Surgical instruments, surgical support systems, and surgical operating units

Abstract

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

Description

[Technical Field]

[0001] The technologies disclosed herein (hereinafter referred to as "the Disclosure") relate, for example, to surgical instruments, surgical support systems, and surgical operating units applied to surgical robots. [Background technology]

[0002] Recent advancements in robotics technology have been remarkable, and it is becoming widely adopted in workplaces across various industrial sectors. For example, in the medical field, master-slave surgical robots are becoming increasingly popular. This type of surgical robot is configured so that one or more surgical instruments on the slave device are operated by an operator, such as a surgeon, from the master device. Furthermore, a bilateral control method is known for master-slave systems, in which the master device operates the slave device while simultaneously feeding back the state of the slave device to the master device (see, for example, Patent Document 1).

[0003] The surgical instruments attached to the slave device are equipped with an end effector at the tip that has an opening and closing mechanism such as forceps. Furthermore, considering that the surgical instruments are intended to be used in procedures inside body cavities or on the body surface, it is highly desirable that the tip be thin, compact, and lightweight while having multiple degrees of freedom. Specifically, it is desirable that the tip of the surgical instrument has a total of three degrees of freedom: two degrees of rotation and one degree of opening and closing. In addition, to achieve miniaturization, a cable-driven system is often applied to operate the tip of the surgical instrument (see, for example, Patent Documents 2-4). [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2019-34002 [Patent Document 2] Japanese Patent Application Publication No. 09-542671 [Patent Document 3] Special Publication No. 2018-534100 [Patent Document 4] Japanese Patent Application Publication No. 2019-501699 [Patent Document 5] WO2018 / 163680 [Summary of the Invention] [Problems to be Solved by the Invention]

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

[0006] A first aspect of the technology according to the present disclosure is a shaft, a pitch unit rotatably connected to the tip of the shaft about a first axis, a roll unit rotatably supported with respect to the pitch unit about a second axis, a gripping unit supported so as to be linearly movable in the second axis direction with respect to the roll unit, and a surgical instrument comprising the same.

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

[0008] The gripping unit moves linearly in the second axis direction by the pulling force of a first reciprocating cable set generated when a first motor rotates a first drive capstan, and the pair of jaws open and close in conjunction with this linear movement. Further, the roll unit pivots about the second axis by the pulling force of a second reciprocating cable set generated when a second motor rotates a second drive capstan.

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

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

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

Advantages of the Invention

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

[0013] The effects described herein are merely illustrative, and the effects brought about by the technology disclosed herein are not limited to these. Furthermore, the technology disclosed herein may produce additional effects beyond those described above.

[0014] Further purposes, features, and advantages of the technology described herein will become apparent from the embodiments and accompanying drawings described below in more detail. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 shows an example of the external configuration of the surgical instrument unit 100. [Figure 2] Figure 2 shows an example of the external configuration of the surgical instrument unit 100. [Figure 3] Figure 3 is a six-view drawing of the surgical instrument unit 100. [Figure 4] Figure 4 is a magnified view of the tip portion 101 of the surgical instrument unit. [Figure 5] Figure 5 is a magnified view of the tip portion 101 of the surgical instrument unit. [Figure 6] Figure 6 is an exploded view of the tip 101 of the surgical instrument unit. [Figure 7] Figure 7 is a magnified view of the tip 101 of the surgical instrument unit (however, the pitch unit 401 and shaft 102 are depicted as transparent). [Figure 8] Figure 8 is a six-view drawing of the tip portion 101 of the surgical instrument unit. [Figure 9] Figure 9 shows the roll unit 402, the gripping unit, the rod 404, and a pair of jaws 405a and 405b. [Figure 10] Figure 10 shows a cross-section of the roll unit 402, the gripping unit, the rod 404, and the pair of jaws 405a and 405b. [Figure 11] Figure 11 is an enlarged cross-sectional view of the lower end of the rod 404 and a pair of jaws 405a and 405b. [Figure 12]Figure 12 is a magnified view of the area around the first axis of the tip portion 101 of the surgical instrument unit. [Figure 13] Figure 13 shows how the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403. [Figure 14] Figure 14 shows how the second reciprocating cable sets C2a and c2b are fixed to the roll unit 402. [Figure 15] Figure 15 shows an example of the arrangement of actuators within the surgical instrument unit drive unit 103. [Figure 16] Figure 16 shows how jaws 405a and 405b open and close. [Figure 17] Figure 17 shows how jaws 405a and 405b open and close. [Figure 18] Figure 18 shows how jaws 405a and 405b open and close. [Figure 19] Figure 19 shows how the roll unit 402 rotates around the second axis. [Figure 20] Figure 20 shows how the roll unit 402 rotates around the second axis. [Figure 21] Figure 21 shows how the roll unit 402 rotates around the second axis. [Figure 22] Figure 22 shows how the roll unit 402 rotates around the second axis. [Figure 23] Figure 23 shows how the roll unit 402 rotates around the second axis. [Figure 24] Figure 24 shows how the pitch unit 401 rotates around the first axis. [Figure 25] Figure 25 shows how the pitch unit 401 rotates around the first axis. [Figure 26] Figure 26 shows how the pitch unit 401 rotates around the first axis. [Figure 27]Figure 27 shows how the pitch unit 401 rotates around the first axis. [Figure 28] Figure 28 shows how the pitch unit 401 rotates around the first axis. [Figure 29] Figure 29 shows how the three axes are simultaneously driven at the tip 101 of the surgical instrument unit. [Figure 30] Figure 30 shows how the three axes are driven simultaneously at the tip 101 of the surgical instrument unit. [Figure 31] Figure 31 shows how the three axes are driven simultaneously at the tip 101 of the surgical instrument unit. [Figure 32] Figure 32 shows an example of the pitch unit 401 rotating around the first axis. [Figure 33] Figure 33 shows an example of the operation in which the roll unit 402 rotates around the second axis. [Figure 34] Figure 34 shows examples of the gripping operations of jaws 405a and 405b. [Figure 35] Figure 35 shows an example of the jaw's rotational movement. [Figure 36] Figure 36 shows an example of the jaw's rotational movement. [Figure 37] Figure 37 shows a cross-section of a modified roll unit 3700. [Figure 38] Figure 38 shows an example of a cross-sectional configuration of a roll unit 3700 to which an FBG sensor is applied. [Figure 39] Figure 39 shows an example of the external configuration of the surgical robot 3900 using a surgical instrument unit. [Figure 40] Figure 40 shows an example of the external configuration of the operating unit 4000. [Modes for carrying out the invention]

[0016] The technology related to this disclosure will be described below in the following order, with reference to the drawings.

