Micromanipulator

Abstract

To control a rotation operation of an end effector smoothly and reliably.SOLUTION: A parallel link mechanism causes one end of a link 13 to make a linear movement by a plurality of linear actuators 14 supported by a base for each link, and moves an end effector 12 connected to the other end of each ink 13. The parallel link mechanism includes a rotation support part 17 provided between the end effector 12 and the parallel link mechanism and supporting the end effector 12 rotatably around a predetermined rotation axis, and a hydraulic drive mechanism for generating rotation force around the rotation axis for the end effector 12. The movement to rotate the end effector 12 is generated by giving liquid pressure variation of working fluid to the hydraulic drive mechanism from outside.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a manipulator for fine manipulation. [Background technology]

[0002] Microsurgery, which involves performing surgery under a microscope on minute surgical targets, such as anastomosis of small blood vessels, nerves, and lymphatic vessels with a diameter of approximately 0.5 to 2 mm, in orthopedic and plastic surgery surgeries and reconstructive surgery for defective parts, requires extremely precise and accurate work due to the small size of the surgical targets, and the surgery requires great skill. In addition, due to the difficulty of the surgery, it tends to take a long time, and such long surgeries place a heavy burden on the surgeon. For these reasons, the number of surgeons capable of performing microsurgery is limited compared to the need for it, and it has not been possible to perform the surgery frequently.

[0003] If we consider the use of manipulators (robots), which have made great technological advances in recent years, master-slave manipulators are not only able to exactly reproduce human movements, but are also capable of performing movements that are scaled down to human movements. If a manipulator with precise movements were to take over the movements involved in surgery, it would be possible to eliminate the effects of hand shake and other factors, ensure precision, reduce the burden on the surgeon, and expect to improve the efficiency of surgery.

[0004] Therefore, the inventors have proposed a fine work support system that can efficiently support work by remotely controlling appropriate work-related movements and reduce the burden on the worker, as well as a fine work manipulator to be used therein (see Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2017-87322 Summary of the Invention [Problem to be solved by the invention]

[0006] The fine manipulation manipulator disclosed in Patent Document 1 operates the forceps attached to the tip by a parallel link mechanism. Here, twisting (rotating) the forceps is an important operation performed by the surgeon on the surgical subject in any surgical operation, not limited to microsurgery, and in the fine manipulation manipulator disclosed in Patent Document 1, this operation is realized by operating the parallel link mechanism.

[0007] However, when the forceps are twisted by operating a parallel link mechanism, it is sometimes difficult to reliably control the forceps to rotate smoothly and by a small angle.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a manipulator for fine manipulation that can smoothly and reliably control the rotational movement of the end effector. [Means for solving the problem]

[0009] In order to solve the above problems, a fine work manipulator according to one aspect of the present invention is a fine work manipulator that performs predetermined operations related to fine work on a work object in place of a human, and includes a base that is supported at a predetermined location in a space where the work object is present, an end effector that handles the work object or work tool, and a plurality of links arranged in parallel between the base and the end effector, and is equipped with a parallel link mechanism with three or more degrees of freedom that allows the position and orientation of the end effector to be changed within a predetermined range relative to the base, and the parallel link mechanism uses a plurality of linear actuators supported by the base to linearly move one end of each link, thereby moving the end effector connected to the other end of each link, and further includes a rotation support section that is provided between the end effector and the parallel link mechanism and supports the end effector so that it can rotate about a predetermined rotation axis, and a hydraulic drive mechanism that generates a rotational force in the end effector about the rotation axis, and is characterized in that a hydraulic pressure change in the working fluid is applied to the hydraulic drive mechanism from outside to generate a movement that rotates the end effector. [Effects of the Invention]

