Cleaning nozzle and manipulator auxiliary device

Abstract

This cleaning nozzle for cleaning a manipulator comprises: a tip portion to be inserted in an opening of the manipulator; a first tip opening that is provided to the tip portion and communicates with the opening of the manipulator when the tip portion is inserted into the opening of the manipulator; a nozzle body having a first base opening and a second base opening to which an external tool is connected; a first flow path that is formed inside the nozzle body, that has a tip that communicates with the first tip opening, and that has a base that communicates with the first base opening; a second flow path that is formed inside the nozzle body, that has a smaller cross-sectional area than the first flow path, and that has a tip that communicates with the second base opening; and a second tip opening that communicates with the tip of the second flow path.

Description

Cleaning nozzle and manipulator auxiliary device

[0001] The present invention relates to a cleaning nozzle and a manipulator assist device.

[0002] Laparoscopic surgery is known, in which a rod-shaped surgical tool is inserted into a patient's body cavity through a hole opened in the patient's abdomen. This surgical tool is also called a manipulator, and the tip of the manipulator is provided with a movable part called an end effector that can rotate and grasp biological tissue. For example, Patent Documents 1 to 4 describe the above-mentioned manipulator. For example, Patent Document 5 describes a rack used to clean the above-mentioned manipulator.

[0003] US Patent Application Publication No. 2002 / 0032452 JP 2011-194129 A Japanese Patent No. 5830258 A Japanese Patent No. 2009-028156 A Japanese Patent No. 6472532 A

[0004] Because manipulators are inserted into a patient's body cavity for use, they must be cleaned and sterilized both inside and outside after each use. While the moving parts of the end effector of the manipulator are open to the outside to allow fluid flow, the rest of the manipulator is sealed to prevent the inflow of patient bodily fluids and the like. While manipulators have cleaning ports (openings) for injecting cleaning fluids to enable cleaning of the interior during a cleaning process, it is preferable to have a small number of such cleaning ports from the standpoint of sealing. To clean the interior of a manipulator, a user injects cleaning fluid through the cleaning port using an external instrument such as a syringe. However, because the interior of the manipulator is sealed, there is a risk that air inside the manipulator will push back the syringe, or that the cleaning fluid will backflow and spray out of the cleaning port when the syringe is removed. Furthermore, if the cleaning fluid is forcibly injected using a syringe, there is a risk that the pressure will damage the seal structure inside the manipulator. Furthermore, when discharging the cleaning fluid injected into the manipulator, the inside of the manipulator is sealed, so the cleaning fluid hardly flows out of the cleaning port due to its own weight, and the user must aspirate the cleaning fluid using a syringe. However, since a great deal of force is required to aspirate the cleaning fluid from the sealed inside of the manipulator, there is a risk that the cleaning fluid will not be sufficiently discharged. In this regard, the manipulators described in Patent Documents 1 to 4 and the rack described in Patent Document 5 do not take such issues into consideration at all.

[0005] The present invention has been made to solve at least part of the above-mentioned problems, and has an object to provide a cleaning nozzle that can efficiently clean a manipulator.

[0006] The present invention has been made to solve at least part of the above-mentioned problems, and can be realized in the following aspects.

[0007] (1) According to one aspect of the present invention, there is provided a cleaning nozzle for cleaning a manipulator, the cleaning nozzle comprising: a nozzle body having a tip end portion inserted into an opening of the manipulator, a first tip opening provided at the tip end portion and communicating with the opening of the manipulator when the tip end portion is inserted into the opening of the manipulator, a base end portion having first and second base end openings to which an external instrument is connected, a first flow path formed inside the nozzle body, the first flow path having a tip end communicating with the first tip opening and a base end communicating with the first base end opening, a second flow path formed inside the nozzle body, the second flow path having a cross-sectional area smaller than that of the first flow path, the base end communicating with the second base end opening, and a second tip opening communicating with the tip of the second flow path.

[0008] According to this configuration, the cleaning nozzle includes a first flow path and a second flow path having a cross-sectional area smaller than that of the first flow path. The distal end of the first flow path communicates with the first distal opening and the proximal end communicates with the first proximal opening. The distal end of the second flow path communicates with the second distal opening and the proximal end communicates with the second proximal opening. Therefore, when injecting cleaning fluid for cleaning the interior of the manipulator from an external device (e.g., a syringe), insert the syringe into the first proximal opening and inject the cleaning fluid from the first flow path into the interior of the manipulator through the opening in the manipulator. This allows air inside the manipulator to escape to the outside via the second distal opening, the second flow path, and the second proximal opening. This makes it easy to inject cleaning fluid into the interior of the manipulator. Furthermore, when discharging the cleaning fluid after cleaning the manipulator, by inserting a syringe into the second base-end opening and injecting air from the second flow path into the manipulator through the opening in the manipulator, the cleaning fluid inside the manipulator can be easily discharged to the outside via the first tip-end opening, the first flow path, and the first base-end opening. As a result, by using this cleaning nozzle, the manipulator can be efficiently cleaned.

