and having a radius R5, and a line segment 4557 connected to the circular arc 4556 are connected. The second meshing portion 455 and the third meshing portion 456 have an axisymmetric shape when viewed in the rotation axis direction (A1 direction) of the second joint part 452.

[0101] 23 to 26, the wrist joint 45 performs articulation movement to rotate the second joint part 452 relative to the first joint part 451 by driving the wire 46. An end part 46e of the wire 46 is fixed to a third joint part 453 on the end effector side (Y1 direction side) of the wrist joint 45 as shown in FIG.

[0102] 18, the first meshing portion 454 has a first portion 454c and a second portion 454d that are divided and arranged in the radial direction (A1 direction) with a gap therebetween through which the wire 46 can pass. A first convex portion 454a and a first concave portion 454b are formed in each of the first portion 454c and the second portion 454d. The fourth meshing portion 457 has a third portion 457c and a fourth portion 457d that are divided and arranged in the radial direction (A1 direction) with a gap therebetween through which the wire 46 can pass, similar to the first meshing portion 454. A fourth convex portion 457a and a fourth concave portion 457b are formed in each of the third portion 457c and the fourth portion 457d. This prevents the wire 46 from interfering with the first portion 454c and the second portion 454d when a joint movement is performed in which the second joint part 452 is rotated significantly relative to the first joint part 451 as shown in FIG. 26.

[0103] 18, the second meshing portion 455 has a fifth portion 455c formed continuously in the radial direction (A1 direction). The second meshing portion 455 has a portion 455d and a portion 455e arranged in the radial direction (A1 direction) separated by a gap through which the wire 46 can pass. A second protrusion 455b is formed in the fifth portion 455c. A second recess 455a is formed in each of the portion 455d and the portion 454e.

[0104] Similarly to the second meshing portion 455, the third meshing portion 456 has a sixth portion 456c formed continuously in the radial direction (A1 direction). The third meshing portion 456 has a portion 456d and a portion 456e which are separated and arranged at an interval allowing the wire 46 to pass in the radial direction (A1 direction). A third convex portion 456b is formed in the sixth portion 456c. A third concave portion 456a is formed in each of the portion 456d and the portion 456e.

[0105] As shown in FIG. 19, the first joint part 451 is disposed at a position separated from the first meshing part 454 and has a first through hole 451a through which the wire 46 passes. As shown in FIG. 20, the first joint part 451 is disposed at a position separated from the second meshing part 455 and has a second through hole 451b through which the wire 46 passes. As shown in FIG. 20, the second joint part 452 is disposed at a position separated from the third meshing part 456 and has a third through hole 452a through which the wire 46 passes. As shown in FIG. 19, the second joint part 452 is disposed at a position separated from the fourth meshing part 457 and has a fourth through hole 452b through which the wire 46 passes. This allows the through hole through which the wire 46 passes to be disposed at a position separated from the meshing part, so that interference between the meshing part and the wire 46 can be suppressed.

[0106] 23 to 26, the rotation of the second joint part 452 relative to the first joint part 451 will be described. Note that, in the example of FIG. 23 to FIG. 26, the first meshing part 454 of the first joint part 451 meshes with the third meshing part 456 of the second joint part 452, but the second meshing part 455 of the first joint part 451 meshes with the fourth meshing part 457 of the second joint part 452 in a similar manner with the projections and recesses interchanged. The rotation of the third joint part 453 relative to the second joint part 452 also performs a similar operation.

[0107] As shown in FIG. 23 , when the second joint part 452 is not rotated relative to the first joint part 451, the third convex portion 456b of the third meshing portion 456 of the second joint part 452 fits into the first concave portion 454b of the first meshing portion 454 of the first joint part 451.

[0108] As shown in FIG. 24, by the operation of the wire 46, the third convex portion 456b of the third meshing portion 456 of the second joint part 452 rotates while coming into contact with the first concave portion 454b of the first meshing portion 454 of the first joint part 451, so that the second joint part 452 rotates by an angle θ1 relative to the first joint part 451.