[0010] According to the present invention, it is possible to realize a manipulator for fine work that can smoothly and reliably control the rotational movement of the end effector. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a schematic configuration of a fine manipulation device to which a fine manipulation manipulator according to an embodiment is applied; [Figure 2] 1 is a perspective view showing a schematic configuration of a fine manipulation device to which a fine manipulation manipulator according to an embodiment is applied; [Figure 3] 1 is a side view showing a schematic configuration of a fine operation device to which a fine operation manipulator according to an embodiment is applied. [Figure 4] 1 is a perspective view showing a fine operation manipulator according to an embodiment. [Figure 5] 1 is a perspective view showing a main part of a fine operation manipulator according to an embodiment. FIG. [Figure 6] 1 is a perspective view showing a main part of a fine operation manipulator according to an embodiment. FIG. [Figure 7] FIG. 2 is a perspective view showing an end effector and a rotation support part of the fine operation manipulator according to the embodiment. [Figure 8] 1 is a partially cutaway perspective view showing an end effector and a rotation support part of a fine operation manipulator according to an embodiment. FIG. [Figure 9] FIG. 2 is a perspective view showing a hydraulic drive mechanism of the fine operation manipulator according to the embodiment. [Figure 10] FIG. 2 is a perspective view showing a hydraulic drive mechanism of the fine operation manipulator according to the embodiment. [Figure 11] FIG. 2 is a perspective view showing a guide member and a diaphragm of the fine operation manipulator according to the embodiment. [Figure 12] FIG. 2 is a perspective view showing a guide member and a diaphragm of the fine operation manipulator according to the embodiment. [Figure 13] FIG. 2 is a perspective view showing a diaphragm provided in an end effector of the fine operation manipulator according to the embodiment. [Figure 14] FIG. 2 is a perspective view showing a diaphragm provided in an end effector of the fine operation manipulator according to the embodiment. [Figure 15] FIG. 2 is a perspective view showing a diaphragm of the fine operation manipulator according to the embodiment. [Figure 16] FIG. 2 is a perspective view showing a fluid pressure supply mechanism of the fine operation manipulator according to the embodiment. [Figure 17] FIG. 2 is a partially cutaway perspective view showing a fluid pressure supply mechanism of the fine operation manipulator according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below do not limit the scope of the invention as claimed, and not all of the elements and combinations thereof described in the embodiments are necessarily essential to the solution of the invention.

[0013] In the drawings explaining the embodiments, parts having the same functions are given the same reference numerals, and repeated explanations thereof will be omitted.

[0014] In this embodiment, a fine manipulation device will be described that employs a fine manipulation manipulator for surgical assistance corresponding to microsurgery as a fine manipulation.

[0015] 1 to 3, the fine operation apparatus 1 according to this embodiment comprises a fine operation manipulator 10 according to this example, a robot section 20 having this fine operation manipulator 10 attached to the tip thereof, a base 30 that supports this robot section 20 from below, an imaging section 40 that is also attached to the base 30 and takes images of the surgical target, and a control section (not shown) that controls the overall operation of the fine operation apparatus 1. A display section may also be provided as necessary.

[0016] The robot section 20 has three degrees of freedom in rotation and one degree of freedom in translation in the radial direction. In the illustrated example, a pair of robot section 20 and fine operation manipulator 10 is provided on the base 30, but there is no particular limit to the number of robot sections 20 and fine operation manipulators 10.

[0017] The imaging unit 40 captures images of the distal end working unit of the end effector of the fine operation manipulator 10 (described later) and the surgical target, and is disposed, for example, above the robot unit 20, in a position that allows a bird's-eye view of at least the distal end of the fine operation manipulator 10 and the surgical target. This imaging unit 40 is a known video camera that can capture high-resolution images that can be reproduced even when enlarged to the same magnification as when viewed with a conventional microsurgery microscope, and therefore a detailed description of this imaging unit 40 will be omitted here.

[0018] The display unit displays, as necessary, an enlarged image of the surgical target captured by the imaging unit 40 so that it can be viewed by the user. This display unit is a known display device such as a liquid crystal display that can display the captured image at high resolution, and therefore a detailed description thereof will be omitted here.

[0019] The base 30 has a movement mechanism (not shown), and is configured so that the fine operation manipulator 10, robot unit 20, and imaging unit 40, all of which are mounted on the base 30, can be moved to a predetermined position on the floor of an operating room (not shown) based on movement support from the control unit. This allows the fine operation device 1 of this embodiment to approach or move away from the operating table 3 on which the patient 2, the surgical target shown in Figure 1, lies, and further allows at least the tip of the fine operation manipulator 10 to be positioned at the surgical site of the patient 2.

[0020] Next, the fine operation manipulator 10 of this embodiment will be described with reference to FIGS.

[0021] The manipulator 10 for fine work has an unillustrated base supported by a robot part 20, an end effector 12 that handles the surgical object or surgical instrument, six links 13 arranged in parallel, a rotation support part 17 arranged between the base and the end effector 12, and six linear actuators 14 that are supported by the base and move each link 13.