[0009] (2) In the cleaning nozzle of the above aspect, a distal portion of the second flow path may be provided inside the first flow path, and the second distal opening may protrude from the first distal opening and be located distal to the first distal opening. With this configuration, the second distal opening protrudes from the first distal opening and is located distal to the first distal opening, which makes it easier to exhaust air from inside the manipulator when injecting cleaning fluid and to inject air into the manipulator when discharging cleaning fluid.

[0010] (3) In the cleaning nozzle of the above aspect, the second tip opening may be provided on an inner circumferential surface of the first flow path, and the first flow path and the second flow path may merge at the second tip opening. With this configuration, the second tip opening is provided on the inner circumferential surface of the first flow path, and the first flow path and the second flow path merge at the second tip opening. Therefore, a cleaning nozzle capable of efficiently cleaning a manipulator can be provided with a configuration in which the second tip opening is housed within the first flow path.

[0011] (4) In the cleaning nozzle of the above aspect, the second tip opening may be provided at a position different from the first tip opening at the tip of the nozzle body. With this configuration, the second tip opening is provided at a position different from the first tip opening at the tip of the nozzle body, making it easy to manufacture a cleaning nozzle that can efficiently clean a manipulator.

[0012] (5) In the cleaning nozzle of the above aspect, the flow path resistance of the second flow path may be greater than the flow path resistance of a flow path in the manipulator that communicates with an opening of the manipulator. With this configuration, the flow path resistance of the second flow path is greater than the flow path resistance of a flow path in the manipulator that communicates with an opening of the manipulator (i.e., the flow path resistance of a flow path inside the manipulator). This makes it easier to exhaust air from inside the manipulator when injecting cleaning fluid and to inject air into the manipulator when discharging cleaning fluid.

[0013] (6) According to one aspect of the present invention, there is provided a manipulator assist device. This manipulator assist device includes the cleaning nozzle of the above aspect and a main body to which the cleaning nozzle is attached. With this configuration, it is possible to provide a manipulator assist device including a cleaning nozzle that can efficiently clean a manipulator.

[0014] (7) In the manipulator assist device of the above aspect, the cleaning nozzle may be fixed to the main body so as to be slidable from the base end toward the tip end when an external force is applied from the first base end opening or the second base end opening. According to this configuration, the cleaning nozzle is fixed to the main body so as to be slidable from the base end toward the tip end when an external force is applied from the first base end opening or the second base end opening. Therefore, by pushing an external instrument (e.g., a syringe) inserted into the first base end opening or the second base end opening toward the tip end, the tip end of the cleaning nozzle can be inserted deeper into the opening of the manipulator, thereby more reliably fixing the cleaning nozzle to the manipulator. This improves operability when injecting and discharging cleaning fluid.

[0015] (8) In the manipulator assist device of the above aspect, the first distal opening and the first proximal opening may be arranged linearly along a sliding direction of the cleaning nozzle, and the second proximal opening may be arranged on an imaginary line intersecting the sliding direction. With this configuration, the first distal opening and the first proximal opening are arranged linearly along the sliding direction of the cleaning nozzle, which allows for smooth injection and discharge of cleaning fluid via the first distal opening, the first flow path, and the first proximal opening.

[0016] The present invention can be realized in various forms, for example, a manipulator that can be attached and detached to a medical device such as a surgical support robot, a manipulator assist device that can be connected to a manipulator, a cleaning nozzle for cleaning a manipulator, a manipulator assist device equipped with a cleaning nozzle, a manipulator system equipped with a manipulator assist device and a manipulator, a surgical support robot equipped with a manipulator assist device or a manipulator, and methods for manufacturing these.

[0017] 4 is an explanatory diagram illustrating the configuration of a manipulator system. FIG. 4 is an explanatory diagram illustrating the configuration of an end effector. FIG. 4 is an explanatory diagram illustrating the configuration of a main body device viewed from the base end side. FIG. 4 is an explanatory diagram illustrating the state transition of an auxiliary device. FIG. 4 is an explanatory diagram illustrating the configuration of an auxiliary device viewed from the base end side. FIG. 4 is an explanatory diagram illustrating the configuration of an auxiliary device viewed from the tip side. FIG. 4 is an exploded perspective view of an auxiliary device. FIG. 4 is an explanatory diagram of the connection between an auxiliary device and a manipulator. FIG. 4 is a diagram illustrating the state of the auxiliary device in each mode shown in FIG. 4. FIG. 4 is a diagram illustrating the relationship between a dial and a main shaft in each mode shown in FIG. 4. FIG. 4 is a diagram illustrating the relationship between an auxiliary gear and a driven gear in each mode shown in FIG. 4. FIG. 4 is an explanatory diagram showing a vertical cross section of the auxiliary device. FIG. 4 is an explanatory diagram illustrating the configuration of a counter mechanism of a manipulator. FIG. 4 is an explanatory diagram of an operating unit that operates the counter mechanism. FIG. 4 is an explanatory diagram illustrating the configuration of a cleaning nozzle. FIG. 4 is an explanatory diagram illustrating the configuration of a cleaning nozzle. FIG. 4 is an explanatory diagram of a method of using a cleaning nozzle. FIG. 4 is an explanatory diagram showing the configuration of a manipulator of a second embodiment. FIG. 4 is a diagram illustrating the state of the auxiliary device in each mode of the second embodiment. FIG. 4 is a diagram illustrating the relationship between the auxiliary gear and the driven gear in each mode of the third embodiment. FIG. 4 is an explanatory diagram of an auxiliary device and a manipulator of a fourth embodiment. Fig. 10 is an explanatory diagram illustrating a state transition of an auxiliary device according to a fifth embodiment. Fig. 11 is an explanatory diagram illustrating the configuration of a washing nozzle according to a sixth embodiment. Fig. 12 is an explanatory diagram illustrating the configuration of a washing nozzle according to a seventh embodiment.

