manipulator

Abstract

This manipulator, which can be attached to and detached from a medical device, comprises: a manipulator body having a tip portion to which an end effector is attached and a base portion to be connected to a medical device; and a mechanical counter mechanism provided to the manipulator body. The counter mechanism transitions from a first state to a second state due to a first operation on the counter mechanism, transitions from the second state to the first state due to a second operation on the counter mechanism, and counts the number of times the counter mechanism transitions from the second state to the first state due to the second operation.

Description

Technical Field

[0001] The present invention relates to a manipulator.

Background Art

[0002] Laparoscopic surgery is known in which a rod-shaped surgical instrument is inserted into a patient's body cavity through a hole made in the patient's abdomen to perform surgery. This surgical instrument is also called a manipulator, and a movable part called an end effector capable of rotational movement and gripping of living tissue is provided at the tip of the manipulator. For example, Patent Documents 1 to 3 describe the above-described manipulator. For example, Patent Document 4 describes a rack used for cleaning the above-described manipulator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since manipulators are inserted into the patient's body cavity, they must be cleaned and sterilized both internally and externally after each use. However, manipulators deteriorate with use, and repeated reuse can lead to malfunctions due to this deterioration. In particular, manipulators have complex mechanisms in the movable parts of the end effector and are exposed to harsh environments during the sterilization process, making malfunctions a significant concern. To prevent such malfunctions, manipulators are usually limited in the number of uses they can be used. The number of uses is counted each time they are reused, and they are discarded once the limit is reached. However, if the number of uses of a manipulator is not accurately counted (especially if the count is not recorded despite use), the manipulator may be reused even if the number of uses has exceeded the limit, potentially causing malfunctions during procedures.

[0005] In this regard, the technology described in Patent Document 1 involves equipping the manipulator with memory so that it is physically and electrically connected to the medical device when connected, and the remaining number of uses is counted. However, the technology described in Patent Document 1 has the problem that the remaining number of uses cannot be confirmed unless the manipulator is connected to the medical device, and that there is a possibility that problems may occur in the memory or electrical connection due to the harsh sterilization process. Furthermore, the technology described in Patent Document 2 uses a shape memory member to convert the thermal energy received by the manipulator during the sterilization process into mechanical energy, thereby counting the remaining number of uses. However, the technology described in Patent Document 2 has the problem that there is a lack of reliability in the count because there are environmental factors that affect the thermal conditions of the sterilization process, such as ambient temperature, so there is no guarantee that the shape of the shape memory member will reliably change during the sterilization process. Furthermore, the technology described in Patent Document 3 counts the remaining number of uses by driving a dial built into the manipulator when the manipulator is connected to the medical device. However, the technology described in Patent Document 3 has the problem of lacking accuracy in counting because the count is recorded even when the manipulator and medical device are attached and detached unintentionally by the user (for example, when the connection between the manipulator and medical device is insufficient and the user attempts to connect it several times). Patent Document 4 does not take this problem into consideration at all.

[0006] The present invention has been made to solve at least some of the above-mentioned problems and aims to provide a technique for accurately counting the number of times a manipulator is used. [Means for solving the problem]

[0007] The present invention has been made to solve at least some of the above-mentioned problems and can be realized in the following forms.

[0008] (1) According to one embodiment of the present invention, a manipulator that can be attached to and detached from a medical device is provided. The manipulator comprises a manipulator body having a tip to which an end effector is attached and a base to which the end is connected to the medical device, and a mechanical counter mechanism provided on the manipulator body, wherein the counter mechanism transitions from a first state to a second state by a first operation on the counter mechanism, and transitions from the second state to the first state by a second operation on the counter mechanism, and counts the number of transitions from the second state to the first state by the second operation.

[0009] In this configuration, the counter mechanism transitions from a first state to a second state by a first operation on the counter mechanism, and then transitions from the second state to the first state by a second operation on the counter mechanism after transitioning to the second state. The counter mechanism then counts the number of transitions from the second state to the first state caused by the second operation. In other words, the counter mechanism has a first state that cannot be counted and a second state that can be counted, and since it only counts the number of transitions from the second state to the first state, miscounts can be suppressed. By using such a counter mechanism to count the number of times a manipulator is used, the number of times the manipulator is used can be counted with high accuracy.

[0010] (2) In the manipulator of the above form, the counter mechanism includes a counter plate on which a count number is displayed on the main surface and which is rotatably fixed to the manipulator body; a first member which is rotatably fixed to the manipulator body and rotates the counter plate when rotating to one side in the direction of rotation, and does not rotate the counter plate when rotating to the other side; and a second member which engages with the first member to restrict the rotation of the first member to the other side, wherein the first state is a state in which the second member and the first member are engaged and the first member is rotated relatively to the one side, and the second state is a state in which the second member and the first member are not engaged and the first member is rotated relatively to the other side. With this configuration, the mechanical structure consisting of the counter plate, the first member, and the second member allows the counter plate to be rotated by relatively rotating the first member of the counter mechanism to one side when transitioning from the second state to the first state, thereby automatically counting the number of transitions.

[0011] (3) In the manipulator of the above form, the counter mechanism may, in the first state, have the end of the first member housed in the manipulator body and allow the base end of the manipulator to be connected to the medical device, and in the second state, have the end of the first member protruding outside the manipulator body and prevent the base end of the manipulator from being connected to the medical device. With this configuration, in the first state, the end of the first component is housed within the manipulator body, and in the second state, the end of the first component protrudes outside the manipulator body. This allows the user to quickly grasp the current state of the manipulator (whether it is in the first or second state, i.e., before counting or after counting). Furthermore, with this configuration, in the second state, the end of the first component protrudes outside the manipulator body, preventing the base end of the manipulator from being connected to a medical device. This helps to prevent forgetting to count the transition from the second state to the first state, i.e., the number of transitions.

[0012] (4) In the manipulator of the above form, the counter mechanism may prevent the transition from the second state to the first state when the number of transitions from the second state to the first state reaches a predetermined number. In this configuration, the counter mechanism inhibits the transition from the second state to the first state when the number of transitions from the second state to the first state reaches a predetermined number. In the second state, the end of the first member protrudes outside the manipulator body, preventing the base end of the manipulator from being connected to the medical device. This prevents the user from mistakenly attaching and reusing a manipulator that has exceeded the upper limit in terms of the number of transitions from the second state to the first state (i.e., the number of times the manipulator has been used) to a medical device.

[0013] (5) In the manipulator of the above-described embodiment, the counter mechanism may further include a display unit that displays the number of times of the transition. According to this configuration, since the counter mechanism has a display unit that displays the number of times of the transition, the user can easily confirm the number of times of the transition from the second state to the first state (i.e., the number of times the manipulator is used) by checking the display unit. As a result, the usability of the manipulator can be improved.

[0014] Note that the present invention can be realized in various aspects. For example, it can be realized in the form of a manipulator detachable from a medical device such as a surgical support robot, a manipulator auxiliary device connected to the manipulator, a cleaning nozzle for cleaning the manipulator, a manipulator auxiliary device provided with the cleaning nozzle, a manipulator system provided with the manipulator auxiliary device and the manipulator, a surgical support robot provided with the manipulator auxiliary device or the manipulator, and manufacturing methods thereof.

Brief Description of the Drawings

[0015] [Figure 1] It is an explanatory diagram illustrating the configuration of a manipulator system. [Figure 2] It is an explanatory diagram showing the configuration of an end effector. [Figure 3] It is an explanatory diagram showing the configuration of the main body device as viewed from the base end side. [Figure 4] It is an explanatory diagram showing the state transition of the auxiliary device. [Figure 5] It is an explanatory diagram showing the configuration of the auxiliary device as viewed from the base end side. [Figure 6] It is an explanatory diagram showing the configuration of the auxiliary device as viewed from the tip end side. [Figure 7] It is an exploded perspective view of the auxiliary device. [Figure 8] It is an explanatory diagram regarding the connection between the auxiliary device and the manipulator. [Figure 9] It is a diagram showing the state of the auxiliary device in each mode shown in FIG. 4. [Figure 10]It is a diagram showing the relationship between the dial and the main shaft in each mode shown in FIG. 4. [Figure 11] It is a diagram showing the relationship between the auxiliary gear and the driven gear in each mode shown in FIG. 4. [Figure 12] It is an explanatory diagram showing a longitudinal section of the auxiliary device. [Figure 13] It is an explanatory diagram exemplifying the configuration of the counter mechanism of the manipulator. [Figure 14] It is an explanatory diagram of the operating part for operating the counter mechanism. [Figure 15] It is an explanatory diagram exemplifying the configuration of the cleaning nozzle. [Figure 16] It is an explanatory diagram exemplifying the configuration of the cleaning nozzle. [Figure 17] It is an explanatory diagram of the usage method of the cleaning nozzle. [Figure 18] It is an explanatory diagram showing the configuration of the manipulator of the second embodiment. [Figure 19] It is a diagram showing the state of the auxiliary device in each mode of the second embodiment. [Figure 20] It is a diagram showing the relationship between the auxiliary gear and the driven gear in each mode of the third embodiment. [Figure 21] It is an explanatory diagram of the auxiliary device and the manipulator of the fourth embodiment. [Figure 22] It is an explanatory diagram showing the state transition of the auxiliary device of the fifth embodiment. [Figure 23] It is an explanatory diagram exemplifying the configuration of the cleaning nozzle of the sixth embodiment. [Figure 24] It is an explanatory diagram exemplifying the configuration of the cleaning nozzle of the seventh embodiment.

Mode for Carrying Out the Invention

[0016] <First Embodiment> Figure 1 is an explanatory diagram illustrating the configuration of the manipulator system 9. The manipulator system 9 comprises a manipulator 2 and a manipulator auxiliary device 1 (hereinafter also simply referred to as "auxiliary device 1"). The manipulator 2 is attached to the robotic arm of a surgical support robot (medical device) and used in laparoscopic surgery, etc. The auxiliary device 1 is a device that assists in the use of the manipulator 2. Note that the manipulator 2 may be configured to be attached to a medical device that is operated directly by the user, rather than a surgical support robot (medical device). The auxiliary device 1 broadly has the following functions a, b, and c. Details will be described later. (a) A function to assist in the detachment of manipulator 2 from the patient's body cavity, (b) A function to count the number of times manipulator 2 is used. (c) A function to assist in cleaning the inside of the manipulator 2.

[0017] Note that Figure 1 includes parts where the relative sizes of the components are depicted differently from reality for the sake of explanation. It also includes parts where some components are depicted in an exaggerated manner. Figure 1 illustrates mutually orthogonal XYZ axes. The X-axis corresponds to the longitudinal direction of the auxiliary device 1 and manipulator 2, the Y-axis corresponds to the width direction of the auxiliary device 1 and manipulator 2, and the Z-axis corresponds to the height direction of the auxiliary device 1 and manipulator 2. The left side of Figure 1 (-X-axis direction) is called the "tip side" of the auxiliary device 1 and manipulator 2, and the right side of Figure 1 (+X-axis direction) is called the "base side" of the auxiliary device 1 and manipulator 2. Of the two ends of the auxiliary device 1 and manipulator 2 in the longitudinal direction (X-axis direction), the end located on the tip side is called the "tip," and the other end located on the base side is called the "base." The tip and its vicinity are called the "tip portion," and the base and its vicinity are called the "base portion." These points are also common in Figure 1 and subsequent figures.