[0109] 25, by the operation of the wire 46, the third convex portion 456b of the third meshing portion 456 of the second joint part 452 rotates while being in contact with the first convex portion 454a of the first meshing portion 454 of the first joint part 451, and the second joint part 452 rotates by an angle θ2 with respect to the first joint part 451, where the angle θ2 is greater than the angle θ1.

[0110] 26, by the operation of the wire 46, the third convex portion 456b of the third meshing portion 456 of the second joint part 452 rotates further while contacting the first convex portion 454a of the first meshing portion 454 of the first joint part 451, and the second joint part 452 rotates by an angle θ3 with respect to the first joint part 451, where the angle θ3 is greater than the angle θ2.

[0111] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0112] For example, in the above embodiment, an example in which four drive shafts are provided is shown, but the present invention is not limited to this. For example, five or more drive shafts may be provided.

[0113] In addition, in the above embodiment, the elongated element is a rod, but the present invention is not limited to this. For example, the elongated element may be a wire or a cable.

[0114] In the above embodiment, the driving force transmission unit is provided between the fourth drive shaft and the lever, but the present invention is not limited to this. For example, the lever may be directly connected to the fourth drive shaft.

[0115] In the above embodiment, the driving force transmission unit has a gear train, but the present invention is not limited to this. For example, the driving force transmission unit may have a belt pulley or the like other than a gear train.

[0116] In the above embodiment, the gear train includes a spur gear and a sector gear, but the present invention is not limited to this. For example, the gear train may include only a spur gear or a sector gear. Also, the gear train may include gears other than a spur gear and a sector gear.

[0117] In the above embodiment, the spring member is provided, but the present invention is not limited to this. For example, the spring member does not have to be provided.

[0118] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0119] (Item 1) a housing having a base attached to a robot arm and a lid portion covering the base; a shaft having a proximal end connected to the base; a wrist joint including a first joint connected to a distal end side of the shaft and capable of pitch articulation about a first rotation axis perpendicular to a longitudinal direction of the shaft and a second joint capable of yaw articulation about a second rotation axis perpendicular to the longitudinal direction and the first rotation axis; an end effector connected to a distal end of the wrist joint; an elongate element extending longitudinally of the shaft and having a distal end connected to the end effector; At least four drive shafts provided on the base and rotated by driving forces from motors provided on the robot arm; a lever for moving the elongated element in the longitudinal direction; The at least four drive shafts include a first drive shaft for rolling the shaft about the longitudinal axis, a second drive shaft and a third drive shaft for pitching the first joint about the first rotation axis and yawing the second joint about the second rotation axis, and a fourth drive shaft for moving the elongated element in the longitudinal direction; A surgical instrument, wherein the lever comprises a shaft portion that rotates around an axis by the driving force from the fourth drive shaft, an arm provided on the shaft portion, and an engagement portion provided on the arm that engages with the elongated element.

[0120] (Item 2) Item 2. The surgical instrument according to item 1, further comprising a drive force transmission section provided between the fourth drive shaft and the lever, which transmits a drive force from the fourth drive shaft to the lever.

[0121] (Item 3) 3. The surgical instrument according to item 2, wherein the driving force transmission unit has a gear train including a spur gear and a sector gear, and transmits driving force from the fourth drive shaft to the lever via the gear train.

[0122] (Item 4) 4. The surgical instrument according to item 2 or 3, wherein the drive force transmission unit transmits the rotation of the fourth drive shaft to the lever after reducing the speed of the rotation.

[0123] (Item 5) 5. The surgical instrument according to any one of items 1 to 4, wherein an axis of the shaft portion is disposed between the engagement portion and the fourth drive shaft in a direction perpendicular to the longitudinal direction.

[0124] (Item 6) The arm includes a first arm and a second arm provided opposite to the first arm, and the engagement portion includes a first engagement portion provided on the first arm and a second engagement portion provided on the second arm, the first engagement portion engages the elongated element from one side; 6. The surgical instrument according to any one of items 1 to 5, wherein the second engagement portion engages with the elongated element from the other side.

[0125] (Item 7) a retaining member for retaining the elongated element; The first engagement portion engages with the elongated element from one side via the retaining member, 7. The surgical instrument of claim 6, wherein the second engagement portion engages with the elongated element from the other side via the retaining member.