[0018] First Embodiment FIG. 1 is an explanatory diagram illustrating the configuration of a manipulator system 9. The manipulator system 9 includes a manipulator 2 and a manipulator assist device 1 (hereinafter also simply referred to as the "assist device 1"). The manipulator 2 is attached to the robot arm of a surgical support robot (medical device) and is used in laparoscopic surgery or the like. The assist 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 directly operated by a user, rather than to a surgical support robot (medical device). The assist device 1 roughly has the following functions a, b, and c. Details will be described later. (a) A function to assist in detachment of the manipulator 2 from the patient's body cavity, (b) A function to count the number of times the manipulator 2 has been used, and (c) A function to assist in cleaning the inside of the manipulator 2.

[0019] For ease of explanation, FIG. 1 includes portions in which the relative size ratios of the components are depicted differently from the actual size. Also, some of the components are depicted in an exaggerated manner. FIG. 1 illustrates mutually orthogonal X, Y, and Z axes. The X axis corresponds to the longitudinal direction of the auxiliary device 1 and the manipulator 2, the Y axis corresponds to the width direction of the auxiliary device 1 and the manipulator 2, and the Z axis corresponds to the height direction of the auxiliary device 1 and the manipulator 2. The left side of FIG. 1 (-X axis direction) is referred to as the "tip side" of the auxiliary device 1 and the manipulator 2, and the right side of FIG. 1 (+X axis direction) is referred to as the "base end side" of the auxiliary device 1 and the manipulator 2. Of the ends of the auxiliary device 1 and the manipulator 2 in the longitudinal direction (X axis direction), the end located on the tip side is referred to as the "tip," and the other end located on the base side is referred to as the "base end." The tip and its vicinity are referred to as the "tip portion," and the base end and its vicinity are referred to as the "base end portion." These points are common to subsequent figures.

[0020] Fig. 2 is an explanatory diagram showing the configuration of the end effector 21. Fig. 3 is an explanatory diagram showing the configuration of the main body device 23 as viewed from the base end side. As shown in Fig. 1, the manipulator 2 has, from the tip end side to the base end side, the end effector 21, a main shaft 22, and a main body device 23. In other words, the end effector 21 is attached to the tip portion of the main body device 23 (specifically, the manipulator main body 231) via the main shaft 22.

[0021] The end effector 21 is a movable part disposed at the tip of the manipulator 2. As shown in FIG. 2 , the end effector 21 includes a forceps 211, a first joint 212, a first extension 213, a second joint 214, and a second extension 215. The forceps 211 is composed of two elongated gripping members, and grasps biological tissue by moving the tips of the gripping members apart or in contact with each other while keeping the base ends of the gripping members fixed. In the example shown in FIG. 2 , the contact surfaces of the tips of the gripping members are wavy to facilitate 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 to the first extension 213 in a rotatable manner. The first extension 213 is an extension provided between the first joint 212 and the second joint 214. The second joint 214 is provided between the first extension portion 213 and the second extension portion 215. The second joint 214 fixes the first extension portion 213 in a bendable state relative to the second extension portion 215. The second extension portion 215 is an extension portion provided closer to the base end than the second joint 214.

[0022] The main shaft 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 shaft 22 can rotate around its axis. Inside the main shaft 22, power transmission members for operating the various parts of the end effector 21 described above are housed.

[0023] The main body device 23 is a device disposed at the base end of the manipulator 2. The main body device 23 is detachably attached to a surgical support robot or an auxiliary device 1. As shown in FIG. 3 , the main body device 23 has a manipulator body 231 as a housing constituting the main body of the main body device 23. A base end surface 236 of the manipulator body 231 is provided with four driven gears 235 that transmit power to the four power transmission members of the main body device 23, respectively, and a cleaning port 2361. The cleaning port 2361 is an opening that communicates with flow channels formed inside the main body device 23 and the main shaft 22. The interior of the manipulator 2 is sealed except for the cleaning port 2361 and the forceps 211 of the end effector 21. In other words, the manipulator 2 does not allow fluid to enter or leave the interior of the manipulator 2 except for the cleaning port 2361 and the forceps 211. To improve the sealing performance of the interior of the manipulator 2, it is preferable to provide fewer openings in the manipulator 2. For this reason, the manipulator 2 of this embodiment is provided with only one opening (cleaning port 2361) except for the forceps 211. Note that the manipulator 2 may be provided with a removable cover that covers the cleaning port 2361.