[0018] Figure 2 is an explanatory diagram showing the configuration of the end effector 21. Figure 3 is an explanatory diagram showing the configuration of the main body device 23 as viewed from the base end. As shown in Figure 1, the manipulator 2 has an end effector 21, a spindle 22, and a main body device 23, arranged from the tip end to the base end. In other words, the end effector 21 is attached to the tip of the main body device 23 (specifically, the manipulator body 231) via the spindle 22.

[0019] The end effector 21 is a movable part located at the tip of the manipulator 2. As shown in Figure 2, the end effector 21 has a forceps 211, a first joint 212, a first extension 213, a second joint 214, and a second extension 215. The forceps 211 consists of two elongated gripping members, and grasps biological tissue by separating / contacting the tips while fixing the base ends of each gripping member. In the example in Figure 2, the contact surfaces of the tips of the gripping members are wavy in shape to facilitate the grasping of biological tissue. The first joint 212 is provided between the forceps 211 and the first extension 213. The first joint 212 fixes the forceps 211 in a rotatable state relative to the first extension 213. The first extension 213 is an extension provided between the first joint 212 and the second joint 214. The second joint 214 is located between the first extension portion 213 and the second extension portion 215. The second joint 214 fixes the first extension portion 213 to the second extension portion 215 in a flexible state. The second extension portion 215 is an extension portion located on the proximal end side of the second joint 214.

[0020] The main spindle 22 is a rod-shaped member provided between the end effector 21 and the main body device 23. As shown in Figure 2, the main spindle 22 can rotate around its axis. Inside the main spindle 22 are power transmission members for operating the various parts of the end effector 21 described above.

[0021] The main unit 23 is a device positioned at the base end of the manipulator 2. The main unit 23 is detachable from the surgical support robot and the auxiliary device 1. As shown in Figure 3, the main unit 23 has a manipulator body 231 as the housing that constitutes the main body of the main unit 23. The base end face 236 of the manipulator body 231 is provided with four driven gears 235 that transmit power to four power transmission members of the main unit 23, and a cleaning port 2361. The cleaning port 2361 is an opening that communicates with a flow path formed inside the main unit 23 and the main shaft 22. Except for this cleaning port 2361 and the forceps 211 of the end effector 21, the inside of the manipulator 2 is sealed. In other words, except for the cleaning port 2361 and the forceps 211, no fluid can enter or leave the inside of the manipulator 2. To improve the airtightness inside the manipulator 2, it is preferable to have as few openings as possible in the manipulator 2. Therefore, in this embodiment, the manipulator 2 is provided with only one opening (washing port 2361), excluding the forceps 211. The manipulator 2 may also be provided with a removable cover to block the washing port 2361.

[0022] The driven gear 235 includes a gripping axis gear 2351, a main axis gear 2352, an end-tip rotation axis gear 2353, and a bending axis gear 2354. The gripping axis gear 2351 is a gear that transmits power to switch between the released and gripping states of the forceps 211. The main axis gear 2352 is a gear that transmits power to rotate the main axis 22. The end-tip rotation axis gear 2353 is a gear that transmits power to rotate the forceps 211. The bending axis gear 2354 is a gear that transmits power to bend the second joint 214. Each of these driven gears 235 is partially covered (about half in the example in Figure 3) by a gear cover 237, with the remaining portion exposed to the outside. The driven gears 235 engage with the gears on the surgical assistance robot side when the manipulator 2 is connected to the surgical assistance robot. Furthermore, when the manipulator 2 is connected to the auxiliary device 1, the driven gear 235 engages with the auxiliary gear 17 of the auxiliary device 1 (Figures 6 and 7). Other components of the manipulator 2 will be described later. The gripping shaft gear 2351 functions as the "first driven gear," and the bending shaft gear 2354 functions as the "second driven gear."

[0023] Figure 4 is an explanatory diagram showing the state transitions of the auxiliary device 1. The auxiliary device 1 has three operating modes as shown in Figure 4. Cleaning mode M2 ​​is a mode for performing the function of (c) assisting in cleaning the inside of the manipulator 2. Gear drive mode M3 is a mode for performing the function of (a) assisting in the detachment of the manipulator 2. Neutral mode M1 is a mode that is always entered when switching between cleaning mode M2 ​​and gear drive mode M3, and there is no function performed in neutral mode. The method of transitioning between each mode will be described later.

[0024] Figure 5 is an explanatory diagram showing the configuration of the auxiliary device 1 as viewed from the base end. Figure 6 is an explanatory diagram showing the configuration of the auxiliary device 1 as viewed from the tip end. Figure 7 is an exploded perspective view of the auxiliary device 1. The configuration of the auxiliary device 1 will be explained using Figures 5, 6, and 7. The auxiliary device 1 includes a handle 11, a dial 12, a main shaft 13, a frame 14, a side lock button 15, a pin 16, an auxiliary gear 17, a protrusion 18, and a cleaning nozzle 19. The auxiliary device 1 corresponds to the "manipulator auxiliary device body".

[0025] The handle 11 is positioned at the most proximal end of the auxiliary device 1 and is a component used by the user to operate the auxiliary device 1. The handle 11 is connected to the auxiliary gear 17 via a main shaft 13 inserted inside the frame 14 and transmits driving force to the auxiliary gear 17. The handle 11 comprises a gripping portion 111 for the user to grasp and a cylindrical extension portion 112 that extends from the gripping portion 111 toward the tip side (i.e., toward the dial 12). The handle 11 is fixed by a screw 113 screwing into the inside of the main shaft 13 via a washer 114, with the main shaft 13 inserted inside the extension portion 112 and a knob latch spring 115 built into the gripping portion 111. As a result, the handle 11 is fixed in a biased state toward the tip side (i.e., toward the dial 12).

[0026] The dial 12 functions as a "switching unit" for switching between the neutral mode M1, cleaning mode M2, and gear drive mode M3, as explained in Figure 4. The dial 12 is a disc-shaped, or in other words, circular plate-shaped, component. The dial 12 is located between the handle 11 and the frame 14. The dial 12 has a notch 121 formed on its outer circumference, which is recessed toward the center of the dial 12, and a second elongated hole 122 located in the center. The second elongated hole 122 is an elliptical through-hole that penetrates the tip and base ends of the dial 12. The dial 12 is fixed to the frame 14 with the main shaft 13 inserted through the second elongated hole 122. Therefore, the dial 12 is rotatable around the main shaft 13. A cam structure 123 for operating the pin 16 is provided on the peripheral edge of the tip side (frame 14 side) of the dial 12. Details of the cam structure 123 will be described later. Two dial lock pins 124 are provided on the tip side (frame 14 side) of the dial 12. The dial lock pins 124 are protrusions that extend outwards from the tip side (frame 14 side). A position indicator 120 is provided on the base side (handle 11 side) of the dial 12. The position indicator 120 is a memory marking, where one end of the memory is located at a position corresponding to one end of the second elongated hole 122, the other end of the memory is located at a position corresponding to the other end of the second elongated hole 122, and the center of the memory is located at a position corresponding to the center of the second elongated hole 122.

[0027] The main spindle 13 is a cylindrical member extending in the longitudinal direction (X-axis direction) of the auxiliary device 1. The main spindle 13 is inserted through the handle 11, the dial 12, and the frame 14 from the base end to the tip end. At the tip of the main spindle 13, the auxiliary gear 17 is fixed via a bearing 131 and a washer 171. Between the frame 14 and the dial 12 are a spring 128 extending in the X-axis direction and a dial rotation spring 129 extending in the YZ-axis direction. The spring 128 is arranged to surround the periphery of the main spindle 13. The spring 128 biases the dial 12 toward the base end (i.e., the side of the handle 11). The dial rotation spring 129 biases the dial 12 toward the circumferential direction (YZ-axis direction) of the dial 12. The main spindle 13 may be cylindrical, polygonal prism, or polygonal cylinder, as long as it is rod-shaped.

[0028] Frame 14 is the housing that constitutes the main body of the auxiliary device 1 and functions as the "main body part". Frame 14 is provided between the dial 12 and the auxiliary gear 17. A first elongated hole 145 is formed in the center of frame 14. The first elongated hole 145 is an elliptical through hole that penetrates the front end face and the base end face of frame 14. The main shaft 13 is inserted through the first elongated hole 145. The base end side (dial 12 side) of frame 14 is a bottomed cylindrical shape with a bottom and a raised edge. The bottom of frame 14 is also called the "base end face 142". Two pairs of recesses 143 are formed on the base end face 142. In the assembled state of the auxiliary device 1, the dial 12 is housed inside the edge (Figure 5). In the assembled state, the dial lock pin 124 of the dial 12 fits into one of the recesses 143, fixing the dial 12 in a state where it is relatively rotated relative to the frame 14. Conversely, the dial lock pin 124 of the dial 12 fits into the other recess 143, fixing the dial 12 in a state where it is not relatively rotated relative to the frame 14.

[0029] The front end of the frame 14 (the side with the auxiliary gear 17) has flanges 141 formed at its four corners, which are raised outward in the circumferential direction (i.e., a total of four flanges 141 are formed at each of the four corners). In addition, two housing sections 144 are formed between one flange 141 and the other flanges 141. The two housing sections 144 are recesses formed at opposing positions on the frame 14 (in the ±Y axis direction of the frame 14). A side lock button 15 is assembled to each housing section 144 (Figures 5 and 6).

[0030] The side lock button 15 is a component for maintaining the connection between the auxiliary device 1 and the manipulator 2, and for releasing the connection between the auxiliary device 1 and the manipulator 2. The side lock button 15 has a shaft 152 that protrudes toward the frame 14. The side lock button 15 is fixed to the frame 14 by fitting the shaft 152 into a shaft hole (not shown) provided in the housing portion 144 of the frame 14. At the tip of the side lock button 15, on the outside of the side lock button 15 (opposite side from the frame 14), there is a claw 151 that protrudes toward the outside.

[0031] Pin 16 is a flat, elongated member that functions as an "acting part" that switches the counter mechanism of the manipulator 2 (details described later) to a decrementable state. At the center of pin 16, there is an elongated hole 161 that extends along the direction of extension of pin 16 and penetrates one face of pin 16 to the other face of pin 16. A spring (not shown) is placed in the elongated hole 161 of pin 16. One end of the spring is in contact with the frame 14, and the other end is positioned to press the base end side (handle 11 side) of the portion of pin 16 that defines the elongated hole 161. The spring biases pin 16 toward the base end side (handle 11 side).

[0032] The auxiliary gear 17 is a gear that engages with the driven gear 235 of the manipulator 2 when the auxiliary device 1 is connected to the manipulator 2. The auxiliary gear 17 is located at the front end of the frame 14. The auxiliary gear 17 is fixed to the front end of the main shaft 13 via a bearing 131 and a washer 171. Therefore, when the user rotates the handle 11, rotational force is transmitted to the auxiliary gear 17 via the main shaft 13, causing it to rotate in the same direction as the rotation of the handle 11.

[0033] The protruding portion 18 is a component that is attached to the front end surface of the frame 14, causing a portion of the frame 14 to protrude toward the front end. The presence of the protruding portion 18 allows for the creation of space between the frame 14 of the auxiliary device 1 and the manipulator 2 for the auxiliary gear 17 to rotate when the auxiliary device 1 is connected to the manipulator 2 (Figure 6).