[0017] A. Challenges of the surgical instrument unit B. Example of a surgical instrument unit configuration C. Operation of the surgical instrument unit D. Modified Roll Unit E. Modified versions of the surgical instrument unit F. Application examples of surgical instrument units G. Effects

[0018] A. Challenges of the surgical instrument unit It is desirable that surgical instruments applied to surgical robots have a total of three degrees of freedom at their tip: two degrees of rotation and one degree of opening / closing freedom. For example, a type of surgical instrument is known that comprises an opening / closing end effector consisting of a pair of jaws, a wrist supporting this end effector, and a shaft having a longitudinal axis and connecting the wrist to its tip. This type of surgical instrument has a degree of freedom configuration that includes a first axis that rotates the wrist around, for example, the yaw axis relative to the tip of the shaft, a second axis that rotates the orientation of the end effector around, for example, the pitch axis relative to the wrist, and a third axis (opening / closing axis) that opens and closes the jaws (see, for example, Patent Documents 2-4). In such a degree of freedom configuration, due to the limitations of the range of motion of each link, the movement of both the first and second axes is limited to about ±90 degrees.

[0019] For surgical instruments intended to be inserted into a body cavity by passing through a trocar, as in laparoscopic surgery, a configuration is suitable that includes a first axis that rotates the wrist around the yaw axis relative to the tip of the shaft, and a second axis that rotates the orientation of the end effector around the pitch axis relative to the wrist, as described above, due to the need to reduce the diameter of the tip.

[0020] In contrast, for surgical instruments used on or near the body surface, the constraints regarding the miniaturization of the tip are relaxed, while a wider range of motion is required.

[0021] Therefore, this specification proposes a surgical instrument unit having a total of three degrees of freedom at its tip: two degrees of rotation and one degree of opening and closing, thereby achieving a wide range of motion. The surgical instrument unit according to this disclosure is intended for use in surgery on or near the body surface, for example, but one of its objectives is to achieve a wide range of motion.

[0022] Specifically, the surgical instrument unit according to this disclosure comprises a shaft having a longitudinal axis, a pitch unit, a roll unit, and a gripping unit. The shaft supports the pitch unit at its tip so that it can pivot around a first axis parallel to the pitch axis. The pitch unit also supports the roll unit so that it can pivot around a second axis parallel to the roll axis. The roll unit may also support a gripping unit equipped with a pair of jaws that can be opened and closed. Therefore, the surgical instrument unit according to this disclosure has three degrees of freedom: a rotational degree of freedom in which the pitch unit pivots around the first axis relative to the tip of the shaft, a rotational degree of freedom in which the roll unit, directed by the pitch unit, rotates around the second axis, and a degree of freedom in which the pair of jaws can open and close.

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

[0024] In the embodiments described below, the pitch unit, roll unit, and gripping unit (or jaw) are driven by traction force via cables. That is, the power of each actuator located at the root end (proximal end) of the shaft is transmitted via cables to the pitch unit, roll unit, and gripping unit at the tip end (distal end).

[0025] Furthermore, in a power transmission mechanism using cables, multiple pulleys may be used, such as capstans for applying power to the cables or converting the force from the cables into axial force, and idler pulleys used for adjusting the cable layout within the shaft and for applying a constant tension to the cables.

[0026] B. Example of a surgical instrument unit configuration Figures 1 and 2 show examples of the external configuration of the surgical instrument unit according to this disclosure. Figure 3 shows a six-view drawing of the surgical instrument unit. The illustrated surgical instrument unit 100 comprises a hollow shaft 102 having a longitudinal axis, a surgical instrument unit tip 101 at one end of the shaft 102, and a surgical instrument unit drive unit 103 at the other end of the shaft 102. Figure 1 shows a perspective view of the surgical instrument unit 100, and Figure 2 shows the shaft 102 and the surgical instrument unit drive unit 103 made transparent to visualize the interior.

[0027] The tip 101 of the surgical instrument unit includes a pitch unit that can pivot around a first axis parallel to the pitch axis relative to the shaft 102, a roll unit that is supported by the pitch unit so as to be rotatable around a second axis parallel to the roll axis, and a gripping unit supported by the roll unit. The gripping unit is equipped with a pair of jaws that can be opened and closed. However, the second axis is positioned offset from the first axis.

[0028] Each movable part of the tip 101 of the surgical instrument unit is driven by the pulling force of the cables. The surgical instrument unit drive unit 103 is equipped with actuators for pulling each cable. In this embodiment, an electromagnetic rotary motor is used as the actuator. As shown in Figure 2, multiple cables for driving the pitch unit, roll unit, and gripping unit of the tip 101 of the surgical instrument unit are inserted through the shaft 102. The surgical instrument unit drive unit 101 is equipped with three motors for pulling the cables that drive the pitch unit, roll unit, and gripping unit, respectively.

[0029] Figures 4 and 5 show enlarged views of the surgical instrument unit tip 101 (however, the viewing direction is switched between Figures 4 and 5). Figure 6 shows an exploded view of the surgical instrument unit tip 101. As shown in Figure 6, the surgical instrument unit tip 101 comprises a pitch unit 401, a roll unit 402, a gripping unit 403, a rod 404, a pair of jaws 405a and 405b attached to the lower end of the rod 404, a first reciprocating cable set C1a and C1b, and a second reciprocating cable set C2a and C2b. For reference, Figure 7 shows the layout of each cable near the surgical instrument unit tip 101 by making the pitch unit 401 and shaft 102 transparent. Figure 8 shows six views of the surgical instrument unit tip 101. The actuators for pulling the first reciprocating cable sets C1a and C1b, and the second reciprocating cable sets C2a and C2b, are located within the surgical instrument unit drive unit 103, but further details on this will be described later.

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

[0031] As shown in Figure 4, a rail is provided on the rear surface of the roll unit 402 in the direction of the second axis, which restricts the movement of the gripping unit 403. Therefore, the gripping unit 403 can move along this rail in the direction of the second axis (or vertically) within a predetermined range. The gripping unit 403 moves in the direction of the second axis by the traction force of the first reciprocating cable set C1a and C1b, but the details of this will be described later.

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

[0033] The roll unit 402 has a through hole that penetrates in the direction of the second axis, and the rod 404 is inserted through this through hole. The upper end of the rod 404 is supported by the gripping unit 403 via a bearing so that it can rotate around the second axis. The bearing has a structure that supports the load applied in the direction of the second axis, and the rod 404 is rotatable around the second axis relative to the gripping unit 403, but does not move relative to the gripping unit 403 in the direction of the second axis. Therefore, when the gripping unit 403 moves linearly relative to the roll unit 402 in the direction of the second axis, the rod 404 also moves linearly with the gripping unit 403 relative to the roll unit 402 in the direction of the second axis.

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

[0035] Jaws 405a and 405b have shapes that are almost symmetrical with respect to the second axis. Both jaws 405a and 405b are rotatable around the opening / closing axis 1101 formed at the tip of the roll unit 402. In addition, elongated grooves 1102 are drilled in jaws 405a and 405b behind the opening / closing axis 1101. Pins 1103, which protrude from the tip of the rod 404, are inserted into each of the elongated grooves 1102 of jaws 405a and 405b. The longitudinal axes of the elongated grooves 1102 of jaws 405a and 405b are inclined in opposite directions with respect to the second axis, and the walls of each longitudinal groove 1102 constitute a cam that converts linear motion in the direction of the second axis into opening / closing motion of jaws 405a and 405b.

