Surgical assistance robot

Abstract

To provide a surgery assisting robot capable of thinning a robot arm.SOLUTION: In a surgery assisting robot 100, a joint 64B includes: a servomotor SMB; a first speed reducer 161 for reducing the speed of rotation of the servomotor SMB and outputting it; a bevel gear 163 for reducing the speed of the rotation output from the first speed reducer 161 and outputting it; and a second speed reducer 162 for reducing the speed of the rotation output from the bevel gear 163 and outputting it.SELECTED DRAWING: Figure 13

Description

[Technical Field]

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

[0002] Conventionally, surgical support robots have been known. For example, Patent Document 1 discloses a surgical support robot equipped with a manipulator arm. In Patent Document 1, a surgical instrument is attached to the tip of the manipulator arm. The manipulator arm includes multiple joints. The manipulator arm translates or rotates the surgical instrument attached to the manipulator arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2016-516487 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional surgical support robots such as those described in Patent Document 1, it is desirable to make the manipulator arms thinner in order to reduce the size of the surgical support robot, reduce interference between the manipulator arms and surrounding objects, and reduce collisions between manipulator arms.

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

[0006] In order to achieve the above objectives, No. 1The surgical support robot according to this aspect includes a robot arm having a surgical instrument attached to a tip thereof and including a joint, the joint including a motor, a first reducer that reduces the speed of rotation of the motor and outputs the reduced speed, a gear unit that reduces the speed of rotation output from the first reducer and outputs the reduced speed, and a second reducer that reduces the speed of rotation output from the gear unit and outputs the reduced speed. The reduction ratio of the second reducer is higher than that of the first reducer, and the reduction ratio of the gear unit is lower than that of the second reducer and that of the first reducer. .

[0007] This disclosure No. 1 In the surgical support robot according to the above aspect, as described above, the joint includes a motor, a first reducer that reduces the rotation of the motor and outputs it, a gear unit that reduces the rotation output from the first reducer and outputs it, and a second reducer that reduces the rotation output from the gear unit and outputs it. As a result, the rotation of the motor is reduced by three reducers: the first reducer, the gear unit, and the second reducer. Therefore, the total reduction ratio at the joint is larger than when there is only one reducer. Therefore, even if a small motor is used, the desired torque for rotating the joint can be obtained. As a result, there is no need to install a large motor in the robot arm, allowing the robot arm to be made thinner. A surgical support robot according to a second aspect of this disclosure comprises a robot arm having a surgical instrument attached to its tip and including a joint, the joint including a motor, a first reducer that decelerates and outputs the rotation of the motor, a gear unit that decelerates and outputs the rotation output from the first reducer, and a second reducer that decelerates and outputs the rotation output from the gear unit, the joint including a bending joint that rotates around a rotation axis so that the robot arm can be bent, and the gear unit including a bevel gear that transmits the rotation of the motor in a direction perpendicular to the rotation axis direction of the motor. A surgical support robot according to a third aspect of this disclosure comprises a robot arm having a surgical instrument attached to its tip and including a joint, the joint including a motor, a first reducer that decelerates and outputs the rotation of the motor, a gear unit that decelerates and outputs the rotation output from the first reducer, and a second reducer that decelerates and outputs the rotation output from the gear unit, the joint including a torsional joint that rotates around the longitudinal direction of the robot arm as its rotation axis, and the gear unit including a helical gear that transmits the rotation of the motor in a direction along the rotation axis of the motor. A surgical support robot according to a fourth aspect of this disclosure comprises a robot arm having a surgical instrument attached to its tip and including a joint, the joint including a motor, a first reducer that decelerates and outputs the rotation of the motor, a gear unit that decelerates and outputs the rotation output from the first reducer, and a second reducer that decelerates and outputs the rotation output from the gear unit, the robot arm including a plurality of joints, in which the reduction ratio of the first reducer is common, the reduction ratio of the second reducer is common, and the reduction ratios of the gear units are different from one another. A surgical support robot according to a fifth aspect of this disclosure comprises a robot arm having a surgical instrument attached to a tip thereof and including a joint, the joint including a motor, a first reducer that decelerates and outputs the rotation of the motor, a gear unit that decelerates and outputs the rotation output from the first reducer, and a second reducer that decelerates and outputs the rotation output from the gear unit, the joint is a bending joint, the rotation axis of the motor and the rotation axis of the first reducer are coaxial, the rotation axis of the bending joint and the rotation axis of the second reducer are coaxial, the rotation axis of the first reducer and the rotation axis of the second reducer are perpendicular, and the gear unit transmits rotation in a direction perpendicular to the rotation axis of the first reducer. [Effects of the Invention]