[0024] The driven gear 235 includes a gripping shaft gear 2351, a main shaft gear 2352, a tip rotating shaft gear 2353, and a bending shaft gear 2354. The gripping shaft gear 2351 is a gear that transmits power for switching the forceps 211 between a released state and a gripping state. The main shaft gear 2352 is a gear that transmits power for rotating the main shaft 22. The tip rotating shaft gear 2353 is a gear that transmits power for rotating the forceps 211. The bending shaft gear 2354 is a gear that transmits power for bending the second joint 214. Each of these driven gears 235 is partially covered (approximately half in the example of FIG. 3 ) by a gear cover 237, with the remaining portion exposed to the outside. When the manipulator 2 is connected to the surgical support robot, the driven gear 235 engages with a gear on the surgical support robot. Furthermore, when the manipulator 2 is connected to the auxiliary device 1, the driven gear 235 engages with the auxiliary gear 17 (FIGS. 6 and 7) of the auxiliary device 1. Other components of the manipulator 2 will be described later. The gripping shaft gear 2351 functions as a "first driven gear," and the bending shaft gear 2354 functions as a "second driven gear."

[0025] Fig. 4 is an explanatory diagram showing state transitions of the auxiliary device 1. The auxiliary device 1 has three operation modes shown in Fig. 4. The cleaning mode M2 ​​is a mode for executing (c) a function of assisting in cleaning the inside of the manipulator 2. The gear drive mode M3 is a mode for executing (a) a function of assisting in the detachment of the manipulator 2. The neutral mode M1 is a mode that is always entered when switching between the cleaning mode M2 ​​and the gear drive mode M3, and no function is executed in the neutral mode. The method of transitioning between the modes will be described later.

[0026] Fig. 5 is an explanatory diagram showing the configuration of the auxiliary device 1 as viewed from the base end side. Fig. 6 is an explanatory diagram showing the configuration of the auxiliary device 1 as viewed from the tip end side. Fig. 7 is an exploded perspective view of the auxiliary device 1. The configuration of the auxiliary device 1 will be explained using Figs. 5, 6, and 7. The auxiliary device 1 has 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 main body."

[0027] The handle 11 is located at the most proximal end of the assist device 1 and is a member used by the user to operate the assist 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 includes a grip portion 111 that is gripped by the user and a cylindrical extension portion 112 that extends from the grip portion 111 toward the distal end (i.e., toward the dial 12). The handle 11 is fixed by inserting the main shaft 13 into the extension portion 112 and threading a screw 113 into the main shaft 13 via a washer 114, with a knob latch spring 115 built into the grip portion 111. As a result, the handle 11 is fixed while being biased toward the distal end (i.e., toward the dial 12).

[0028] The dial 12 functions as a "switching unit" that switches between the neutral mode M1, the cleaning mode M2, and the gear drive mode M3 described in FIG. 4 . The dial 12 is a disc-shaped, or in other words, circular, plate-shaped, member. The dial 12 is provided between the handle 11 and the frame 14. The dial 12 has a notch 121, a portion of the outer periphery of which is recessed toward the center of the dial 12, and a second elongated hole 122 provided in the center. The second elongated hole 122 is an elliptical through-hole that penetrates the distal end surface and the proximal end surface 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 can rotate around the main shaft 13. A cam structure 123 for operating the pin 16 is provided on the peripheral edge of the distal end 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 surface of the dial 12 on the tip side (towards the frame 14). The dial lock pins 124 are protrusions that protrude from the tip side (towards the frame 14). A position indicator 120 is provided on the surface of the dial 12 on the base end side (towards the handle 11). The position indicator 120 is a scale notation, with one end of the scale corresponding to one end of the second elongated hole 122, the other end of the scale corresponding to the other end of the second elongated hole 122, and the center of the scale corresponding to the center of the second elongated hole 122.

[0029] The main shaft 13 is a cylindrical member extending in the longitudinal direction (X-axis direction) of the assist device 1. The main shaft 13 is inserted through the handle 11, the dial 12, and the frame 14 from the base end toward the tip end. The auxiliary gear 17 is fixed to the tip end of the main shaft 13 via a bearing 131 and a washer 171. A spring 128 extending in the X-axis direction and a dial rotation spring 129 extending in the Y- and Z-axis directions are disposed between the frame 14 and the dial 12. The spring 128 is disposed surrounding the periphery of the main shaft 13. The dial 12 is biased toward the base end (i.e., the handle 11 side) by the spring 128. The dial 12 is biased toward the circumferential direction of the dial 12 (the Y- and Z-axis directions) by the dial rotation spring 129. Note that the main shaft 13 may be cylindrical, polygonal prism-shaped, or polygonal cylinder-shaped, as long as it is rod-shaped.