[0036] As described above, the rod 404 moves linearly in the direction of the second axis relative to the roll unit 402 together with the gripping unit 403. The pin 1103 moves reciprocatingly in the direction of the second axis (i.e., the vertical direction of the paper) together with the rod 404. Since the pin 1103 reciprocates by sliding within each elongated groove 1102, each elongated groove 1102 must intersect the rod 404 (or the second axis) at the current position of the pin 1103. In addition, the longitudinal axes of the elongated grooves 1102 of jaws 405a and jaws 405b are inclined in opposite directions with respect to the second axis, and the walls of each elongated groove 1102 constitute a cam. Therefore, in response to the linear motion of the pin 1103 in the direction of the second axis, jaws 405a and jaws 405b rotate in opposite directions around the opening / closing axis 1101. This is the mechanism by which jaws 405a and 405b open and close due to the linear motion of rod 404 in the direction of the second axis. However, the opening and closing structure of jaws 405a and 405b is not limited to this, and other mechanisms may be used to achieve the opening and closing operation of jaws 405a and 405b through the linear motion of rod 404 in the direction of the second axis.

[0037] Next, we will explain in detail the mechanism that utilizes the traction force of the cable to achieve the pivoting motion of the pitch unit 401 around the first axis, the rotational motion of the roll unit 402 around the second axis, and the opening and closing motion of the jaws 405a and 405b.

[0038] As shown in Figures 4 to 7, the surgical instrument unit 100 comprises a first reciprocating cable set C1a and C1b and a second reciprocating cable set C2a and C2b. The actuators for pulling the first reciprocating cable set C1a and C1b and the second reciprocating cable set C2a and C2b are located within the surgical instrument unit drive unit 103, but further details will be provided later.

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

[0040] Referring to Figure 13, the first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403 at cable connection points 1301 provided on the gripping unit 403. Referring to Figures 4, 6, and 13, the first reciprocating cable sets C1a and C1b are wrapped around gripping pulleys GP, which are rotatably supported on the back of the pitch unit 401 from opposite directions, and are laid out to fold back in a U-shape.

[0041] Referring to Figure 12, the first forward cable C1a is pulled in the direction of the second axis, but its direction is changed to a direction perpendicular to the first axis by the first idler pulley IP11a, which has the first axis as its axis of rotation, and its layout within the shaft 102 is adjusted so that it passes through the shaft 102 by the first adjacent idler pulley IP12a, which is adjacent to the first idler pulley IP11a and has an axis of rotation parallel to the first axis. Similarly, the first return cable C1b is pulled in the direction of the second axis, but its direction is changed to a direction perpendicular to the first axis by the first idler pulley IP11b, which has the first axis as its axis of rotation, and its layout is adjusted so that it passes through the shaft 102 by the first adjacent idler pulley IP12b, which is adjacent to the first idler pulley IP11b and has an axis of rotation parallel to the first axis.

[0042] The first reciprocating cable sets C1a and C1b are then inserted through the shaft 102 and pulled by actuators located in the surgical instrument unit drive unit 103. In this embodiment, the first reciprocating cable sets C1a and C1b are driven by a single motor (first motor M1) in a cable loop manner, but details will be described later. However, the first forward cable C1a and the first return cable C1b can also be configured to be pulled by separate motors.

[0043] The first reciprocating cable sets C1a and C1b are fixed to the gripping unit 403 at the cable connection point 1301 (as described above). Therefore, when the first forward cable C1a is pulled, the gripping unit 403 rises in the direction of the second axis along the rail on the back of the pitch unit 401 (as described above). Also, when the first return cable C1b is pulled, the gripping unit 403 descends in the direction of the second axis. The rod 404 is supported at its tip by the gripping unit 403 (as described above) and reciprocates with the gripping unit 403 in the direction of the second axis, thereby enabling the jaws 405a and 405b to open and close freely.

[0044] The roll unit 402 is equipped with a roll capstan RC near the middle of the second axial direction. Referring to Figures 6 and 14, the second forward cable C2a and the second return cable C2b are wrapped around the roll capstan RC from opposite directions and fixed to the roll unit 402 at their ends. Referring in particular to Figure 14, the second forward cable C2a and the second return cable C2b are wrapped around the roll capstan RC so as to overlap by approximately 180 degrees around the second axis, thereby achieving a range of motion of ±150 degrees around the second axis of the roll unit 402.

[0045] Here, as shown in Figure 12, the pitch unit 401 has protruding pins near the passages of the second forward cable C2a and the second return cable C2b. The height of each pin in the second axis direction is approximately the same. The second forward cable C2a passes above the pins before being wrapped around the roll capstan RC, and the second return cable C2b passes below the pins before being wrapped around the roll capstan RC. Therefore, the second forward cable C2a and the second return cable C2b are wrapped around the roll capstan RC such that they are spaced apart in the height direction of the second axis and do not come into contact, but overlap by approximately 180 degrees around the second axis (see Figure 14). As a result, when the roll unit 402 is driven by ±150 degrees around the second axis, the second forward cable C2a and the second return cable C2b do not become entangled.

[0046] Referring to Figure 12, the second forward cable C2a is pulled in a direction perpendicular to the second axis, but its direction is changed to a direction perpendicular to the first axis by the second idler pulley IP21a, which has the first axis as its axis of rotation, and its layout is further adjusted so that it passes through the shaft 102 by the second adjacent idler pulley IP22a, which is adjacent to the second idler pulley IP21a and has an axis of rotation parallel to the first axis. Similarly, the second return cable C2b is pulled in a direction perpendicular to the second axis, but its direction is changed to a direction perpendicular to the first axis by the second idler pulley IP21b, which has the first axis as its axis of rotation, and its layout is further adjusted so that it passes through the shaft 102 by the second adjacent idler pulley IP22b, which is adjacent to the second idler pulley IP21b and has an axis of rotation parallel to the first axis.

[0047] The second reciprocating cable sets C2a and C2b are then inserted through the shaft 102 and pulled by actuators located in the surgical instrument unit drive unit 103. In this embodiment, the second reciprocating cable sets C2a and C2b are driven by a single motor (second motor M2) in a cable loop manner, but details will be described later. However, the second forward cable C2a and the second return cable C2b can also be configured to be pulled by separate motors.

[0048] The second forward cable C2a and the second return cable C2b are wrapped around the roll unit 402 from opposite directions (as described above). Therefore, pulling the second forward cable C2a can cause the roll unit 402 to rotate forward around the second axis. Also, pulling the second return cable C2b can cause the roll unit 402 to reverse around the second axis. This provides the tip portion 101 of the surgical instrument unit with rotational freedom around the second axis.

[0049] As can be seen from Figures 7 and 12, idler pulleys IP11a, IP11b, IP21a, and IP21b all rotate on the first axis. Also, adjacent idler pulleys IP12a, IP12b, IP22a, and IP22b are all parallel to the first axis and have the same axis of rotation. Within shaft 102, the layout is adjusted by the above idler pulleys so that the first reciprocating cable sets C1a and C1b pass over the top, and the second reciprocating cable sets C2a and C2b pass over the bottom.