[0034] The cleaning nozzle 19 is a component that, when the auxiliary device 1 is connected to the manipulator 2, is connected to the flow path inside the manipulator 2 and supplies cleaning fluid (for example, cleaning solution for cleaning medical devices) to the flow path inside the manipulator 2. In other words, the cleaning nozzle 19 is a component for cleaning the manipulator 2. The base end surface of the cleaning nozzle 19 is provided with a first base end opening 191 to which an external instrument (syringe) is connected, and a second base end opening 192. Details of the cleaning nozzle 19 will be described later.

[0035] Figure 8 is an explanatory diagram of the connection between the auxiliary device 1 and the manipulator 2. As shown in Figure 8, the main body device 23 of the manipulator 2 has a cover 232 on one side of the manipulator body 231. A counter mechanism (details will be described later) is housed inside the cover 232. A window 233 for displaying the "number of times" counted by the counter mechanism is provided in the center of the cover 232. The window 233 is a through hole that penetrates the outer and inner surfaces of the cover 232. A lever 234 is further attached to the main body device 23. The lever 234 has a projection 2341 for the user to grasp and a pair of arms 2342 that extend toward the side surface 2311 of the manipulator body 231. The ends 2343 of the arms 2342 of the lever 2344 are fixed to the side surface 2311 of the manipulator body 231 in a rotatable manner. The side surfaces 2311 are the surfaces of the manipulator body 231 adjacent to the surfaces on which the cover 232 is attached. As described above, four driven gears 235 are provided on the base end surface 236 of the manipulator body 231.

[0036] As shown in Figure 8, the tip of the auxiliary device 1 is detachably attached to the base end of the manipulator 2. Specifically, as indicated by the white arrow, when the auxiliary device 1 is pushed against the manipulator 2, the claw 151 of the side lock button 15 catches on the manipulator 2, allowing the auxiliary device 1 to maintain its connection with the manipulator 2. Furthermore, as indicated by the hatched arrow, the user can release the catch between the claw 151 and the manipulator 2 by pushing the side lock button 15 toward the frame 14, thereby disconnecting the auxiliary device 1 from the manipulator 2.

[0037] Figure 9 shows the state of the auxiliary device 1 in each mode shown in Figure 4. Figure 10 shows the relationship between the dial 12 and the spindle 13 in each mode shown in Figure 4. Figure 11 shows the relationship between the auxiliary gear 17 and the driven gear 235 in each mode shown in Figure 4. Hereafter, the operating modes of the auxiliary device 1 will be explained using Figures 4, 9, 10, and 11.

[0038] Figure 9(A) shows the state of the auxiliary device 1 in neutral mode M1. Figure 10(A) shows the dial 12 in the first position. In neutral mode M1, the dial 12 blocks the openings of the cleaning nozzle 19 (first base opening 191 and second base opening 192). Therefore, access to the cleaning nozzle 19 is restricted. Also, in neutral mode M1, as shown in Figure 11, the handle 11 and the spindle 13 connected to the handle 11 are positioned at the center P1 of the second elongated hole 122 of the dial 12. Therefore, the auxiliary gear 17(P1) located at the tip of the spindle 13 is not engaged with any of the driven gears 235 of the manipulator 2. Furthermore, in neutral mode M1, as shown in Figure 10(A), the second elongated hole 122 of the dial 12 is oriented in the same direction as the first elongated hole 145 of the frame 14 (the direction of extension of the major axis of the second elongated hole 122 coincides with the direction of extension of the major axis of the first elongated hole 145). Therefore, sliding movement of the handle 11 and the spindle 13 connected to the handle 11 is permitted. The sliding movement takes place on the YZ plane intersecting the spindle 13 (X axis).

[0039] Figure 9(B) shows the state of the auxiliary device 1 in cleaning mode M2. Figure 10(B) shows the dial 12 in the second position. In cleaning mode M2, the position of the notch 121 of the dial 12 coincides with the position of the opening of the cleaning nozzle 19 (first base opening 191 and second base opening 192). Therefore, access to the cleaning nozzle 19 is permitted. Also, in cleaning mode M2, as shown in Figure 10(B), the second elongated hole 122 of the dial 12 is oriented differently from the first elongated hole 145 of the frame 14 (the direction of extension of the long axis of the second elongated hole 122 is different from the direction of extension of the long axis of the first elongated hole 145). Therefore, the dial 12 and the frame 14 restrict the movement of the spindle 13, thereby restricting the sliding movement of the handle 11 and the spindle 13 connected to the handle 11. In other words, in Figure 10(B), the sliding movement of the handle 11 and the spindle 13 is restricted by the phase difference between the second elongated hole 122 and the first elongated hole 145.

[0040] Figures 9(C) and 9(D) show the state of the auxiliary device 1 in gear drive mode M3. In gear drive mode M3, the openings of the cleaning nozzle 19 (first base opening 191 and second base opening 192) are blocked by the dial 12. Therefore, access to the cleaning nozzle 19 is restricted. Also, in gear drive mode M3, as shown in Figure 10(A), the second elongated hole 122 of the dial 12 is oriented in the same direction as the first elongated hole 145 of the frame 14. Therefore, sliding movement of the handle 11 and the spindle 13 connected to the handle 11 is permitted.

[0041] As shown in Figures 9(C) and 11, in neutral mode M1, sliding the handle 11 to one end of the second slot 122 causes the main shaft 13 connected to the handle 11 to slide to one end P2 of the second slot 122, thereby transitioning the auxiliary device 1 to gear drive mode M3. As a result, the relative position of the auxiliary gear 17 located at the tip of the main shaft 13 with respect to the frame 14 also changes from position P1 to position P2, and the auxiliary gear 17 engages with the driven gear 235 (specifically, the gripping shaft gear 2351) of the manipulator 2. In this state, by rotating the handle 11, the auxiliary device 1 can operate the forceps 211 of the manipulator 2. Similarly, as shown in Figures 9(C) and 11, in neutral mode M1, sliding the handle 11 to the other end of the second slot 122 causes the spindle 13 connected to the handle 11 to slide to the other end P3 of the second slot 122, thereby transitioning the auxiliary device 1 to gear drive mode M3. As a result, the relative position of the auxiliary gear 17 located at the tip of the spindle 13 with respect to the frame 14 also changes from position P1 to position P3, and the auxiliary gear 17 engages with the driven gear 235 (specifically, the bending shaft gear 2354) of the manipulator 2. In this state, by rotating the handle 11, the auxiliary device 1 can operate the second joint 214 of the manipulator 2. Thus, in gear-driven mode M3, with the auxiliary device 1 connected to the manipulator 2, the user can selectively engage the auxiliary gear 17 of the auxiliary device 1 with one of the driven gears 235 of the manipulator 2 by sliding the handle 11, thereby operating one of the end effectors 21. In gear-driven mode M3, it is also possible to move the handle 11 and the main spindle 13 to the other end P3 of the second elongated hole 122 by sliding the handle 11 from a position P1 (neutral mode M1) to the other end P3 of the second elongated hole 122, and vice versa.

[0042] As shown in Figure 4, when the auxiliary device 1 is in neutral mode M1, the dial 12 is rotated from the first position shown in Figure 10(A) to the second position shown in Figure 10(B), thereby transitioning to cleaning mode M2. When the auxiliary device 1 is in cleaning mode M2, the auxiliary device 1 returns to neutral mode M1 when the handle 11 is pulled toward the base end (Figure 1: +X axis direction) or when the side lock button 15 is pushed toward the frame 14. As shown in Figure 4, when the auxiliary device 1 is in neutral mode M1, the handle 11 is moved to the end of the second elongated hole 122 of the dial 12 (Figure 11: P2, P3), thereby transitioning to gear drive mode M3. When the auxiliary device 1 is in gear drive mode M3, the handle 11 is moved to the center of the second elongated hole 122 of the dial 12 (Figure 11: P1), thereby returning to neutral mode M1.

[0043] Thus, in the first position shown in Figure 10(A), the dial 12 of the auxiliary device 1 aligns the positions of the notch 121 and the cleaning nozzle 19, and aligns the orientation of the second elongated hole 122 and the first elongated hole 145. Furthermore, in the second position shown in Figure 10(B), the dial 12 of the auxiliary device 1 aligns the positions of the notch 121 and the cleaning nozzle 19, and aligns the orientation of the second elongated hole 122 and the first elongated hole 145 (in other words, the orientation of the second elongated hole 122 and the orientation of the first elongated hole 145 are different). As a result, the dial 12 of the auxiliary device 1 can function as a switching unit that allows switching between cleaning mode M2 ​​and neutral mode M1, and between gear drive mode M3 and neutral mode M1, while restricting switching between gear drive mode M3 and cleaning mode M2 ​​without going through neutral mode M1.

[0044] Furthermore, staggering the positions of the notch 121 and the cleaning nozzle 19 means that the notch 121 of the dial 12 and the opening of the cleaning nozzle 19 (first base opening 191 and second base opening 192) do not overlap, and this includes the embodiments illustrated in Figures 9(A), (C), and (D), i.e., the dial 12 blocks at least a portion of the opening of the cleaning nozzle 19, thereby preventing the syringe from being attached to the opening of the cleaning nozzle 19. Conversely, aligning the positions of the notch 121 and the cleaning nozzle 19 means that the notch 121 of the dial 12 and the opening of the cleaning nozzle 19 (first base opening 191 and second base opening 192) overlap, and this includes the embodiment illustrated in Figure 9(B), i.e., the dial 12 does not block the opening of the cleaning nozzle 19, thereby allowing the syringe to be attached to the opening of the cleaning nozzle 19.

[0045] Figure 12 is an explanatory diagram showing a longitudinal section of the auxiliary device 1. Figure 12(A) is a longitudinal cross-sectional view of the auxiliary device 1 in its normal state. The dial 12 is biased by a dial rotation spring 129 (see Figure 7) built between the dial 12 and the frame 14 in the direction of movement from the second position shown in Figure 10(B) to the first position shown in Figure 10(A), in other words, in the direction of rotation (return) from the second position to the first position. The handle 11 is also biased toward the dial 12 by a built-in knob latch spring 115. Therefore, in the normal state, the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14) prevents the dial 12 from automatically rotating due to the biasing by the dial rotation spring 129. Here, the normal state means that the handle 11 is not pulled and the side lock button 15 is not pressed. As shown in Figure 12(A), the dial lock pin 124, provided on the tip side of the dial 12, engages with a recess 143 provided on the base end surface 142 of the frame 14, thereby maintaining the state of the dial 12 (first and second positions).

[0046] Figure 12(B) is a longitudinal cross-sectional view of the auxiliary device 1 when returning from cleaning mode M2 ​​to neutral mode M1. When the handle 11 is pulled toward the base end as shown by the arrow indicated by the hatched lines in cleaning mode M2, the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14) is eliminated. Also, the dial 12 is biased toward the handle 11 by the spring 128. As a result, the engagement between the dial lock pin 124 and the recess 143 is disengaged, and the dial 12 automatically rotates from the second position shown in Figure 10(B) to the first position shown in Figure 10(A), returning from cleaning mode M2 ​​to neutral mode M1. When in cleaning mode M2, if the side lock button 15 is pushed toward the frame 14 as shown by the white arrow, the movement of the side lock button 15 toward the frame 14 causes the side lock button 15 to press toward the handle 11 toward the dial 12, disengaging the dial lock pin 124 from the recess 143. The dial 12 then automatically rotates from the second position to the first position, returning from cleaning mode M2 ​​to neutral mode M1.

