Manipulator and operation mechanism thereof

Abstract

To provide a manipulator capable of easily adjusting initial tension of a bending section without operating a drive section.SOLUTION: A manipulator 1 includes: a bendable and flexible bending section 9; a second drive section 45 for driving and bending the bending 9; a drive wires 57 that connects the bending section 9 to the second drive section 45 and enables the second drive section 45 to drive the bending section 9; and an adjusting section 31 that moves the second drive section 45 forward and backward with respect to the bending section 9.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a manual manipulator that is held and operated by an operator, and an operating mechanism thereof. [Background technology]

[0002] An example of a conventional manipulator is the forceps manipulator described in Patent Document 1.

[0003] This forceps manipulator has a bending section made of a bendable flexible coil spring and a drive section made of a pneumatic cylinder for driving and bending the bending section. The drive section is fixed to one end of a hollow rod-shaped drive transmission section, and the bending section is fixed to the other end of the drive transmission section.

[0004] A wire is inserted through the drive transmission unit as a connecting member that connects the drive unit and the bending unit, and the wire transmits the drive force of the drive unit to the bending unit. This transmission of drive force bends the bending unit, and therefore the attached end effector can be oriented in a desired direction via the bending unit.

[0005] However, when an external force is applied to the bending portion via an end effector or the like, the bending portion is forcibly bent, and the end effector may be oriented in an unintended direction.

[0006] In contrast, with conventional forceps manipulators, it was possible to adjust the initial tension of the bending section, but this required constantly operating a drive unit consisting of an air pressure cylinder to adjust the initial tension. Note that initial tension is a force that acts in the compressive direction on the bending section, and in the case of a coil spring, it is the force that presses the contacting wires together. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2017-18465 A Summary of the Invention [Problem to be solved by the invention]

[0008] The problem to be solved is that the initial tension of the bent portion cannot be easily adjusted without operating the drive portion. [Means for solving the problem]

[0009] The present invention provides a manipulator including a bendable flexible bending portion, a drive unit for driving the bending portion to bend it, a connecting member for connecting the bending portion and the drive unit to enable the drive unit to drive the bending portion, and an adjustment unit for moving the drive unit forward and backward relative to the bending portion.

[0010] The present invention also provides an operating mechanism including a main body to which a bendable flexible bending portion is connected, a drive unit for driving the bending portion to bend it, a connecting member for connecting the bending portion and the drive unit to enable the drive unit to drive the bending portion, and an adjustment unit for moving the drive unit forward and backward relative to the bending portion. [Effects of the Invention]

[0011] According to the present invention, the initial tension of the bent portion can be easily adjusted without operating the drive portion. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view showing a manipulator according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a cross-sectional view showing a part of the functional part of the manipulator of FIG. [Figure 3] FIG. 3 is an enlarged perspective view showing an operating mechanism of the manipulator of FIG. [Figure 4] FIG. 4 is a perspective view of the operation mechanism of FIG. 3 as seen from the rear side. [Figure 5]5 is a rear view of the operating mechanism of FIG. 3. FIG. [Figure 6] FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. [Figure 7] FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. [Figure 8] FIG. 8 is an enlarged cross-sectional view showing a part of FIG. [Figure 9] 9 is an exploded perspective view showing the main body of the operating mechanism of FIG. 4 in a split state. [Figure 10] 10 is an exploded perspective view showing a second drive unit of the operation mechanism of FIG. 3. FIG. [Figure 11] 11 is a perspective view showing an operational state of a part of the second drive unit of FIG. 10. FIG. [Figure 12] FIG. 12 is a cross-sectional view taken along line XII-XII in FIG. [Figure 13] FIG. 13 is a perspective view of an operation mechanism of a manipulator according to a second embodiment of the present invention. [Figure 14] FIG. 14 is a perspective view of the operation mechanism of FIG. 13 with a portion thereof omitted. [Figure 15] FIG. 15 is a plan view of the operating mechanism of FIG. [Figure 16] FIG. 16 is a cross-sectional view taken along line XVI-XVI of FIG. [Figure 17] FIG. 17 is a perspective view of the second drive unit of FIG. 13 with a portion thereof omitted. [Figure 18] 18 is a perspective view showing a second drive portion and a second operation portion of the second drive unit of FIG. 17. FIG. [Figure 19] 19 is a perspective view showing the second drive unit of FIG. 18. FIG. [Figure 20] 20 is a perspective view of a single drive pulley and associated guide pulley of the second drive section of FIG. 19. FIG. [Figure 21] 21 is a front view of the holder of the second drive unit of FIG. 13. FIG. [Figure 22] 22(A) is a perspective view showing the second operating part of FIG. 17, and FIG. 22(B) is a perspective view seen from the rear side of FIG. 22(A). [Figure 23] FIG. 23 is a conceptual diagram showing the routing of the drive wires. DETAILED DESCRIPTION OF THE INVENTION

[0013] The objective of easily adjusting the initial tension of the bent portion without operating the drive portion is achieved by supporting the drive portion so that it can move forward and backward relative to the bent portion.

[0014] That is, the manipulator 1 includes a bending portion 9, a driving portion 45, a connecting member 57, and an adjusting portion 31. The bending portion 9 is a flexible member that can be bent. The driving portion 45 is a mechanism for driving the bending portion 9 to bend it. The connecting member 57 connects the bending portion 9 and the driving portion 45, enabling the driving portion 45 to drive the bending portion 9. The adjusting portion 31 moves the driving portion 45 forward and backward relative to the bending portion 9.

[0015] In one embodiment, the manipulator 1 may include a holder 43 that holds the drive unit 45. In this case, the adjustment unit 31 allows the holder 43 to move forward and backward relative to the bending unit 9.

[0016] The holder 43 may include an operating portion 47 for operating the driving portion 45 .

