Surgical tool, surgery supporting system, and surgical operation unit

Abstract

To provide a surgical tool having an open / close type end effector such as forceps and configured to be small and light.SOLUTION: A surgical tool includes: a shaft; a pitch unit connected to a distal end of the shaft so as to be able to turn around a first axis; a roll unit supported with respect to the pitch unit so as to be able to rotate around a second axis; and a holding unit supported with respect to the roll unit so as to be able to perform linear motion in a second axis direction. The surgical tool further includes a pair of jaws that are attached to a lower end of the roll unit in the second axis direction and open and close in conjunction with the linear motion of the holding unit in the second axis direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The technology disclosed in this specification (hereinafter referred to as "the present disclosure") relates to, for example, surgical instruments applied to surgical robots, surgical support systems, and surgical operation units.

Background Art

[0002] The recent progress of robotics technology is remarkable, and robotics technology has been widely penetrated into the work sites of various industrial fields. For example, in the medical field, master-slave type surgical robots are becoming popular. This type of surgical robot is configured such that one or more surgical instruments provided in the slave device are operated by an operator such as a surgeon from the master side. Further, as a control method of the master-slave system, a bilateral method is known in which the slave device is operated from the master device and at the same time the state of the slave device is fed back to the master device (see, for example, Patent Document 1).

[0003] The surgical instrument attached to the slave device is equipped with an end effector having an opening / closing mechanism such as forceps at the tip. Further, assuming that the surgical instrument is used in a procedure in a body cavity or on the body surface, etc., it is strongly desired that the tip has a small diameter, is small and lightweight while having multiple degrees of freedom. Specifically, it is desirable that the tip of the surgical instrument has a total of three degrees of freedom, namely two rotational degrees of freedom and one opening / closing degree of freedom. Further, for miniaturization, a driving method using a cable is often applied to the operation of the tip of the surgical instrument (see, for example, Patent Documents 2 to 4).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

[0005] An object of the technology according to the present disclosure is to provide a surgical instrument, a surgical support system, and a surgical operation unit that are applied to a surgical robot, have an opening and closing type end effector such as forceps, and are configured to be small and lightweight. [Means for Solving the Problems]

[0006] A first aspect of the technology according to the present disclosure is a shaft, a pitch unit rotatably connected to the tip of the shaft about a first axis, a roll unit rotatably supported with respect to the pitch unit about a second axis, and a gripping unit slidably supported with respect to the roll unit in the second axis direction. The surgical instrument includes these components.

[0007] The surgical instrument according to the first aspect further includes a pair of jaws attached to the lower end of the roll unit in the second axis direction and configured to open and close in conjunction with the linear motion of the gripping unit in the second axis direction.

[0008] When the first motor rotates the first drive capstan, the gripping unit linearly moves in the second axis direction due to the traction force of the first reciprocating cable set generated thereby, and the pair of jaws open and close in conjunction with this linear motion. Further, when the second motor rotates the second drive capstan, the roll unit pivots about the second axis due to the traction force of the second reciprocating cable set generated thereby.

[0009] Also, when the third motor rotates the third drive capstan in the forward or reverse direction, either the first reciprocating cable set or the second reciprocating cable set is pulled in the longitudinal axis direction of the shaft, whereby the pitch unit pivots about the first axis.

[0010] Also, a second aspect of the technology according to the present disclosure is a surgical instrument and an arm to which the surgical instrument is attached, wherein the surgical instrument comprises a shaft, a pitch unit pivotally connected to the tip of the shaft about a first axis, a roll unit rotatably supported with respect to the pitch unit about a second axis, and a gripping unit linearly movably supported with respect to the roll unit in the second axis direction, and is a surgical support system.

[0011] Also, a third aspect of the technology according to the present disclosure is a surgical instrument and a handle portion to which the surgical instrument is attached, wherein the surgical instrument comprises a shaft, a pitch unit pivotally connected to the tip of the shaft about a first axis, a roll unit rotatably supported with respect to the pitch unit about a second axis, and a gripping unit linearly movably supported with respect to the roll unit in the second axis direction, and is a surgical operation unit.

Advantages of the Invention

[0012] According to the technology of the present disclosure, it is possible to provide a surgical instrument, a surgical support system, and a surgical operation unit that are applied to a surgical robot, have an open / close type end effector such as forceps, reduce the number of parts, and achieve a reduced diameter.

[0013] Note that the effects described in this specification are merely examples, and the effects brought about by the technology according to the present disclosure are not limited thereto. In addition, the technology according to the present disclosure may have additional effects other than the above effects.

[0014] Further other objects, features, and advantages of the technology according to the present disclosure will become apparent from the more detailed description based on the embodiments described later and the attached drawings.

Brief Description of the Drawings

[0015]

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DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, the technology according to the present disclosure will be described in the following order with reference to the drawings.

[0017] A. Problems of the surgical instrument unit B. Configuration example of the surgical instrument unit C. Operation of the surgical instrument unit D. Modification example of the roll unit E. Modification example of the surgical instrument unit F. Application example of the surgical instrument unit G. Effects

[0018] A. Problems of the Surgical Instrument Unit It is desirable that the surgical instrument applied to the surgical robot has a total of three degrees of freedom including two rotational degrees of freedom and an opening / closing degree of freedom at the tip. For example, an opening / closing type end effector composed of a pair of jaws, a wrist that supports this end effector, and a shaft having a longitudinal axis and connecting the wrist to the tip are known. This type of surgical instrument has a degree-of-freedom configuration including a first axis for pivoting the wrist around, for example, the yaw axis with respect to the tip of the shaft, a second axis for pivoting the orientation of the end effector around, for example, the pitch axis with respect to the wrist, and a third axis (opening / closing axis) for opening and closing the jaws (see, for example, Patent Documents 2 to 4). In the case of such a degree-of-freedom configuration, due to the limitation of the movable range of each link, the operation of both the first axis and the second axis is limited to about ±90 degrees.

[0019] In the case of a surgical instrument that is assumed to be inserted into the body cavity through a trocar and used as in laparoscopic surgery, due to the need to reduce the diameter of the tip, a configuration having a first axis for pivoting the wrist around, for example, the yaw axis with respect to the tip of the shaft and a second axis for pivoting the orientation of the end effector around, for example, the pitch axis with respect to the wrist as described above is suitable.

[0020] On the other hand, in the case of a surgical instrument used for surgery on or near the body surface, while the constraints regarding the reduction of the tip diameter are relaxed, a wider movable range is required.

[0021] Therefore, in this specification, a surgical instrument unit having a total of three degrees of freedom of rotation and opening / closing at the tip and realizing a wide range of motion will be proposed below. The surgical instrument unit according to the present disclosure is assumed to be used, for example, in a surgery on or near the body surface, and one of its purposes is to realize a wide range of motion.

[0022] Specifically, the surgical instrument unit according to the present disclosure includes a shaft having a longitudinal axis, a pitch unit, a roll unit, and a gripping unit. The shaft supports the pitch unit at its distal end so as to be rotatable about a first axis parallel to the pitch axis. Further, the pitch unit supports the roll unit so as to be rotatable about a second axis parallel to the roll axis. Further, the roll unit may support a gripping unit having a pair of jaws that can be opened and closed. Therefore, the surgical instrument unit according to the present disclosure has three degrees of freedom including a degree of freedom of rotation in which the pitch unit rotates about the first axis with respect to the distal end of the shaft, a degree of freedom of rotation in which the roll unit instructed by the pitch unit rotates about the second axis, and a degree of freedom of opening and closing of the pair of jaws.