[0022] The base, end effector 12, link 13, and linear actuator 14 constitute a six-degree-of-freedom parallel link mechanism in which one end of each link 13 is moved linearly by the linear actuator 14, thereby moving the end effector 12 connected to the other end of the link 13.

[0023] The parallel link mechanism allows the position and orientation of the end effector 12, which handles the surgical object or surgical instrument, to be changed within a predetermined range relative to the base. By having six degrees of freedom, the end effector 12 at the tip can be given the same movement as when supported by hand.

[0024] The linear actuator 14 is a moving coil type linear motor in which the coil 15b is a part of the mover 15 and the permanent magnet 16a is a part of the stator 16.

[0025] The mover 15 has a linear slider 15a arranged so as to be linearly movable relative to the base, a thin cylindrical coil 15b attached integrally to the linear slider 15a with its direction of movement parallel to the linear slider 15a, and a connecting member 15c attached to the tip of the coil 15b and connecting the coil 15b to the linear slider 15a. One end of a link 13 is connected and fixed to the tip of the linear slider 15a of the mover 15 via the connecting member 15c, and this one end of the link 13 moves linearly together with the mover 15 including the linear slider 15a.

[0026] The stator 16 is formed in a cylindrical shape that is thicker and shorter than the coil 15b of the mover 15, and has a permanent magnet 16a fixed to a base by fixing means (not shown).

[0027] In the stator 16, a cylindrical permanent magnet 16a fixed to a base is aligned with the coil 15b of the mover 15 in the cylindrical axis direction, and the coil 15b is arranged so that it can movably pass through the cylindrical space portion of the permanent magnet 16b.

[0028] By using a linear motor as the linear actuator 14 in this way, it is possible to reduce the number of mechanical moving parts compared to other linear motion mechanisms such as ball screws, and also to reduce the number of contact parts that involve sliding and rolling, thereby preventing backlash, improving the reliability of the mechanism and reducing frictional resistance and power consumption required for driving.

[0029] The linear actuator 14, which is a linear motor consisting of a mover 15 and a stator 16, is arranged in a line around a predetermined imaginary center line that is parallel to the moving direction of the mover 15 and extends in the longitudinal direction of the linear actuator 14, with the permanent magnets 16a of the stator 16 and the coils 15b of the mover 15 being closest to the imaginary center line, and with each permanent magnet 16a and each coil 15b being equally spaced apart around the imaginary center line, while the moving directions of the movers 15 are parallel to each other.

[0030] The permanent magnet 16a of the stator 16 is positioned close to the other coils 15b other than the coils 15b that form a set of linear motors, penetrating the cylindrical space. However, the fixed permanent magnet 16a does not have a fluctuating magnetic field, unlike the coils 15b, and therefore does not have a magnetic effect on the movement of the other coils 15b.

[0031] Since the movers 15 and stators 16 of each linear motor that constitutes the linear actuator 14 are arranged side by side around an imaginary center line, it is possible to integrate a compact structure into the linear actuator portion of the fine operation manipulator 10. Furthermore, due to the mechanical structure, the end of the coil 15b of the mover 15, which varies the fixed magnetic field, does not come very close to the permanent magnet 16a of the stator 16, so that fluctuations in the magnetic field that cause cogging when the mover 15 moves can be suppressed, and smooth operation of the linear actuator 14 can be achieved.

[0032] Link 13 is configured by combining two highly rigid, non-deformable, generally rod-shaped members connected in the longitudinal direction to form a rod-shaped body, with joints 13a, 13b with multiple degrees of freedom disposed at both ends for connection to linear actuator 14 and rotation support section 17. In link 13, the generally rod-shaped members forming the rod-shaped body are rotatably connected to each other, and between the portions of link 13 near one end and the other end, degrees of freedom of rotation are given to the portions of link 13 near one end and the other end about axes parallel to the longitudinal direction.

[0033] Joint 13a at one end of link 13 has a structure that allows freedom of rotation about two mutually perpendicular axes, and is connected to the end of linear slider 15a of linear actuator 14. Joint 13b at the other end of link 13 has a structure that allows freedom of rotation about two mutually perpendicular axes, similar to the above, and is connected to rotation support part 17.