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

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

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

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

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

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

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

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

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

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

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

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

[0020] The operating handle 34 is disposed near the display unit 33a of the medical cart 3. The operating handle 34 has a throttle 34a that is gripped and rotated by an operator such as a nurse or technician to control the movement of the medical cart 3. Specifically, the operating handle 34 is disposed below the input device 33. The medical cart 3 moves forward when the throttle 34a is rotated from the front side to the back side. The medical cart 3 moves backward when the throttle 34a is rotated from the back side to the front side. The speed of the medical cart 3 changes depending on the amount of rotation of the throttle 34a. The operating handle 34 is configured to be rotatable left and right, indicated by the R direction, and the medical cart 3 rotates as the operating handle 34 is rotated.

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

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

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

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

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

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

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

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

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

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

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

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

[0033] (Instrument configuration) As shown in Fig. 5, the tip of the instrument is provided with, for example, forceps 4b. In addition to the forceps 4b, other jointed instruments such as scissors, graspers, needle holders, microdissectors, stable appliers, tackers, suction and irrigation tools, snare wires, and clip appliers are arranged at the tip of the instrument. Other non-jointed instruments such as cutting blades, cauterizing probes, irrigators, catheters, and suction orifices are arranged at the tip of the instrument.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0056] The front wheels of the medical cart 3 are driven to move forward and backward, and the rear wheels are steered by turning the operating handle 34 of the medical cart 3, causing the medical cart 3 to turn left and right.

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

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

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

[0060] The positioner control unit 31b is disposed in the medical cart 3. The positioner control unit 31b controls the positioner 40 and the medical cart 3. The positioner 40 is provided with servo motors SM, encoders EN, and speed reducers corresponding to the multiple joints 43 of the positioner 40. The servo control unit SC that controls the servo motors SM of the positioner 40 is disposed in the medical cart 3. The medical cart 3 is provided with servo motors SM that drive the multiple front wheels of the medical cart 3, encoders EN, speed reducers, servo control unit SC, and brakes.

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

[0062] (Detailed structure of the robot arm) As shown in FIG. 12 , the robot arm 60 includes a first housing 141, a second housing 142, and a third housing 143. The robot arm 60 also includes wiring 150. The first housing 141 and the second housing 142 are rotated relative to each other by a joint 64B, which is a bend axis. The second housing 142 and the third housing 143 are rotated relative to each other by a joint 64R, which is a roll axis. The first housing 141, the second housing 142, and the third housing 143 are each cylindrical. That is, the first housing 141, the second housing 142, and the third housing 143 are each hollow. The first housing 141, the second housing 142, and the third housing 143 are made of, for example, metal. The rotation axis AX1 is an example of a first rotation axis. The first housing 141 and the second housing 142 are examples of housings.

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

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

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

[0066] In this embodiment, the first reducer 161 reduces the rotation speed of the servo motor SMB and outputs the reduced speed. The first reducer 161 includes a planetary reducer. The planetary reducer has planetary gears. The planetary gear is a gear mechanism having a structure in which multiple planetary gears rotate and revolve around a sun gear.