[0126] (Item 8) The end effector has a first jaw and a second jaw. The surgical instrument according to any one of items 1 to 7, wherein the first jaw has a support shaft rotatably supported by the second jaw and a connection portion connected to a distal end of the elongated element, and rotates around an axis of the support shaft by movement of the elongated element in the longitudinal direction.

[0127] (Item 9) a retaining member for retaining the elongated element; A spring member that biases the holding member toward the distal end side in the longitudinal direction, The engagement portion engages with the elongated element via the retaining member, 9. The surgical instrument according to any one of items 1 to 8, wherein a gripping force of the end effector is applied by a reaction force of the spring member when the holding member is pushed by the engagement portion toward the proximal end side in the longitudinal direction.

[0128] (Item 10) 10. The surgical instrument according to any one of claims 1 to 9, wherein the elongated element is a rod.

[0129] (Item 11) The shaft includes first to fourth wires extending in the longitudinal direction, The wrist joint includes a first joint component connected to a distal end side of the shaft, a second joint component connected to the first joint component via the first joint, and a third joint component connected to the second joint component via the second joint, The surgical instrument according to any one of items 1 to 10, wherein the first to fourth wires have distal ends fixed to the third joint component.

[0130] (Item 12) a first plane parallel to both the longitudinal direction of the shaft and the first pivot axis, and a second plane parallel to both the longitudinal direction of the shaft and the second pivot axis, dividing a cross section of the third joint component into four regions; the first to fourth wires are arranged so as to pass through the four regions, respectively; Item 12. The surgical instrument of item 11, wherein proximal ends of the first wire and the second wire are wound around the second drive shaft, and proximal ends of the third wire and the fourth wire are wound around the third drive shaft.

[0131] (Item 13) the second drive shaft is configured to rotate in a first direction to tension the first wire and to rotate in a second direction opposite to the first direction to tension the second wire; the third drive shaft is configured to rotate in a third direction to apply tension to the third wire and to rotate in a fourth direction opposite to the third direction to apply tension to the fourth wire; when tension is applied to the first wire by rotation of the second drive shaft and tension is applied to the fourth wire by rotation of the third drive shaft, or when tension is applied to the second wire by rotation of the second drive shaft and tension is applied to the third wire by rotation of the third drive shaft, the first joint performs a pitch joint movement around the first rotation axis, Item 12. The surgical instrument according to item 11, wherein when tension is applied to the first wire by rotation of the second drive shaft and tension is applied to the third wire by rotation of the third drive shaft, or when tension is applied to the second wire by rotation of the second drive shaft and tension is applied to the fourth wire by rotation of the third drive shaft, the second joint performs a yaw joint movement around the second rotation axis. [Explanation of symbols]

[0132] 21a: robot arm, 40a: surgical instrument, 41: housing, 42: shaft, 43: end effector, 44a: first drive shaft (drive shaft), 44b: second drive shaft (drive shaft), 44c: third drive shaft (drive shaft), 44d: fourth drive shaft (drive shaft), 45: wrist joint, 46: wire, 46a: wire (first wire), 46b: wire (second wire), 46c: wire (third wire) ear), 46d: wire (fourth wire), 47: rod (elongated element), 48: lever, 49: driving force transmission section, 50: holding member, 51: spring member, 411: base, 412: lid section, 431: first jaw, 431a: support shaft, 431b: connection section, 432: second jaw, 481: arm, 481a: shaft section, 482: engagement section, 491: gear train, 491a: spur gear, 491b: sector gear

Claims

1. a housing having a base attached to a robot arm and a lid portion covering the base; a shaft having a proximal end connected to the base; a wrist joint including a first joint connected to a distal end side of the shaft and capable of pitch articulation about a first rotation axis perpendicular to a longitudinal direction of the shaft and a second joint capable of yaw articulation about a second rotation axis perpendicular to the longitudinal direction and the first rotation axis; an end effector connected to a distal end of the wrist joint; an elongate element extending longitudinally of the shaft and having a distal end connected to the end effector; At least four drive shafts provided on the base and rotated by driving forces from motors provided on the robot arm; a lever for moving the elongated element in the longitudinal direction; the at least four drive shafts include a first drive shaft for rolling the shaft about the longitudinal axis, a second drive shaft and a third drive shaft for pitching the first joint about the first axis of rotation and yawing the second joint about the second axis of rotation, and a fourth drive shaft for moving the elongated element in the longitudinal direction; A surgical instrument, wherein the lever comprises a shaft portion that rotates around an axis by the driving force from the fourth drive shaft, an arm provided on the shaft portion, and an engagement portion provided on the arm that engages with the elongated element.