[0050] Furthermore, referring to Figures 4, 7, and 12, the second reciprocating cable sets C2a and C2b are wrapped around idler pulleys IP21a and IP21b in the opposite direction to the direction in which the first reciprocating cable sets C1a and C1b are wrapped around idler pulleys IP11a and IP11b. Therefore, when the first reciprocating cable sets C1a and C1b are pulled (or retracted in the longitudinal direction of shaft 102) and when the second reciprocating cable sets C2a and C2b are retracted, the pitch unit 401 is subjected to a rotational force in the opposite direction around the first axis.

[0051] Therefore, by selectively pulling either the first reciprocating cable set C1a and C1b or the second reciprocating cable set C2a and C2b, the pitch unit 401 can be rotated around its first axis, thereby realizing rotational freedom of the surgical instrument unit tip 101 around its first axis.

[0052] C. Operation of the surgical instrument unit Figure 15 illustrates an example of the arrangement of actuators within the surgical instrument unit drive unit 103 and the method of pulling cables by each actuator.

[0053] As shown in Figure 15, the system is equipped with a first motor M1, a second motor M2, and a third motor M3. Furthermore, the output shafts of these first to third motors M1 to M3 are each fitted with drive capstans MC1, MC2, and MC3, respectively.

[0054] Here, it is assumed that rotary motors are used for each of the first to third motors M1 to M3, but motors with reduction gears may also be used. Electromagnetic rotary motors are best used for the first to third motors M1 to M3. However, other types of actuators capable of rotating the drive capstan can also be used as substitutes.

[0055] The first motor capstan MC1 is wound with the first reciprocating cable sets C1a and C1b via idler pulleys IP13a and IP13b. The first motor M1 can rotate the first motor capstan MC1 in the forward direction to apply a traction force to the first forward cable set C1a. In this case, the gripping unit 403 rises relative to the pitch unit 401 and the roll unit 402, so the rod 404 also rises in the second axial direction, enabling the jaws 405a and 405b to close. Also, when the first motor M1 rotates the first motor capstan MC1 in the negative direction to apply a traction force to the first return cable C1b, the gripping unit 403 descends relative to the pitch unit 401 and the roll unit 402, so the rod 404 also descends in the second axial direction, enabling the jaws 405a and 405b to open. In short, the first motor M1 is responsible for opening and closing jaws 405a and 405b.

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

[0057] Also, referring to Figure 15, the second motor capstan MC2 is wound with the second reciprocating cable sets C2a and C2b via idler pulleys IP23a and IP23b. Therefore, when the second motor M2 rotates the second motor capstan MC2 in the forward direction and applies a pulling force to the second forward cable C2a, the roll unit 402 can be rotated forward around the second axis. Conversely, when the second motor M2 rotates the second motor capstan MC2 in the negative direction and applies a pulling force to the second return cable C2b, the roll unit 402 can be rotated backward around the second axis. In short, the second motor M2 plays the role of rotating the roll unit 402 around the second axis, which is parallel to the roll axis.

[0058] Figures 19 to 23 show how the roll unit 402 rotates around the second axis. In the example shown in Figure 19, the second motor M2 rotates the second motor capstan MC2 to its maximum extent in the positive direction, and the pulling force of the second forward cable C2a rotates the roll unit 402 150 degrees in the positive direction around the second axis. In Figures 20 to 22, the second motor M2 gradually rotates the second motor capstan MC2 in the negative direction, and the pulling force of the second return cable C2b reduces the rotation angle of the roll unit 402 around the second axis to 75 degrees, 0 degrees, and -75 degrees, respectively. In the example shown in Figure 23, the second motor M2 rotates the second motor capstan MC2 to its maximum extent in the negative direction, and the pulling force of the second forward cable C2b rotates the roll unit 402 -140 degrees in the negative direction around the second axis.

[0059] The third motor M3 is responsible for rotating the pitch unit 401 around a first axis parallel to the pitch axis, and this will be explained in detail.

[0060] As already mentioned, the second reciprocating cable sets C2a and C2b are wrapped around idler pulleys IP21a and IP21b in the opposite direction to the direction in which the first reciprocating cable sets C1a and C1b are wrapped around idler pulleys IP11a and IP11b. Therefore, when the first reciprocating cable sets C1a and C1b are pulled (or retracted in the longitudinal direction of shaft 102) and when the second reciprocating cable sets C2a and C2b are retracted, the pitch unit 401 is subjected to a rotational force in the opposite direction around the first axis.

[0061] Therefore, by selectively pulling either the first reciprocating cable set C1a and C1b or the second reciprocating cable set C2a and C2b, the pitch unit 401 can be rotated around its first axis, thereby realizing rotational freedom of the surgical instrument unit tip 101 around its first axis.

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

[0063] Therefore, the third motor M3 can rotate the third motor capstan MC3 in the positive direction, thereby applying a traction force to the third forward cable C3a. In this case, the first slide base SB1 retracts toward the root side (i.e., the proximal end) of the shaft 102, while the second slide base SB2 advances toward the tip side (i.e., the distal end) of the shaft 102. As a result, the first reciprocating cable sets C1a and C1b retract, and the second reciprocating cable sets C2a and C2b advance, causing the pitch unit 401 to rotate in the positive direction around the first axis.

[0064] Conversely, the third motor M3 can rotate the third motor capstan MC3 in the negative direction, thereby applying a traction force to the third return cable C3b. In this case, the second slide base SB2 retracts toward the root side (i.e., the proximal end) of the shaft 102, while the first slide base SB1 advances toward the tip side (i.e., the distal end) of the shaft 102. As a result, the first reciprocating cable sets C1a and C1b advance, and the second reciprocating cable sets C2a and C2b retract, causing the pitch unit 401 to rotate in the negative direction around the first axis.

[0065] Figures 24 to 28 show how the pitch unit 401 rotates around the first axis. In the example shown in Figure 24, the third motor M3 rotates to its maximum extent in the forward direction, and the pulling force of the third forward cable C3a causes the first slide base SB1 to retract to its maximum extent. As a result, the pitch unit 401 rotates 80 degrees around the first axis.

[0066] Furthermore, in Figures 25 to 27, the third motor M3 gradually rotates the third motor capstan MC3 in the negative direction, and the pulling force of the third return cable C3b gradually retracts the second slide base SB2. As a result, the pitch unit 401 gradually pivots in the negative direction around the first axis, and the pivot angle decreases sequentially to 40 degrees, 0 degrees, and -40 degrees.

[0067] Then, in the example shown in Figure 28, the third motor M3 rotates to its maximum extent in the negative direction, and the pulling force of the third return cable C3b causes the second slide base SB2 to retract to its maximum extent. As a result, the pitch unit 401 rotates -80 degrees around the first axis.

[0068] Furthermore, the rotational movement of the pitch unit 401 around the first axis, the rotational movement of the roll unit 402 around the second axis, and the gripping movement by the pair of jaws 405a and 405b (or the linear movement of the gripping unit 403 in the second axis direction) at the tip of the surgical instrument unit 101 do not interfere with each other, and the three axes can be driven simultaneously.

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

[0070] In the example shown in Figure 29, the third motor M3 rotates the third motor capstan MC3 in the forward direction, and the pulling force of the third forward cable C3a causes the first slide base SB1 to retract, thereby rotating the pitch unit 401 by 40 degrees around the first axis.