[0023] As will be described later, the surgical instrument unit according to the present disclosure has a movable range of ±80 degrees about the first axis of the pitch unit and -140 to 150 degrees about the second axis of the roll unit, and can be said to have a sufficiently wide movable range when used, for example, in a surgery on or near the body surface. Note that the maximum opening / closing angle of the pair of jaws is, for example, 20 degrees.

[0024] In the embodiment described below, the driving of the pitch unit, the roll unit, and the gripping unit (or the jaws) uses the pulling force of a cable. That is, the power of each actuator arranged on the proximal end side (root side) of the shaft is transmitted to the pitch unit, the roll unit, and the gripping unit on the distal end side (tip side) using a cable.

[0025] In addition, in a power transmission mechanism using a cable, a plurality of pulleys such as a capstan for applying power to the cable or converting the force from the cable into an axial force, an idler pulley used for adjusting the layout of the cable inside the shaft and applying a constant tension to the cable, etc. may be used.

[0026] B. Configuration Example of the Surgical Instrument Unit FIGS. 1 and 2 show an example of the external configuration of the surgical instrument unit according to the present disclosure. Further, FIG. 3 shows a six-sided view of the surgical instrument unit. The illustrated surgical instrument unit 100 includes a hollow shaft 102 having a longitudinal axis, a surgical instrument unit tip portion 101 at one end of the shaft 102, and a surgical instrument unit drive portion 103 at the other end of the shaft 102. FIG. 1 shows a perspective view of the surgical instrument unit 100, and FIG. 2 shows a view in which the shaft 102 and the surgical instrument unit drive portion 103 are made transparent to visualize the inside.

[0027] The surgical instrument unit tip portion 101 includes a pitch unit that can rotate around a first axis parallel to the pitch axis with respect to the shaft 102, a roll unit that is rotatably supported by the pitch unit around a second axis parallel to the roll axis, and a gripping unit supported by the roll unit. The gripping unit includes a pair of jaws that can be opened and closed. However, the second axis is arranged at a position offset from the first axis.

[0028] Each movable part of the surgical instrument unit tip portion 101 is driven by the pulling force of the cable. In addition, an actuator for pulling each cable is arranged in the surgical instrument unit drive portion 103. In the present embodiment, an electromagnetic rotary motor is used as the actuator. As shown in FIG. 2, a plurality of cables for driving the pitch unit, the roll unit, and the gripping unit of the surgical instrument unit tip portion 101 are inserted through the shaft 102. Further, three motors for pulling the cables for driving the pitch unit, the roll unit, and the gripping unit are arranged in the surgical instrument unit drive portion 101.

[0029] Figures 4 and 5 show an enlarged view of the distal end 101 of the surgical instrument unit (however, the viewing direction is switched between Figure 4 and Figure 5). Further, Figure 6 shows an exploded view of the distal end 101 of the surgical instrument unit. As shown in Figure 6, the distal end 101 of the surgical instrument unit includes a pitch unit 401, a roll unit 402, a gripping unit 403, a rod 404, a pair of jaws 405a and 405b attached to the lower end of the rod 404, a first reciprocating cable set C1a and C1b, and a second reciprocating cable set C2a and C2b. For reference, Figure 7 shows the pitch unit 401 and the shaft 102 transparently to visualize the layout of each cable in the vicinity of the distal end 101 of the surgical instrument unit. Also, Figure 8 shows a six-sided view of the distal end 101 of the surgical instrument unit. Note that each actuator for pulling the first reciprocating cable set C1a and C1b and the second reciprocating cable set C2a and C2b is disposed within the surgical instrument unit drive unit 103, but details on this point will be deferred to later.

[0030] As shown in Figure 4, the pitch unit 401 is supported near the tip of the shaft 102 so as to be rotatable about a first axis parallel to the pitch axis. As can be seen from Figures 6 and 7, the pitch unit 401 has a hollow cylindrical shape with a second axis parallel to the roll axis as the center of rotation. And the roll unit 402 is inserted into the hollow cylinder of the pitch unit 401, and as a result, the roll unit 402 is supported by the pitch unit 401 so as to be rotatable about the second axis. The roll unit 402 rotates about the second axis by the pulling force of the second reciprocating cable set C2a and C2b, but details on this point will be deferred to later.

[0031] As shown in FIG. 4, a rail for restricting the movement of the gripping unit 403 is formed on the rear back surface of the roll unit 402 in the direction of the second axis. Therefore, the gripping unit 403 can move within a predetermined range along this rail in the direction of the second axis (or the vertical direction). The gripping unit 403 moves in the direction of the second axis by the pulling force of the first reciprocating cable sets C1a and C1b. Details of this point will be described later.

[0032] FIG. 9 shows the roll unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b taken out from the tip of the surgical instrument unit 101. FIG. 10 shows a cross-sectional view of the roll unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b cut along a plane orthogonal to the first axis and including the second axis.

[0033] The roll unit 402 has a through hole penetrating in the direction of the second axis, and the rod 404 is inserted into this through hole. The upper end of the rod 404 is supported by the gripping unit 403 so as to be rotatable about the second axis via a bearing. The bearing has a structure for supporting the load applied in the direction of the second axis. The rod 404 is rotatable about the second axis with respect to the gripping unit 403, but is not relatively movable with respect to the gripping unit 403 in the direction of the second axis. Therefore, when the gripping unit 403 linearly moves relative to the roll unit 402 in the direction of the second axis, the rod 404 also linearly moves in the direction of the second axis with the gripping unit 403 relative to the roll unit 402.

[0034] FIG. 11 shows an enlarged cross-sectional view of the lower end of the rod 404 and the pair of jaws 405a and 405b.

[0035] Joe 405a and Joe 405b have a shape that is substantially symmetric with respect to the second axis. Both Joe 405a and Joe 405b are rotatable around the opening and closing axis 1101 formed at the tip of the roll unit 402. In addition, elongated hole grooves 1102 are respectively formed behind the opening and closing axis 1101 in Joe 405a and Joe 405b. And a pin 1103 protruding from the tip of the rod 404 is inserted into each elongated hole groove 1102 of Joe 405a and Joe 405b. The longitudinal axes of the respective elongated hole grooves 1102 of Joe 405a and Joe 405b are inclined in opposite directions with respect to the second axis, and the wall surfaces of each longitudinal groove 1102 constitute a cam that converts the linear motion in the second axis direction into the opening and closing motion of Joe 405a and Joe 405b.

[0036] As described above, the rod 404 performs a linear motion in the direction of the second axis with respect to the roll unit 402 together with the gripping unit 403. The pin 1103 reciprocates in the direction of the second axis (that is, the vertical direction of the paper surface) integrally with the rod 404. Since the pin 1103 reciprocates so as to slide within each elongated groove hole 1102, each elongated groove hole 1102 needs to intersect the rod 404 (or the second axis) at the current position of the pin 1103. In addition, the longitudinal axes of the respective elongated hole grooves 1102 of Joe 405a and Joe 405b are inclined in opposite directions with respect to the second axis, and the wall surfaces of each elongated hole groove 1102 constitute a cam. Therefore, according to the linear motion of the pin 1103 in the direction of the second axis, Joe 405a and Joe 405b rotate in opposite directions around the opening and closing axis 1101. This is the mechanism by which Joe 405a and Joe 405b open and close by the linear motion of the rod 404 in the direction of the second axis. However, the opening and closing structure of Joe 405a and Joe 405b is not limited to this, and other mechanisms may be used to realize the opening and closing operations of Joe 405a and Joe 405b by the linear motion of the rod 404 in the direction of the second axis.

[0037] Subsequently, a mechanism for realizing the pivoting operation of the pitch unit 401 around the first axis, the rotational operation of the roll unit 402 around the second axis, and the opening and closing operation by Joe 405a and Joe 405b by using the pulling force of the cable will be described in detail.