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

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

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

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

[0071] In this embodiment, the reduction ratio of the bevel gear 163 is lower than the reduction ratio of the second reducer 162 and the reduction ratio of the first reducer 161. The allowable range of the reduction ratio r3 of the bevel gear 163 is 2 or more and 5 or less. For example, the ratio r1 / r3 between the reduction ratio r1 of the first reducer 161 and the reduction ratio r3 of the bevel gear 163 is approximately 1.1 to 3. In FIG. 14 , the JT2 axis, the JT4 axis, and the JT6 axis correspond to the bend axes. The gear portions of the JT2 axis, the JT4 axis, and the JT6 axis represent the bevel gear 163. The bevel gears 163 mounted on the JT2 axis, the JT4 axis, and the JT6 axis each have a different size and number of teeth.

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

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

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

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

[0076] The servo motor SMR is disposed in the second housing 142. The servo motor SMB has the same configuration as the servo motor SMR.

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

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

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

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

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

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

[0083] In this embodiment, the servo motor SMR, the first reducer 171, and a portion of the helical gear 173 are disposed on one side of a center line CL2 in the second housing 142 that runs along the longitudinal direction of the cylindrical second housing 142 and passes through the center of the second housing 142. The other portion of the helical gear 173 and the second reducer 172 are disposed across the center line CL2 of the second housing 142. The center line CL2 of the second housing 142 is a line that passes through the center of the second housing 142 in the Xb and Yb directions and runs along the Zb direction. A rotation axis AX12 of the servo motor SMR, the first reducer 171, and a portion of the helical gear 173 is located on the Xb2 side of the center line CL2 in the second housing 142. The rotation axis AX11 is an example of a second rotation axis. The center line CL2 is an example of a second center line.

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

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

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

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

[0088] In this embodiment, the first opening 141c and the second opening 142c are spaced apart from each other in the longitudinal direction of the robot arm 60. When the first housing 141 and the second housing 142 are arranged along the Zb direction, with the robot arm 60 not bent, the first opening 141c and the second opening 142c are spaced apart from each other in the Zb direction. Whether the robot arm 60 is not bent or is bent, the first opening 141c and the second opening 142c are spaced apart from each other. Therefore, there is no interference between the Zb1-side end 141d of the first housing 141 and the Zb2-side end 142d of the second housing 142.

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

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

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

[0092] 15 , the second reducer 172 of the joint 64R is hollow. In the joint 64R, the wiring 150 is arranged inside the robot arm 60 so as to pass through the inside of the second reducer 172. The wiring 150 is arranged so as to pass through the inside of the second reducer 172 and extend from the second housing 142 to the third housing 143.

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

[0094] [Effects of this embodiment] The joint 64B, which is a bending joint, includes a servo motor SMB, a first reducer 161 that decelerates the rotation of the servo motor SMB before outputting it, a bevel gear 163 that decelerates the rotation output from the first reducer 161 before outputting it, and a second reducer 162 that decelerates the rotation output from the bevel gear 163 before outputting it. Because the rotation of the servo motor SMB is decelerated by the three reducers (the first reducer 161, the bevel gear 163, and the second reducer 162), the total reduction ratio r4 at the joint 64B is larger than when using a single reducer. Therefore, even if a small servo motor SMB is used, the desired torque for rotating the joint 64B can be obtained. As a result, there is no need to install a large servo motor SMB in the robot arm 60, allowing the robot arm 60 to be made thinner. The same effect is also achieved in the joint 64R, which is a torsional joint.

[0095] The reduction ratio r2 of the second reducer 162 is higher than the reduction ratio r1 of the first reducer 161. As a result, backlash of the second reducer 162, which is on the output side of rotation at the joint 64B, is relatively small, making it possible to control the rotation of the joint 64B with high precision. Furthermore, since the reduction ratio r1 of the first reducer 161 is relatively small, the torque transmitted from the first reducer 161 to the bevel gear 163 is prevented from becoming excessively large. As a result, it is not necessary to excessively increase the mechanical strength of the bevel gear 163, so there is no need to use a gear portion with high mechanical strength, and the degree of freedom in selecting the bevel gear 163 can be increased. Note that the same effect is achieved in the joint 64R.