[0071] Furthermore, in the example shown in Figure 30, the pitch unit 401 is rotated 40 degrees around the first axis, and then the jaws 405a and 405b are opened to an angle of 20 degrees. In this case, the first motor M1 rotates the first motor capstan MC1 in the negative direction, thereby pulling the first return cable set C1b. As a result, the rod 404 descends in the second axis direction, generating the action of opening the jaws 405a and 405b.

[0072] In the example shown in Figure 31, the pitch unit 401 rotates 40 degrees around the first axis, and with the jaws 405a and 405b open to an angle of 20 degrees, the roll unit 402 is further rotated 45 degrees in the forward direction around the second axis. In this case, the second motor M2 rotates the second motor capstan MC2 in the forward direction, and the pulling force of the second forward cable C2a generates the motion of the roll unit 402 rotating 45 degrees in the forward direction around the second axis.

[0073] Let's summarize the operation method of the surgical instrument unit tip 101.

[0074] Operation on the first axis: When the third motor M3 rotates the third motor capstan MC3, a traction force is generated on either the third reciprocating cable set C3a or C3b, causing the first slide base SB1 and the second slide base SB2 shaft 102 to move forward and backward in the longitudinal direction. As a result, either the first forward cables C1a and C1b or the second reciprocating cable set C2a and C2b move forward and the other moves backward, allowing the pitch unit 401 to rotate in the forward or reverse direction around the first axis, as shown in Figures 24 to 28.

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

[0076] Grasping action: The jaws 405a and 405b are rotatable around the opening / closing axis 1101 formed at the tip of the roll unit 402, and rotate in opposite directions around the opening / closing axis 1101 in accordance with the linear motion of the rod 404 in the second axial direction. When the first motor M1 rotates the first motor capstan MC1, a traction force is generated on either the first reciprocating cable set C1a or C1b, causing the rod 404 to rise or fall in the second axial direction, thereby generating the opening and closing motion of the jaws 405a and 405b.

[0077] Next, we will explain the relationship between the operation of the first to third motors M1 to M3 and the operation of the surgical instrument unit tip 101.

[0078] Figure 32 shows an example of the pitch unit 401 rotating around the first axis. However, this figure is a view of the tip 101 of the surgical instrument unit from a direction parallel to the first axis. As shown in the figure, the radius of each idler pulley P11a, P11b, P21a, and P21b with the first axis as the axis of rotation is R pitch The rotation angle of the pitch unit 401 around the first axis is set to θ. pitch Let X be the displacement of the cable shaft 102 from a predetermined reference position in the longitudinal axis direction.

[0079] Furthermore, Figure 33 shows an example of the operation in which the roll unit 402 (or jaws 405a and 405b) rotates around the second axis. However, this figure is a view of the tip portion 101 of the surgical instrument unit from a direction parallel to the second axis. As shown in the figure, the pulley radius of the roll capstan RC is R roll The rotation angle of the roll unit 402 around the second axis is set to θ. rollLet's assume that.

[0080] Furthermore, Figure 34 shows an example of a gripping operation in which jaws 405a and 405b rotate around the opening / closing axis to open and close. However, this figure is a view of the tip portion 101 of the surgical instrument unit from a direction parallel to the first axis. As already explained with reference to Figure 11, jaws 405a and 405b open and close in accordance with the linear motion of rod 404 in the second axial direction. The opening angle of jaws 405a and 405b is θ grip Let's assume that.

[0081] Figure 35 shows the positional relationship between the jaw's opening / closing axis and the pin at the tip of the rod 404, which slides within the elongated groove drilled in the jaw. In Figure 35, the left side shows the entire jaw, and the right side shows a magnified view of the area around the opening / closing axis. However, although the figure shows an example of jaw 405a, the same applies to jaw 405b. The figure shows jaws 405a and 405b in the closed state. When jaws 405a and 405b are closed, the distance from the center of the opening / closing axis to the pin at the tip of the rod 404 (not shown in Figure 35) is denoted as x0, and the inclination angle of the major axis of the elongated groove with respect to the second axis is denoted as α0. Also, the height of the right triangle whose hypotenuse is the line segment with distance x0 connecting the center of the opening / closing axis to the pin at the tip of the rod 404 is denoted as L.

[0082] The wall surface of the elongated groove drilled in the jaw forms a cam surface, and the pin at the tip of the rod 404 slides along the wall surface of the elongated groove. As described above, when the gripping unit 403 rises and the rod 404 also rises in the second axial direction, the jaws 405a and 405b are closed. Conversely, when the gripping unit 403 descends and the rod 404 also descends in the second axial direction, the jaws 405a and 405b are opened. Figure 36 shows the rod 404 (not shown in Figure 36) descending in the second axial direction, and the distance from the center of the opening / closing axis to the pin at the tip of the rod 404 is displaced from x0 to x. In Figure 36, the left side shows the entire jaw, and the right side shows a magnified view of the area around the opening / closing axis. The jaw opening angle at this time is θ. gripLet it be / 2, and let the inclination angle of the long axis of the long groove hole with respect to the second axis be α. Also, the height of a right triangle with the distance x between the pins at the tip of the rod 404 from the center of the opening / closing axis as the hypotenuse is L. At this time, the displacement (x0 - x) of the rod 404 in the second axis direction is expressed as the following formula (1).

[0083]

Equation

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

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

[0086]

Equation

[0087]

Equation

[0088]

Equation

[0089]

number

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

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

[0092]

number

[0093]

number

[0094]

number

[0095] Therefore, by displacing the first reciprocating cable set C1a and C1b and the second reciprocating cable set C2a and C2b by a predetermined amount based on equations (6) to (8) above, the desired angle for each axis can be achieved.

[0096] From equation (7) above, the opening angle θ of jaws 405a and 405b grip This is the displacement amount X of the first round-trip cable set C1a and C1b. C1a , X C1b It can be seen that only is involved. Similarly, from equation (8) above, the rotation angle θ of the roll unit 402 around the second axis roll This is the displacement amount X of the second round-trip cable set C2a and C2b.C2a , X C2b It can be seen that only this is involved.

[0097] Furthermore, from equation (6) above, the rotation angle θ of the pitch unit 401 around the first axis is pitch This is the displacement amount X of the first round-trip cable set C1a and C1b. C1a , X C1b and the displacement amount X of the second round-trip cable set C2a and C2b C2a , X C2b It can be seen that it is determined by the difference.

[0098] D. Modified Roll Unit Figure 37 shows a cross-section of a modified roll unit 3700. The illustrated roll unit 3700 is divided into an inner surgical instrument shaft portion 3701 and an outer surgical instrument cover portion 3702, based on the "roll unit 402" described above. The surgical instrument shaft portion 3701 has a hollow cylindrical shape, with a rod 404 inserted inside. The surgical instrument cover portion 3702 has a hollow cylindrical shape with an inner diameter greater than that of the surgical instrument shaft portion 3701, with the surgical instrument shaft portion 3701 inserted inside. A roll capstan RC is formed on the outer circumference of the surgical instrument cover portion 3702, and a second reciprocating cable set C2a and C2b (not shown in Figure 37) is wound around it. Also, in Figure 37, the outer circumference of the surgical instrument shaft portion 3701 and the inner wall surface of the surgical instrument cover portion 3702 are joined at the area enclosed by the dotted circle. Through this joint, rotational force around the second axis is transmitted from the surgical instrument cover portion 3702 to the surgical instrument shaft portion 3701.