[0034] Because a degree of freedom of rotation is provided between the portion of the link 13 near one end and the portion near the other end, and because the link 13 is connected by joints 13a, 13b at both ends, each of which has two degrees of freedom of rotation, each link 13 can freely change its orientation with respect to the connected linear actuator 14 and rotary support unit 17, just as when connected using a ball joint. The link mechanism that arranges these links 13 between the linear actuator 14 and the rotary support unit 17 is a parallel link mechanism with six links 13 arranged in parallel, so that various movements related to changes in the position and orientation of the rotary support unit 17 and the end effector 12 provided at the tip of the rotary support unit 17 relative to the base can be accommodated with six degrees of freedom, consisting of three degrees of freedom of movement in three mutually perpendicular axial directions and three degrees of freedom of rotation about the three axes, just like when the end effector 12 is supported by a human hand.

[0035] Next, the end effector 12 and the rotation support part 17 in the fine operation manipulator 10 of this embodiment will be described with reference to FIGS.

[0036] The rotation support part 17 has an outer cylindrical member 17a formed in an outer diameter cylindrical shape and an inner cylindrical member 17b housed in the hollow part of the outer cylindrical member 17a. Inside the outer cylindrical member 17a, a doughnut-shaped hollow part 17c is formed around the central axis of the outer cylindrical member 17a.

[0037] 9 to 12, the inner cylindrical member 17b is provided with an arc-shaped guide member 17d that protrudes from the inner cylindrical member 17b and extends around the central axis of the inner cylindrical member 17b (which also coincides with the central axis of the outer cylindrical member 17a). A rolling diaphragm 17e made of a stretchable material such as silicone rubber is provided on the outer periphery of the guide member 17d.

[0038] As shown in Fig. 15, the rolling diaphragm 17e has a diaphragm main body 17f formed in an arc shape having approximately the same center as the guide member 17d, and an arc-shaped recess 17g formed on one end side (the right end side in Fig. 15) of the diaphragm main body 17f and formed with a diameter slightly larger than the outer periphery of the guide member 17d. Then, as shown in Figs. 9 to 12, the guide member 17d of the inner cylindrical member 17b is fitted into the recess 17g of the rolling diaphragm 17e.

[0039] Diaphragm body 17f has a recess (not shown) on the opposite side to the one side where recess 17g is provided, and hydraulic fluid is supplied to this recess from a hydraulic pressure supply mechanism (described later). In other words, the recess in diaphragm body 17f acts as a hydraulic fluid chamber.

[0040] As a result, the volume of the recess 17g of the rolling diaphragm 17e increases or decreases due to the hydraulic fluid, causing the guide member 17d to rotate along the central axis of the inner cylindrical member 17b. Figure 11 shows a state in which the diaphragm main body 17f of the rolling diaphragm 17e is filled with hydraulic fluid, causing the guide member 17d to rotate counterclockwise in the figure, while Figure 12 shows a state in which the hydraulic fluid has been discharged from the diaphragm main body 17f of the rolling diaphragm 17e, causing the guide member 17d to rotate counterclockwise in the figure.

[0041] As shown in Figure 10, the outer cylindrical member 17a and the inner cylindrical member 17b are fixed to each other by a bearing 17h so that they can rotate freely relative to each other. The outer cylindrical member 17a is fixed to a joint 13b of the link 13. Therefore, as the hydraulic pressure increases or decreases due to the supply of hydraulic fluid, the inner cylindrical member 17b rotates relative to the outer cylindrical member 17a. Because the inner cylindrical member 17b is connected to the end effector 12, as a result, the end effector 12 also rotates as the hydraulic pressure increases or decreases due to the supply of hydraulic fluid.

[0042] Therefore, the inner cylindrical member 17b and the rolling diaphragm 17e of the rotation support portion 17 correspond to a hydraulic drive mechanism that generates a rotation force on the end effector 12 around the central axis of the inner cylindrical member 17b.

[0043] The end effector 12 is capable of manipulating a surgical object or a surgical instrument. In detail, the end effector 12 has a distal end working unit 18 that manipulates a surgical object or a surgical instrument with a one-degree-of-freedom opening and closing movement separate from the overall movement achieved by the parallel link mechanism, and a hydraulic drive mechanism 19 that generates the movement of the distal end working unit 18 to manipulate the surgical object or the surgical instrument.