[0030] The frame 14 is a housing that constitutes the main body of the auxiliary device 1 and functions as the "main body." The frame 14 is disposed between the dial 12 and the auxiliary gear 17. A first elongated hole 145 is formed in the center of the frame 14. The first elongated hole 145 is an elliptical through-hole that penetrates the distal end surface and proximal end surface of the frame 14. The main shaft 13 is inserted through the first elongated hole 145. The proximal end side (the dial 12 side) of the frame 14 is cylindrical with a bottom and a raised edge. The bottom of the frame 14 is also referred to as the "proximal end surface 142." Two pairs of recesses 143 are formed in the proximal end surface 142. When the auxiliary device 1 is assembled, the dial 12 is housed inside the edge ( FIG. 5 ). In the assembled state, the dial 12 is fixed in a state in which the dial 12 rotates relative to the frame 14 by fitting the dial lock pin 124 of the dial 12 into one of the recesses 143. In addition, the dial 12 is fixed in a state in which the dial 12 does not rotate relative to the frame 14 by fitting the dial lock pin 124 of the dial 12 into the other of the recesses 143.

[0031] Flanges 141 are formed on the tip side (auxiliary gear 17 side) of the frame 14, with the four corners protruding outward in the circumferential direction (i.e., a total of four flanges 141 are formed at each of the four corners). Two housing portions 144 are formed between one flange 141 and the other flange 141. The two housing portions 144 are recesses formed at opposing positions on the frame 14 (in the ±Y-axis directions of the frame 14). A side lock button 15 is assembled to each housing portion 144 ( FIGS. 5 and 6 ).

[0032] The side lock button 15 is a member 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. A claw 151 that protrudes outward is provided at the tip of the side lock button 15, on the outer side of the side lock button 15 (the side opposite the frame 14).

[0033] The pin 16 is a long, thin, flat-plate member that functions as an "acting unit" that switches the counter mechanism (described in detail later) of the manipulator 2 to a decrementable state. A long hole 161 is formed in the center of the pin 16, extending along the direction of extension of the pin 16 and penetrating one side of the pin 16 from the other side. A spring (not shown) is disposed in the long hole 161 of the pin 16. One end of the spring abuts against the frame 14, and the other end is disposed so as to press the base end side (handle 11 side) of the portion that defines the long hole 161 of the pin 16. The spring biases the pin 16 toward the base end side (handle 11 side).

[0034] 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 disposed on the tip side of the frame 14. The auxiliary gear 17 is fixed to the tip of the main shaft 13 via a bearing 131 and a washer 171. Therefore, when the user rotates the handle 11, a rotational force is transmitted to the auxiliary gear 17 via the main shaft 13, and the auxiliary gear 17 rotates in the same direction as the rotational direction of the handle 11.

[0035] The protrusion 18 is a member that is attached to the surface of the distal end of the frame 14, causing a part of the frame 14 to protrude toward the distal end. The presence of the protrusion 18 makes it possible to form a 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 (FIG. 6).

[0036] The cleaning nozzle 19 is a member that is connected to a flow path inside the manipulator 2 when the auxiliary device 1 is connected to the manipulator 2, and that supplies a cleaning fluid (e.g., a cleaning liquid for cleaning a medical device) to the flow path inside the manipulator 2. In other words, the cleaning nozzle 19 is a member that cleans the manipulator 2. A first base-end opening 191 and a second base-end opening 192 are provided on the surface on the base end side of the cleaning nozzle 19, to which an external instrument (a syringe) is connected. Details of the cleaning nozzle 19 will be described later.

[0037] FIG. 8 is an explanatory diagram of the connection between the assist device 1 and the manipulator 2. As shown in FIG. 8, the main body device 23 of the manipulator 2 has a cover 232 provided on one side of the manipulator main body 231. A counter mechanism (described in detail below) is housed inside the cover 232. A window 233 is provided in the center of the cover 232 to display the "number of times" counted by the counter mechanism. The window 233 is a through-hole that penetrates the outer and inner surfaces of the cover 232. A lever 234 is also attached to the main body device 23. The lever 234 has a protrusion 2341 to be grasped by the user and a pair of arms 2342 that each extend toward a side surface 2311 of the manipulator main body 231. An end 2343 of the arm 2342 of the lever 234 is fixed in a rotatable state relative to the side surface 2311 of the manipulator main body 231. The side surfaces 2311 are surfaces of the manipulator body 231 that are adjacent to the surface on which the cover 232 is provided. As described above, the four driven gears 235 are provided on the base end surface 236 of the manipulator body 231.