[0096] The first reducer 161 includes a planetary reducer, and the second reducer 162 includes one of a strain wave gear reducer, an RV reducer (registered trademark), and a cycloid reducer (registered trademark). As a result, since planetary reducers are generally relatively small, the first reducer 161 can be easily made smaller. As a result, by combining a small servo motor SMB with a small first reducer 161, the robot arm 60 can be made thinner. Furthermore, since strain wave gear reducers, RV reducers (registered trademark), and cycloid reducers (registered trademark) generally have a relatively high reduction ratio, the reduction ratio r2 of the second reducer 162 can be easily increased. Note that the same effect is achieved in the joint 64R.

[0097] The reduction ratio r3 of the bevel gear 163 is lower than the reduction ratio r2 of the second reducer 162 and the reduction ratio r1 of the first reducer 161. This prevents the bevel gear 163 from becoming larger, unlike when the gear of the bevel gear 163 is made larger to increase the reduction ratio r3. This also makes it possible to make the robot arm 60 thinner. The same effect is achieved with the helical gear 173 of the joint 64R.

[0098] The servo motor SMB and the first reducer 161 are integrated. This allows the servo motor SMB and the first reducer 161 to be attached to the robot arm 60 in a single step, compared to when the servo motor SMB and the first reducer 161 are separate. This simplifies the attachment step of the servo motor SMB and the first reducer 161. The same effect is achieved in the joint 64R.

[0099] The servo motor SMB is disposed so that its rotation axis is along the longitudinal direction of the cylindrical first housing 141. Generally, the direction along the rotation axis AX2 of the servo motor SMB is the longitudinal direction. Therefore, by disposing the servo motor SMB so that the rotation axis AX2 is along the Zb direction, which is the longitudinal direction of the cylindrical first housing 141, the robot arm 60 can be made thinner than when the servo motor SMB is disposed so that the rotation axis AX2 is along the width direction of the robot arm 60, which is perpendicular to the longitudinal direction of the cylindrical first housing 141. The same effect is achieved with the joint 64R.

[0100] The bevel gear 163 transmits the rotation of the servo motor SMB in a direction perpendicular to the rotation axis of the servo motor SMB, thereby making it possible to easily transmit the rotation of the servo motor SMB in a direction perpendicular to the rotation axis of the servo motor SMB by the bevel gear 163.

[0101] The servo motor SMB, first reducer 161, and bevel gear 163 are arranged on one side of a center line CL1 in the first housing 141 that runs along the Zb direction, the longitudinal direction of the cylindrical first housing 141, and passes through the center of the first housing 141, and the second reducer 162 is arranged across the center line CL1. This allows the servo motor SMB, first reducer 161, and bevel gear 163 to be arranged closer to the end of the first housing 141, making it possible to ensure sufficient space within the first housing 141 for arranging the second reducer 162.

[0102] The helical gear 173 transmits the rotation of the servo motor SMB in the Zb direction along the direction of the rotation axis AX12 of the servo motor SMR. This makes it possible for the helical gear 173 to easily transmit the rotation of the servo motor SMB in the Zb direction along the direction of the rotation axis AX12 of the servo motor SMR.

[0103] The servo motor SMR, first reducer 171, and a portion of helical gear 173 are disposed in second housing 142 on one side of a center line CL2 that passes through the center of second housing 142 along the longitudinal direction of cylindrical second housing 142, while the other portion of helical gear 173 and second reducer 172 are disposed across center line CL2 of second housing 142. This allows the servo motor SMR, first reducer 171, and a portion of helical gear 173 to be disposed closer to the end of second housing 142, making it possible to easily dispose second reducer 172 across center line CL2 of second housing 142. Furthermore, by disposing second reducer 172 across center line CL2 of second housing 142, the rotation axis AX11 of second reducer 172 and the center line CL2 of cylindrical second housing 142 coincide with each other, allowing cylindrical second housing 142 to rotate without eccentricity.