[0017] The operating portion 47 can be provided at any suitable position on the holder 43, but in one embodiment, it may be located at an end of the holder 43 distal to the bending portion 9 in the advancing / retracting direction.

[0018] The operation unit 47 may include a joystick 75 .

[0019] The manipulator 1 may be provided with a grip 35 that is held by an operator. In this case, the holder 43 is preferably located on the grip 35.

[0020] Any suitable member may be used as the connecting member 57, and may be a wire. In this case, the driving unit 45 may include rotating bodies 45a and 45b around which the wire 57 is wound.

[0021] The operation mechanism 5 of the manipulator 1 includes a main body 27 to which a bendable flexible bending portion 9 is connected. In the main body 27, a drive portion 45 is configured to be movable forward and backward by an adjustment portion 31. [Example]

[0022] [Overall configuration of the manipulator] Fig. 1 is a perspective view showing a manipulator according to a first embodiment of the present invention. Fig. 2 is a cross-sectional view showing a part of the functional part of the manipulator in Fig. 1. In the following, the axial direction refers to the direction along the axis of the shaft of the manipulator, the up-down direction refers to the up-down direction when the axial direction is aligned with the horizontal direction, and the width direction refers to the width direction of the manipulator that is perpendicular to the axial direction and the up-down direction.

[0023] As shown in Figure 1, the manipulator 1 is a handheld type manipulator for medical use, which is held and operated by an operator such as a doctor in one hand. Note that the manipulator 1 is not limited to medical use, and can also be configured as a handheld type manipulator for other fields.

[0024] The manipulator 1 includes a functional section 3 and an operating mechanism 5 .

[0025] As shown in FIGS. 1 and 2, the functional section 3 includes a shaft 7, a bending section 9, and an end effector 11.

[0026] The shaft 7 is made of a cylindrical body, and its base end is attached to the operating mechanism 5. An end effector 11 is attached to the tip of the shaft 7 via a bending section 9. The tip refers to the end proximal to the tip of the manipulator 1, and the base end refers to the end distal to the tip of the manipulator 1. This is true for each part of the manipulator 1.

[0027] The bending portion 9 is a flexible portion that can be bent. In this embodiment, the bending portion 9 has elasticity that allows it to recover after bending, but it does not have to have elasticity that allows it to recover. The bending portion 9 is disposed between the base portion 13 and the movable portion 15, and supports the movable portion 15 so that it can be displaced relative to the base portion 13 by bending. The base portion 13 is attached to the tip of the shaft 7, and the movable portion 15 supports the end effector 11. The bending portion 9 can have any configuration, but in this embodiment it is made up of a flexible inner member 17 and an outer member 19.

[0028] The inner member 17 is a double coil spring having inner and outer coil portions 21a and 21b, each of which is a coil spring. Note that the inner member 17 may also be a multiple coil spring using three or more coil springs, a single coil spring, or a simple cylindrical body.

[0029] Each winding of the inner coil portion 21a fits into the gap between adjacent windings of the outer coil portion 21b, thereby suppressing axial compression of the bending portion 9. A push-pull cable 23, the tip of which is connected to the end effector 11, is inserted inside the inner coil portion 21a. The base end of the push-pull cable 23 is connected to a first drive unit 39, which will be described later.

[0030] The outer member 19 is made of a bellows, which is a bellows-like cylindrical body. However, the outer member 19 may also be made of a stack of multiple wave washers, a multiple or single coil spring, or a simple cylindrical body. The outer member 19 is disposed radially outside the inner member 17 with a gap therebetween.

[0031] A plurality of drive wires 57, which are connecting members, are inserted through the folded portion 19a of the outer member 19. In this embodiment, four drive wires 57 are arranged at 45-degree intervals in the circumferential direction. The tips of the drive wires 57 are fixed to the movable part 15. The base ends of the drive wires 57 are wound around rollers 45a or 45b of the second drive part 45, which will be described later.

[0032] As will be described later, the base ends of a pair of drive wires 57 may be wound around roller 45a or 45b while being mutually connected in a loop shape, or the base ends of multiple drive wires 57 may be individually wound around roller 45a or 45b. As the connecting member, instead of drive wire 57, a multi-joint rod or the like may be used.

[0033] The end effector 11 is provided at the tip of the functional unit 3 and is oriented in a desired direction by bending the bending unit 9. In this embodiment, the end effector 11 is a gripper that performs a gripping operation by opening and closing. The gripping operation of the end effector 11 and the adjustment of the direction by bending the bending unit 9 are performed based on the operation of the operating mechanism 5.

[0034] [Configuration of operation mechanism] Fig. 3 is an enlarged perspective view showing the operating mechanism of the manipulator of Fig. 1. Fig. 4 is a perspective view of the operating mechanism of Fig. 3 as seen from the rear side. Fig. 5 is a rear view of the operating mechanism of Fig. 3. Fig. 6 is a cross-sectional view taken along line VI-VI in Fig. 5. Fig. 7 is a cross-sectional view taken along line VII-VII in Fig. 5. Fig. 8 is an enlarged cross-sectional view showing a part of Fig. 6. Fig. 9 is an exploded perspective view showing the main body of the operating mechanism of Fig. 4 in a split state.

[0035] 3 to 9, the operation mechanism 5 includes a main body 27 having a first drive unit 25, a second drive unit 29, and an adjustment unit 31. The operation mechanism 5 can be formed entirely from, for example, resin, but can also be formed from any appropriate material.

[0036] In addition to the first drive unit 25, the main body 27 also includes a storage section 33 and a grip 35. The main body 27 of this embodiment is configured by joining two halves together in the width direction, and the halves are fastened together at fastening sections 27a by fasteners such as screws (not shown).

[0037] The first drive unit 25 is a unit for driving the end effector 11. The first drive unit 25 includes a cylinder 37, a first drive section 39, and a first operation section 41.