[0047] As shown in Figure 11, in this embodiment, the gripping shaft gear 2351 and the bending shaft gear 2354 can rotate any amount in the D1 direction (shown by the solid line) without any problems, but it is preferable not to rotate them excessively in the D2 direction (shown by the dashed line). Here, "rotating excessively" means that the torque applied to the handle 11 exceeds a predetermined amount. Therefore, the auxiliary device 1 of this embodiment includes a torque limiting mechanism. Specifically, in gear drive mode M3, when the handle 11 and the main shaft 13 located at one end P2 of the second elongated hole 122 are rotated in the direction indicated by the solid arrow, the main shaft 13 does not become misaligned, and the auxiliary gear 17 continues to transmit rotational force to the gripping shaft gear 2351. On the other hand, when rotated in the direction indicated by the dashed arrow, as shown by the dashed line in Figure 12(A), the spindle 13 undergoes axial misalignment (a phenomenon in which the spindle 13 tilts with respect to the longitudinal direction of the auxiliary device 1, i.e., the X-axis direction), which disengages the engagement between the auxiliary gear 17 and the gripping shaft gear 2351, preventing the transmission of rotational force to the gripping shaft gear 2351. This is achieved by the balance between the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14) and the force that causes the spindle 13 to shift. Similarly, in gear drive mode M3, when the handle 11 and spindle 13 are positioned at the other end P3 of the second elongated hole 122, the spindle 13 does not undergo axial misalignment when rotated in the direction indicated by the solid arrow, but it does undergo axial misalignment when rotated in the direction indicated by the dashed arrow.

[0048] Figure 13 is an explanatory diagram illustrating the configuration of the counter mechanism of manipulator 2. Figure 13(A) shows the first state of the counter mechanism. Figure 13(B) shows the second state of the counter mechanism. Note that Figure 13 shows manipulator 2 with the cover 232 (see Figure 8) removed. In Figure 13, for the sake of explanation, different types of hatching are applied to some of the components, and the configuration of the manipulator body 231 that hides the counter mechanism and its surrounding area are shown with dashed lines, as is the window 233 of the cover 232, also shown with a dashed line. Using Figure 13, (b) the function of counting the number of uses of manipulator 2 will be explained.

[0049] As shown in Figure 13, the manipulator 2 is equipped with a mechanical counter mechanism. The manipulator 2 can be used multiple times by cleaning it after use. The counter mechanism counts the remaining number of uses of the manipulator 2, in other words, the number of times the manipulator 2 has been cleaned. The counter mechanism includes a counter plate 238, a counter lever 230 (first component), and a lock lever 239 (second component). The counter plate 238 is a disc-shaped, or in other words, circular plate-shaped component. The counter plate 238 is fixed to the manipulator body 231 so as to be rotatable around an axis 2303. The counter plate 238 displays a count number 2381, "E,1,2,···,16,17", on its main surface (the surface in the +Z axis direction). Only one of the count numbers on the counter plate 238 is visible to the outside through the window 233 (dashed line) of the cover 232, allowing the user to check the remaining number of uses of the manipulator 2. In other words, the counter panel 238 and the window 233 function as a "display unit". The "E" in the count 2381 indicates that the remaining uses of the manipulator 2 have run out. On the main surface of the counter panel 238, a projection 2382 is formed where a part of the main surface rises toward the lid 232, adjacent to the count 2381 "E" (on the opposite side from the count 2381 "1").

[0050] The counter lever 230 is fixed to the manipulator body 231 so as to be rotatable around the axis 2303 (in other words, coaxial with the counter plate 238). The counter lever 230 has a first extension portion 2301 that extends toward the lock lever 239 and a second extension portion 2302 that extends toward the base end of the manipulator body 231. As shown in Figure 13(B), when the counter lever 230 rotates itself (counter lever 230) toward one side S1, it rotates the counter plate 238 by one memory unit of count number 2381. When the counter lever 230 rotates itself (counter lever 230) toward the other side S2, it does not rotate the counter plate 238. The counter lever 230 corresponds to the "first member".

[0051] The lock lever 239 is fixed to the manipulator body 231 so as to be rotatable around an axis 2394. The lock lever 239 has a recess 2391 formed on a portion of the counter lever 230 side for engaging with the first extension portion 2301 of the counter lever 230. The lock lever 239 has an extension portion 2392 that extends toward the base end of the manipulator body 231. The lock lever 239 is structured to pull against the counter lever 230 by a spring 2393. As shown in Figure 13(A), the lock lever 239 restricts the rotation of the counter lever 230 toward the other side S2 by engaging the first extension portion 2301 of the counter lever 230 with the recess 2391 of the lock lever 239. The lock lever 239 corresponds to the "second member".

[0052] In other words, as shown in Figure 13(A), in the first state of the counter mechanism, the lock lever 239 (second member) and the counter lever 230 (first member) are engaged, and the counter lever 230 rotates relatively to one side S1. Therefore, in the first state of the counter mechanism, the end portion 2304 of the counter lever 230 is housed in the manipulator body 231. Since the end portion 2304 is housed in the manipulator body 231 in this way, there are no members located within the notch 2312, and in the first state, it is permissible to connect a surgical support robot to the manipulator 2 (see Figure 8). Also, as shown in Figure 13(B), in the second state of the counter mechanism, the lock lever 239 (second member) and the counter lever 230 (first member) are not engaged, and the counter lever 230 rotates relatively to the other side S2 by being pulled by the spring 2393. Therefore, in the second state of the counter mechanism, the end portion 2304 of the counter lever 230 protrudes to the outside of the manipulator body 231. Because the end portion 2304 protrudes to the outside of the manipulator body 231 in this way, interference with the end portion 2304 located within the notch 2312 prevents the connection of the surgical support robot to the manipulator 2 in the second state.

[0053] Figure 14 is an explanatory diagram of the operating part that drives the counter mechanism. Note that in Figure 14, only the dial 12, pin 16, and main shaft 13 of the auxiliary device 1 are shown. The state transition between the first and second states will be explained using Figure 14.

[0054] A cam structure 123 for operating the pin 16 is provided on the peripheral edge of the tip side (frame 14 side) of the dial 12. The cam structure 123 is a cylindrical cam having a recess 1231 where the thickness of the dial 12 is thin and the tip of the dial 12 is recessed, a convex portion 1233 where the thickness of the dial 12 is thick and the tip of the dial 12 protrudes, and an inclined portion 1232 provided between the recess 1231 and the convex portion 1233. As described above, the pin 16 is biased toward the base end side (handle 11 side) by a spring placed in the elongated hole 161 of the pin 16. When the auxiliary device 1 is in neutral mode M1 or gear drive mode M3, the base end of the pin 16 (Figure 14: dashed line) is housed in the recess 1231, and the tip portion 162 of the pin 16 is housed within the frame 14. On the other hand, when the auxiliary device 1 transitions from neutral mode M1 to cleaning mode M2, as the dial 12 rotates, the base end of the pin 16 slides along the inclined portion 1232 and moves to the convex portion 1233, causing the pin 16 to be pressed, and the tip portion 162 of the pin 16 protrudes from the tip of the frame 14. When the pressure from the cam structure 123 is released, the biasing force of the spring in the elongated hole 161 causes the pin 16 to return to its housed state within the frame 14. In this way, when the pin 16 moves, it slides within the through hole provided in the frame 14, but the pin 16 is guided by the surface of the frame 14 that defines the through hole, so that the pin 16 can move without wobbling.

[0055] As a result, when the auxiliary device 1 transitions to cleaning mode M2, the tip portion 162 protruding from the frame 14 pushes the end portion 2395 of the lock lever 239 (second member) toward the tip side, releasing the engagement between the lock lever 239 and the counter lever 230 (first member), and the counter lever 230, pulled by the spring 2393, rotates relatively toward the other side S2. In other words, when the auxiliary device 1 transitions to cleaning mode M2, the counter mechanism transitions from the first state shown in Figure 13(A) to the second state shown in Figure 13(B) when the tip portion 162 of the pin 16 protruding from the frame 14 pushes the end portion 2395 of the lock lever 239 toward the tip side. The "first operation" for transitioning the counter mechanism from the first state to the second state is to push the end 2395 of the lock lever 239 (second member) toward the tip of the manipulator 2, thereby releasing the engagement between the lock lever 239 and the counter lever 230 (first member), and rotating the counter lever 230, which is pulled by the spring 2393, toward the other side S2. In other words, it is the operation to rotate the dial 12 from the first position shown in Figure 10(A) to the second position shown in Figure 10(B).

[0056] Furthermore, when the counter mechanism is in the second state shown in Figure 13(B), the user can rotate the counter lever 230 to one side S1 by placing their finger on the end 2304 of the counter lever 230 that protrudes from the outside of the manipulator body 231, thereby transitioning the counter mechanism from the second state shown in Figure 13(B) to the first state shown in Figure 13(A). At this time, the counter panel 238 rotates by one memory unit of the count number 2381 in accordance with the rotation of the counter lever 230, and the number displayed externally through the window 233 is decremented (-1). Thus, the second state is a state in which the counter mechanism can be decremented. The "second operation" for transitioning the counter mechanism from the second state to the first state is the operation by which the user rotates the counter lever 230 to one side S1.

[0057] Thus, the counter mechanism of this embodiment counts the number of transitions from the second state to the first state by the second operation. Furthermore, in the counter mechanism of this embodiment, the second operation can be performed by the user, while the first operation requires the rotation of the dial 12, making the first operation more difficult (harder to operate) compared to the second operation.

[0058] The counter mechanism restricts further rotation of the counter plate 238 and counter lever 230 when the number of transitions from the second state to the first state (in other words, the rotation of the counter plate 238) reaches a predetermined number, 17 times in the example of Figure 13. This is because the projection 2382 of the counter plate 238 interferes with (comes into contact with) a projection provided on the edge of the window 233, which is the inner surface of the lid 232 (the surface on the counter plate 238 side). As a result, in this embodiment, when the number of transitions from the second state to the first state by the second operation reaches a predetermined number, the counter mechanism can no longer transition to the first state shown in Figure 13(A). At this time, the count 2381 displayed outside through the window 233 is "E". In other words, when the count 2381 "E" is displayed in window 233, although the auxiliary device 1 can be attached and the manipulator 2 can be cleaned in cleaning mode M2 ​​after use, the counter lever 230 cannot be rotated to one side S1 (because the projection 2382 of the counter plate 238 interferes with the projection provided on the edge of window 233), so the manipulator 2 cannot be attached to the robot arm and the manipulator 2 cannot be used. Note that in the example in Figure 13, the predetermined number of times is set to 17, but the predetermined number of times may be arbitrarily determined according to the durability of the manipulator 2 against the sterilization process.

[0059] As shown in Figure 14, the base end side (handle 11 side) of the dial 12 may be provided with a direction indicator 1201, which is an arrow indicating the direction of rotation for rotating the dial 12 from the first position shown in Figure 10(A) to the second position shown in Figure 10(B), along with the position indicator 120. Furthermore, a raised portion 1221 may be formed on the periphery of the second elongated hole 122 of the dial 12, where the periphery of the dial 12 is raised toward the longitudinal center of the second elongated hole 122. The raised portion 1221 is provided at the boundary between positions P1, P2, and P3 of the handle 11 and the main shaft 13 in the neutral mode M1 and the gear drive mode M3.