[0099] Beyond the joint circled by the dotted line, towards the distal end, there is a small gap between the outer circumference of the surgical instrument shaft 3701 and the inner wall surface of the surgical instrument cover 3702. This space is used to attach strain detection elements 3703 to several locations on the outer circumference of the surgical instrument shaft 3701. The detection signals from each strain detection element 3703 are then processed to calculate the external force applied to the jaws 405a and 405b at the tip of the surgical instrument. Up to the joint circled by the dotted line, the outer circumference of the surgical instrument shaft 3701 and the inner wall surface of the surgical instrument cover 3702 are not in contact, so no external force other than that applied to the jaws 405a and 405b at the tip of the surgical instrument is applied at the mounting locations of the strain detection elements 3703.

[0100] In the example shown in Figure 37, a pair of strain detection elements 3703a and 3703b are attached to opposite sides of the surgical instrument shaft 3701 in a direction perpendicular to the roll axis (let's call this the "Y direction"). In this case, the amount of strain in the Y direction of the surgical instrument shaft 3701 can be calculated by processing the detection signals of the pair of strain detection elements 3703a and 3703b, and this amount of strain can be converted into an external force applied to the jaws 405a and 405b in the Y direction. Furthermore, if it is also desired to measure the external force applied to the jaws 405a and 405b in the X direction, a similar pair of strain detection elements (not shown in Figure 37) can be attached to opposite sides in the X direction on the surface of the surgical instrument shaft 3701 and measurements can be taken. Alternatively, a strain generating structure may be formed on the surgical instrument shaft 3701 at the locations where the strain detection elements 3703a and 3703b are installed.

[0101] Here, strain detection elements 3703a and 3703b can be any detection element widely known in the industry, such as a capacitive sensor, a semiconductor strain gauge, or a foil strain gauge.

[0102] Furthermore, FBG (Fiber Bragg Grating) sensors, which are fabricated using optical fibers, may be used as strain detection elements 3703a and 3703b. Here, an FBG sensor is a sensor constructed by etching a diffraction grating along the long axis of an optical fiber, and can detect changes in the spacing of the diffraction grating due to strain caused by applied force or expansion or contraction due to temperature changes as a change in the wavelength of reflected light relative to incident light in a predetermined wavelength band (Bragg wavelength) (well known). The change in wavelength detected by the FBG sensor can then be converted into the underlying strain, stress, or temperature change. Since FBG sensors using optical fibers have low transmission loss (are less susceptible to external noise), they can maintain high detection accuracy even under expected operating environments. In addition, FBG sensors have the advantage of being easily adaptable to sterilization requirements in medical settings and strong magnetic field environments (see, for example, Patent Document 5).

[0103] Figure 38 shows an example of a cross-sectional configuration of the roll unit 3700 when an FBG sensor is used as the strain detection element. In the illustrated example, two optical fibers 3801 and 3802 are inserted from the upper end surface of the roll unit 3700, utilizing the space between the outer circumference of the surgical instrument shaft portion 3701 and the inner wall surface of the surgical instrument cover portion 3702, in the direction of the roll axis. The two optical fibers 3801 and 3802 are positioned on opposite sides in the Y direction. Gratings are engraved at the locations indicated by reference numbers 3803 and 3804 of each optical fiber 3801 and 3802, respectively, and can function as strain detection elements. A strain-generating structure may also be formed near the gratings 3803 and 3804 on the surgical instrument shaft 3701.

[0104] E. Modified versions of the surgical instrument unit E-1. Variations of methods for driving cables For the first to third motors M1 to M3, electromagnetic rotary motors are best used. However, they can be substituted with other types of actuators that can rotate the drive capstan. Other variations of the actuator that pulls the cable include, for example, the following:

[0105] • Piezoelectric direct-acting ultrasonic motor • Piezoelectric rotary ultrasonic motor • Hydraulic direct-drive motor • Hydraulic rotary motor • Polymer linear actuator • Electromagnetic direct-acting motor ·Shape memory alloy

[0106] Furthermore, regardless of the type of actuator used, the actuator may be equipped with a speed reducer, position sensor, and emergency braking mechanism. Examples of speed reducers include gear reducers, harmonic drive gear reducers, postal gear reducers, novelty postal gear reducers, cable reducers, traction reducers, ball screws, sliding screws, and worm gears. Examples of position sensors include magnetic encoders, optical encoders, and potentiometers.

[0107] E-2. Variations of jaw shape In each diagram, the jaws are depicted with relatively simple shapes for convenience. In reality, the shape of the jaws may be modified depending on the intended use of the surgical instrument unit. For example, the following can be considered:

[0108] ·forceps • Bipolar forceps ·scissors ·stapler

[0109] E-3. Modified Shaft Ideally, the shaft 102 is a rigid body, but it may also be an elastic body, such as a flexible endoscope. Furthermore, for simplification, the figures depict a simple hollow cylindrical shaft 102, but it does not necessarily have to be cylindrical. For example, the cross-section of the shaft 102 may be polygonal or elliptical, or the cross-sectional shape may change midway along the longitudinal axis.

[0110] E-4. Cable Variations The cable may be made of bundled metal wires, bundled resin, or a mixture of multiple materials such as metal wires and resin. Alternatively, a highly rigid metal shaft 102 may be used in sections of the cable that do not require curvature, such as inside the shaft 102, and this shaft may be connected to a flexible cable used in sections requiring curvature to form a single cable. Examples of alternatives to the cable include the following:

[0111] • Metal or resin wire • Wire made of thin metal or resin wires with a small diameter

[0112] E-5. Modification of the idler pulley The above describes an example of using idler pulleys to adjust cable layout. Using idler pulleys reduces sliding friction when pulling cables, resulting in smoother operation. If you want to further reduce sliding friction, you can also use idler pulleys equipped with rotating bearings.

[0113] On the other hand, using an idler pulley increases the size of the mechanism and the number of parts. Therefore, in order to further miniaturize the tip portion 101 of the surgical instrument unit, it is also possible to lay out the cable along a guide groove formed in the mechanism without using an idler pulley.

[0114] F. Application examples of surgical instrument units F-1. Examples of applications to surgical robots (computer-assisted surgical systems) Figure 39 shows an example of the external configuration of a surgical robot 3900 using the surgical instrument unit according to this embodiment. The illustrated surgical robot 3900 is equipped with an arm 3901 consisting of a multi-link structure, and a surgical instrument unit 3902 is mounted at the tip of the arm 3901. The surgical instrument unit 3902 may be replaceable. The surgical robot 3900 is applied, for example, to laparoscopic surgery, in which the tip portion 101 of the surgical instrument unit is inserted into the abdominal cavity via a trocar (not shown) to perform procedures such as grasping and excising the affected area.