[0038] As shown in Figures 6 to 9, the cylinder 37 is arranged along the axial direction of the shaft 7. The shaft 7 is attached to the tip of the cylinder 37, and the cylinder 37 supports the base end of the shaft 7. In this embodiment, the base end of the shaft 7 is inserted into the cylinder 37 from the tip of the cylinder 37 and is fitted into a base 67 of a screw member 31a (described later) inside the cylinder 37. A first drive unit 39 is arranged in a space inside the cylinder 37 so as to be slidable in the axial direction. In this embodiment, the first drive unit 39 is slidable inside the cylinder 37 within an opening 69 of a screw member 31a of an adjustment unit 31 (described later).

[0039] The first drive unit 39 is a columnar body, through which the push-pull cable 23 and the drive wire 57 are inserted in the axial direction. The drive wire 57 is inserted axially through the screw member 31a and the cylinder 37, reaches the inside of the shaft 7 at the tip end, and passes through the adjustment unit 31 at the base end to reach the second drive unit 29.

[0040] The push-pull cable 23 is inserted through the first drive unit 39, and its base end is fixed to the first drive unit 39. Therefore, the push-pull cable 23 moves forward and backward relative to the end effector 11 as the first drive unit 39 slides. This drives the end effector 11.

[0041] The push-pull cable 23 may be fixed to the first drive unit 39 by any suitable method such as welding, adhesive, a retainer, etc. The shape of the first drive unit 39 may be set as appropriate as long as the push-pull cable 23 can be attached and moved in conjunction with the first drive unit 39.

[0042] 3, 4, 6, and 7, the cylinder 37 has an opening 37a penetrating it in the width direction. A pin 44 connects the first drive unit 39 to the first operation unit 41 via this opening 37a. The cylinder 37 may be replaced by a frame-shaped member having the opening 37a.

[0043] The first operating unit 41 is for operating the first driving unit 39. In this embodiment, the first operating unit 41 is configured by a plate-shaped lever 41a extending downward from the cylinder 37, and a hook 41b on which an operator's finger is hooked, which is attached so as to be able to swing freely.

[0044] The lever 41a is supported by a pin 44 so as to be able to swing freely on a frame 42 fixed to the cylinder 37. The frames 42 face each other across a gap in the width direction of the cylinder 37 and are joined to the cylinder 37 on both sides in the axial direction.

[0045] The upper end of the lever 41a protrudes upward from the frame 42 and is rotatably attached to an arm 41c. The arm 41c is coupled to the first drive unit 39 by a pin 44. Therefore, the first operating unit 41 can slide the first drive unit 39 in the axial direction via the arm 41c by swinging the lever 41a. The first drive unit 39 is rotatable about the pin 44 by, for example, a circular groove 39a, and rotation about this pin 44 allows rotation of a base unit 67, which will be described later.

[0046] 3 to 7, the housing portion 33 is provided at the base end of the cylinder 37 and houses the second drive unit 29 so that it can slide axially and rotate about its axis. Note that the housing portion 33 may be omitted.

[0047] In this embodiment, the housing portion 33 has a semicircular shape that is open at the top in a cross section perpendicular to the axial direction. The housing portion 33 has a small diameter portion 33a and a large diameter portion 33b. The small diameter portion 33a is adjacent to the cylinder 37 in the axial direction and has a relatively small diameter. The large diameter portion 33b is located at the base end of the main body portion 27 adjacent to the small diameter portion 33a and is open in the axial direction at the base end of the main body portion 27. A grip 35 is provided below the housing portion 33 (large diameter portion 33b).

[0048] The grip 35 is the part that the operator holds, and in this embodiment is configured as a vertically long rectangular frame. The shape of the grip 35 can be set appropriately as long as it can be held by the operator.

[0049] The second drive unit 29 includes a holder 43, a second drive section 45, and a second operation section 47, as shown in FIGS.

[0050] The holder 43 is a member that holds the second drive unit 45. The holder 43 in this embodiment is configured in a cylindrical shape that is open on both axial sides, and holds the second drive unit 45 inside. The holder 43 has a small diameter portion 43a and a large diameter portion 43b corresponding to the accommodation unit 33.

[0051] The small diameter portion 43a and the large diameter portion 43b are axially connected to each other and are connected to each other by a radial wall portion 43c. In this embodiment, a second drive portion 45 is held in the large diameter portion 43b of the holder 43.

[0052] The small diameter portion 43a and the large diameter portion 43b of the holder 43 are respectively fitted into the small diameter portion 33a and the large diameter portion 33b of the housing portion 33 of the main body portion 27 so as to be freely slidable in the axial direction. This allows the holder 43 to be positioned above the grip 35. An upper portion of the holder 43 protrudes upward from the housing portion 33. In addition, a base end portion of the holder 43 protrudes axially from the housing portion 33.

[0053] Fig. 10 is an exploded perspective view showing a second drive unit of the operation mechanism of Fig. 3. Fig. 11 is a perspective view showing an operation state of a part of the second drive unit of Fig. 10. Fig. 12 is a cross-sectional view taken along line XII-XII of Fig. 11.

[0054] The second driving unit 45 is a driving unit for driving and bending the bending portion 9. As shown in Figures 6, 7, and 10 to 12, the second driving unit 45 has two rollers 45a and 45b that are rotating bodies. The number of rollers 45a and 45b is not limited to two, and may be three or more.

[0055] These rollers 45a and 45b have the same configuration and are formed in a cylindrical shape. A groove 49 for winding a drive wire 57 is formed in the middle of the rollers 45a and 45b in the longitudinal direction. Rectangular plate portions 51 are provided at both ends of the rollers 45a and 45b. The rollers 45a and 45b each have a shaft portion 53 protruding from the plate portion 51.

[0056] The shaft portion 53 engages with the slit 55a or 55b of the holder 43. Specifically, the shaft portion 53 of one roller 45a engages with one slit 55a, and the shaft portion 53 of the other roller 45b engages with the other slit 55b.