[0060] Figures 15 and 16 are explanatory diagrams illustrating the configuration of the cleaning nozzle 19. Figure 16(A) is a longitudinal cross-sectional view of the cleaning nozzle 19 inserted into the manipulator 2. Figure 16(B) is a transverse cross-sectional view of the first channel 191L ​​along line AA in Figure 16(A). Figure 16(C) is a transverse cross-sectional view of the second channel 192L along line BB in Figure 16(A). Line AA is a line perpendicular to the extension direction of the first channel 191L, and line BB is a line perpendicular to the extension direction of the second channel 192L. Therefore, Figure 16(B) shows a cross-sectional view of the first channel 191L ​​in a plane perpendicular to the extension direction, and Figure 16(C) shows a cross-sectional view of the second channel 192L in a plane perpendicular to the extension direction. The configuration of the cleaning nozzle 19 will be explained using Figures 15 and 16.

[0061] The cleaning nozzle 19 comprises a nozzle body 190. The nozzle body 190 has a first surface 1901 located at the base end and a second surface 1902 located at the tip end. A projection 1903 is provided extending from the second surface 1902 of the nozzle body 190 toward the tip end. A notch 194 is formed at the lower part of the nozzle body 190, where a part of the nozzle body 190 is cut out. Note that the notch 194 is optional. As shown in Figure 16(A), when the auxiliary device 1 is connected to the manipulator 2, the tip end of the nozzle body 190 (specifically, the tip end of the projection 1903) is inserted into the manipulator 2 through a cleaning port 2361 (opening) provided on the base end surface 236 of the manipulator body 231. The base end of the nozzle body 190 (specifically, the first surface 1901) is provided with a first base end opening 191 and a second base end opening 192. The tip of the nozzle body 190 (specifically, the tip of the protruding portion 1903) is provided with a first tip opening 193 and a second tip opening 195. When the auxiliary device 1 is connected to the manipulator 2, the first tip opening 193 and the second tip opening 195 communicate with the cleaning port 2361 of the manipulator 2.

[0062] Inside the nozzle body 190, a first channel 191L ​​and a second channel 192L are formed. The first channel 191L ​​is a channel whose tip communicates with the first tip opening 193 and whose base end communicates with the first base end opening 191. The second channel 192L is a channel whose tip communicates with the second tip opening 195 and whose base end communicates with the second base end opening 192. As shown in Figures 16(B) and (C), the cross-sectional area of ​​the second channel 192L is smaller than that of the first channel 191L. Here, as shown in Figure 16(A), a portion of the second channel 192L on the side of the second base end opening 192 is an expanded channel 192La with a larger cross-sectional area so that a syringe as an external instrument can be inserted. Therefore, the second channel 192L, shown in Figure 16(C), which has a smaller cross-sectional area than the first channel 191L, refers to the portion of the second channel 192L other than the enlarged channel 192La. In the illustrated example, the cross-sectional shapes of both the first channel 191L ​​and the second channel 192L are circular, but the cross-sectional shapes of the first channel 191L ​​and the second channel 192L can be any shape other than circular.

[0063] As shown in Figure 16(A), the second channel 192L is formed inside the second channel forming member 196. The second channel forming member 196 is positioned inside the nozzle body 190, inclined with respect to the extension direction (X-axis direction) of the nozzle body 190. A portion of the tip side of the second channel forming member 196 protrudes into the first channel 191L ​​from the inner circumferential surface of the first channel 191L. Therefore, at the tip side of the nozzle body 190, the protruding portion 1903 and the second channel forming member 196 form a double-tube-like structure, and a portion of the tip side of the second channel 192L is provided inside the first channel 191L. In addition, the tip portion of the second channel forming member 196 protrudes from the first tip opening 193 toward the tip side (towards the manipulator 2, toward the channel 2L inside the manipulator 2). Therefore, the second tip opening 195 at the tip of the second flow path 192L protrudes from the first tip opening 193 and is located further forward (towards the manipulator 2, towards the flow path 2L within the manipulator 2) than the first tip opening 193. The protruding length L of the second tip opening 195, in other words, the straight-line distance L between the second tip opening 195 and the first tip opening 193, can be determined arbitrarily.

[0064] Here, when the flow path resistance of the first flow path 191L is FR1, the flow path resistance of the second flow path 192L is FR2, and the flow path resistance of the flow path 2L inside the manipulator 2 (in other words, the flow path 2L communicating with the cleaning port 2361 of the manipulator 2) is FR3, in the manipulator system 9 of the present embodiment, the relationship shown in the following formula (1) holds. That is, the flow path resistance FR2 of the second flow path 192L is greater than the flow path resistance FR3 of the flow path 2L inside the manipulator 2. FR3 < FR2 ···(1)

[0065] Furthermore, in the manipulator system 9, it is preferable that the relationship shown in the following formula (2) holds. That is, the flow path resistance FR1 of the first flow path 191L is smaller than the flow path resistance FR3 of the flow path 2L inside the manipulator 2, and the flow path resistance FR2 of the second flow path 192L is greater than the flow path resistance FR3 of the flow path 2L inside the manipulator 2. FR1 < FR3 < FR2 ···(2)

[0066] The magnitude relationship of the flow path resistance FR1, the flow path resistance FR2, and the flow path resistance FR3, that is, the relationships of formulas (1) and (2), can be confirmed by the amount of water flowing out from the first proximal opening 191, the second proximal opening 192, and the forceps 211 when the first flow path 191L, the second flow path 192L, and the flow path 2L of the manipulator 2 are filled with water. Also, regarding the flow path resistance FR1 and the flow path resistance FR2, it is self-evident that FR1 < FR2 from the magnitude relationship of the cross-sectional areas of the first flow path 191L and the second flow path 192L.

[0067] FIG. 17 is an explanatory diagram of the usage method of the cleaning nozzle 19. FIG. 17(A) shows a state where a cleaning fluid is injected into the flow path 2L inside the manipulator 2. FIG. 17(B) shows a state where the cleaning fluid is discharged from the flow path 2L inside the manipulator 2.

[0068] Using Figure 17(A), we will explain the case in which cleaning fluid is injected into the flow path 2L to clean the inside of the main unit 23, the inside of the spindle 22, and the end effector 21. In this case, the tip of the syringe 3 filled with cleaning fluid is inserted into the first flow path 191L ​​through the first base end opening 191. The cleaning fluid supplied from the syringe 3 by inserting the plunger into the syringe 3 passes through the first flow path 191L ​​and flows out from the first tip opening 193, and is supplied to the flow path 2L of the manipulator 2. When the cleaning fluid flows into the flow path 2L, the air in the flow path 2L is pushed out from the second tip opening 195 into the second flow path 192L and discharged to the outside through the second base end opening 192. This allows the cleaning fluid to be injected into the flow path 2L in the manipulator 2 smoothly without requiring excessive force.

[0069] Using Figure 17(B), we will explain the case where the cleaning fluid filling the flow path 2L in the manipulator 2 is discharged to the outside. In this case, the tip of a syringe 3 filled with air (or other gas) is inserted from the second base end opening 192 into the second flow path 192L (specifically, the expanding flow path 192La). The air supplied from the syringe 3 by inserting the plunger into the syringe 3 passes through the second flow path 192L and flows out from the second tip opening 195, and is supplied to the flow path 2L of the manipulator 2. When air flows into the flow path 2L, the cleaning fluid in the flow path 2L is pushed out from the first tip opening 193 into the first flow path 191L ​​and discharged to the outside via the first base end opening 191. This allows the cleaning fluid to be discharged from the flow path 2L in the manipulator 2 smoothly without requiring excessive force. In other words, the first flow path 191L ​​is a flow path for liquids, and the second flow path 192L is a flow path for gases (air).

[0070] As shown by the white arrow in Figure 17(A), when the syringe 3 is pushed toward the manipulator 2, in other words, when an external force is applied from the first base opening 191, the cleaning nozzle 19 slides within the auxiliary device 1 from the base end toward the tip end (in other words, toward the manipulator 2 side). Similarly, as shown by the white arrow in Figure 17(B), when the syringe 3 is pushed toward the manipulator 2, in other words, when an external force is applied from the second base opening 192, the cleaning nozzle 19 slides within the auxiliary device 1 from the base end toward the tip end (in other words, toward the manipulator 2 side). These are achieved by fixing the cleaning nozzle 19 to the frame 14 of the auxiliary device 1 in a slidable state. Here, when an external force is applied to the cleaning nozzle 19 from the first base end opening 191 or the second base end opening 192, it slides along the X-axis from the base end side towards the tip end side (in other words, towards the manipulator 2 side). For example, as shown in Figure 17(A), the first tip end opening 193 and the first base end opening 191, located at both ends of the first flow path 191L, are arranged in a straight line along the sliding direction (X-axis) of the cleaning nozzle 19. On the other hand, the second base end opening 192, located at the base end of the second flow path 192L, is positioned on a virtual line VL that intersects the sliding direction (X-axis).

[0071] Each component of the auxiliary device 1 and each component of the manipulator 2 described above can be formed from well-known resin materials or well-known metal materials. Thus, the auxiliary device 1 and manipulator 2 do not use electronic components, and since the auxiliary device 1 and manipulator 2 have a simple structure consisting of a combination of components made from commonly used materials, they can withstand getting wet during the cleaning process and high temperatures during the sterilization process.

[0072] As described above, according to the manipulator system 9 of the first embodiment, the manipulator auxiliary device 1 (manipulator auxiliary device body) includes an auxiliary gear 17 that engages with the driven gear 235 when the auxiliary device 1 is connected to the manipulator 2, and a handle 11 that transmits driving force to the auxiliary gear 17. Therefore, by connecting the auxiliary device 1 to the base end of the manipulator 2 and operating the handle 11 of the auxiliary device 1, the driven gear 235 of the manipulator 2 can be operated via the auxiliary gear 17, thereby operating the end effector 21. In other words, according to the manipulator system 9, by operating the handle 11 of the auxiliary device 1, an auxiliary device 1 is provided that enables the operation of the end effector 21 of the manipulator 2 without a medical device (surgical support robot). As a result, by connecting the auxiliary device 1 to the proximal end of the manipulator 2 and operating the handle 11 of the auxiliary device 1 to perform cleaning, the manipulator 2 can be cleaned while the movable part of the end effector 21 (forceps 211, second joint 214) is positioned in a different orientation. Furthermore, by connecting the auxiliary device 1 to the proximal end of the manipulator 2 and operating the handle 11 of the auxiliary device 1, the movable part of the end effector 21 (forceps 211, second joint 214) can be positioned in a safe shape for removal from the patient's body cavity (for example, the second joint 214 is straight and the forceps 211 is closed) before the manipulator 2 can be removed from the patient's body cavity.

[0073] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) can selectively engage the auxiliary gear 17 with one of the multiple driven gears 235 (specifically, the gripping shaft gear 2351 as the first driven gear and the bending shaft gear 2354 as the second driven gear) of the manipulator 2 by sliding the handle 11 while the auxiliary device 1 is connected to the manipulator 2. Therefore, when the manipulator 2 has a first driven gear and a second driven gear 2351, 2354 for causing different movements of the movable part of the end effector 21 (forceps 211, second joint 214), the auxiliary device 1 can selectively operate the movable part of the end effector 21 (forceps 211, second joint 214) by selectively engaging the auxiliary gear 17 with one of the first driven gear and the second driven gear 2351, 2354.