2. The surgical instrument according to claim 1 , further comprising a drive force transmission section provided between the fourth drive shaft and the lever, which transmits a drive force from the fourth drive shaft to the lever.

3. The surgical instrument according to claim 2 , wherein the driving force transmission portion has a gear train including a spur gear and a sector gear, and transmits driving force from the fourth drive shaft to the lever by the gear train.

4. The surgical instrument according to claim 2 , wherein the drive force transmission portion transmits rotation of the fourth drive shaft to the lever after reducing the speed of the rotation.

5. The surgical instrument according to claim 1 , wherein an axis of the shaft portion is disposed between the engagement portion and the fourth drive shaft in a direction perpendicular to the longitudinal direction.

6. the arm includes a first arm and a second arm provided to face the first arm, the engagement portion includes a first engagement portion provided on the first arm and a second engagement portion provided on the second arm, the first engagement portion engages the elongated element from one side; The surgical instrument of claim 1 , wherein the second engagement portion engages the elongate element from the other side.

7. a retaining member for retaining the elongated element; The first engagement portion engages with the elongated element from one side via the retaining member, The surgical instrument of claim 6 , wherein the second engagement portion engages the elongated element from the other side via the retaining member.

8. The end effector has a first jaw and a second jaw.

2. The surgical instrument of claim 1, wherein the first jaw has a support shaft rotatably supported by the second jaw and a connection portion connected to a distal end of the elongated element, and rotates about an axis of the support shaft by the longitudinal movement of the elongated element.

9. a retaining member for retaining the elongated element; A spring member that biases the holding member toward the distal end side in the longitudinal direction, The engagement portion engages with the elongated element via the retaining member, The surgical instrument according to claim 1 , wherein the gripping force of the end effector is applied by a reaction force of the spring member when the engaging portion presses the holding member toward the proximal end side in the longitudinal direction.

10. The surgical instrument of claim 1 , wherein the elongated element is a rod.

11. The shaft includes first to fourth wires extending in the longitudinal direction of the shaft, The wrist joint includes a first joint component connected to a distal end side of the shaft, a second joint component connected to the first joint component via the first joint, and a third joint component connected to the second joint component via the second joint, The surgical instrument according to claim 1 , wherein the first to fourth wires have distal ends fixed to the third joint component.

12. a first plane parallel to both the longitudinal direction of the shaft and the first pivot axis, and a second plane parallel to both the longitudinal direction of the shaft and the second pivot axis divide a cross section of the third joint component into four regions; the first to fourth wires are arranged to pass through the four regions, respectively; The surgical instrument of claim 11 , wherein proximal ends of the first wire and the second wire are wound around the second drive shaft, and proximal ends of the third wire and the fourth wire are wound around the third drive shaft.

13. the second drive shaft is configured to rotate in a first direction to tension the first wire and to rotate in a second direction opposite to the first direction to tension the second wire; the third drive shaft is configured to rotate in a third direction to apply tension to the third wire and to rotate in a fourth direction opposite to the third direction to apply tension to the fourth wire; when tension is applied to the first wire by rotation of the second drive shaft and tension is applied to the fourth wire by rotation of the third drive shaft, or when tension is applied to the second wire by rotation of the second drive shaft and tension is applied to the third wire by rotation of the third drive shaft, the first joint performs a pitch joint movement around the first rotation axis, 12. The surgical instrument of claim 11, wherein when tension is applied to the first wire by rotation of the second drive shaft and tension is applied to the third wire by rotation of the third drive shaft, or when tension is applied to the second wire by rotation of the second drive shaft and tension is applied to the fourth wire by rotation of the third drive shaft, the second joint performs a yaw joint movement around the second rotation axis.

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