[0057] 3 and 4, slits 55a and 55b are provided along the axial direction from the base end to the tip end of holder 43, and have different axial lengths. Shafts 53 of rollers 45a and 45b engage with the tips of slits 55a and 55b, respectively, and rollers 45a and 45b are arranged offset from each other in the axial direction. Furthermore, rollers 45a and 45b have rotation axes that are perpendicular to each other according to the arrangement of slits 55a and 55b.

[0058] That is, the axis of one roller 45a is aligned in the width direction, and the axis of the other roller 45b is aligned in the up-down direction. Rollers 45a and 45b each rotate around a shaft 53. A pair of drive wires 57 is wound around each of rollers 45a and 45b.

[0059] The pair of drive wires 57 have their distal ends fixed to the movable portion 15 of the bending portion 9 and their proximal ends connected integrally and wound around roller 45a or 45b. In this embodiment, two pairs of drive wires 57 are wound around rollers 45a and 45b, respectively. Therefore, the drive wires 57 connect the bending portion 9 to the second drive portion 45. This connection holds the second drive unit 29 (second drive portion 45, rollers 45a and 45b) relative to the main body 27 and enables the drive portion 45 to drive the bending portion 9.

[0060] When rollers 45a and 45b rotate in one direction, the drive wires 57 pull one of the pair of drive wires 57 toward the bending portion 9 and feed the other toward the bending portion 9. As a result, the second drive unit 45 drives the bending portion 9 via the drive wires 57 to bend it. The rotation of rollers 45a and 45b is performed by the second operation unit 47.

[0061] The second operating unit 47 is an operating unit for operating the second driving unit 45. This second operating unit 47 is provided on the holder 43. In this embodiment, the second operating unit 47 is located at the base end, which is the end of the holder 43 distal to the bending portion 9. This second operating unit 47 is composed of a housing 47a, a first oscillator 47b, and a second oscillator 47c.

[0062] The housing 47a is a cylindrical body that engages with the inner periphery of the holder 43 at the base end of the holder 43 so as to be slidable in the axial direction. A protrusion 59 is provided on the outer periphery of the housing 47a, and is fitted in the axial direction into a recess 61 provided at the base end of the holder 43. This prevents rotation of the second operating part 47 and positions it in the axial direction.

[0063] The first oscillator 47b is formed in a ring shape and is attached to the opening at the base end of the housing 47a so as to be able to swing freely. The first oscillator 47b can be attached by pivotally supporting the first oscillator 47b with a pin (not shown) that passes through the housing 47a. The second oscillator 47c is formed in a disk shape and is attached to the inner periphery of the first oscillator 47b so as to be able to swing freely. The second oscillator 47c can be attached by pivotally supporting the second oscillator 47c with a pin (not shown) that passes through the first oscillator 47b.

[0064] The second operating unit 47 rotates one or both of the rollers 45a and 45b of the second driving unit 45 by swinging one or both of the first and second swinging bodies 47b and 47c. In this embodiment, the second operating unit 47 is implemented by a plurality of rods 63 as link members interposed between the first and second swinging bodies 47b and 47c and the rollers 45a and 45b.

[0065] The multiple rods 63 are each arranged along the axial direction, and their axial movement causes rollers 45a and 45b to move in conjunction with the second operating unit 47. That is, the base ends of the multiple rods 63 are selectively pressed in the axial direction by the oscillation of one or both of the first and second oscillators 47b and 47c. As shown in FIGS. 11 and 12 , the rods 63 whose base ends are pressed advance in the axial direction toward the opposing roller 45a or 45b while being guided by guides 66a and 66b, and their tips press against the protrusions 65 of roller 45a or 45b. This rotates roller 45a or 45b, enabling the bending portion 9 to be operated.

[0066] However, the method for rotating rollers 45a and 45b is not limited to this. For example, a configuration in which rod 63 is pushed individually may also be used. Also, rollers 45a and 45b may be omitted, and drive wire 57 may be directly connected to first and second oscillators 47b and 47c. In this case, second operating unit 47 also functions as second drive unit 45. In this way, the second drive unit 45 can adopt any appropriate structure as long as it can drive bending portion 9 via a connecting member such as drive wire 57.

[0067] As shown in Figures 3, 4, and 6 to 9, the adjustment unit 31 moves the second drive unit 45 forward and backward in the axial direction relative to the bending portion 9. The adjustment unit 31 of this embodiment allows the holder 43 of the second drive unit 45 to move forward and backward relative to the bending portion 9. This adjustment unit 31 can be configured with, for example, a linear motion mechanism. In this embodiment, the adjustment unit 31 includes a screw member 31a, a slide block 31b, and a nut 31c.

[0068] The screw member 31a is fixed along the axial direction to the cylinder 37 of the main body 27. In this embodiment, the screw member 31a has a rod-shaped base portion 67 held in a state where it is prevented from coming out within the cylinder 37. An opening 69 is provided in the base portion 67, which penetrates in the width direction, and the first drive portion 39 of the first drive unit 25 is slidably engaged within the opening 69.

[0069] The base portion 67 is accommodated in the cylinder 37 so as to be rotatable about its axis. This allows the screw member 31a to rotate about its axis. The screw member 31a is constrained in the rotational direction relative to the second drive unit 29 by a plurality of rod-shaped connecting members 68, and is rotatable about its axis together with the second drive unit 29. The connecting members 68 are attached to the screw member 31a of the second drive unit 29, extend toward the base end, and are inserted into holes 70 in the slide block 31b.

[0070] Furthermore, as described above, the base portion 67 is fitted onto the base end of the shaft 7, so that the screw member 31a is constrained in the rotational direction by the shaft 7 and is rotatable about its axis together with the shaft 7. Therefore, by rotating the second drive unit 29, the bending portion 9 can be rotated about its axis via the screw member 31a and the shaft 7. The base portion 67 and the shaft 7 may be constrained in the rotational direction by welding, adhesive bonding, or the like.