[0074] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) is equipped with a cleaning nozzle 19, so when the auxiliary device 1 is connected to the manipulator 2, cleaning fluid for cleaning the inside of the manipulator 2 can be easily supplied to the flow path 2L of the manipulator 2 via the cleaning nozzle 19. Also, according to the manipulator system 9, the auxiliary device 1 is equipped with a pin 16 (acting part), so when the auxiliary device 1 is connected to the manipulator 2, the counter mechanism equipped in the manipulator 2 can be switched to a state where counting operation is possible via the pin 16 (acting part). As a result, the efficiency and accuracy of cleaning the manipulator 2 can be improved. In addition, the number of times the manipulator 2 has been cleaned can be easily managed using the counter mechanism.

[0075] Furthermore, according to the manipulator system 9 of the first embodiment, the user can make the manipulator 2 perform a desired operation by connecting the auxiliary device 1 (manipulator auxiliary device body) to the manipulator 2 and switching between gear drive mode M3 and cleaning mode M2 ​​using the dial 12 (switching unit). In gear drive mode M3, sliding movement of the handle 11 is permitted, while access to the cleaning nozzle 19 is restricted. In cleaning mode M2, sliding movement of the handle 11 is restricted, while access to the cleaning nozzle 19 is permitted. As a result, when the auxiliary device 1 is in each mode, it is possible to prevent the user from performing operations other than those permitted in each mode. In other words, it is possible to prevent user errors.

[0076] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) has a neutral mode M1 in addition to the gear drive mode M3 and the cleaning mode M2. The dial 12 (switching part) of the auxiliary device 1 allows switching between the gear drive mode M3 and the neutral mode M1, and switching between the cleaning mode M2 ​​and the neutral mode M1, but restricts switching between the gear drive mode M3 and the cleaning mode M2 ​​without going through the neutral mode M1. This prevents accidental operation, such as accidentally switching to the cleaning mode M2, which involves decrementing the counter mechanism, while the manipulator 2 is operating in the gear drive mode M3, which involves the operation of the end effector 21, and improves the usability of the auxiliary device 1.

[0077] Furthermore, according to the manipulator system 9 of the first embodiment, the relative position of the auxiliary gear 17 with respect to the frame 14 can be changed by sliding the handle 11 of the auxiliary device 1 (manipulator auxiliary device body) on the frame 14.

[0078] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device body) uses a disc-shaped dial 12 having a notch 121, positioned between the handle 11 and the frame 14, and rotatable about the main shaft 13 as a switching part. Therefore, by rotating the dial 12 to a first position where the notch 121 and the base end openings 191 and 192 of the cleaning nozzle 19 do not overlap, the dial 12 can restrict access to the cleaning nozzle 19, and by rotating the dial 12 to a second position where the notch 121 and the base end openings 191 and 192 overlap, the dial 12 can allow access to the cleaning nozzle 19.

[0079] Furthermore, according to the manipulator system 9 of the first embodiment, the dial 12 used as a switching unit in the auxiliary device 1 (manipulator auxiliary device body) is provided with a second elongated hole 122 that is oriented in the same direction as the first elongated hole 145 of the frame 14 when the dial 12 is in the first position. Therefore, by rotating the dial 12 to the first position, the second elongated hole 122 of the dial 12 and the first elongated hole 145 of the frame 14 are oriented in the same direction, allowing the dial 12 to allow the handle 11 to slide. By rotating the dial 12 to the second position, the second elongated hole 122 of the dial 12 and the first elongated hole 145 of the frame 14 are oriented in different directions, allowing the dial 12 to restrict the sliding movement of the handle 11.

[0080] Furthermore, according to the manipulator system 9 of the first embodiment, a raised portion 1221 is formed on the periphery of the second elongated hole 122 of the dial 12 in the auxiliary device 1 (manipulator auxiliary device body), with the periphery portion rising toward the second elongated hole 122. Therefore, by forming the raised portion 1221 between the positions P2, P3 (Figure 11) where the auxiliary gear 17 of the auxiliary device 1 engages with the driven gear 235 of the manipulator 2, and the position P1 (Figure 11) where it does not engage, the mechanism can be made easier for the user to grasp, and the wobble of the handle 11 between the engaged positions P2, P3 and the non-engaged position P1 can be suppressed. In other words, it can be suppressed that the handle 11 is positioned between position P2 and position P1, or between position P3 and position P1.

[0081] Furthermore, according to the manipulator system 9 of the first embodiment, when a torque exceeding a predetermined amount is applied to the handle 11 of the auxiliary device 1 (manipulator auxiliary device body), the main shaft 13 undergoes an "axial misalignment" in which it tilts in the longitudinal direction of the auxiliary device 1, i.e., with respect to the X-axis direction, thereby disengaging the auxiliary gear 17 from the driven gear 235. Therefore, even when a torque exceeding a predetermined amount is applied to the handle 11, excessive rotation of the driven gear 235 can be suppressed, and failure of the end effector 21 due to excessive rotation of the driven gear 235 can be suppressed.

[0082] Furthermore, according to the manipulator system 9 of the first embodiment, a manipulator system 9 can be provided that comprises a manipulator 2 having an end effector 21 connected to a medical device (surgical support robot) and operated by the medical device, and an auxiliary device 1 that enables the operation of the end effector 21 of the manipulator 2 without the medical device.

[0083] Furthermore, according to the manipulator system 9 of the first embodiment, when the auxiliary device 1 (manipulator auxiliary device body) is connected to the manipulator 2 and the system switches to cleaning mode M2 ​​by the rotation of the dial 12, the counter lever 230 (first member) rotates relatively to the other side S2, and the end 2304 of the counter lever 230 protrudes to the outside of the manipulator body 231. In other words, when the auxiliary device 1 is connected to the manipulator 2 and the system switches to cleaning mode M2, the counter mechanism can be switched to a state in which counting operation (decrementing) is possible. Also, when the auxiliary device 1 is removed from the manipulator 2 and the end 2304 of the counter lever 230 (first member) that protrudes to the outside of the manipulator body 231 is housed inside the manipulator body 231 in order to attach the manipulator 2 to a medical device (surgical support robot), the counter lever 230 rotates relatively to one side S1, and the counter plate 238 rotates to cause the counter mechanism to count (decrement). In other words, the counter mechanism can automatically count (decrement) when the end portion 2304 of the externally protruding counter lever 230 is housed inside the manipulator body 231.

[0084] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 transitions from the first state shown in Figure 13(A) to the second state shown in Figure 13(B) by a first operation on the counter mechanism, and then transitions from the second state shown in Figure 13(B) to the first state shown in Figure 13(A) by a second operation on the counter mechanism after transitioning to the second state. The counter mechanism of the manipulator 2 then counts the number of transitions from the second state to the first state by the second operation. In the manipulator system 9 of the first embodiment, when cleaning the manipulator 2, the first operation is performed by switching the auxiliary device 1 to cleaning mode M2 ​​while the auxiliary device 1 is connected to the manipulator 2, but the second operation is not performed. This is because, even if the end 2304 of the counter lever 230 protrudes outside the manipulator body 231 due to the execution of the first operation, the end 2304 of the counter lever 230 is located inside the auxiliary device 1, and therefore the second operation cannot be performed unless the auxiliary device 1 is removed. Thus, multiple counts due to accidentally activating the counter mechanism while cleaning the manipulator 2 can be suppressed. On the other hand, when using the manipulator 2, the auxiliary device 1 is removed and the second operation must be performed in order to attach the manipulator 2, which is in the state after the first operation has been performed (the end 2304 of the counter lever 230 protrudes outside the manipulator body 231), to the medical device (surgical support robot). Thus, counting by the counter mechanism is ensured, and counting errors can be suppressed. In other words, the counter mechanism has a first state in which counting is not possible and a second state in which counting is possible, and it only counts the number of transitions from the second state to the first state, thus suppressing miscounts. By using such a counter mechanism to count the number of times manipulator 2 is used, the number of times manipulator 2 is used can be counted with high accuracy.

[0085] Furthermore, according to the manipulator system 9 of the first embodiment, the manipulator 2 has a mechanical structure consisting of a counter plate 238, a counter lever 230 (first member), and a lock lever 239 (second member). When transitioning from the second state to the first state, the counter plate is rotated by relatively rotating the counter lever 230 (first member) of the counter mechanism to one side S1, thereby automatically counting (decrementing) the number of transitions.

[0086] Furthermore, according to the manipulator system 9 of the first embodiment, when the counter mechanism of the manipulator 2 is in the first state shown in Figure 13(A), the end 2304 of the counter lever 230 (first member) is housed in the manipulator body 231, and when it is in the second state shown in Figure 13(B), the end 2304 of the counter lever 230 (first member) protrudes to the outside of the manipulator body 231, so that the user can grasp the current state of the manipulator 2 at a glance (whether it is in the first or second state, i.e., before counting or after counting). Also, according to the manipulator system 9, when the counter mechanism is in the second state shown in Figure 13(B), the end 2304 of the counter lever 230 (first member) protrudes to the outside of the manipulator body 231, preventing the base end of the manipulator 2 from being connected to a medical device, thus suppressing the transition from the second state to the first state, i.e., forgetting to decrement the number of transitions, i.e., forgetting to count.

[0087] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 inhibits the transition from the second state to the first state when the number of transitions from the second state to the first state reaches a predetermined number. Here, in the second state shown in Figure 13(B), the end portion 2304 of the counter lever 230 (first member) protrudes outside the manipulator body 231, thereby preventing the base end of the manipulator 2 from being connected to the medical device. This prevents the user from mistakenly attaching and reusing the manipulator 2, which has exceeded the upper limit in terms of the number of transitions from the second state to the first state (i.e., the number of times the manipulator 2 has been used), to the medical device.

[0088] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 has a window 233 and a counter panel 238 as display units that show the number of transitions. Therefore, the user can easily check the number of transitions from the second state to the first state (i.e., the number of times the manipulator 2 has been used) by checking the display units 233 and 238. As a result, the usability of the manipulator 2 can be improved.

[0089] Furthermore, according to the manipulator system 9 of the first embodiment, the cleaning nozzle 19 of the auxiliary device 1 (manipulator auxiliary device body) includes a first flow path 191L ​​and a second flow path 192L having a smaller cross-sectional area than the first flow path 191L. The tip of the first flow path 191L ​​communicates with the first tip opening 193 and its base end communicates with the first base end opening 191, while the tip of the second flow path 192L communicates with the second tip opening 195 and its base end communicates with the second base end opening 192. Therefore, when injecting cleaning fluid into the manipulator 2 from the syringe 3 as an external device, the syringe 3 is inserted into the first base end opening 191, and the cleaning fluid is injected into the manipulator 2 through the cleaning port 2361 of the manipulator 2 via the first flow path 191L, allowing air inside the manipulator 2 to escape to the outside via the second tip opening 195, the second flow path 192L, and the second base end opening 192. As a result, injecting cleaning fluid into the manipulator 2 becomes easier. Furthermore, when discharging the cleaning fluid after cleaning the manipulator 2, the syringe 3 is inserted into the second base end opening 192, and air is injected into the manipulator 2 through the cleaning port 2361 of the manipulator 2 via the second flow path 192L, allowing the cleaning fluid inside the manipulator 2 to be easily discharged to the outside via the first tip opening 193, the first flow path 191L, and the first base end opening 191. As a result, the cleaning nozzle 19 can be used to efficiently clean the manipulator 2.