[0038] As shown in FIGS. 4 to 7, the instrument unit 100 includes first reciprocating cable sets C1a and C1b and second reciprocating cable sets C2a and C2b. Each actuator for pulling the first reciprocating cable sets C1a and C1b and the second reciprocating cable sets C2a and C2b is disposed within the instrument unit drive unit 103, but details of this will be deferred to later.

[0039] FIG. 12 shows an enlarged view of a portion of the distal end portion 101 of the instrument unit through which the first reciprocating cable sets C1a and C1b and the second reciprocating cable sets C2a and C2b near the first axis pass. FIG. 13 shows the mechanism by which the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403. FIG. 14 shows the mechanism by which the second reciprocating cable sets C2a and C2b are fixed to the roll unit 402.

[0040] Referring to FIG. 13, the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403 at a cable connection location 1301 provided on the gripping unit 403. Referring to FIGS. 4, 6, and 13, the first reciprocating cable sets C1a and C1b are wound around a gripping pulley GP that is rotatably supported on the back surface of the pitch unit 401 from opposite directions and are laid out so as to form a U shape and fold back.

[0041] Referring to FIG. 12, the cable C1a of the first forward path is pulled in the direction of the second axis, but is redirected in a direction perpendicular to the first axis by the first idler pulley IP11a having the first axis as the rotation axis. Further, the layout within the shaft 102 is adjusted so as to be inserted through the shaft 102 by the first adjacent idler pulley IP12a adjacent to the first idler pulley IP11a and having a rotation axis parallel to the first axis. Similarly, the cable C1b of the first return path is pulled in the direction of the second axis, but is redirected in a direction perpendicular to the first axis by the first idler pulley IP11b having the first axis as the rotation axis. Further, the layout is adjusted so as to be inserted through the shaft 102 by the first adjacent idler pulley IP12b adjacent to the first idler pulley IP11b and having a rotation axis parallel to the first axis.

[0042] Then, after the first reciprocating cable set C1a and C1b are inserted through the shaft 102, they are pulled by an actuator disposed within the instrument unit drive unit 103. In the present embodiment, the first reciprocating cable set C1a and C1b are driven in a cable loop manner by a single motor (the first motor M1), but the details will be left for later description. However, it is also possible to configure the cable C1a of the first forward path and the cable C1b of the first return path to be pulled by individual motors respectively.

[0043] The first reciprocating cable set C1a and C1b are fixed to the gripping unit 403 at the cable connection point 1301 (described above). Therefore, when the cable C1a of the first forward path is pulled, the gripping unit 403 rises in the direction of the second axis along the rail (described above) on the back surface of the pitch unit 401. Also, when the cable C1b of the first return path is pulled, the gripping unit 403 descends in the direction of the second axis. The rod 404 is supported by the gripping unit 403 at the tip (described above), reciprocates in the direction of the second axis together with the gripping unit 403, thereby realizing the opening and closing freedom of the jaws 405a and 405b.

[0044] The roll unit 402 is provided with a roll capstan RC near the middle in the second axial direction. Referring to FIGS. 6 and 14, the cable C2a of the second forward path and the cable C2b of the second return path are wound around the roll capstan RC from opposite directions and are fixed to the roll unit 402 at their respective ends. In particular, referring to FIG. 14, the cable C2a of the second forward path and the cable C2b of the second return path are wound around the roll capstan RC so as to overlap by approximately 180 degrees around the second axis, thereby realizing a movable range of ±150 degrees around the second axis of the roll unit 402.

[0045] Here, as shown in FIG. 12, pins are respectively protruded near the vicinity where the cable C2a of the second forward path and the cable C2b of the second return path pass through the pitch unit 401. The heights of the respective pins in the second axial direction are substantially the same. The cable C2a of the second forward path passes above the pin and is then wound around the roll capstan RC, and the cable C2b of the second return path passes below the pin and is then wound around the roll capstan RC. Therefore, the cable C2a of the second forward path and the cable C2b of the second return path are wound around the roll capstan RC so as not to come into contact with each other while being separated in the height direction of the second axis and to overlap by approximately 180 degrees around the second axis (see FIG. 14). As a result, when the roll unit 402 is driven by ±150 degrees around the second axis, the cable C2a of the second forward path and the cable C2b of the second return path do not get entangled with each other.

[0046] Also, referring to FIG. 12, the cable C2a of the second forward path is pulled in a direction orthogonal to the second axis, but is redirected in a direction orthogonal to the first axis by a second idler pulley IP21a having the first axis as a rotation axis, and further adjusted in layout so as to pass through the shaft 102 by a second adjacent idler pulley IP22a adjacent to the second idler pulley IP21a and having a rotation axis parallel to the first axis. Similarly, the cable C2b of the second return path is pulled in a direction orthogonal to the second axis, but is redirected in a direction orthogonal to the first axis by a second idler pulley IP21b having the first axis as a rotation axis, and further adjusted in layout so as to pass through the shaft 102 by a second adjacent idler pulley IP22b adjacent to the second idler pulley IP21b and having a rotation axis parallel to the first axis.

[0047] Then, after passing through the shaft 102, the cable sets C2a and C2b of the second reciprocation are pulled by an actuator disposed in the instrument unit drive unit 103. In the present embodiment, the cable sets C2a and C2b of the second reciprocation are driven in a cable loop manner by a single motor (second motor M2), but details thereof will be left to be described later. However, it is also possible to configure the cable C2a of the second forward path and the cable C2b of the second return path to be pulled by individual motors.

[0048] The cable C2a of the second forward path and the cable C2b of the second return path are wound around the roll unit 402 from opposite directions (described above). Therefore, when the cable C2a of the second forward path is pulled, the roll unit 402 can be rotated forward about the second axis. Also, when the cable C2b of the second return path is pulled, the roll unit 402 can be rotated reversely about the second axis. Thereby, the rotational freedom degree of the distal end portion 101 of the instrument unit about the second axis is realized.

[0049] As can be seen from FIGS. 7 and 12, all of the idler pulleys IP11a, IP11b, IP21a, and IP21b have the first axis as the rotation axis. Also, all of the adjacent idler pulleys IP12a, IP12b, IP22a, and IP22b are parallel to the first axis and have the same rotation axis. And within the shaft 102, the layout is adjusted by the respective idler pulleys such that the first reciprocating cable sets C1a and C1b pass through the upper side and the second reciprocating cable sets C2a and C2b pass through the lower side.

[0050] Also, referring to FIGS. 4, 7, 12, etc., the second reciprocating cable sets C2a and C2b are wound around the idler pulleys IP21a and IP21b from a direction opposite to the direction in which the first reciprocating cable sets C1a and C1b are wound around the idler pulleys IP11a and IP11b. For this reason, when the first reciprocating cable sets C1a and C1b are pulled (or when they are retracted in the longitudinal axis direction of the shaft 102), and when the second reciprocating cable sets C2a and C2b are retracted, a rotational force in the opposite direction around the first axis is applied to the pitch unit 401.

[0051] Therefore, by selectively pulling either the first reciprocating cable sets C1a and C1b or the second reciprocating cable sets C2a and C2b, the pitch unit 401 can be pivoted around the first axis, and the rotational freedom around the first axis of the tip portion 101 of the surgical instrument unit is realized.

[0052] C. Operation of the Surgical Instrument Unit FIG. 15 illustrates an example of the arrangement of the actuators within the surgical instrument unit drive section 103 and the method of pulling the cables by the respective actuators.