[0038] 8 , the tip of the auxiliary device 1 is detachably attached to the base end of the manipulator 2. Specifically, as shown by the outline arrow, when the auxiliary device 1 is pushed into the manipulator 2, the claw 151 of the side lock button 15 catches on the manipulator 2, allowing the auxiliary device 1 to maintain the connection between the auxiliary device 1 and the manipulator 2. Furthermore, as shown by the hatched arrow, when the user pushes the side lock button 15 toward the frame 14, the claw 151 is released from the engagement with the manipulator 2, allowing the auxiliary device 1 to be disconnected from the manipulator 2.

[0039] Fig. 9 is a diagram showing the state of the assist device 1 in each mode shown in Fig. 4. Fig. 10 is a diagram showing the relationship between the dial 12 and the main shaft 13 in each mode shown in Fig. 4. Fig. 11 is a diagram showing the relationship between the auxiliary gear 17 and the driven gear 235 in each mode shown in Fig. 4. Hereinafter, the operation modes of the assist device 1 will be described with reference to Figs. 4, 9, 10, and 11.

[0040] FIG. 9A shows the state of the auxiliary device 1 in neutral mode M1. FIG. 10A shows the dial 12 in the first position. In neutral mode M1, the dial 12 blocks the openings of the cleaning nozzle 19 (the first base-end opening 191 and the second base-end opening 192). This restricts access to the cleaning nozzle 19. Also, in neutral mode M1, as shown in FIG. 11 , the handle 11 and the main shaft 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 main shaft 13 is not engaged with any of the driven gears 235 of the manipulator 2. Furthermore, in the neutral mode M1, as shown in Fig. 10A, 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 extension direction of the long axis of the second elongated hole 122 coincides with the extension direction of the long axis of the first elongated hole 145). This allows the handle 11 and the main shaft 13 connected to the handle 11 to slide. The sliding movement occurs on the YZ plane that intersects with the main shaft 13 (X axis).

[0041] FIG. 9B shows the state of the auxiliary device 1 in cleaning mode M2. FIG. 10B shows the dial 12 in the second position. In cleaning mode M2, the position of the notch 121 in the dial 12 coincides with the position of the openings (first base-end opening 191 and second base-end opening 192) of the cleaning nozzle 19. This allows access to the cleaning nozzle 19. Also, in cleaning mode M2, as shown in FIG. 10B, the second elongated hole 122 in the dial 12 is oriented in a different direction from the first elongated hole 145 in the frame 14 (the long axis of the second elongated hole 122 extends in a different direction from the long axis of the first elongated hole 145). Therefore, the dial 12 and the frame 14 restrict the movement of the main shaft 13, thereby restricting the sliding movement of the handle 11 and the main shaft 13 connected to the handle 11. In other words, in FIG. 10B, the second elongated hole 122 and the first elongated hole 145 are out of phase with each other, thereby restricting the sliding movement of the handle 11 and the main shaft 13 .

[0042] 9C and 9D are diagrams showing 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 end opening 191 and second base end opening 192) are blocked by the dial 12. This restricts access to the cleaning nozzle 19. Also, in gear drive mode M3, as shown in FIG. 10A, the second elongated hole 122 of the dial 12 faces the same direction as the first elongated hole 145 of the frame 14. This allows the handle 11 and the main shaft 13 connected to the handle 11 to slide.

[0043] 9(C) and 11 , in the neutral mode M1, by sliding the handle 11 toward one end of the second elongated hole 122, the main shaft 13 connected to the handle 11 slides toward one end P2 of the second elongated hole 122, and the assist device 1 transitions to the 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. By rotating the handle 11 in this state, the assist device 1 can operate the forceps 211 of the manipulator 2. 9(C) and 11 , in the neutral mode M1, by sliding the handle 11 toward the other end of the second elongated hole 122, the main shaft 13 connected to the handle 11 slides toward the other end P3 of the second elongated hole 122, and the assist device 1 transitions to the 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 P3, and the auxiliary gear 17 engages with the driven gear 235 (specifically, the bending shaft gear 2354) of the manipulator 2. By rotating the handle 11 in this state, the assist device 1 can operate the second joint 214 of the manipulator 2. Thus, in the gear drive mode M3, with the auxiliary device 1 connected to the manipulator 2, the user can slide the handle 11 to selectively engage the auxiliary gear 17 of the auxiliary device 1 with one of the driven gears 235 of the manipulator 2, thereby operating one of the end effectors 21. Note that in the gear drive mode M3, it is possible to position the handle 11 and the main shaft 13 at the other end P3 of the second elongated hole 122 by sliding the handle 11 from a state in which the handle 11 and the main shaft 13 are positioned at one end P2 of the second elongated hole 122 to the other end P3 of the second elongated hole 122, and vice versa, without stopping the handle 11 at position P1 (neutral mode M1).