[0071] A threaded portion 71 is integrally formed on the base portion 67. The threaded portion 71 protrudes in the axial direction from the base end of the cylinder 37 toward the second drive unit 29. A nut 31c is threadedly engaged with the threaded portion 71 adjacent to the base end of the cylinder 37.

[0072] The nut 31c moves in the axial direction by rotating relative to the threaded portion 71. This movement causes the slide block 31b to slide in the axial direction.

[0073] The slide block 31b is disposed axially opposite the base end of the cylinder 37, with a nut 31c sandwiched between them. The slide block 31b is formed, for example, in a columnar shape, and is held by the small diameter portion 43a of the holder 43 of the second drive unit 29. This holding is achieved by a protrusion 72 on the outer periphery of the slide block 31b engaging with a groove (not shown) on the inner periphery of the small diameter portion 43.

[0074] The slide block 31b protrudes in the axial direction from the small diameter portion 43a, and its tip abuts against the nut 31c. Therefore, the slide block 31b slides in the axial direction in response to the movement of the nut 31c, moving the second drive unit 29. A recess 73 is provided at the tip of the slide block 31b, and the end of the threaded portion 71 is slidably engaged within the recess 73.

[0075] [Manipulator operation] In the manipulator 1 of this embodiment, the initial tension of the bending portion 9 is adjusted in advance before operation. As described above, the initial tension is a force that acts in the compressive direction on the bending portion 9, and is, for example, a force that presses the contacting wire rods against each other in the case of a coil spring. In this embodiment, the initial tension of the bending portion 9 is set mainly by the force of pressing the wire rods of the inner and outer coil portions 21a and 21b of the inner member 17 against each other.

[0076] The initial tension is adjusted by moving the second drive unit 29 (second drive section 45) in the axial direction relative to the bending section 9 (main body section 27), as shown by the arrow in Figure 6. Specifically, the nut 31c of the adjustment section 31 of the main body section 27 is rotated to move it in the axial direction. This movement of the nut 31c can increase or decrease the distance between the bending section 9 and the rollers 45a and 45b of the second drive section 45.

[0077] This adjusts the force compressing the bending portion 9 via the drive wire 57, and as a result, the initial tension of the bending portion 9 is adjusted. For example, when the second drive unit 45 is moved backward relative to the bending portion 9, the movable portion 15 is pulled toward the base portion 13, and an overall compressive force acts on the bending portion 9. This force imparts or increases a pressing force between the winding portions of the inner and outer coil portions 21a and 21b of the inner member 17 to the bending portion 9, in particular, an initial tension. By adjusting this initial tension, the bending portion 9 can be prevented from being forcibly bent by an external force.

[0078] Furthermore, the bending portion 9 using a spring as in this embodiment requires an appropriate initial tension for smooth operation, but the initial tension may deviate from the appropriate range due to elongation of the drive wire 57. For this reason, in this embodiment, smooth operation of the bending portion 9 can be ensured by adjusting the initial tension of the bending portion 9.

[0079] With the initial tension adjusted in this way, the manipulator 1 is operated. When operating the manipulator 1, an operator such as a doctor grasps the grip 35 of the main body 27 and, in this state, places, for example, the index finger on the hook 41b of the first operating part 41 of the first drive unit 25 and places the thumb on the second oscillator 47c of the second operating part 47 of the second drive unit 29.

[0080] Then, the operator places the end effector 11 in a desired position. At this time, the operator bends the bending portion 9 to adjust the orientation of the end effector 11. That is, one or both of the first and second swinging bodies 47b and 47c of the second operating portion 47 of the second drive unit 29 are swung.

[0081] When swinging the first swinging body 47b, the second swinging body 47c is pushed in a direction along its rotation axis, and when swinging the second swinging body 47c, the second swinging body 47c is pushed in a direction perpendicular to its rotation axis.When swinging both the first and second swinging bodies 47b and 47c, the second swinging body 47c is pushed in a direction at an angle of, for example, 45 degrees to the rotation axis, thereby pushing the first swinging body 47b in as well.

[0082] By pushing one or both of the first and second rocking bodies 47b and 47c, the corresponding rod 63 moves in the axial direction and rotates one or both of the rollers 45a and 45b, thereby bending the bending portion 9 and pointing the end effector 11 in a desired direction.

[0083] Furthermore, the operator drives the end effector 11 in a desired direction. Although the driving of the end effector 11 and the adjustment of its direction are described as being performed sequentially, they may also be performed in combination.

[0084] Driving the end effector 11 moves the hook 41b of the first operating part 41 of the first drive unit 25 toward or away from the grip 35. This causes the lever 41a of the first operating part 41 to swing, causing the first drive part 39 to slide in the axial direction. This sliding of the first drive part 39 pushes and pulls the push-pull cable 23, driving the end effector 11 to open or close.

[0085] As described above, the manipulator 1 of this embodiment includes a flexible bending portion 9 that can be bent, a second drive unit 45 for driving the bending portion 9 to bend it, a drive wire 57 that connects the bending portion 9 and the second drive unit 45 and enables the bending portion 9 to be driven by the second drive unit 45, and an adjustment unit 31 that moves the second drive unit 45 forward and backward relative to the bending portion 9.

[0086] Therefore, in this embodiment, by moving the second drive unit 45 forward and backward relative to the bending portion 9, the initial tension of the bending portion 9 can be easily adjusted via the drive wire 57 without operating the second drive unit 45. Furthermore, because the second drive unit 45 does not operate when adjusting the initial tension of the bending portion 9, it is possible to prevent problems such as interference with the operation when bending the bending portion 9.

[0087] In this embodiment, a holder 43 for holding the second drive unit 45 is provided, and the adjustment unit 31 allows the holder 43 to move forward and backward relative to the bending unit 9 .