[0053] As shown in FIG. 15, a first motor M1, a second motor M2, and a third motor M3 are provided. Also, on the output shafts of these first to third motors M1 to M3, first to third motor capstans MC1, MC2, and MC3 as drive capstans are respectively attached.

[0054] Here, it is assumed that a rotary motor is used for each of the first to third motors M1 to M3, but a motor with a speed reducer may also be used. As the first to third motors M1 to M3, it is best to use an electromagnetic rotary motor. However, it is also possible to substitute with other types of actuators that can rotate the drive capstan.

[0055] The first motor capstan MC1 has the first reciprocating cable sets C1a and C1b wound around it via the idler pulleys IP13a and IP13b. The first motor M1 can rotate the first motor capstan MC1 in the forward direction to apply a traction force to the cable set C1a in the first forward path. In this case, since the gripping unit 403 rises with respect to the pitch unit 401 and the roll unit 402, the rod 404 also rises in the second axial direction, and the operation of closing the jaws 405a and 405b can be realized. Also, when the first motor M1 rotates the first motor capstan MC1 in the negative direction to apply a traction force to the cable C1b in the first return path, since the gripping unit 403 descends with respect to the pitch unit 401 and the roll unit 402, the rod 404 also descends in the second axial direction, and the operation of opening the jaws 405a and 405b can be realized. In short, the first motor M1 has the role of opening and closing the jaws 405a and 405b.

[0056] Figures 16 to 18 show the opening and closing operations of jaws 405a and 405b. In the example shown in Figure 16, the first motor M1 rotates the first motor capstan MC1 in the forward direction to the maximum extent, and the gripping unit 403 and the rod 404 are lifted to the maximum extent by the pulling force of the cable C1a in the first forward path, and the jaws 405a and 405b are closed. Also, in the example shown in Figure 17, the gripping unit 403 and the rod 404 are lowered slightly, and the opening angle of the jaws 405a and 405b is 10 degrees. Further, in the example shown in Figure 18, the first motor M1 rotates the first motor capstan MC1 in the negative direction to the maximum extent, and the gripping unit 403 and the rod 404 are lowered to the maximum extent by the pulling force of the cable C1b in the first return path, and the opening angle of the jaws 405a and 405b is 20 degrees.

[0057] Also, referring to Figure 15, the second motor capstan MC2 has the second reciprocating cable sets C2a and C2b wound around it via the idler pulleys IP23a and IP23b. Therefore, when the second motor M2 rotates the second motor capstan MC2 in the forward direction to apply a pulling force to the cable C2a in the second forward path, the roll unit 402 can be rotated in the positive direction about the second axis. Also, when the second motor M2 rotates the second motor capstan MC2 in the negative direction to apply a pulling force to the cable C2b in the second return path, the roll unit 402 can be rotated in the reverse direction about the second axis. In short, the second motor M2 has the role of rotating the roll unit 402 about the second axis parallel to the roll axis.

[0058] Figures 19 to 23 show the state in which the roll unit 402 rotates about the second axis. In the example shown in Figure 19, the second motor M2 rotates the second motor capstan MC2 in the positive direction to the maximum extent, and the roll unit 402 is rotated forward by 150 degrees about the second axis by the pulling force of the cable C2a in the second forward path. Further, in Figures 20 to 22, the second motor M2 gradually rotates the second motor capstan MC2 in the negative direction, and the rotation angle of the roll unit 402 about the second axis is sequentially decreased to 75 degrees, 0 degrees, and -75 degrees by the pulling force of the cable C2b in the second return path. In the example shown in Figure 23, the second motor M2 rotates the second motor capstan MC2 in the negative direction to the maximum extent, and the roll unit 402 is rotated reversely by 140 degrees about the second axis by the pulling force of the cable C2b in the second forward path.

[0059] The third motor M3 has the role of rotating the pitch unit 401 about the first axis parallel to the pitch axis, and this will be described in detail below.

[0060] As already described, the second reciprocating cable sets C2a and C2b are wound around the idler pulleys IP21a and IP21b from the direction opposite to the direction in which the first reciprocating cable sets C1a and C1b are wound around the idler pulleys IP11a and IP11b. For this reason, when the first reciprocating cable sets C1a and C1b are pulled (or when the shaft 102 is retracted in the longitudinal axis direction), and when the second reciprocating cable sets C2a and C2b are retracted, a rotational force in the opposite direction about the first axis is applied to the pitch unit 401.

[0061] Therefore, by selectively pulling either the first reciprocating cable sets C1a and C1b or the second reciprocating cable sets C2a and C2b, the pitch unit 401 can be pivoted about the first axis, and the rotational freedom of the tip portion 101 of the surgical instrument unit about the first axis is realized.

[0062] Referring to FIG. 15, the first motor M1 is supported on a first slide base SB1 that slides in the longitudinal axis direction of the shaft 102, and the second motor M2 is supported on a second slide base SB2 that slides in the longitudinal axis direction of the shaft 102. Also, a third reciprocating cable set C3a and C3b is wound around a third motor capstan MC3 via third idler pulleys IP3a and IP3b. And the other end of the third forward cable C3a is fixed to the first slide base SB1, and the other end of the third return cable C3b is fixed to the second slide base SB2.

[0063] Therefore, the third motor M3 can rotate the third motor capstan MC3 in the forward direction to apply a traction force to the third forward cable C3a. In this case, the first slide base SB1 retreats toward the base side (i.e., the proximal end) of the shaft 102, and the second slide base SB2 advances toward the tip side (i.e., the distal end) of the shaft 102. Then, the first reciprocating cable set C1a and C1b retreat while the second reciprocating cable set C2a and C2b advance, and as a result, the pitch unit 401 rotates in the positive direction about the first axis.

[0064] Conversely, the third motor M3 can rotate the third motor capstan MC3 in the negative direction to apply a traction force to the third return cable C3b. In this case, the second slide base SB2 retreats toward the base side (i.e., the proximal end) of the shaft 102, and the first slide base SB1 advances toward the tip side (i.e., the distal end) of the shaft 102. Then, the first reciprocating cable set C1a and C1b advance while the second reciprocating cable set C2a and C2b retreat, and as a result, the pitch unit 401 rotates in the negative direction about the first axis.

[0065] Figures 24 to 28 show the pitching unit 401 turning about the first axis. In the example shown in Figure 24, the third motor M3 rotates in the positive direction to the maximum extent, and the first slide base SB1 is retracted to the maximum extent by the pulling force of the cable C3a in the third forward path. As a result, the pitching unit 401 turns 80 degrees about the first axis.

[0066] Also, in Figures 25 to 27, the third motor M3 gradually rotates the third motor capstan MC3 in the negative direction, and the second slide base SB2 is gradually retracted by the pulling force of the cable C3b in the third return path. As a result, the pitching unit 401 gradually turns in the negative direction about the first axis, and the turning angle decreases to 40 degrees, 0 degrees, and -40 degrees in sequence.

[0067] Then, in the example shown in Figure 28, the third motor M3 rotates in the negative direction to the maximum extent, and the second slide base SB2 is retracted to the maximum extent by the pulling force of the cable C3b in the third return path. As a result, the pitching unit 401 turns -80 degrees about the first axis.

[0068] Also, the turning operation of the pitching unit 401 about the first axis, the rotating operation of the roll unit 402 about the second axis, and the gripping operation by the pair of jaws 405a and 405b (or the linear motion operation of the gripping unit 403 in the second axis direction) at the tip 101 of the surgical instrument unit are non-interfering, and the three axes can be driven simultaneously.

[0069] Figures 29 to 31 show the state of driving the three axes simultaneously at the tip 101 of the surgical instrument unit.