[0044] As shown in FIG. 4 , when the auxiliary device 1 is in neutral mode M1, the mode transitions to cleaning mode M2 ​​when the dial 12 is rotated from the first position shown in FIG. 10A to the second position shown in FIG. 10B . Also, when the auxiliary device 1 is in cleaning mode M2, the mode transitions to neutral mode M1 when the handle 11 is pulled toward the base end (+X-axis direction in FIG. 1 ) or the side lock button 15 is pressed toward the frame 14. Also, as shown in FIG. 4 , when the auxiliary device 1 is in neutral mode M1, the mode transitions to gear drive mode M3 when the handle 11 is moved to the end of the second elongated hole 122 of the dial 12 (P2, P3 in FIG. 11 ). Also, when the auxiliary device 1 is in gear drive mode M3, the mode transitions to neutral mode M1 when the handle 11 is moved to the center of the second elongated hole 122 of the dial 12 (P1 in FIG. 11 ).

[0045] 10A, the dial 12 of the auxiliary device 1 aligns the positions of the notch 121 and the cleaning nozzle 19 and aligns the orientations of the second elongated hole 122 and the first elongated hole 145. Furthermore, the dial 12 of the auxiliary device 1 aligns the positions of the notch 121 and the cleaning nozzle 19 and aligns the orientations of the second elongated hole 122 and the first elongated hole 145 in a second position shown in FIG. 10B. The dial 12 of the auxiliary device 1 functions as a switching unit that allows switching between the cleaning mode M2 ​​and the neutral mode M1 and between the gear drive mode M3 and the neutral mode M1, while restricting switching between the cleaning mode M2 ​​and the gear drive mode M3 without going through the neutral mode M1.

[0046] Note that making the positions of the notch 121 and the cleaning nozzle 19 different means that the notch 121 of the dial 12 does not overlap with the opening of the cleaning nozzle 19 (first base end opening 191 and second base end opening 192), and includes the cases exemplified in Figures 9(A), (C), and (D), i.e., where the dial 12 blocks at least a portion of the opening of the cleaning nozzle 19, making it impossible to attach a syringe to the opening of the cleaning nozzle 19. Also, making the positions of the notch 121 and the cleaning nozzle 19 coincide with each other means that the notch 121 of the dial 12 overlaps with the opening of the cleaning nozzle 19 (first base end opening 191 and second base end opening 192), and includes the case exemplified in Figure 9(B), i.e., where the dial 12 does not block the opening of the cleaning nozzle 19, making it possible to attach a syringe to the opening of the cleaning nozzle 19.

[0047] FIG. 12 is an explanatory diagram showing a vertical cross section of the assisting device 1. FIG. 12(A) is a vertical cross section of the assisting device 1 in a normal state. The dial 12 is biased by a dial rotation spring 129 (see FIG. 7) built in between the dial 12 and the frame 14 in a direction moving from the second position shown in FIG. 10(B) to the first position shown in FIG. 10(A), in other words, in a direction rotating (returning) 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 a 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 bias of the dial rotation spring 129. Here, the normal state refers to a state in which 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 surface 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 or second position).

[0048] 12(B) is a vertical cross-sectional view of the auxiliary device 1 when returning from cleaning mode M2 ​​to neutral mode M1. In cleaning mode M2, when the handle 11 is pulled toward the base end as indicated by the hatched arrow, the force applied from the handle 11 toward the dial 12 (the force pressing the dial 12 toward the frame 14) is eliminated. The dial 12 is also biased toward the handle 11 by the spring 128. As a result, the dial lock pin 124 disengages from the recess 143, and the dial 12 automatically rotates from the second position shown in FIG. 10(B) to the first position shown in FIG. 10(A), returning from cleaning mode M2 ​​to neutral mode M1. In cleaning mode M2, when the side lock button 15 is pressed toward the frame 14 as indicated by the white arrow, the movement of the side lock button 15 toward the frame 14 causes the side lock button 15 to press the dial 12 toward the handle 11, disengaging the dial lock pin 124 from the recess 143, and the dial 12 automatically rotates from the second position to the first position, returning from cleaning mode M2 ​​to neutral mode M1.

[0049] As shown in FIG. 11 , the grip shaft gear 2351 and the bending shaft gear 2354 of this embodiment can be rotated as much as they like in the direction D1 indicated by the solid line, but it is preferable to avoid excessive rotation in the direction D2 indicated by the dashed line. Here, "excessive rotation" 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 on one end side P2 of the second elongated hole 122 are rotated in the direction indicated by the solid arrow, the main shaft 13 does not misalign, and the auxiliary gear 17 can continue to transmit rotational force to the grip shaft gear 2351. On the other hand, when rotated in the direction indicated by the dashed arrow, as shown by the two-dot chain line in Figure 12 (A), the main shaft 13 becomes misaligned (the main shaft 13 is tilted relative to the longitudinal direction of the auxiliary device 1, i.e., the X-axis direction), causing the auxiliary gear 17 to disengage from the grip shaft gear 2351 and making it impossible to transmit rotational force to the grip 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 misaligns the main shaft 13. Similarly, when the handle 11 and the main shaft 13 are positioned on the other end side P3 of the second elongated hole 122 in gear drive mode M3, the main shaft 13 does not become misaligned when rotated in the direction indicated by the solid arrow, but the main shaft 13 becomes misaligned when rotated in the direction indicated by the dashed arrow.