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

[0116] The arm 3901 may be any type of robot mechanism, such as a polar coordinate robot, cylindrical coordinate robot, rectangular coordinate robot, vertical articulated robot, horizontal articulated robot, parallel link robot, or RCM (Remote Center of Motion) robot.

[0117] Furthermore, if the surgical support system 3900 is a surgical robot that assists in laparoscopic surgery, it is preferable to use a vertical multi-jointed arm or an RCM (Remote Center of Motion) type arm that achieves pivot (fixed point) motion by placing a remote rotation center at a position away from the drive rotation center, from the viewpoint of compactness of the mechanism and ease of generating pivot motion at the trocar location, as the arm 3901.

[0118] Furthermore, while Figure 39 shows an example of a surgical robot configuration that can be equipped with only one surgical instrument unit, the same method can be applied to surgical robots that can be equipped with multiple surgical instrument units simultaneously to perform laparoscopic surgery.

[0119] Applicability to F-2 control units Figure 40 shows an example of the external configuration of the operating unit 4000 using the surgical instrument unit according to this embodiment. The operating unit 4000 includes a handle portion 4001 that the user holds and operates directly, and a surgical instrument unit 4002 is mounted on the tip of the handle portion 4001. The surgical instrument unit 4002 may be replaceable.

[0120] The handle portion 4001 may include a thumb-operable joystick 4003 for directing the orientation of the tip of the surgical instrument unit 4002 in any direction. The handle portion 4001 may also include a button 4004 that can be operated with the index finger for directing the opening and closing of the jaws.

[0121] A controller (not shown) may be installed inside the handle section 4001. This controller controls the rotation angle θ of the pitch unit 401 around the first axis in accordance with the amount of movement of the joystick 4003 or button 4004. pitch , the rotation angle θ of the roll unit 402 around the second axis roll , and the opening angle θ of jaws 405a and 405b grip The system calculates this value, converts it into the rotation amount of each motor, and outputs a control signal to the surgical instrument unit drive unit 103.

[0122] G. Effects The surgical instrument unit 100 according to this disclosure has a wide range of motion because the rotation of the roll unit 402 around a second axis parallel to the roll axis becomes the degree of freedom at the distal end (excluding the degree of freedom of gripping of the jaws). Specifically, the pitch unit 401 has a rotational degree of freedom of approximately ±80 degrees around a first axis parallel to the pitch axis, and the roll unit 402 has a rotational degree of freedom of approximately ±150 degrees around the second axis.

[0123] Furthermore, in the surgical instrument unit 200 relating to this disclosure, the opening angle θ of the pair of jaws 405a and 405b gripThis is determined by the difference in the longitudinal axial displacement of the shaft 102 of the first forward cable C1a and the first return cable C1b (see, for example, equation (7) above). Also, the rotation angle θ of the roll unit 402 around the second axis. roll This is determined by the difference in the longitudinal displacement of the shaft 102 of the second forward cable C2a and the second return cable C2b (see, for example, equation (8) above). Also, the rotation angle θ of the pitch unit 401 around the first axis. pitch This is determined by the difference in the average values ​​of the longitudinal displacements of the shaft 102 of the first reciprocating cable set C1a and C1b and the second reciprocating cable set C2a and C2b (see, for example, equation (6) above).

[0124] In short, the control model of the surgical instrument unit 100 according to this disclosure is simple. Therefore, when the surgical instrument unit 100 is applied to a surgical robot (see Figure 39), it is easy to control, and when the surgical instrument unit 100 is applied to an operating unit (see Figure 40), it is easy for the operator to operate.

[0125] Furthermore, the surgical instrument unit 100 according to this disclosure is equipped with a strain detection element in the roll unit 402 (see Figures 37 and 38) to detect external forces applied to the jaws at the tip. Even in this case, it is possible to design the distance from the first axis to the jaws at the tip to be shorter. [Industrial applicability]

[0126] The technology relating to this disclosure has been described in detail above with reference to specific embodiments. However, it is obvious that a person skilled in the art can modify or substitute these embodiments without departing from the gist of the technology relating to this disclosure.

[0127] This specification has primarily described embodiments in which the technology described herein is applied to surgical instruments used in surgical robots, but the essence of the technology described herein is not limited to this. The technology described herein can be applied to robots in various fields other than medicine, such as precision work robots. Furthermore, the technology described herein can also be applied to grip-type operating units and precision work devices that can be operated by a user while holding them in their hand.

[0128] In short, the technology relating to this disclosure has been explained in the form of examples, and the contents of this specification should not be interpreted restrictively. In order to determine the gist of the technology relating to this disclosure, the claims should be taken into consideration.

[0129] Furthermore, the technology related to this disclosure can also take the following configuration.

[0130] (1) The shaft and A pitch unit is connected to the tip of the shaft so as to be rotatable around a first axis, A roll unit is supported so as to be rotatable about a second axis relative to the pitch unit, A gripping unit is supported so as to be able to move linearly in the second axial direction relative to the roll unit, A magical tool that possesses the following characteristics. (2) The second axis is positioned at an offset from the first axis, The surgical instruments described in (1) above. (3) The roll unit further comprises a pair of jaws attached to the lower end in the second axial direction and which open and close in conjunction with the linear motion of the gripping unit in the second axial direction. The surgical instrument described in either (1) or (2) above. (4) The gripping unit supports a rod that passes through the roll unit in the second axial direction, The pair of jaws are supported by an opening / closing shaft near the lower end of the roll unit and include a cam that converts the linear motion of the rod in the second axial direction into motion in the opening / closing direction. The surgical instruments described in (3) above. (5) A first reciprocating cable set for pulling the gripping unit in the second axial direction, A second reciprocating cable set for pulling the roll unit around the second axis, The surgical instrument described in (4) above, further comprising the above. (6) The first reciprocating cable set has a portion that is fixed to the gripping unit and is arranged to fold back in the second axial direction via a gripping pulley provided on the roll unit. The surgical instruments described in (5) above. (7) The second set of reciprocating cables is wound around a roll capstan provided on the roll unit. The surgical instrument described in either (5) or (6) above. (8) The forward and return cables of the second round-trip cable set are wound around the roll capstan such that they overlap by 180 degrees around the second axis from opposite directions and are spaced apart in the height direction of the second axis so as not to come into contact with each other. The surgical instruments described in (7) above. (9) A first idler pulley section that converts the first reciprocating cable set in the longitudinal direction of the shaft, A second idler pulley section that converts the second reciprocating cable set in the longitudinal axis direction of the shaft, A surgical instrument according to any of (5) to (8) above, further comprising the above. (10) The first idler pulley section includes a first idler pulley that rotates around the first axis and a first adjacent idler pulley adjacent to the first idler pulley and having a rotation axis parallel to the first axis. The second idler pulley section includes a second idler pulley that rotates around the first axis, and a second adjacent idler pulley adjacent to the second idler pulley and having a rotation axis parallel to the first axis. The surgical instruments described in (9) above. (11) The second reciprocating cable set is wound around the second idler pulley in the opposite direction to the direction in which the first reciprocating cable set is wound around the first idler pulley. The surgical instruments described in (10) above. (12) A first actuator that rotates a first drive capstan to pull the first reciprocating cable set in the longitudinal direction of the shaft, A second actuator rotates a second drive capstan and pulls the second reciprocating cable set in the longitudinal direction of the shaft, The surgical instrument described in (11) above, further comprising the above. (13) A first slide base that fixes the first actuator and the first drive capstan and slides in the longitudinal direction of the shaft, A second slide base is provided to fix the second actuator and the second drive capstan, and to slide in the longitudinal direction of the shaft, A third actuator that rotates the third drive capstan, A third reciprocating cable set, each end of which is fixed to the first slide base and the second slide base, respectively, and which is wrapped around the third drive capstan, Furthermore, The rotation of the third drive capstan generates the forward and backward movement of the first slide base and the second slide base. The surgical instruments described in (12) above. (14) A surgical instrument and an arm to which the surgical instrument is attached, The aforementioned surgical instrument is The shaft and A pitch unit is connected to the tip of the shaft so as to be rotatable around a first axis, A roll unit is supported so as to be rotatable about a second axis relative to the pitch unit, A gripping unit is supported so as to be able to move linearly in the second axial direction relative to the roll unit, A surgical support system equipped with the following features. (15) A surgical instrument and a handle portion to which the surgical instrument is attached, The aforementioned surgical instrument is The shaft and A pitch unit is connected to the tip of the shaft so as to be rotatable around a first axis, A roll unit is supported so as to be rotatable about a second axis relative to the pitch unit, A gripping unit is supported so as to be able to move linearly in the second axial direction relative to the roll unit, A surgical operating unit equipped with [a specific feature / feature]. [Explanation of Symbols]