[0088] Therefore, the second drive section 45 can be unitized by the holder 43, and by making the unitized second drive section 45 movable forward and backward, the initial tension of the bent section 9 can be adjusted more easily.

[0089] The holder 43 includes a second operating part 47 for operating the second driving part 45. Therefore, in this embodiment, the bending part 9 can be easily bent. In addition, the second operating part 47 and the second driving part 45 can be unitized.

[0090] In addition, the second operating part 47 is located at the end of the holder 43 distal to the bending part 9 in the advance / retract direction. Therefore, the manipulator 1 of this embodiment can be operated completely with one hand, and bending of the bending part 9 can be performed more easily.

[0091] The manipulator 1 of this embodiment is provided with a grip 35 that is held by the operator, and the holder 43 is located on the grip 35, so that the operator can comfortably operate it with one hand.

[0092] The second driving unit 45 of this embodiment includes rollers 45a and 45b around which the driving wire 57 is wound. Therefore, by moving the rotation axes of the rollers 45a and 45b forward and backward relative to the bent portion 9, the initial tension of the bent portion 9 can be adjusted more easily. [Example]

[0093] Fig. 13 is a perspective view of an operation mechanism of a manipulator according to a second embodiment of the present invention. Fig. 14 is a perspective view of the operation mechanism of Fig. 13 with a portion thereof omitted. Fig. 15 is a plan view of the operation mechanism of Fig. 13. Fig. 16 is a cross-sectional view taken along line XVI-XVI of Fig. 15. Since the second embodiment has a basic configuration in common with the first embodiment, corresponding configurations are denoted by the same reference numerals and redundant explanations will be omitted.

[0094] 13 to 16, the operation mechanism 5 of the second embodiment employs a second operation unit 47 having a joystick 75. Note that, in the second embodiment, the basic configuration based on the operating principle is the same as in the first embodiment as described above, but the shape of the operation mechanism 5 is different from that in the first embodiment.

[0095] That is, similar to the first embodiment, the operation mechanism 5 includes a main body 27 having a first drive unit 25, a second drive unit 29, and an adjustment unit 31. In addition to the first drive unit 25, the main body 27 includes a holding portion 79 and a grip 35.

[0096] In the first drive unit 25, a first drive section 39 is disposed within a base 67 of the screw member 31a of the adjustment section 31 so as to be slidable in the axial direction. A drive wire 57 is inserted through the first drive section 39, and the drive wire 57 extends from the bending section 9 to the second drive unit 29. A push-pull cable 23 is fixed to the first drive section 39. Note that the push-pull cable 23 may be replaced with a rigid body such as a shaft. A first operating section 41 is coupled to the first drive section 39.

[0097] The first operating part 41 has plate-shaped levers 41a on both sides of the cylinder 37 in the width direction, and hooks 41b on which the operator's fingers are hooked.

[0098] Each lever 41a is supported so as to be able to swing freely by a shaft support portion 81 provided on the cylinder 37. A pin-shaped support portion 83 is fixed to each lever 41a by a screw or the like, and a plate-shaped interlocking member 87 is axially supported by this support portion 83.

[0099] The interlocking member 87 is axially supported on a case 39a of the first driving unit 39 via a connecting portion 89. The case 39a is formed hollow and slidably fitted onto the outer periphery of the screw member 31a that protrudes from the cylinder 37 toward the base end. Inside the case 39a, the connecting portion 89 is coupled to the first driving unit 39 via an opening in the screw member 31a.

[0100] Therefore, when the lever 41a swings, the first drive unit 39 slides in the axial direction within the cylinder 37 via the interlocking member 87 and the case 39a. The lever 41a is also provided with a limiter 41d. The limiter 41d is a protrusion that protrudes from the lever 41a and comes into contact with the main body 27 of the operating mechanism 5 to define the swing range of the lever 41a.

[0101] The holding portion 79 is provided in place of the accommodation portion 33 of the first embodiment, and holds the second drive unit so that it can slide axially and rotate about its axis. It is attached to the upper end of the grip 35 and protrudes above the grip 35. In this protruding portion, the holding portion 79 has an arc-shaped cross section that curves along the holder 43 of the second drive unit 29, and holds the holder 43 from both sides in the width direction. Note that the cross-sectional shape of the holding portion 79 does not have to be arc-shaped as long as it can hold the holder 43 so that it can slide axially and rotate about its axis.

[0102] The holder 43 is integrally formed with a small diameter portion 43a and a wall portion 43c, and the large diameter portion 43b is attached to the wall portion 43c with a fastener 90 such as a screw. An end plate 43d is attached to the large diameter portion 43b on the axially opposite side of the wall portion 43c with a fastener 92 such as a screw. The end plate 43d is made of an annular plate material, covers the end of the holder 43, and allows the joystick 75 to protrude to the outside through an opening.

[0103] The small diameter portion 43a is fitted onto the outer periphery of the screw member 31a of the adjustment unit 31 so as to be slidable in the axial direction. For this reason, in this embodiment, the slide block 31b of the adjustment unit 31 is omitted. The small diameter portion 43a has an insertion hole 43aa that is long in the axial direction and penetrates radially inward and outward. An anti-rotation member 43ab, such as a screw attached to the screw member 31a, is inserted into this insertion hole 43aa, thereby preventing rotation of the holder 43.

[0104] This allows the holder 43 and the second drive unit 29 to rotate together with the screw member 31a. The holder 43 can be easily rotated by gripping the protrusion 43ba arranged on the outer periphery of the large diameter portion 43b.

[0105] A nut 31c of the adjustment part 31 is disposed on the outer periphery of the screw member 31a, adjacent to the small diameter part 43a. The nut 31c is threadedly engaged with the threaded part 71 of the screw member 31a. Therefore, in this embodiment as well, the holder 43 can be moved in the axial direction by rotating the nut 31c.