[0070] In the example shown in Figure 29, the third motor M3 rotates the third motor capstan MC3 in the positive direction, and the first slide base SB1 is retracted by the pulling force of the cable C3a in the third forward path, thereby turning the pitching unit 401 40 degrees about the first axis.

[0071] Also, in the example shown in FIG. 30, with the pitch unit 401 rotated 40 degrees about the first axis, the jaws 405a and 405b are further opened to an opening angle of 20 degrees. In this case, by rotating the first motor capstan MC1 in the negative direction with the first motor M1, the cable set C1b of the first return path is pulled. As a result, since the rod 404 descends in the second axis direction, an operation of opening the jaws 405a and 405b is generated.

[0072] Also, in the example shown in FIG. 31, with the pitch unit 401 rotated 40 degrees about the first axis and the jaws 405a and 405b opened to an opening angle of 20 degrees, the roll unit 402 is further rotated 45 degrees in the positive direction about the second axis. In this case, by rotating the second motor capstan MC2 in the positive direction with the second motor M2, an operation of rotating the roll unit 402 45 degrees in the positive direction about the second axis is generated by the pulling force of the cable C2a of the second forward path.

[0073] Summarize the operation method of the tip portion 101 of the surgical instrument unit.

[0074] Operation on the first axis: When the third motor M3 rotates the third motor capstan MC3, a pulling force can be generated in either the third reciprocating cable sets C3a and C3b to move the first slide base SB1 and the second slide base SB2 back and forth in the longitudinal axis direction of the shaft 102. As a result, since either one of the first forward path cables C1a and C1b and the second reciprocating cable sets C2a and C2b moves forward and the other moves backward, as shown in FIGS. 24 to 28, the pitch unit 401 can be rotated in the positive or negative direction about the first axis.

[0075] Operation on the second axis: When the second motor M2 rotates the second motor capstan MC2, a traction force is generated in either the second reciprocating cable sets C2a and C2b, enabling the roll unit 402 to rotate in the forward and reverse directions about the second axis. This generates a rotational movement of the gripping unit 403 about the second axis.

[0076] Gripping operation: The jaws 405a and 405b are rotatable about the opening and closing axis 1101 formed at the tip of the roll unit 402, and rotate in opposite directions about the opening and closing axis 1101 according to the linear movement of the rod 404 in the second axis direction. When the first motor M1 rotates the first motor capstan MC1, a traction force is generated in either the first reciprocating cable sets C1a and C1b, and by raising or lowering the rod 404 in the second axis direction, the opening and closing operations of the jaws 405a and 405b are generated.

[0077] Subsequently, the relationship between the operations of the first to third motors M1 to M3 and the operation of the tip 101 of the tool unit will be described.

[0078] FIG. 32 shows an example of the operation of the pitch unit 401 rotating about the first axis. However, this figure is a view of the tip 101 of the tool unit as seen from a direction parallel to the first axis. As shown in the figure, the radii of the respective idler pulleys P11a, P11b, P21a, P21b with the first axis as the rotation axis are R pitch Let it be, and the turning angle of the pitch unit 401 about the first axis be θ pitch Let it be. Also, let the displacement amount of the cable shaft 102 from a predetermined reference position in the longitudinal axis direction be X.

[0079] Also, FIG. 33 shows an example of the operation of the roll unit 402 (or the jaws 405a and 405b) rotating about the second axis. However, this figure is a view of the tip 101 of the tool unit as seen from a direction parallel to the second axis. As shown in the figure, the pulley radius of the roll capstan RC is R roll Let it be, and the rotation angle of the roll unit 402 about the second axis be θ rollLet it be so.

[0080] In addition, FIG. 34 shows an example of a gripping operation in which jaws 405a and 405b pivot around an opening / closing axis to open and close. However, this figure is a view of the tip 101 of the surgical instrument unit as seen from a direction parallel to the first axis. As already described with reference to FIG. 11, jaws 405a and 405b perform an opening / closing operation in response to the linear motion of rod 404 in the second axis direction. Let the opening angle of jaws 405a and 405b be θ grip Let it be so.

[0081] FIG. 35 shows the positional relationship between the opening / closing axis of the jaw and the position of the pin at the tip of rod 404 that slides within the long groove hole formed in the jaw. In FIG. 35, the left side shows the entire jaw, and the right side shows an enlarged view of the vicinity of the opening / closing axis. However, although this figure shows an example of jaw 405a, the same applies to jaw 405b. This figure shows the state in which jaws 405a and 405b are closed. Let the distance from the center of the opening / closing axis to the pin at the tip of rod 404 (not shown in FIG. 35) when jaws 405a and 405b are closed be x0, and let the inclination angle of the major axis of the long groove hole with respect to the second axis be α0. Also, let the height of a right triangle having a line segment of distance x0 connecting the center of the opening / closing axis and the pin at the tip of rod 404 as the hypotenuse be L.

[0082] The wall surface of the long groove hole formed in the jaw constitutes a cam surface, and the pin at the tip end of rod 404 slides along the wall surface of the long groove hole. As described above, when the gripping unit 403 ascends and rod 404 also ascends in the second axis direction, an operation of closing jaws 405a and 405b is realized. Conversely, when the gripping unit 403 descends and rod 404 also descends in the second axis direction, an operation of opening jaws 405a and 405b is realized. FIG. 36 shows a state in which rod 404 (not shown in FIG. 36) descends in the second axis direction and the distance from the center of the opening / closing axis to the pin at the tip of rod 404 is displaced from x0 to x. In FIG. 36, the left side shows the entire jaw, and the right side shows an enlarged view of the vicinity of the opening / closing axis. Let the opening angle of the jaw at this time be θ gripLet it be 1 / 2, and let the inclination angle of the major axis of the long groove hole with respect to the second axis be α. Also, the height of a right triangle with the distance x between the pins at the tip of the rod 404 from the center of the opening / closing axis as the hypotenuse is L. At this time, the displacement (x0 - x) of the rod 404 in the second axis direction is expressed as the following formula (1).

[0083]

Number

[0084] Referring to FIGS. 32 to 34 again. The first reciprocating cable sets C1a and C1b, and the second reciprocating cable sets C2a and C2b advance and retreat in the longitudinal axis direction of the shaft 102 by the drive of the first to third motors M1 to M3. Hereinafter, the displacement amounts of the respective cables from a predetermined reference position in the longitudinal axis direction of the shaft 102 are each X C1a , X C1b , X C2a , X C2b .

[0085] The displacement amounts X C1a , X C1b , X C2a , X C2b of the respective cables, the turning angle θ pitch about the first axis of the pitch unit 401, the rotation angle θ roll about the second axis of the roll unit 402, and the opening angle θ grip of the jaws 405a and 405b are expressed as the following formulas (2) to (5), respectively.

[0086]

Number

[0087]

Number

[0088]

Number

[0089]

Number

[0090] The second and third terms on the right side of the above equations (2) and (3) correspond to the displacement amount of the rod 404 in the second axial direction shown in the above equation (1).

[0091] Also, the turning angle θ of the pitch unit 401 around the first axis pitch , the opening angle θ of the jaws 405a and 405b grip , and the rotation angle θ of the roll unit 402 around the second axis roll are respectively expressed as in the following equations (6) to (8).

[0092]

Number

[0093]

Number

[0094]

Number

[0095] Therefore, by displacing the cable sets C1a and C1b of the first reciprocation and the cable sets C2a and C2b of the second reciprocation by a predetermined amount based on the above equations (6) to (8), the desired angles of each axis can be realized.

[0096] From the above equation (7), it can be seen that the opening angle θ of the jaws 405a and 405b grip is only related to the displacement amounts X C1a , X C1b of the cable sets C1a and C1b of the first reciprocation. Similarly, from the above equation (8), the rotation angle θ of the roll unit 402 around the second axis roll is the displacement amount X of the cable sets C2a and C2b of the second reciprocationC2a , X C2b It can be seen that only [X] is involved.