[0044] Of these, the distal end working unit 18 is detachably attached to the hydraulic drive mechanism 19 and can be separated from the hydraulic drive mechanism 19 and replaced.

[0045] In this way, in the end effector 12, only the tip working unit 18, which actually handles the surgical object or surgical instrument, can be easily replaced with one that corresponds to the surgical object or situation, thereby enabling the efficient performance of surgical work.

[0046] Specifically, the distal end working unit 18 is generally conical in shape and has two end portions that form forceps sections that can open and close to hold a surgical object or a surgical instrument, and is detachably attached to a hydraulic drive mechanism 19. This distal end working unit 18 has a rod portion 18a that can move linearly in conjunction with the forceps sections that open and close, and by moving this rod portion 18a with the hydraulic drive mechanism 19, the forceps sections can be opened and closed.

[0047] Examples of the replaceable distal end working unit 18 of the end effector 12 include forceps, as well as scissors, tweezers, a needle holder, a bipolar (high-frequency electrocoagulation instrument), disposable (single-use) forceps, etc. In addition to these, the distal end working unit may be one that, when performing a surgical task, is sufficient to move the entire end effector using a linear actuator and does not require independent operation by a hydraulic drive mechanism, such as an electric scalpel (so-called monopolar).

[0048] The hydraulic drive mechanism 19 has a hydraulic cylinder section 19a that reciprocates a rod 19b and a piston 19c that are supported so as to be able to move linearly in response to changes in hydraulic pressure of the working fluid. When the distal end working unit 18 is attached to this hydraulic drive mechanism 19, the rod section 18a of the distal end working unit 18 is connected to the rod 19b of the hydraulic drive mechanism 19, and in conjunction with this, movement in response to changes in hydraulic pressure of the hydraulic cylinder section 19a is transmitted to the forceps section of the distal end working unit 18.

[0049] The hydraulic cylinder section 19a moves the piston 19c by changing the volume of the hydraulic fluid chamber 19d inside the cylinder in response to changes in hydraulic pressure of the hydraulic fluid applied from the outside, and the movement of this piston 19c is transmitted to the rod section 18a of the distal end working section 18 via the rod 19b, causing the forceps section to open and close. A rolling diaphragm 19e is provided between the piston 19c of this hydraulic cylinder section 19a and the hydraulic fluid chamber 19d. The rolling diaphragm 19e deforms in accordance with the movement of the piston 19c, dividing the interior of the cylinder into an area where the piston 19c is located and the hydraulic fluid chamber 19d, and maintaining a liquid-tight state between the piston 19c and the hydraulic fluid chamber 19d (see Figure 13).

[0050] Similarly, a hydraulic fluid chamber 19f is formed at the rear end (the right end in FIG. 10) of the piston 19c of the hydraulic cylinder section 19a, and a rolling diaphragm 19g is provided between the piston 19c of this hydraulic cylinder section 19a and the hydraulic fluid chamber 19f, which maintains a liquid-tight state between the piston 19c and the hydraulic fluid chamber 19f while deforming in accordance with the movement of the piston 19c (see FIG. 14).The hydraulic cylinder section 19a changes the volume of the hydraulic fluid chamber 19f inside the cylinder in response to changes in hydraulic pressure of the hydraulic fluid applied from the outside, thereby moving the piston 19c, and this movement of the piston 19c is transmitted to the rod section 18a of the tip working section 18 via the rod 19b, causing the forceps section to open and close.

[0051] Here, the rolling diaphragms 19e and 19g are made of a stretchable material such as silicone rubber, similar to the rolling diaphragm 17e.

[0052] The hydraulic fluid chambers 19d and 19f of the hydraulic drive mechanism 19 of the end effector 12 are supplied with hydraulic fluid from a hydraulic pressure supply mechanism, which will be described later.

[0053] In addition, a sheet-like antibacterial cover may be provided to cover the entire slave unit except for the distal end working unit 18, which can be separated and replaced for other parts of the end effector 12, and the distal end working unit 18 of the end effector may be made detachable from the hydraulic drive mechanism 19 using, for example, a magnet, even when the cover is in place.

[0054] When such a cover is provided, the area where the slave parts other than the distal end working unit 18 are located, i.e., the area where sterilization is not possible and cleanliness is difficult to ensure due to the presence of various moving mechanisms and electrically conducting parts, can be securely separated by the cover from the distal end working unit 18, which can be sterilized and cleanliness can be ensured, and the area where the surgical subject is located, thereby ensuring cleanliness.