[0106] The second drive portion 45 of the second drive unit 29 of this embodiment is disposed within the large diameter portion 43b of the holder 43.

[0107] Fig. 17 is a perspective view with a portion of the second drive unit of Fig. 13 omitted. Fig. 18 is a perspective view showing the second drive section and second operation section of the second drive unit of Fig. 17. Fig. 19 is a perspective view showing the second drive section of Fig. 18. Fig. 20 is a perspective view showing a single drive pulley and associated guide pulley of the second drive section of Fig. 19. Fig. 21 is a front view of the holder of the second drive unit of Fig. 13. Fig. 22(A) is a perspective view showing the second operation section of Fig. 17, and Fig. 22(B) is a perspective view seen from the back side of Fig. 22(A). Fig. 23 is a conceptual diagram showing the routing of the drive wire.

[0108] The second driving section 45 includes a driving pulley 91 and a guide pulley 93, as shown in FIGS.

[0109] The drive pulley 91 is a disk-shaped rotating body that moves in conjunction with the joystick 75. A drive wire 57 is attached to this drive pulley 92, and rotation based on the operation of the joystick 75 enables the drive wire 57 to be pulled or let out. The tip of the drive wire 57 is connected to the bending portion 9 (see Figure 1), and the bending portion 9 is bent by being pulled and let out by the drive pulley 75.

[0110] In this embodiment, two pairs of drive pulleys 91 are provided. Note that it is sufficient if a plurality of pairs of drive pulleys 91 are provided. Also, the drive pulleys 91 may be omitted, and the drive wire 57 may be attached to a sphere or the like, such as a stick base 75b coupled to a joystick 75 (described later).

[0111] Each drive pulley 91 is rotatably supported by a bearing 95 on the wall portion 43c of the holder 43. The bearing 95 protrudes axially from the wall portion 43c, and receives the rotation shaft 91a of the drive pulley 91 at its tip in the axial direction. The state in which the rotation shaft 91a of the drive pulley 91 is supported by the bearing 95 is maintained by the tension of the drive wire 57. The shape of the bearing 95 can be set arbitrarily as long as it can support the drive pulley 91, but in this embodiment it is configured in a columnar shape. The tip of the bearing 95 has a recess 95a that holds the rotation shaft 91a.

[0112] In each drive pulley 91, the rotation shaft 91a is located outside the direction in which the pair of drive pulleys 91 face each other (hereinafter referred to as the facing direction). In this embodiment, the drive pulleys 91 face each other while being located on the same rotation axis, and the facing direction coincides with the direction of the rotation axis of the pair of drive pulleys 91.

[0113] The rotation shafts 91a of each pair of drive pulleys 91 are arranged on the same rotation axis in the radial direction of the holder 43, and are arranged perpendicular to the rotation axes of the rotation shafts 91a of different pairs of drive pulleys 91. Furthermore, the drive pulleys 91 of each pair are coupled by the second operating part 47 on the inner side in the opposing direction so as to rotate in unison.

[0114] The guide pulleys 93 function as guide portions that guide the drive wires 57 and determine the circumferential positions of the drive wires 57. In this embodiment, the guide pulleys 93 are rotatably supported by support members 97 on the wall portion 43c of the holder 43. The support members 97 protrude in the axial direction from the wall portion 43c, closer to the inner periphery of the holder 43 than the bearings 95. Each support member 97 rotatably supports a pair of guide pulleys 93 relative to the corresponding drive pulley 93.

[0115] The shape of the support member 97 can be set arbitrarily as long as it can support the guide pulley 93, but in this embodiment it is configured in a columnar shape.

[0116] A pair of guide pulleys 93 for each drive pulley 91 guides the drive wire 57 three-dimensionally. These guide pulleys 93 each have a smaller diameter than the drive pulley 91, but are the same diameter as each other. The diameters of the pair of guide pulleys 93 can also be different. Furthermore, the guide pulleys 93 are disposed axially between the corresponding drive pulley 91 and the wall portion 43c of the holder 43. The guide pulleys 93 guide the drive wire 57 from each drive pulley 91 into the hole 43ca in the wall portion 43c.

[0117] By guiding the drive wire 57, the tilt direction of the joystick 75 and the bending direction of the bending portion 9 are made to coincide. In this embodiment, when each drive wire 57 is pulled out from the drive pulley 91 as shown in Figures 20 and 23, it is shifted so as to straddle the rotation axis of the drive pulley 91 in a direction perpendicular to the rotation axis of the drive pulley 91. In addition, the drive wires 57 pulled out from a pair of drive pulleys 91 are arranged to face each other in a radial direction perpendicular to the rotation axis of the pair of drive pulleys 91.

[0118] Specifically, one guide pulley 93a is disposed axially proximal to the corresponding drive pulley 91, and its rotation axis is positioned in a direction inclined axially to the rotation axis of the corresponding drive pulley 91. This guide pulley 93a mainly shifts the drive wire 57 in a direction perpendicular to the rotation axis of the drive pulley 91.

[0119] The other guide pulley 93b is disposed axially distal to the corresponding drive pulley 91, and is positioned in a direction in which its rotation axis intersects with the rotation axis of the corresponding drive pulley 91, as shown in Figures 20 and 21. A portion of the other guide pulley 93b faces the hole 43ca in the axial direction and mainly guides the drive wire 57 to the hole 43ca along the axial direction. This allows the drive wire 57 to be smoothly guided from the drive pulley 91 to the hole 43ca.

[0120] The drive wire 57 guided into the hole 43ca reaches the bent portion 9 and is joined thereto while the positional relationship in the circumferential direction is defined.

[0121] Note that only one guide pulley 93 may be provided for each drive pulley 91, and the guide pulley 93 may both shift the drive wire 57 in the radial direction and guide the drive wire 57 into the hole 43aa in the wall portion 43c. Also, three or more guide pulleys 93 may be provided for each drive pulley 91. Furthermore, the guide pulley 93 may be omitted, and a groove for guiding the drive wire 57 may be provided in the support member 97.