[0097] Also, from the above formula (6), the turning angle θ of the pitch unit 401 around the first axis pitch is determined from the displacement amount X of the cable sets C1a and C1b of the first reciprocation C1a , X C1b and the displacement amount X of the cable sets C2a and C2b of the second reciprocation C2a , X C2b and the difference.

[0098] D. Modification Example of the Roll Unit FIG. 37 shows a cross section of a roll unit 3700 according to a modified example. The illustrated roll unit 3700 is divided into an inner tool shaft portion 3701 and an outer tool cover portion 3702 in the above-described "roll unit 402". The tool shaft portion 3701 has a hollow cylindrical shape, and a rod 404 is inserted therein. Further, the tool cover portion 3702 has a hollow cylindrical shape with an inner diameter larger than that of the tool shaft portion 3701, and the tool shaft portion 3701 is inserted therein. Further, a roll capstan RC is formed on the outer periphery of the tool cover portion 3702, and the cable sets C2a and C2b of the second reciprocation (not shown in FIG. 37) are wound around it. Also, in FIG. 37, in the portion surrounded by a dotted circle, the outer periphery of the tool shaft portion 3701 and the inner wall surface of the tool cover portion 3702 are joined. Through this joined portion, the rotational force around the second axis is transmitted from the tool cover portion 3702 to the tool shaft portion 3701.

[0099] On the tip side (distal end side) of the joint surrounded by the dotted line circle, the outer circumference of the instrument shaft portion 3701 and the inner wall surface of the instrument cover portion 3702 are slightly separated, and there is a space. Utilizing this space, strain detection elements 3703 are attached to several locations on the outer circumference of the instrument shaft portion 3701. Then, by performing arithmetic processing on the detection signals of each strain detection element 3703, the external forces applied to the jaws 405a and 405b at the tip of the instrument can be calculated. Up to the joint surrounded by the dotted line circle, the outer circumference of the instrument shaft portion 3701 and the inner wall surface of the instrument cover portion 3702 are not in contact, so at the attachment positions of the strain detection elements 3703, external forces other than the jaws 405a and 405b at the tip of the instrument are not applied.

[0100] In the example shown in FIG. 37, a pair of strain detection elements 3703a and 3703b are attached to opposite sides in a direction (temporarily referred to as the "Y direction") perpendicular to the roll axis on the surface of the instrument shaft portion 3701. In such a case, by performing arithmetic processing on the detection signals of the pair of strain detection elements 3703a and 3703b, the amount of strain in the Y direction of the instrument shaft portion 3701 can be calculated, and this amount of strain can be converted into the external force applied in the Y direction to the jaws 405a and 405b. Also, when it is desired to measure the external force applied in the X direction to the jaws 405a and 405b, a pair of strain detection elements (not shown in FIG. 37) may be similarly attached to opposite sides in the X direction on the surface of the instrument shaft portion 3701 for measurement. Note that a strain generating structure may be formed at the locations on the instrument shaft portion 3701 where the strain detection elements 3703a and 3703b are disposed.

[0101] Here, for the strain detection elements 3703a and 3703b, detection elements widely known in the art, such as capacitive sensors, semiconductor strain gauges, and foil strain gauges, can be used.

[0102] In addition, the strain detection elements 3703a and 3703b may use FBG (Fiber Bragg Grating) sensors fabricated using optical fibers. Here, the FBG sensor is a sensor configured by engraving a diffraction grating (grating) along the major axis of the optical fiber, and it can detect the change in the interval of the diffraction grating due to the strain caused by the acting force or the expansion or contraction accompanying the change in temperature as the change in the wavelength of the reflected light with respect to the incident light in a predetermined wavelength band (Bragg wavelength) (well-known). Then, the change in the wavelength detected from the FBG sensor can be converted into the corresponding strain, stress, and temperature change. Since the FBG sensor using an optical fiber has a small transmission loss (it is difficult for noise from the outside world to be superimposed), the detection accuracy can be maintained at a high level even in the assumed usage environment. In addition, the FBG sensor also has the advantage of being easy to handle sterilization required for medical treatment and dealing with the environment under a strong magnetic field (for example, refer to Patent Document 5).

[0103] FIG. 38 shows an example of the cross-sectional configuration of the roll unit 3700 when an FBG sensor is used for the strain detection element. In the illustrated example, two optical fibers 3801 and 3802 are inserted in the roll axis direction by using the space between the outer periphery of the surgical instrument shaft portion 3701 and the inner wall surface of the surgical instrument cover portion 3702 from the upper end surface of the roll unit 3700. And the two optical fibers 3801 and 3802 are arranged on the opposite sides in the Y direction. And gratings are engraved at the locations indicated by reference numerals 3803 and 3804 of each of the optical fibers 3801 and 3802, respectively, and can operate as strain detection elements. Note that a strain generating structure may be formed in the vicinity of the gratings 3803 and 3804 of the surgical instrument shaft 3701.

[0104] E. Modification Example of the Surgical Instrument Unit E-1. Modification Example of the Method for Driving the Cable It is best to use electromagnetic rotary motors as the first to third motors M1 to M3. However, it is also possible to substitute them with other types of actuators that can rotate the drive capstan. As other deformations of the actuator for pulling the cable, for example, the following can be further cited.

[0105] · Piezoelectric linear ultrasonic motor · Piezoelectric rotary ultrasonic motor · Hydraulic linear motor · Hydraulic rotary motor · Polymer linear actuator · Electromagnetic linear motor · Shape memory alloy

[0106] Also, regardless of which type of actuator is adopted, the actuator may be equipped with a speed reducer, a position detector, and an emergency brake mechanism. Here, as the speed reducer, for example, a gear type speed reducer, a harmonic gear speed reducer, a postal gear speed reducer, a mysterious postal gear speed reducer, a cable speed reducer, a traction speed reducer, a ball screw, a sliding screw, a worm gear, etc. can be cited. Also, as the position detector, for example, a magnetic encoder, an optical encoder, a potentiometer, etc. can be cited.

[0107] E-2. Modification Example of the Shape of the Joe In each figure, for the sake of convenience, Joe is drawn in a relatively simple shape. In reality, the shape of Joe may be changed according to the use of the surgical tool unit. For example, the following can be cited.

[0108] · Forceps · Bipolar forceps · Scissors · Stapler

[0109] E-3. Modification Example of the Shaft The shaft 102 is ideally a rigid body, but it may also be an elastic body such as a flexible endoscope. Also, in each figure, for simplicity, a shaft 102 having a simple hollow cylindrical shape is depicted, but it does not necessarily have to be cylindrical. For example, the cross-section of the shaft 102 may be polygonal or elliptical, or the cross-sectional shape may change in the middle of the longitudinal axis direction.

[0110] E-4. Modification Example of the Cable The cable may be a bundle of metal wires, a bundle of resins, or a woven combination of multiple materials such as metal wires and resins. Also, a highly rigid metal shaft 102 may be used at locations inside the shaft 102 etc. where the cable is arranged and does not require bending, and it may be connected to a flexible cable used at locations having bending to form a single cable. As alternatives to the cable, for example, the following can be mentioned.

[0111] · A wire made of metal or resin · A wire with thin metal or resin wires of small diameter woven in

[0112] E-5. Modification Example of the Idler Pulley In the above, an example of using an idler pulley for adjusting the cable layout has been described. By using an idler pulley, the sliding friction when pulling the cable can be reduced to achieve smooth operation. When it is desired to reduce the sliding friction, an idler pulley equipped with a rotary bearing may be used.