[0055] The end effector 12 is configured so that the tip working unit 18 can be attached and detached to the hydraulic drive mechanism 19. Alternatively, the tip working unit 18 and hydraulic drive mechanism 19 can be handled as a single unit and attached and detached to the pivoting support unit 17, so that the tip side portion including the tip working unit 18 and hydraulic drive mechanism 19 can be separated and replaced with respect to the pivoting support unit 17 which is connected to the other end of the six links 13 that make up the parallel link mechanism. Similarly, by replacing the tip working unit 18 together with the hydraulic drive mechanism 19 with one that suits the surgical subject or situation, surgical work can be carried out efficiently.

[0056] Furthermore, the end effector 12 is not limited to a configuration in which the distal end working unit 18 is detachable, but may be configured to be an integral structure in which the entire end effector 12, from the rotation support unit 17 to the distal end working unit 18, is inseparable.

[0057] Next, the hydraulic pressure supply mechanism in the fine-operation apparatus 1 of this embodiment will be described with reference to FIGS.

[0058] The hydraulic pressure supply mechanism 50, which supplies hydraulic fluid to the fine operation manipulator 10 of the fine operation device 1 and changes the hydraulic pressure of this working fluid, has a linear actuator 51 consisting of a mover 52 and a stator 53 having structures similar to the mover 15 and stator 16 of the fine operation manipulator 10, and a hydraulic cylinder unit 54 operated by this linear actuator 51.

[0059] The hydraulic cylinder section 54 has a cylindrical piston 54a and a pair of cylindrical cylinders 54b provided on both ends of the piston 54a. The cylinders 54b are filled with hydraulic fluid (not shown). The mover 52 of the linear actuator 51 and the piston 54a are connected by a fixing member 55, so that the piston 54a slides within the cylinder 54b as the mover 52 of the linear actuator 51 moves, and as a result, differential hydraulic pressure is applied to the hydraulic fluid within the cylinder 54b. This hydraulic fluid is supplied to the fine operation manipulator 10.

[0060] Next, the operation of the fine operation apparatus 1 of this embodiment will be described. First, the operator of the fine operation apparatus 1 moves the base 30 via a control unit (not shown) to move the robot unit 20, which includes the fine operation manipulator 10, to the vicinity of the patient 2 lying on the operating table 3, and then moves each part of the robot unit 20 via a control unit (not shown) to position the tip working unit 18 of the fine operation manipulator 10 near the affected area of ​​the patient 2, who is the subject of surgery. The operator of the fine operation apparatus 1 also moves each part of the imaging unit 40 via the control unit so that the imaging unit 40 can image an area including the vicinity of the affected area of ​​the patient 2.

[0061] In this state, the operator of the fine operation device 1 rotates (twists) the end effector 12 in the desired direction relative to the surgical object. Also, when it is necessary to clamp a specific location on the surgical object with the tip working unit 18 or to grasp a surgical instrument such as a needle for anastomosis or suturing, the hydraulic pressure supply mechanism 50 is operated via the control unit to adjust the hydraulic pressure of the operating fluid.

[0062] By adjusting the hydraulic pressure by supplying hydraulic fluid from the hydraulic pressure supply mechanism 50, the guide member 17d of the pivotal support part 17 is rotated around the central axis of the inner tube member 17b, causing the end effector 12 including the tip operating part 18 provided at the tip of the pivotal support part 17 to rotate, thereby realizing the twisting operation of the end effector 12.

[0063] In the fine operation manipulator 10 of this embodiment, the end effector 12 including the rotation support part 17 and the tip working part 18 can also be rotated by the linear actuator 14 and link 13. However, if the end effector 12 is rotated (twisted) by an angle required for surgery or the like (for example, ±90°) by the operation of only the linear actuator 14 and link 13, the link 13 may vibrate, causing the tip working part 18, particularly the forceps portion, to vibrate. On the other hand, it is difficult to rotate the rotation support part 17 by ±90° due to its structure, and the rotation range is limited to about ±70°.

[0064] Therefore, in the fine operation manipulator 10 of this embodiment, the twisting (rotating) operation of the end effector 12 is mainly performed by the rotation support part 17, and the twisting operation by the linear actuator 14 and the link 13 is performed within a range (about ±20° in the above example) in which smooth operation can be expected from these linear actuators 14 and links 13. This makes it possible to ensure the rotation angle required for the end effector 12 while achieving stable twisting operation of the forceps portion.