[0104] In the multiple joints 64B, the reduction ratio r1 of the first reducer 161 is common, the reduction ratio r2 of the second reducer 162 is common, and the reduction ratio r3 of the bevel gear 163 is different from one another. This adjusts the total reduction ratio r4 of the joints 64B. Therefore, the multiple joints 64B can use the same first reducer 161 and the same second reducer 162, which prevents the number of types of parts that make up the robot arm 60 from increasing. Note that the same effect is achieved in the joint 64R.

[0105] In this embodiment, in joint 64B, which is a bending joint, the rotation axis AX2 of the servo motor SMB and the rotation axis AX2 of the first reducer 161 are coaxial, the rotation axis AX1 of joint 64B and the rotation axis AX1 of the second reducer 162 are coaxial, the rotation axis AX2 of the first reducer 161 and the rotation axis AX1 of the second reducer 162 are perpendicular to each other, and the bevel gear 163 transmits rotation in a direction perpendicular to the rotation axis AX2 of the first reducer 161. As a result, the rotation of the servo motor SMB is reduced by the three components, namely, the first reducer 161, the bevel gear 163, and the second reducer 162. Therefore, even if a small servo motor SMB is used, a desired torque for rotating joint 64B can be obtained, and the robot arm 60 can be made slim.

[0106] In this embodiment, the joint 64R is a torsion joint, the rotation axis AX12 of the servo motor SMR and the rotation axis AX12 of the first reducer 171 are coaxial, the rotation axis AX11 of the joint 64R and the rotation axis AX11 of the second reducer 172 are coaxial, the rotation axis AX12 of the first reducer 171 and the rotation axis AX11 of the second reducer 172 are parallel, and the helical gear 173 transmits rotation in a direction parallel to the rotation axis AX12 of the first reducer 171. As a result, the rotation of the servo motor SMR is reduced by three parts: the first reducer 171, the helical gear 173, and the second reducer 172. Therefore, even if a small servo motor SMR is used, a desired torque for rotating the joint 64R can be obtained, and the robot arm 60 can be made slim.

[0107] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications and variations within the meaning and scope of the claims.

[0108] In the above embodiment, an example has been described in which the reduction ratio r2 of the second reducer 162 is higher than the reduction ratio r2 of the first reducer 161, but the present disclosure is not limited to this. In the present disclosure, the reduction ratio r2 of the second reducer 162 may be equal to the reduction ratio r1 of the first reducer 161. The same applies to the second reducer 172 and the first reducer 171 of the joint 64R.

[0109] In the above embodiment, an example has been described in which the first reducer 161 and the first reducer 171 are planetary reducers, but the present disclosure is not limited to this. In the present disclosure, the first reducer 161 and the first reducer 171 may be reducers other than planetary reducers.

[0110] In the above embodiment, an example has been described in which the reduction ratio r3 of the bevel gear 163 is lower than the reduction ratio r2 of the second reducer 162 and the reduction ratio r1 of the first reducer 161, but the present disclosure is not limited to this. In the present disclosure, the reduction ratio r3 of the bevel gear 163 may be higher than the reduction ratio r2 of the second reducer 162 and the reduction ratio r1 of the first reducer 161. The same applies to the helical gear 173 of the joint 64R.

[0111] In addition, in the above embodiment, an example has been shown in which the servo motor SMB and the first reducer 161 are integrated, but the present disclosure is not limited to this. In the present disclosure, the servo motor SMB and the first reducer 161 may be separate bodies. The same applies to the servo motor SMR and the first reducer 171 of the joint 64R.