[0131] 100... Surgical instrument unit, 101... Tip of surgical instrument unit 102... Shaft, 103... Surgical instrument unit drive unit 3900...Surgical robot, 3901...Arm 3902...Technique Unit 4000...Operation unit, 4001...Handle unit, 4002... Surgical tool unit, 4003... Joystick 4004... button

Claims

1. A shaft having a longitudinal axis, A pitch unit is connected to the tip of the shaft so as to be rotatable around a first axis perpendicular to the longitudinal axis, A roll unit is supported so as to be rotatable about a second axis relative to the pitch unit, A gripping unit is supported so as to be able to move linearly in the direction of the second axis relative to the roll unit, and supports a rod inserted through a through hole in the roll unit that penetrates in the direction of the second axis, so as to be able to move linearly in the direction of the second axis. A first reciprocating cable set for pulling the gripping unit in the direction of the second axis, A second reciprocating cable set for pulling the roll unit around the second axis, It is equipped with, The second axis is positioned offset from the first axis so as not to intersect it, and when the second axis is projected onto a plane containing the first axis, it is positioned perpendicular to the first axis on that plane. Surgical tools.

2. The rod further comprises a pair of jaws attached to its lower end in the direction of the second axis, which open and close in conjunction with the linear motion of the gripping unit in the direction of the second axis. The surgical instrument according to claim 1.

3. The pair of jaws are supported by an opening / closing axis near the lower end of the rod in the direction of the second axis, and are equipped with a cam that converts the linear motion of the rod in the direction of the second axis into motion in the opening / closing direction. The surgical instrument according to claim 2.

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

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

6. The second set of reciprocating cables is wound around a roll capstan provided on the roll unit. The surgical instrument according to claim 1.

7. The forward and return cables of the second round-trip cable set are wound around the roll capstan such that they overlap by 180 degrees around the second axis from opposite directions and are spaced apart in the height direction of the second axis so as not to come into contact with each other. The surgical instrument according to claim 6.

8. A first idler pulley section that converts the first reciprocating cable set in the longitudinal direction of the shaft, A second idler pulley section that converts the second reciprocating cable set in the longitudinal direction of the shaft, The surgical instrument according to claim 1, further comprising the features described in claim 1.

9. The first idler pulley section includes a first idler pulley that rotates around the first axis, and a first adjacent idler pulley adjacent to the first idler pulley and having a rotation axis parallel to the first axis. The second idler pulley section includes a second idler pulley that rotates around the first axis, and a second adjacent idler pulley adjacent to the second idler pulley and having a rotation axis parallel to the first axis. The surgical instrument according to claim 8.

10. The second reciprocating cable set is wound around the second idler pulley in the opposite direction to the direction in which the first reciprocating cable set is wound around the first idler pulley. The surgical instrument according to claim 9.

11. A first actuator rotates a first drive capstan to pull the first reciprocating cable set in the longitudinal direction of the shaft, A second actuator rotates a second drive capstan to pull the second reciprocating cable set in the longitudinal direction of the shaft, The surgical instrument according to claim 10, further comprising the features described above.

12. A first slide base is provided to fix the first actuator and the first drive capstan, and to slide in the longitudinal direction of the shaft, A second slide base is provided to fix the second actuator and the second drive capstan, and to slide in the longitudinal direction of the shaft, A third actuator that rotates the third drive capstan, A third reciprocating cable set, each end of which is fixed to the first slide base and the second slide base, respectively, and which is wrapped around the third drive capstan, Furthermore, The rotation of the third drive capstan generates the forward and backward movement of the first slide base and the second slide base. The surgical instrument according to claim 11.

13. It comprises a surgical instrument and an arm to which the surgical instrument is attached, The aforementioned surgical instrument is A shaft having a longitudinal axis, A pitch unit is connected to the tip of the shaft so as to be rotatable around a first axis perpendicular to the longitudinal axis, A roll unit is supported so as to be rotatable about a second axis relative to the pitch unit, A gripping unit is supported so as to be able to move linearly in the direction of the second axis relative to the roll unit, and supports a rod inserted through a through hole in the roll unit that penetrates in the direction of the second axis, so as to be able to move linearly in the direction of the second axis. A first reciprocating cable set for pulling the gripping unit in the direction of the second axis, A second reciprocating cable set for pulling the roll unit around the second axis, Equipped with, The second axis is positioned offset from the first axis so as not to intersect it, and when the second axis is projected onto a plane containing the first axis, it is positioned perpendicular to the first axis on that plane. Surgical support system.

14. It comprises a surgical instrument and a handle to which the surgical instrument is attached. The aforementioned surgical instrument is A shaft having a longitudinal axis, A pitch unit is connected to the tip of the shaft so as to be rotatable around a first axis perpendicular to the longitudinal axis, A roll unit is supported so as to be rotatable about a second axis relative to the pitch unit, A gripping unit is supported so as to be able to move linearly in the direction of the second axis relative to the roll unit, and supports a rod inserted through a through hole in the roll unit that penetrates in the direction of the second axis, so as to be able to move linearly in the direction of the second axis. A first reciprocating cable set for pulling the gripping unit in the direction of the second axis, A second reciprocating cable set for pulling the roll unit around the second axis, Equipped with, The second axis is positioned offset from the first axis so as not to intersect it, and when the second axis is projected onto a plane containing the first axis, it is positioned perpendicular to the first axis on that plane. Surgical operating unit.

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