[0065] Furthermore, the rod 19b of the end effector 12 moves due to the adjustment of the hydraulic pressure by supplying hydraulic fluid from the hydraulic pressure supply mechanism 50, which in turn moves the rod portion 18a of the distal end working unit 18, thereby opening and closing the forceps portion.

[0066] These twisting operations of the end effector 12 and the opening and closing operations of the forceps portion of the tip working unit 18 are performed separately from the movement of each part of the robot unit 20 and the movement of the position and direction of the fine work manipulator 10 (i.e., the movement of the position and direction of the end effector 12).

[0067] As a result, apart from the operation of changing the position or orientation of the end effector 12, the forceps portion of the distal end working unit 18 moves to perform the operation of clamping a predetermined portion of the surgical subject or grasping a surgical instrument.

[0068] The operator of the fine manipulation device 1 can operate the fine manipulation device 1 including the fine manipulation manipulator 10 according to the above procedure, and move the tip working unit 18 of the end effector 12 to clamp or release blood vessels or other objects that are the subject of surgery, or to grip or release surgical instruments such as needles. In addition to moving the entire fine manipulation manipulator 10 while looking at the display unit, the operator can appropriately move the end effector 12 and the tip working unit 18 to perform precise tasks such as passing an anastomosis needle gripped by the tip working unit 18 through a blood vessel junction.

[0069] As explained in detail above, the fine-working device 1 according to this embodiment uses a parallel link mechanism with multiple degrees of freedom as a link mechanism that moves the end effector 12 relative to the base, and moves one end of each link using multiple linear actuators 14 supported on the base to move the end effector 12. The linear actuators 14 are operated based on instructions from the operator to change the position and orientation of the end effector 12. This makes it possible to achieve precise movement of the end effector 12 using a simple, highly rigid link mechanism that is less prone to accumulating errors, and the end effector 12 can be made to perform various operations related to microsurgery even when remotely operated by the user while viewing the displayed captured image. This makes it possible to reproduce operations equivalent to those performed by an experienced doctor, while improving operability and reducing the burden on the user.

[0070] Furthermore, by hydraulically driving the distal end working unit 18, which rotates the end effector 12 and actually handles the surgical target and surgical instruments, the distal end working unit 18 does not need to be equipped with a force detection sensor as in the case of motor-driven devices. This not only eliminates the need for cumbersome tasks such as sensor calibration, but also makes it possible to miniaturize the end effector 12 and facilitates sterilization of the end effector 12 when used in surgery.

[0071] In addition, because the hydraulic fluid is supplied into hydraulic fluid chambers 19d and 19f partitioned by rolling diaphragms 17e, 19e, and 19g, no packing or the like is required when moving the rotation support unit 17 and hydraulic drive mechanism 19, and therefore, because there are no sliding surfaces, no frictional force is applied when the rotation support unit 17 and hydraulic drive mechanism 19 move. Furthermore, the rolling diaphragms 17e, 19e, and 19g are all made of a stretchable material such as silicone rubber, which has the advantage of providing excellent responsiveness of the end effector 12 and the distal end working unit 18 to minute fluctuations in hydraulic pressure caused by the supply of hydraulic fluid. In addition, because the rolling diaphragms 17e, 19e, and 19g are all fixed to the rotation support unit 17 and hydraulic drive mechanism 19, there is also the advantage of being resistant to hydraulic fluid leakage.

[0072] The above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described components. Furthermore, some of the components of each embodiment can be added to, deleted from, or replaced with other components.

[0073] As an example, in the above-described embodiment, the fine operation manipulator 10 is attached to the robot part 20 and the base 30, but rough adjustment of the position of the fine operation manipulator 10 relative to the surgical target may be performed by first attaching the fine operation manipulator 10 to a supporting stand, arm, or the like, and then manually moving the stand, arm, or the like so that the end effector 12 faces the surgical target and is spaced an appropriate distance from the surgical target.