[0112] In the above embodiment, the bevel gear 163 is used as the gear part that transmits the rotation of the servo motor SMB in the direction perpendicular to the direction of the rotation axis AX2 of the servo motor SMB, but the present disclosure is not limited to this. In the present disclosure, a gear part other than the bevel gear 163 may be used as the gear part that transmits the rotation of the servo motor SMB in the direction perpendicular to the direction of the rotation axis AX2 of the servo motor SMB.

[0113] In addition, in the above embodiment, an example was shown in which the helical gear 173 was used as the gear part that transmits the rotation of the servo motor SMR in the direction along the rotation axis AX12 of the servo motor SMR, but the present disclosure is not limited to this. In the present disclosure, a gear part other than the helical gear 173 may be used as the gear part that transmits the rotation of the servo motor SMR in the direction along the rotation axis AX12 of the servo motor SMR.

[0114] In addition, in the above embodiment, an example has been described in which the reduction ratio r1 of the first reducer 161 is common to the multiple joints 64B, but the present disclosure is not limited to this. The reduction ratio r1 of the first reducer 161 may be different for the multiple joints 64B. The same applies to the second reducer 162, the first reducer 171, and the second reducer 172.

[0115] In the above embodiment, the reduction gear ratios r3 of the bevel gears 163 are different from one another in the multiple joints 64B, but the present disclosure is not limited to this. The reduction gear ratio r3 of the bevel gears 163 may be the same in the multiple joints 64B. The same applies to the helical gear 173.

[0116] Furthermore, in the above embodiment, an example in which four robot arms 60 are provided is shown, but the present disclosure is not limited to this. In the present disclosure, the number of robot arms 60 may be any other number as long as there is at least one or more.

[0117] In the above embodiment, the arm unit 61 and the positioner 40 are configured as a seven-axis articulated robot, but the present disclosure is not limited to this. For example, the arm unit 61 and the positioner 40 may be configured as an articulated robot with an axis configuration other than a seven-axis articulated robot. An example of an axis configuration other than a seven-axis articulated robot is a six-axis or eight-axis robot.

[0118] In the above embodiment, the surgical support robot 1 includes the medical cart 3, the positioner 40, and the arm base 50, but the present disclosure is not limited to this. For example, the medical cart 3, the positioner 40, and the arm base 50 are not necessarily required, and the surgical support robot 1 may be configured with only the robot arm 60.

[0119] In the above embodiment, the present disclosure is applied to the surgery assist robot 1, but the present disclosure is not limited to this. For example, the present disclosure may be applied to a joint 201 of a humanoid robot 200 as shown in FIG.

[0120] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0121] (Item 1) It has a robotic arm with a surgical instrument attached to the tip and joints. The joint is A motor; a first reducer that reduces the rotation of the motor and outputs the reduced rotation; a gear unit that reduces the speed of the rotation output from the first reducer and outputs the reduced speed; A surgical support robot including: a second reducer that reduces the rotation output from the gear portion and outputs the reduced rotation.

[0122] (Item 2) Item 1. The surgical support robot according to item 1, wherein the reduction ratio of the second reducer is higher than the reduction ratio of the first reducer.

[0123] (Item 3) the first reducer includes a planetary reducer, Item 3. The surgical support robot according to item 2, wherein the second reducer includes any one of a wave gear reducer, an RV reducer (registered trademark), and a cyclo reducer (registered trademark).

[0124] (Item 4) Item 4. The surgical support robot according to item 2 or 3, wherein the reduction ratio of the gear unit is lower than the reduction ratio of the second reducer and the reduction ratio of the first reducer.

[0125] (Item 5) 5. The surgical support robot according to any one of items 1 to 4, wherein the motor and the first reducer are integrated.

[0126] (Item 6) the robot arm further includes a cylindrical housing that accommodates the motor, the first reducer, the gear unit, and the second reducer; 6. The surgical support robot according to any one of items 1 to 5, wherein the motor is arranged so that the rotation axis is along the longitudinal direction of the cylindrical housing.