[0113] On the other hand, using an idler pulley has the problem that the size of the mechanism increases and the number of parts increases. Therefore, for further miniaturization of the tip portion 101 of the surgical instrument unit, the cable may be laid out along the guide groove formed in the mechanism without using an idler pulley.

[0114] F. Application Example of the Surgical Instrument Unit F-1. Application Example to a Surgical Robot (Computer-Assisted Surgery System) FIG. 39 shows an example of the external configuration of a surgical robot 3900 using the surgical instrument unit according to the present embodiment. The illustrated surgical robot 3900 includes an arm 3901 having a multi-link structure, and a surgical instrument unit 3902 is mounted at the tip of the arm 3901. The surgical instrument unit 3902 may be replaceable. The surgical robot 3900 is applied to, for example, laparoscopic surgery, and the tip portion 101 of the surgical instrument unit is inserted into the abdominal cavity via a trocar (not shown), and procedures such as grasping and resection of the affected part are performed.

[0115] The illustrated surgical robot 3900 is used as a slave device in a master-slave system, for example, and the arm 3901 and the surgical instrument unit 3902 are driven according to commands from a master device (not shown). In addition, for example, a bilateral control method is applied to this type of master-slave system.

[0116] Note that the arm 3901 may be any of, for example, a polar coordinate type robot, a cylindrical coordinate type robot, a rectangular coordinate system type robot, a vertical articulated type robot, a horizontal articulated type robot, a parallel link type robot, an RCM (Remote Center of Motion) type robot, etc.

[0117] When the surgical support system 3900 is a surgical robot that supports laparoscopic surgery, from the viewpoints of the compactness of the mechanism and the ease of generating a pivot motion at the trocar location, as the arm 3901, a vertical articulated type or an RCM (Remote Center of Motion) type arm that realizes a pivot (fixed point) motion by arranging a remote center of rotation at a position away from the drive rotation center is preferably used.

[0118] In addition, although FIG. 39 shows an example of the configuration of a surgical robot that can mount only one surgical instrument unit, it can be similarly applied to a type of surgical robot that can mount a plurality of surgical instrument units at the same time and perform laparoscopic surgery.

[0119] F-2. Applicability to the Operation Unit 40 shows an example of the external configuration of an operation unit 4000 that uses a surgical tool unit according to this embodiment. The operation unit 4000 includes a handle 4001 that a user holds directly in their hand to operate, and a surgical tool unit 4002 is mounted on the tip of the handle 4001. The surgical tool unit 4002 may be replaceable.

[0120] The handle portion 4001 may include a joystick 4003 operable with the thumb for instructing the attitude of the distal end of the surgical tool unit 4002 in any direction. The handle portion 4001 may also include a button 4004 operable with the index finger for instructing the opening and closing operation of the jaw.

[0121] A controller (not shown) may be mounted inside the handle portion 4001. This controller controls the rotation angle θ of the pitch unit 401 around the first axis according to the amount of operation of the joystick 4003 or the button 4004. pitch , the rotation angle θ of the roll unit 402 around the second axis roll , and the opening angle θ of the jaws 405a and 405b grip This is converted into the amount of rotation of each motor, and a control signal is output to the surgical tool unit drive unit 103.

[0122] G. Effects The surgical tool unit 100 according to the present disclosure can achieve a wide range of motion because the rotation about the second axis parallel to the roll axis of the roll unit 402 is the degree of freedom of the distal end (excluding the gripping freedom of the jaws). Specifically, the pitch unit 401 has a rotational freedom of turning by approximately ±80 degrees about the first axis parallel to the pitch axis, and the roll unit 402 has a rotational freedom of turning by approximately ±150 degrees about the second axis.

[0123] In addition, in the surgical tool unit 200 according to the present disclosure, the opening angle θ of the pair of jaws 405a and 405b gripis determined by the difference in the displacement in the longitudinal axis direction of the shaft 102 between the cable C1a of the first forward path and the cable C1b of the first return path (see, for example, the above formula (7)). Further, the rotation angle θ about the second axis of the roll unit 402 roll is determined by the difference in the displacement in the longitudinal axis direction of the shaft 102 between the cable C2a of the second forward path and the cable C2b of the second return path (see, for example, the above formula (8)). Further, the turning angle θ about the first axis of the pitch unit 401 pitch is determined by the difference in the average value of the displacement in the longitudinal axis direction of the shaft 102 between the first reciprocating cable sets C1a and C1b and the second reciprocating cable sets C2a and C2b (see, for example, the above formula (6)).

[0124] In short, the control model of the surgical instrument unit 100 according to the present disclosure is simple. Therefore, when the surgical instrument unit 100 is applied to a surgical robot (see FIG. 39), the control is easy, and when the surgical instrument unit 100 is applied to an operation unit (see FIG. 40), the operation of the operator is easy.

[0125] Further, the surgical instrument unit 100 according to the present disclosure is equipped with a strain detection element in the roll unit 402 (see FIGS. 37 and 38), and can detect an external force applied to the tip jaw. Even in this case, it is possible to design the dimension from the first axis to the tip jaw to be short.

Industrial Applicability

[0126] As described above, the technology according to the present disclosure has been described in detail with reference to specific embodiments. However, it is obvious that those skilled in the art can make modifications and substitutions to the embodiments without departing from the gist of the technology according to the present disclosure.

[0127] In this specification, embodiments in which the technology according to the present disclosure is applied to surgical instruments used in surgical robots have been mainly described. However, the gist of the technology according to the present disclosure is not limited thereto. The technology according to the present disclosure can be applied to robots in various fields other than medicine, such as precision work robots. Further, the technology according to the present disclosure can also be applied to a grip-type operation unit or a precision work device that can be operated while being held by a user's hand.

[0128] In short, the technology according to the present disclosure has been described in the form of examples, and the content described in this specification should not be interpreted restrictively. To determine the gist of the technology according to the present disclosure, the scope of the claims should be considered.

[0129] Note that the technology according to the present disclosure can also have the following configurations.