[0074] In the above-described embodiment, the control lines and information lines are shown as those considered necessary for the explanation, and not all control lines and information lines are necessarily shown in the product. All components may be interconnected. (Appendix 1) A fine work manipulator that performs predetermined operations related to fine work on a work object in place of a person, a parallel link mechanism with three or more degrees of freedom, which includes a base supported at a predetermined location in a space where the work object is present, an end effector that handles the work object or a work tool, and a plurality of links arranged in parallel between the base and the end effector, and which allows the position and orientation of the end effector to be changed within a predetermined range relative to the base; the parallel link mechanism linearly moves one end of each of the links using a plurality of linear actuators supported on the base, thereby moving the end effector connected to the other end of each of the links; moreover, a rotation support portion provided between the end effector and the parallel link mechanism and configured to support the end effector so as to be rotatable around a predetermined rotation axis; a hydraulic drive mechanism that generates a rotational force around the rotation axis in the end effector; and A manipulator for fine manipulation, characterized in that a change in hydraulic pressure of a working fluid is applied to the hydraulic drive mechanism from the outside to generate a movement that rotates the end effector. (Appendix 2) The hydraulic drive mechanism includes: a guide member formed in an arc shape centered on the rotation axis and supported rotatably around the rotation axis; an expandable diaphragm that applies a rotational force around the rotation axis to the guide member based on a change in hydraulic pressure of the hydraulic fluid; The fine manipulation manipulator according to (Appendix 1) is characterized by having: (Appendix 3) The micro-operation manipulator described in (Appendix 2) is characterized in that the diaphragm has an arc-shaped recess in which the guide member is housed, and a diaphragm body in which the hydraulic fluid is housed and which moves the guide member housed in the recess around the rotation axis based on changes in hydraulic pressure of the hydraulic fluid. (Appendix 4) The manipulator for fine work described in any one of (Appendix 1 to 3) is characterized in that the parallel link mechanism is a mechanism with six or more degrees of freedom, in which six or more linear actuators and six or more links are arranged in parallel. (Appendix 5) the linear actuator is a moving coil type linear motor in which a coil is a part of a mover and a permanent magnet is a part of a stator, The mover has a linear slider attached to the base so as to be linearly movable, and the cylindrical coil attached integrally to the linear slider, and the coil is disposed with its axial direction parallel to the moving direction of the linear slider; The manipulator for fine work described in any one of (Appendix 1 to 4) is characterized in that the stator has a cylindrical permanent magnet that is shorter than the coil, the permanent magnet is aligned with the coil in the cylindrical axis direction, and the coil is arranged so that it can movably pass through the cylindrical space portion of the permanent magnet. (Appendix 6) The fine operation manipulator described in (Appendix 5) is characterized in that the linear motors are arranged around a predetermined imaginary center line that is parallel to the movement direction of the mover, with the permanent magnets being arranged on the side closest to the imaginary center line, while the movement directions of the mover are parallel to each other. [Explanation of symbols]

[0075] 1...Fine work device 10...Fine work manipulator 12...End effector 13...Link 14...Linear actuator 15...Mover 15a...Linear slider 15b...Coil 16...Stator 16a...Permanent magnet 17...Pivot support part 17a...Outer cylindrical member 17b...Inner cylindrical member 17c...Hollow part 17d...Guide member 17e...Rolling diaphragm 17f...Diaphragm body 17g...Recess 18...Tip working part 19...Hydraulic drive mechanism

Claims

1. A fine work manipulator that performs predetermined operations related to fine work on a work object in place of a person, a distal end working unit; a link mechanism that changes the position and orientation of the tip working unit; a support portion disposed between the link mechanism and the end effector portion, the support portion supporting the end effector portion on the link mechanism; Equipped with the support unit has a drive mechanism that rotates the distal end working unit around a predetermined rotation axis, Not only the drive mechanism but also the link mechanism can rotate the distal end working unit around a predetermined rotation axis, the fine manipulation manipulator has a plurality of linear sliders supported by a base and arranged around an imaginary center line; the link mechanism has the same number of links as the number of the linear motion sliders, each of the links has a joint at one end for coupling to the linear motion slider corresponding to the link, and a joint at the other end for coupling to the support portion; the fine operation manipulator has a member extending from the base to the support portion, the member being arranged in a space surrounded by the plurality of linear motion sliders and the plurality of links; the member does not have a portion that protrudes outside the space between the linear motion sliders adjacent to each other or between the links adjacent to each other; Manipulator for fine work.

2. the member having a spiral-shaped elongated portion; 2. The fine manipulation manipulator according to claim 1.

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