[0127] (Item 7) the joint includes a first joint that rotates about a first rotation axis so that the robot arm is bent; 7. The surgical support robot according to any one of items 1 to 6, wherein the gear portion includes a bevel gear that transmits rotation of the motor in a direction perpendicular to the rotation axis direction of the motor.

[0128] (Item 8) The robot arm a cylindrical first housing that accommodates the motor, the first reducer, the bevel gear, and the second reducer; the motor, the first reducer, and the gear are arranged in the first housing on one side of a first center line that passes through a center of the first housing along a longitudinal direction of the cylindrical first housing, Item 8. The surgical support robot according to item 7, wherein the second reducer is arranged across the first center line.

[0129] (Item 9) the joint includes a second joint that rotates about a second rotation axis that is the longitudinal direction of the robot arm, 9. The surgical support robot according to any one of items 1 to 8, wherein the gear portion includes a helical gear that transmits rotation of the motor in a direction along the rotation axis of the motor.

[0130] (Item 10) the robot arm further includes a cylindrical second housing that houses the motor, the first reducer, the helical gear, and the second reducer; the motor, the first reducer, and a portion of the helical gear are disposed in the second housing on one side of a second center line that passes through a center of the second housing along a longitudinal direction of the cylindrical second housing, Item 10. A surgical support robot according to item 9, wherein the other portion of the helical gear and the second reducer are arranged across the second center line of the second housing.

[0131] (Item 11) the robot arm includes a plurality of the joints; In the plurality of joints, The reduction ratio of the first reducer is common, The reduction ratio of the second reducer is common, 11. The surgical support robot according to any one of items 1 to 10, wherein the gear units have different reduction ratios.

[0132] (Item 12) the joint is a bending joint, a rotation axis of the motor and a rotation axis of the first reducer are coaxial; a rotation axis of the bending joint and a rotation axis of the second reducer are coaxial, a rotation axis of the first reducer and a rotation axis of the second reducer are perpendicular to each other, Item 12. The surgical support robot according to any one of items 1 to 11, wherein the gear portion transmits rotation in a direction perpendicular to the rotation axis of the first reducer.

[0133] (Item 13) the joint is a torsion joint, a rotation axis of the motor and a rotation axis of the first reducer are coaxial; a rotation axis of the torsional joint and a rotation axis of the second reducer are coaxial, a rotation axis of the first reducer and a rotation axis of the second reducer are parallel to each other; Item 13. The surgical support robot according to any one of items 1 to 12, wherein the gear portion transmits rotation in a direction parallel to the rotation axis of the first reducer. [Explanation of symbols]

[0134] 1. Surgical assistance robot 4 Surgical instruments 60 Robot Arm 64 joints 64B joint (first joint) 64R joint (second joint) 141 1st cabinet (cabinet) 142 Second cabinet (cabinet) 161 1st reducer 162 2nd reducer 163 Bevel gear (gear part) 171 1st reducer 172 2nd reducer 173 Helical gear (gear part) AX1 Rotation axis (first rotation axis) AX2 Servo motor rotation axis AX11 Rotation axis (second rotation axis) AX12 Servo motor rotation axis CL1 center line (1st center line) CL2 center line (second center line) SMB Servo Motor (Motor) SMR servo motor (motor)

Claims

1. It has a robotic arm with a surgical instrument attached to the tip and joints. The joint is A motor; a first reducer that reduces the rotation of the motor and outputs the reduced rotation; a gear unit that reduces the speed of the rotation output from the first reducer and outputs the reduced speed; a second reducer that reduces the rotation output from the gear unit and outputs the reduced rotation, a reduction ratio of the second reducer is higher than a reduction ratio of the first reducer; A surgical support robot, wherein the reduction ratio of the gear portion is lower than the reduction ratio of the second reducer and the reduction ratio of the first reducer.

2. the first reducer includes a planetary reducer, The surgical support robot according to claim 1 , wherein the second reducer includes any one of a strain wave gear reducer, an RV reducer (registered trademark), and a Cyclo reducer (registered trademark).