[0090] Furthermore, according to the manipulator system 9 of the first embodiment, the second tip opening 195 of the cleaning nozzle 19 protrudes from the first tip opening 193 and is located further forward than the first tip opening 193, making it easier to discharge air from inside the manipulator 2 when cleaning fluid is injected and to inject air into the manipulator 2 when cleaning fluid is discharged.

[0091] Furthermore, according to the manipulator system 9 of the first embodiment, the flow resistance FR2 of the second flow path 192L of the cleaning nozzle 19 is greater than the flow resistance FR3 of the flow path 2L of the manipulator 2, which is connected to the cleaning port 2361 of the manipulator 2 (i.e., the flow resistance FR3 of the flow path inside the manipulator). Therefore, it is possible to more easily discharge air from inside the manipulator 2 when injecting cleaning fluid and to inject air into the manipulator 2 when discharging cleaning fluid.

[0092] Furthermore, according to the manipulator system 9 of the first embodiment, an auxiliary device 1 equipped with a cleaning nozzle 19 capable of efficiently cleaning the manipulator 2 can be provided.

[0093] Furthermore, according to the manipulator system 9 of the first embodiment, the cleaning nozzle 19 of the auxiliary device 1 (manipulator auxiliary device body) is fixed to the frame 14 of the auxiliary device 1 so as to be slidable from the base end to the tip end when an external force is applied from the first base end opening 191 or the second base end opening 192. Therefore, by pushing the external instrument 3 inserted into the first base end opening 191 or the second base end opening 192 toward the tip end, the tip of the cleaning nozzle 19 can be inserted more deeply into the cleaning port 2361 of the manipulator 2, and the cleaning nozzle 19 and the manipulator 2 can be fixed more securely. As a result, operability during the injection and discharge of cleaning fluid can be improved.

[0094] Furthermore, according to the manipulator system 9 of the first embodiment, the first tip opening 193 and the first base opening 191 of the cleaning nozzle 19 are arranged linearly along the sliding direction of the cleaning nozzle 19, so that the injection and discharge of cleaning fluid through the first tip opening 193, the first flow path 191L, and the first base opening 191 can be performed smoothly.

[0095] <Second Embodiment> In the second embodiment, a configuration is described in which, in gear drive mode M3, the auxiliary gear 17 engages with only a single driven gear 235. The manipulator system 9A of the second embodiment includes an auxiliary device 1A in place of the auxiliary device 1, and a manipulator 2A in place of the manipulator 2.

[0096] Figure 18 is an explanatory diagram showing the configuration of the manipulator 2A of the second embodiment. The manipulator 2A of the second embodiment is equipped with a driven gear 235A instead of the driven gear 235. The driven gear 235A has a gripping shaft gear 2351 and a main shaft gear 2352, but does not have the tip rotation shaft gear 2353 and bending shaft gear 2354 described in the first embodiment. As a result, the end effector 21 of the manipulator 2A can release / grip the forceps 211 and rotate the main shaft 22, but the forceps 211 cannot rotate and does not have a second joint 214.

[0097] Figure 19 shows the state of the auxiliary device 1A in each mode of the second embodiment. The auxiliary device 1A of the second embodiment is equipped with a dial 12A instead of a dial 12. The dial 12A is provided with a position indicator 120A instead of a position indicator 120, and a second elongated hole 122A instead of a second elongated hole 122. The position indicator 120A and the second elongated hole 122A have only portions corresponding to the center P1 and one end P2 as described in the first embodiment. In other words, the position indicator 120A and the second elongated hole 122A do not have portions corresponding to the other end P3 as described in the first embodiment. Therefore, as shown in Figure 19(C), in gear drive mode M3, by sliding the handle 11 to one end of the second elongated hole 122A, the main shaft 13 connected to the handle 11 slides to one end P2 of the second elongated hole 122. As a result, the auxiliary gear 17 engages with the driven gear 235 of the manipulator 2A (specifically, the gripping shaft gear 2351). By rotating the handle 11 in this state, the auxiliary device 1A can operate the forceps 211 of the manipulator 2A.

[0098] As described above, the configuration of the auxiliary device 1A and the manipulator 2A can be modified in various ways, and in gear drive mode M3, the auxiliary gear 17 may be configured to engage with only a single driven gear 235 (gripping shaft gear 2351). In the second embodiment, the bending shaft gear 2354 is omitted, and a configuration in which the auxiliary gear 17 engages with the gripping shaft gear 2351 in gear drive mode M3 is illustrated. However, the gripping shaft gear 2351 may also be omitted, and the auxiliary gear 17 may be configured to engage with the bending shaft gear 2354 in gear drive mode M3. The manipulator system 9A of the second embodiment described above can also achieve the same effects as the first embodiment described above.

[0099] <Third Embodiment> In the third embodiment, a configuration is described in which the auxiliary gear 17 can selectively engage with all of the driven gears 235 in gear drive mode M3. The manipulator system 9B of the third embodiment includes an auxiliary device 1B instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as in the first embodiment.

[0100] Figure 20 shows the relationship between the auxiliary gear 17 and the driven gear 235 in each mode of the third embodiment. The auxiliary device 1B has a dial 12B instead of a dial 12. The dial 12B has a second elongated hole 122B instead of a second elongated hole 122. The second elongated hole 122B has an X shape formed by the intersection of two elongated holes. In addition to the positions P1 to P3 described in the first embodiment, the second elongated hole 122B has an end P4 located on the side of the main spindle gear 2352 from the center P1, and an end P5 located on the side of the tip rotating shaft gear 2353 from the center P1.

[0101] In gear-driven mode M3, sliding the handle 11 to the end P4 of the second slotted hole 122B causes the spindle 13 connected to the handle 11 to slide to the end P4 of the second slotted hole 122B. As a result, the relative position of the auxiliary gear 17 located at the tip of the spindle 13 with respect to the frame 14 also changes from position P1 to position P4, and the auxiliary gear 17 engages with the spindle gear 2352 of the manipulator 2. In this state, by rotating the handle 11, the auxiliary device 1B can rotate the spindle 22 of the manipulator 2. Similarly, in gear-driven mode M3, sliding the handle 11 to the end P5 of the second slotted hole 122B causes the spindle 13 connected to the handle 11 to slide to the end P5 of the second slotted hole 122B. As a result, the relative position of the auxiliary gear 17 located at the tip of the main shaft 13 with respect to the frame 14 is also changed from position P1 to position P5, and the auxiliary gear 17 engages with the tip rotation shaft gear 2353 of the manipulator 2. In this state, by rotating the handle 11, the auxiliary device 1B can rotate the forceps 211 of the manipulator 2.

[0102] Thus, the configuration of the auxiliary device 1B can be modified in various ways, and the auxiliary gear 17 may be configured to selectively engage with all of the driven gears 235. Alternatively, the auxiliary device 1B may be configured to engage the auxiliary gear 17 with any three of the driven gears 235. In this case, the shape of the second elongated hole 122B of the dial 12B can be changed. The manipulator system 9B of the third embodiment described above can achieve the same effects as the first embodiment described above.

[0103] <Fourth Embodiment> In the fourth embodiment, a manipulator system 9C in which some of the components described in the first embodiment are omitted will be described. The manipulator system 9C of the fourth embodiment is equipped with an auxiliary device 1C in place of the auxiliary device 1, and a manipulator 2C in place of the manipulator 2.

[0104] Figure 21 is an explanatory diagram of the auxiliary device 1C and manipulator 2C of the fourth embodiment. The auxiliary device 1C does not have the cleaning nozzle 19 described in the first embodiment. For this reason, the auxiliary device 1C does not transition to cleaning mode M2 ​​among the operating modes described in Figure 4. Therefore, the notch 121 of the dial 12 may be omitted. The manipulator 2C has a cover 232C instead of a cover 232. The cover 232C does not have a window 233 for displaying the count 2381 of the counter panel 238. For this reason, the remaining number of uses of the manipulator 2C cannot be checked from the outside. However, the manipulator 2C internally counts the remaining number of uses using the counter mechanism described in the first embodiment.

[0105] As described above, the configuration of the manipulator system 9C can be modified in various ways, and some of the components described in the first embodiment, such as the cleaning nozzle 19 and the window 233, may be omitted. The omitted configurations described above are merely examples, and other components not exemplified may also be omitted. For example, in the auxiliary device 1C, the knob latch spring 115 and the dial rotation spring 129 may be omitted, resulting in a configuration where the handle 11 and dial 12 are not biased. For example, in the manipulator 2C, the projection 2382 of the counter plate 238 may be omitted to avoid hindering the transition from the second state to the first state more than a predetermined number of times. For example, in the manipulator 2C, the lever 234 may be omitted. The manipulator system 9C of the fourth embodiment described above can also achieve the same effects as the first embodiment described above.

[0106] <Fifth Embodiment> In the fifth embodiment, a configuration that enables state transitions without going through the neutral mode M1 will be described. The manipulator system 9D of the fifth embodiment is equipped with an auxiliary device 1D instead of auxiliary device 1. The configuration of the manipulator 2 is the same as in the first embodiment.

[0107] Figure 22 is an explanatory diagram showing the state transitions of the auxiliary device 1D of the fifth embodiment. In the auxiliary device 1D, even when the dial 12 is in the first position shown in Figure 10(A), the dial 12 does not block the openings of the cleaning nozzle 19 (first base opening 191 and second base opening 192). In addition, in the auxiliary device 1D, the hole formed in the dial 12 through which the main shaft 13 is inserted is not the second elongated hole 122 described in the first embodiment, but a circular hole through which the handle 11 can slide, regardless of whether the dial 12 is in the first or second state. Furthermore, in the auxiliary device 1D, the knob latch spring 115 and the dial rotation spring 129 are omitted, and the handle 11 and dial 12 are not biased. As a result, as shown in Figure 22, in the auxiliary device 1D, the cleaning mode M2 ​​and the gear drive mode M3 can be switched directly without going through the neutral mode M1.

[0108] Thus, the configuration of the manipulator system 9D can be modified in various ways, and it may be possible to enable state transitions of the auxiliary device 1D without going through the neutral mode M1. The manipulator system 9D of the fifth embodiment described above can also achieve the same effects as the first embodiment described above.

[0109] <Sixth Embodiment> In the sixth embodiment, a configuration comprising a cleaning nozzle 19E different from that of the first embodiment will be described. The manipulator system 9E of the sixth embodiment is equipped with an auxiliary device 1E instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as in the first embodiment.