[0122] 17, 18, 22(A) and 22(B), the second operating unit 47 includes a joystick 75 and an interlocking unit 99. Note that the joystick 75 may be connected to the second oscillator 47c of the first embodiment.

[0123] The joystick 75 protrudes in the axial direction from the second drive unit 29. As a result, the joystick 75, in its free, untilted state, is disposed in a direction that is aligned with the bending portion 9 when not bent. The joystick 75 bends the bending portion 9 by tilting it relative to the axial direction. The joystick 75 of this embodiment includes a stick portion 75a and a stick base portion 75b.

[0124] The stick portion 75a is a stick-shaped member having a bulge 75c at its tip, and the operator places their thumb or the like on the bulge 75c to tilt the joystick 75. A stick base 75b is provided at the base of the stick portion 75a. In this embodiment, the stick base 75b is formed in a spherical shape.

[0125] The interlocking portion 99 includes a pair of interlocking pieces 101. The interlocking pieces 101 connect different pairs of drive pulleys 91 in a direction along the rotation axis, and selectively rotate depending on the direction in which the joystick 75 is tilted.

[0126] In this embodiment, the interlocking pieces 101 are disposed on both axial sides of the stick base 75b. These interlocking pieces 101 are aligned along the rotation axes of the respective pairs of drive pulleys 91 so as to be perpendicular to each other. Each interlocking piece 101 is configured as a plate that curves along the stick base 75b. This curvature allows the interlocking pieces 101 to extend between the pair of drive pulleys 91 while avoiding the stick base 75b.

[0127] Rotating shafts 103 are provided on both sides of the interlocking piece 101 in the extending direction. The rotating shafts 103 of the interlocking piece 101 are inserted into shaft holes 91b (see FIG. 19) provided on the inner side of the opposing drive pulley 91. Therefore, the paired drive pulleys 91 can rotate in conjunction with each other via the second operating part 47. Note that rotation is prevented between the shaft holes 91b and the rotating shafts 103.

[0128] Each interlocking piece 101 has a long slot 105 formed along its extension direction. One interlocking piece 101a is inserted axially through the stick portion 75a. The other interlocking piece 101b is inserted axially into a protrusion 75d provided on the stick base 75a on the axially opposite side of the stick portion 75a.

[0129] When the joystick 75 is tilted, the stick portion 75a or the protrusion 75d engages with the elongated hole 105 of one interlocking piece 101, and the stick portion 75a or the protrusion 75d is allowed to move along the elongated hole 105 of the other interlocking piece 101. As a result, the interlocking piece 101 with which the stick portion 75a or the protrusion 75d is engaged tilts together with the joystick 75, interlockingly rotating the connected drive pulley 91.

[0130] Therefore, the pair of drive pulleys 91 rotate according to the direction in which the joystick 75 is tilted, with one of these drive pulleys 91 pulling the drive wire 57 and the other drive pulley 91 allowing the drive wire 57 to be pulled out. In this case, in this embodiment, the bending portion 9 bends in the direction in which the joystick 75 is tilted, allowing for more intuitive operation.

[0131] When the joystick 75 is tilted diagonally relative to the long holes 105 of both interlocking pieces 101, both pairs of drive pulleys 91 rotate, and one of the drive pulleys 91 in each pair pulls the drive wire 57, while the other drive pulley 91 allows the drive wire 57 to be pulled out.

[0132] In addition, in this embodiment, the interlocking portion 99 of the joystick 75 supports and interlocks the pair of drive pulleys 91 on the inner side in the opposing direction, so it is sufficient to provide the bearings 95 only on the outer side in the opposing direction of the pair of drive pulleys 91. Therefore, in this embodiment, the configuration of the operation mechanism 5 can be simplified.

[0133] Furthermore, in this embodiment, there is no need to displace the drive pulley 91 in the axial direction, so it is easy to ensure axial space for arranging the guide pulley 93. As a result, in this embodiment, the joystick 75 is employed, and intuitive operation is possible, while preventing the drive mechanism 5 from becoming large in size in the axial direction.

[0134] In addition, this embodiment can also achieve the same effects as those of the first embodiment. [Explanation of symbols]

[0135] 1 Manipulator 5 Operating mechanism 9 Bend 27 Main body 31 Adjustment part 43 Holder 45 Second drive unit (drive unit) 47 2nd operation section (operation section) 57 Drive wire (connecting member) 63 Rod (link member)

Claims

1. a bendable flexible bending portion; a driving unit for driving the bending unit to bend it; a connecting member that connects the bending portion and the driving portion to enable the driving portion to drive the bending portion; an adjustment unit that moves the drive unit forward and backward relative to the bending portion; Manipulator with.

2. 2. The manipulator of claim 1, a holder for holding the driving unit, The adjustment portion allows the holder to advance and retreat relative to the bending portion. Manipulator.

3. 3. The manipulator of claim 2, The holder includes an operating portion for operating the drive portion. Manipulator.

4. The manipulator of claim 3, The operating portion is located at an end of the holder distal to the bending portion in the advancing / retracting direction. Manipulator.

5. The manipulator according to any one of claims 2 to 4, It has a grip that the operator holds, The holder is located on the grip. Manipulator.

6. 2. The manipulator of claim 1, the connecting member is a wire, The drive unit includes a rotor that winds the wire. Manipulator.

7. The manipulator of claim 3 or 4, The operation unit has a joystick. Manipulator.

8. a main body portion to which a bendable flexible bending portion is connected; a driving unit for driving the bending unit to bend it; a connecting member that connects the bending portion and the driving portion to enable the driving portion to drive the bending portion; an adjustment unit that moves the drive unit forward and backward relative to the bending portion; An operating mechanism equipped with

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