3. The surgical support robot according to claim 1 , wherein the motor and the first reducer are integrated.

4. the robot arm further includes a cylindrical housing that accommodates the motor, the first reducer, the gear unit, and the second reducer, The surgical support robot according to claim 1 , wherein the motor is disposed so that a rotation axis thereof is aligned with a longitudinal direction of the cylindrical housing.

5. A robotic arm having a surgical instrument attached to its tip and including a joint, The joint is A motor; a first reducer that reduces the rotation of the motor and outputs the reduced rotation; a gear unit that reduces the speed of the rotation output from the first reducer and outputs the reduced speed; a second reducer that reduces the rotation output from the gear unit and outputs the reduced rotation, the joint includes a bending joint that rotates around a rotation axis so that the robot arm can be bent; The gear portion includes a bevel gear that transmits rotation of the motor in a direction perpendicular to the rotation axis direction of the motor.

6. The robot arm a cylindrical housing that accommodates the motor, the first reducer, the bevel gear, and the second reducer, the motor, the first reducer, and the bevel gear are disposed in the housing on one side of a center line passing through a center of the housing along a longitudinal direction of the cylindrical housing, The surgical support robot according to claim 5 , wherein the second reducer is disposed across the center line.

7. A robotic arm having a surgical instrument attached to its tip and including a joint, The joint is A motor; a first reducer that reduces the rotation of the motor and outputs the reduced rotation; a gear unit that reduces the speed of the rotation output from the first reducer and outputs the reduced speed; a second reducer that reduces the rotation output from the gear unit and outputs the reduced rotation, the joint includes a torsion joint that rotates about a rotation axis in the longitudinal direction of the robot arm, The surgical support robot, wherein the gear portion includes a helical gear that transmits rotation of the motor in a direction along the rotation axis of the motor.

8. the robot arm further includes a cylindrical housing that accommodates the motor, the first reducer, the helical gear, and the second reducer; the motor, the first reducer, and a portion of the helical gear are disposed in the housing on one side of a center line that passes through a center of the housing along a longitudinal direction of the cylindrical housing, The surgical support robot according to claim 7 , wherein the other portion of the helical gear and the second reducer are disposed across the center line of the housing.

9. A robotic arm having a surgical instrument attached to its tip and including a joint, The joint is A motor; a first reducer that reduces the rotation of the motor and outputs the reduced rotation; a gear unit that reduces the speed of the rotation output from the first reducer and outputs the reduced speed; a second reducer that reduces the rotation output from the gear unit and outputs the reduced rotation, the robot arm includes a plurality of the joints; In a plurality of said joints, The reduction ratio of the first reducer is common, The reduction ratio of the second reducer is common, A surgical support robot, wherein the gear units have different reduction ratios.

10. A robotic arm having a surgical instrument attached to its tip and including a joint, The joint is A motor; a first reducer that reduces the rotation of the motor and outputs the reduced rotation; a gear unit that reduces the speed of the rotation output from the first reducer and outputs the reduced speed; a second reducer that reduces the rotation output from the gear unit and outputs the reduced rotation, the joint is a bending joint, a rotation axis of the motor and a rotation axis of the first reducer are coaxial, a rotation axis of the bending joint and a rotation axis of the second reducer are coaxial, a rotation axis of the first reducer and a rotation axis of the second reducer are perpendicular to each other, The gear portion transmits rotation in a direction perpendicular to the rotation axis of the first reducer.

11. the joint is a torsion joint, a rotation axis of the motor and a rotation axis of the first reducer are coaxial, a rotation axis of the torsion joint and a rotation axis of the second reducer are coaxial, a rotation axis of the first reducer and a rotation axis of the second reducer are parallel to each other, The surgical support robot according to claim 1 , wherein the gear portion transmits rotation in a direction parallel to a rotation axis of the first reducer.

Images