[0130] (1) A shaft, A pitch unit rotatably connected to the tip of the shaft about a first axis, A roll unit rotatably supported with respect to the pitch unit about a second axis, A gripping unit supported so as to be linearly movable in the second axis direction with respect to the roll unit, And a surgical instrument comprising the same. (2) The second axis is disposed at a position offset from the first axis, The surgical instrument according to (1) above. (3) Further comprising a pair of jaws attached to the lower end of the roll unit in the second axis direction and opening and closing in conjunction with the linear motion of the gripping unit in the second axis direction, The surgical instrument according to any one of (1) or (2) above. (4) The gripping unit supports a rod that passes through the roll unit in the second axis direction, The pair of jaws is supported by an opening and closing axis near the lower end of the roll unit, and includes a cam that converts the linear motion of the rod in the second axis direction into a motion in the opening and closing direction. The surgical instrument according to (3) above. (5) A first reciprocating cable set for pulling the gripping unit in the second axial direction, A second reciprocating cable set for pulling the roll unit around the second axis, The surgical instrument according to (4) above, further comprising. (6) The first reciprocating cable set has a fixed point on the gripping unit and is arranged to fold back in the second axial direction via a gripping pulley provided on the roll unit. The surgical instrument according to (5) above. (7) The second reciprocating cable set is wound around a roll capstan provided on the roll unit. The surgical instrument according to any one of (5) or (6) above. (8) The forward cable and the return cable of the second reciprocating cable set are wound around the roll capstan so as to overlap each other by 180 degrees around the second axis from opposite directions and be separated in the height direction of the second axis without contacting each other. The surgical instrument according to (7) above. (9) A first idler pulley portion for converting the first reciprocating cable set in the longitudinal axis direction of the shaft, A second idler pulley portion for converting the second reciprocating cable set in the longitudinal axis direction of the shaft, The surgical instrument according to any one of (5) to (8) above, further comprising. (10) The first idler pulley portion includes a first idler pulley that rotates around the first axis and a first adjacent idler pulley that has a rotation axis parallel to the first axis and is adjacent to the first idler pulley. The second idler pulley portion includes a second idler pulley that rotates around the first axis and a second adjacent idler pulley that has a rotation axis parallel to the first axis and is adjacent to the second idler pulley. The surgical instrument according to (9) above. (11) The second reciprocating cable set is wound around the second idler pulley in a direction opposite to the direction in which the first reciprocating cable set is wound around the first idler pulley. The surgical instrument according to the above (10). (12) A first actuator that rotates a first drive capstan to pull the first reciprocating cable set in the longitudinal axis direction of the shaft, A second actuator that rotates a second drive capstan to pull the second reciprocating cable set in the longitudinal axis direction of the shaft, The surgical instrument according to the above (11), further comprising: (13) A first slide base that fixes the first actuator and the first drive capstan and slides in the longitudinal axis direction of the shaft, A second slide base that fixes the second actuator and the second drive capstan and slides in the longitudinal axis direction of the shaft, A third actuator that rotates a third drive capstan, A third reciprocating cable set having each end fixed to the first slide base and the second slide base respectively and wound around the third drive capstan, further comprising: By the rotation of the third drive capstan, the advancing and retreating operations of the first slide base and the second slide base are generated. The surgical instrument according to the above (12). (14) A surgical instrument and an arm to which the surgical instrument is attached, The surgical instrument includes: a shaft, a pitch unit rotatably connected to the tip of the shaft about a first axis, a roll unit rotatably supported with respect to the pitch unit about a second axis, a gripping unit linearly movably supported with respect to the roll unit in the second axis direction, A surgical assistance system comprising: (15) A surgical instrument and a handle portion to which the surgical instrument is attached, The surgical instrument includes: a shaft, A pitch unit pivotally connected to the tip of the shaft about a first axis; A roll unit rotatably supported with respect to the pitch unit about a second axis; A gripping unit linearly movably supported with respect to the roll unit in the second axis direction; An operating unit for surgery, comprising the above.

Explanation of Signs

[0131] 100... Surgical instrument unit, 101... Tip of surgical instrument unit 102... Shaft, 103... Driving part of surgical instrument unit 3900... Surgical robot, 3901... Arm 3902... Surgical instrument unit 4000... Operating unit, 4001... Handle part, 4002... Surgical instrument unit, 4003... Joystick 4004... Button

Claims

1. A shaft having a longitudinal axis, a pitch unit rotatably connected to the tip of the shaft so as to be rotatable about a first axis orthogonal to the longitudinal axis, a roll unit rotatably supported with respect to the pitch unit about a second axis orthogonal to the first axis, a gripping unit supported so as to be linearly movable in the direction of the second axis with respect to the roll unit, and linearly supporting a rod inserted through a through hole penetrating in the direction of the second axis of the roll unit in the direction of the second axis, a first reciprocating cable set for pulling the gripping unit in the direction of the second axis, a second reciprocating cable set for pulling the roll unit about the second axis, and a surgical instrument comprising the same.

2. The second axis is disposed at a position offset from the first axis, The surgical instrument according to claim 1.

3. A pair of jaws attached to the lower end of the rod in the direction of the second axis and operable to open and close in conjunction with the linear movement of the gripping unit in the direction of the second axis is further provided, The surgical instrument according to claim 1.

4. The pair of jaws is supported by an opening and closing axis near the lower end of the rod in the direction of the second axis, and includes a cam that converts the linear movement of the rod in the direction of the second axis into a movement in the opening and closing direction, The surgical instrument according to claim 3.

5. The pitch unit is rotated about the first axis by advancing the first reciprocating cable set and retracting the second reciprocating cable set, or by retracting the first reciprocating cable set and advancing the second reciprocating cable set, The surgical instrument according to claim 1.

6. The first reciprocating cable set has a portion fixed to the gripping unit and is arranged to be folded back in the direction of the second axis via a gripping pulley provided on the roll unit, The surgical instrument according to claim 1.

7. The second reciprocating cable set is wound around a roll capstan provided on the roll unit, The surgical instrument according to claim 1.

8. The forward cable and the return cable of the second reciprocating cable set are wound around the roll capstan so as to overlap each other by 180 degrees about the second axis from opposite directions and be separated in the height direction of the second axis so as not to contact each other, The surgical instrument according to claim 7.

9. a first idler pulley section that converts the first reciprocating cable set in the longitudinal axis direction of the shaft; a second idler pulley section that converts the second reciprocating cable set in the longitudinal axis direction of the shaft; The surgical instrument according to claim 1, further comprising the same.

10. The first idler pulley section includes a first idler pulley that rotates around the first axis, and a first adjacent idler pulley that has a rotation axis parallel to the first axis and is adjacent to the first idler pulley. The second idler pulley section includes a second idler pulley that rotates around the first axis, and a second adjacent idler pulley that has a rotation axis parallel to the first axis and is adjacent to the second idler pulley. The surgical instrument according to claim 9.

11. The second reciprocating cable set is wound around the second idler pulley from a direction opposite to the direction in which the first reciprocating cable set is wound around the first idler pulley. The surgical instrument according to claim 10.

12. a first actuator that rotates a first drive capstan to pull the first reciprocating cable set in the longitudinal axis direction of the shaft; a second actuator that rotates a second drive capstan to pull the second reciprocating cable set in the longitudinal axis direction of the shaft; The surgical instrument according to claim 11, further comprising the same.

13. a first slide base that fixes the first actuator and the first drive capstan and slides in the longitudinal axis direction of the shaft; a second slide base that fixes the second actuator and the second drive capstan and slides in the longitudinal axis direction of the shaft; a third actuator that rotates a third drive capstan; a third reciprocating cable set having each end fixed to the first slide base and the second slide base respectively and wound around the third drive capstan; further comprising; Rotation of the third drive capstan generates a forward and backward movement of the first slide base and the second slide base. The surgical instrument according to claim 12.

14. A surgical instrument and an arm to which the surgical instrument is attached, The surgical instrument is a shaft having a longitudinal axis; a pitch unit pivotally connected to the tip of the shaft so as to be pivotable about a first axis orthogonal to the longitudinal axis; A roll unit rotatably supported about a second axis orthogonal to the first axis with respect to the pitch unit; A gripping unit supported so as to be linearly movable in the direction of the second axis with respect to the roll unit, and supporting a rod inserted through a through-hole penetrating in the direction of the second axis of the roll unit so as to be linearly movable in the direction of the second axis; A first reciprocating cable set for pulling the gripping unit in the direction of the second axis; A second reciprocating cable set for pulling the roll unit about the second axis; A surgical support system comprising the above.

15. An instrument and a handle part to which the instrument is attached, wherein the instrument comprises: A shaft having a longitudinal axis; A pitch unit rotatably connected to the tip of the shaft about a first axis; A roll unit rotatably supported about a second axis orthogonal to the first axis with respect to the pitch unit; A gripping unit supported so as to be linearly movable in the direction of the second axis with respect to the roll unit, and supporting a rod inserted through a through-hole penetrating in the direction of the second axis of the roll unit so as to be linearly movable in the direction of the second axis; A first reciprocating cable set for pulling the gripping unit in the direction of the second axis; A second reciprocating cable set for pulling the roll unit about the second axis; A surgical operation unit comprising the above.

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