[0110] Figure 23 is an explanatory diagram illustrating the configuration of the cleaning nozzle 19E of the sixth embodiment. The auxiliary device 1E is equipped with the cleaning nozzle 19E shown in Figure 23. In the cleaning nozzle 19E, only a first tip opening 193 is provided at the tip of the nozzle body 190E. When the auxiliary device 1E is connected to the manipulator 2, this first tip opening 193 communicates with the cleaning port 2361 of the manipulator 2. The second flow path forming member 196E is arranged inside the nozzle body 190E, inclined with respect to the extension direction (X-axis direction) of the nozzle body 190E. The tip of the second flow path forming member 196E is located on the inner circumferential surface of the first flow path 191L, and the tip of the second flow path forming member 196E does not protrude into the first flow path 191L. For this reason, the second tip opening 195E provided at the tip of the second flow path 192L is located on the inner circumferential surface of the first flow path 191L. In other words, the first channel 191L ​​and the second channel 192L merge at the second tip opening 195E. The straight-line distance L between the center of the second tip opening 195E and the first tip opening 193 can be arbitrarily determined, but it is preferable that it be as short (small) as possible.

[0111] Thus, the configuration of the cleaning nozzle 19E can be modified in various ways, and the second tip opening 195E may be provided on the inner circumferential surface of the first flow path 191L. The manipulator system 9E of the sixth embodiment described above can also achieve the same effects as the first embodiment described above. Furthermore, according to the configuration of the sixth embodiment, the second tip opening 195E of the cleaning nozzle 19E is provided on the inner circumferential surface of the first flow path 191L, and the first flow path 191L ​​and the second flow path 192L merge at the second tip opening 195E. Therefore, with a configuration in which the second tip opening 195E is housed within the first flow path 191L, a cleaning nozzle 19E and auxiliary device 1E that can efficiently clean the manipulator 2 can be provided.

[0112] <Seventh Embodiment> In the seventh embodiment, a configuration comprising a cleaning nozzle 19F different from that of the first embodiment will be described. The manipulator system 9F of the seventh embodiment is equipped with an auxiliary device 1F instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as in the first embodiment.

[0113] Figure 24 is an explanatory diagram illustrating the configuration of the cleaning nozzle 19F of the seventh embodiment. The auxiliary device 1F is equipped with the cleaning nozzle 19F shown in Figure 24. In the cleaning nozzle 19F, a first tip opening 193 and a second tip opening 195F are provided at different positions at the tip of the nozzle body 190F (specifically, at the tip of the protruding portion 1903). As shown in Figure 24, the first tip opening 193 and the second tip opening 195F are spaced apart in the Z-axis direction on the tip surface of the protruding portion 1903. When the auxiliary device 1F is connected to the manipulator 2, the first tip opening 193 and the second tip opening 195F each communicate with the cleaning port 2361 of the manipulator 2. The second flow path forming member 196F is arranged inside the nozzle body 190F parallel to the extension direction (X-axis direction) of the nozzle body 190E.

[0114] Thus, the configuration of the cleaning nozzle 19F can be modified in various ways, and the first tip opening 193 and the second tip opening 195F may be provided at different positions and spaced apart. The manipulator system 9F of the seventh embodiment described above can also achieve the same effects as the first embodiment described above. Furthermore, according to the configuration of the seventh embodiment, since the second tip opening 195F of the cleaning nozzle 19F is provided at a different position from the first tip opening 193 at the tip of the nozzle body 190F, the cleaning nozzle 19F and auxiliary device 1F that can efficiently clean the manipulator 2 can be easily manufactured.

[0115] <Modified form of this embodiment> The present invention is not limited to the embodiments described above, and can be implemented in various forms without departing from its spirit, for example, the following modifications are also possible.

[0116] [Example 1] The first to seventh embodiments described above show an example of the configuration of the manipulator systems 9, 9A to 9F. However, the configuration of the manipulator system 9 can be modified in various ways. For example, the manipulator system 9 may further include auxiliary devices 1, 1A to 1F and other devices different from the manipulators 2, 2A, 2C. For example, only a part of the components of the manipulator system 9 may be used. Specifically, only the auxiliary devices 1, 1A to 1F may be used, only the manipulators 2, 2A, 2C may be used, or only the cleaning nozzles 19, 19E, 19F may be used.

[0117] [Differentiation 2] The first to seventh embodiments described above show examples of the configurations of auxiliary devices 1, 1A to 1F. However, the configuration of auxiliary device 1 can be modified in various ways. For example, the shapes of the handle 11, dial 12, spindle 13, frame 14, side lock button 15, pin 16, auxiliary gear 17, protrusion 18, and cleaning nozzle 19 can be changed as appropriate. For example, the position indicator 120 and direction indicator 1201 of the dial 12 (switching part) may be omitted. For example, the pin 16 (actuating part) may be omitted. In this case, the cam structure part 123 of the dial 12 that operates the pin 16 can also be omitted. For example, although the counter mechanism was described as decrementing, the number of uses may be counted by incrementing. For example, the cleaning nozzle 19 may be fixed to the frame 14 so as not to slide when an external force is applied from the first base opening 191 or the second base opening 192. For example, the torque limit mechanism may be realized in a way other than causing the spindle 13 to misalign. In this case, the handle 11 and the spindle 13 may be connected via an O-ring made of an elastic material, so that when the torque applied to the handle 11 exceeds a predetermined amount, the handle 11 can rotate freely relative to the spindle 13.

[0118] [Difference 3] The first to seventh embodiments described above show examples of the configurations of manipulators 2, 2A, and 2C. However, the configuration of manipulator 2 can be modified in various ways. For example, the movable parts of the end effector 21 can be modified in various ways, and at least some of the forceps 211, first joint 212, first extension part 213, second joint 214, and second extension part 215 may be omitted. Alternatively, other surgical instruments (e.g., a laser scalpel) may be provided instead of the forceps 211. For example, the movable parts of the end effector 21 may be interchangeable. For example, the shapes of each part constituting the main unit 23 (manipulator body 231, lid 232, window 233, lever 234, driven gear 235, gear cover 237, etc.) may be changed as appropriate. For example, the lid 232 does not need to be openable and closable, and for example, the gear cover 237 may be omitted. For example, the counter mechanism may be used for counting purposes other than the number of times manipulator 2 is cleaned. For example, the manipulator 2 does not have to have a counter mechanism. For example, the counter lever 230 of the manipulator 2 does not have an end 2304, and in the second state of the counter mechanism, the end 2304 does not have to protrude outside the manipulator body 231.

[0119] [Differentiation Example 4] The configurations of the manipulator systems 9, 9A to 9F in the first to seventh embodiments described above, and the configurations of the manipulator systems 9, 9A to 9F in the modified examples 1 to 3 described above, may be combined as appropriate. For example, in the gear drive mode M3 described in the second embodiment and the manipulator systems 9A and 9B that perform the operation of the gear drive mode M3 described in the third embodiment, the components described in the fourth embodiment may be omitted, the neutral mode M1 described in the fifth embodiment may be omitted, and cleaning nozzles 19E and 19F described in the sixth and seventh embodiments may be provided.

[0120] The embodiments of this specification have been described above based on the embodiments and modifications described above. The embodiments described above are for the purpose of facilitating understanding of this specification and do not limit it. This specification may be modified and improved without departing from its spirit and the scope of the claims, and equivalents thereof are included in this specification. Furthermore, any technical features that are not described as essential in this specification may be deleted as appropriate. [Explanation of Symbols]

[0121] 1,1A~1F…Auxiliary equipment 2, 2A, 2C... Manipulator 3…External instruments, syringes 9,9A~9F... Manipulator System 11... Handle 12, 12A, 12B... Dial (selector) 13...Main shaft 14…Frame (main body) 15…Side lock button 16... Pin (acting part) 17... Auxiliary gear 18...Protrusion 19, 19E, 19F… Cleaning nozzles 21… End effector 22...Spindle 23...Main unit 111...Gripping part 112...Extension part 114... Washer 120,120A…Position display 121... trigger 122,122A,122B…Second long hole 123... Cam structure 124…Dial lock pin 131...Bearing 141… Flange 142...Proximal surface 143…recess 144... Detention Unit 145…1st long hole 151… Nails 152...axis 161...long hole 162...Tip 171... Washer 190, 190E, 190F… Nozzle body 191...First proximal opening 191L…First channel 192…Second proximal opening 192L…Second channel 192La…Expanded channel 193…1st tip opening 194... trigger 195,195E,195F…2nd tip opening 196, 196E, 196F… Second channel forming member 211...forceps 212...First joint 213...First extension part 214...2nd joint 215...Second extension section 230... Counter lever (first component) 231... Manipulator body 232,232C…Lid 233... Window (display section) 234... Lever 235, 235A… Driven gear 236...Proximal surface 237... Gear cover 238... Counter panel (display unit) 239... Lock lever (second component) 1201…Direction display 1221...Protuberance 1231…recess 1232…Slope part 1233…Convex part 1901...Page 1 1902…Second side 1903…Protrusion 2301...1st extension section 2302...Second extension section 2303...axis 2304...end 2311... Side view 2341...Protrusion 2342...arm 2343...end 2351...Gripping shaft gear 2352... Main shaft gear 2353...Tip rotating shaft gear 2354... Bending shaft gear 2361... Cleaning port 2381... Count 2382...Protrusion 2391…recess 2392...Extension part 2394...axis 2395...end

Claims

1. A manipulator that can be attached to and detached from a medical device, A manipulator body having a tip to which an end effector is attached and a base to which the medical device is connected, A mechanical counter mechanism provided in the manipulator body, Equipped with, The aforementioned counter mechanism is A first operation on the counter mechanism causes a transition from the first state to the second state. A second operation on the counter mechanism causes a transition from the second state to the first state. The number of transitions from the second state to the first state by the second operation is counted. The aforementioned counter mechanism is A counter panel is rotatably fixed to the manipulator body, with a count displayed on its main surface. A first member is rotatably fixed to the manipulator body, and rotates the counter plate when rotating in one direction, and does not rotate the counter plate when rotating in the other direction. The present invention includes a second member that engages with the first member to restrict the rotation of the first member toward the other side, The first state is a state in which the second member and the first member are engaged, and the first member is rotated relative to one side. The second state is a manipulator in which the second member and the first member are not engaged, and the first member is rotated relative to the other side.

2. A manipulator according to claim 1, The aforementioned counter mechanism is In the first state, the end of the first member is housed in the manipulator body, and the base end of the manipulator is permitted to be connected to the medical device. In the second state, the end of the first member protrudes outward from the manipulator body, preventing the base end of the manipulator from being connected to the medical device.

3. A manipulator according to claim 1 or claim 2, The counter mechanism is a manipulator that inhibits the transition from the second state to the first state when the number of transitions from the second state to the first state reaches a predetermined number.

4. A manipulator according to claim 1 or claim 2, The counter mechanism further comprises a manipulator having a display unit that shows the number of transitions.

5. A manipulator that can be attached to and detached from a medical device, A manipulator body having a tip to which an end effector is attached and a base to which the medical device is connected, A cover provided on one side of the manipulator body, A mechanical counter mechanism provided in the manipulator body, comprising a counter mechanism housed inside the lid, Equipped with, The aforementioned counter mechanism is A first operation on the counter mechanism causes a transition from the first state to the second state. A second operation on the counter mechanism causes a transition from the second state to the first state. The number of transitions from the second state to the first state by the second operation is counted. The counter mechanism has a counter plate on which the count number is displayed on the main surface and which is rotatably fixed to the manipulator body, and which has protrusions provided at predetermined positions. The manipulator body has a window for displaying the count on the counter panel as the number of transitions, A manipulator that, when the number of transitions reaches the predetermined number, prevents the transition from the second state to the first state by causing interference between the projection on the counter panel and a projection provided on the inner surface of the lid.

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