[0050] 13A and 13B are explanatory diagrams illustrating the configuration of the counter mechanism of the manipulator 2. FIG. 13A shows a first state of the counter mechanism. FIG. 13B shows a second state of the counter mechanism. Note that FIG. 13 illustrates the manipulator 2 with the lid 232 (see FIG. 8) removed. For ease of explanation, FIG. 13 shows some members with different types of hatching, and the configuration of the manipulator main body 231 that hides the counter mechanism and its surrounding area is shown with dashed lines, and the window 233 of the lid 232 is also shown with dashed lines. (b) The function of counting the number of uses of the manipulator 2 will be described using FIG. 13A.

[0051] As shown in FIG. 13 , the manipulator 2 is provided with a mechanical counter mechanism. The manipulator 2 can be reused 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 board 238, a counter lever 230 (first member), and a lock lever 239 (second member). The counter board 238 is a disk-shaped member, in other words, a circular plate-shaped member. The counter board 238 is fixed to the manipulator body 231 so as to be rotatable about an axis 2303. The counter board 238 displays a count number 2381, such as "E, 1, 2, ..., 16, 17," on its main surface (the surface in the +Z-axis direction). Only one count number on the counter board 238 is visible to the outside through a window 233 (dashed line) in the lid 232, allowing the user to check the remaining number of uses of the manipulator 2. That is, the counter board 238 and the window 233 function as a "display unit." The "E" in the count number 2381 means that the number of times the manipulator 2 can be used remains. A protrusion 2382, in which part of the main surface protrudes toward the lid 232, is formed on the main surface of the counter board 238 at a position next to the count number 2381 "E" (next to the opposite side of the count number 2381 "1").

[0052] The counter lever 230 is fixed to the manipulator body 231 so as to be rotatable about an axis 2303 (in other words, coaxially with the counter plate 238). The counter lever 230 has a first extension portion 2301 extending toward the lock lever 239 and a second extension portion 2302 extending toward the base end of the manipulator body 231. As shown in FIG. 13(B) , when the counter lever 230 itself (the counter lever 230) rotates toward one side S1, it rotates the counter plate 238 by one marking of the count number 2381. On the other hand, when the counter lever 230 itself (the counter lever 230) rotates toward the other side S2, it does not rotate the counter plate 238. The counter lever 230 corresponds to the "first member."

[0053] The lock lever 239 is fixed to the manipulator body 231 so as to be rotatable around a shaft 2394. A recess 2391 for engaging the first extending portion 2301 of the counter lever 230 is formed in a portion of the lock lever 239 on the counter lever 230 side. The lock lever 239 has an extending portion 2392 that extends toward the base end of the manipulator body 231. The lock lever 239 and the counter lever 230 are configured to pull each other by a spring 2393. As shown in FIG. 13A , the lock lever 239 restricts rotation of the counter lever 230 to the other side S2 by engaging the first extending 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."

[0054] That is, as shown in FIG. 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 with each other, and the counter lever 230 is rotated relatively to one side S1. Therefore, in the first state of the counter mechanism, the end 2304 of the counter lever 230 is housed in the manipulator body 231. Because the end 2304 is housed in the manipulator body 231 in this way, no member is positioned in the notch 2312, and in the first state, the surgical support robot can be connected to the manipulator 2 (see FIG. 8). Also, as shown in FIG. 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 with each other, and the counter lever 230 is rotated relatively to the other side S2 by being pulled by the spring 2393. Therefore, in the second state of the counter mechanism, the end 2304 of the counter lever 230 protrudes outside the manipulator body 231. Because the end 2304 protrudes outside the manipulator body 231 in this way, the end 2304 positioned inside the notch 2312 interferes, preventing the surgical support robot from being connected to the manipulator 2 in the second state.

[0055] Fig. 14 is an explanatory diagram of the operating portion that operates the counter mechanism. Fig. 14 shows only the dial 12, pin 16, and main shaft 13 of the auxiliary device 1. The state transition between the first state and the second state will be described using Fig. 14.

[0056] 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 dial 12 is thin and the tip of the dial 12 is recessed, a protrusion 1233 where 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 protrusion 1233. As described above, the pin 16 is biased toward the base end side (handle 11 side) by a spring disposed in the elongated hole 161 of the pin 16. When the assist device 1 is in the neutral mode M1 or the gear drive mode M3, the base end of the pin 16 (shown by the dashed line in FIG. 14 ) is housed in the recess 1231, so that the tip end 162 of the pin 16 is housed within the frame 14. On the other hand, when the auxiliary device 1 transitions from the neutral mode M1 to the 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, whereby the pin 16 is 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 portion 123 is released, the biasing force of the spring in the elongated hole 161 causes the pin 16 to return to a state where it is housed in the frame 14. As such, when the pin 16 moves, the pin 16 slides within the through-hole provided in the frame 14, but the pin 16 is guided by the surface that defines the through-hole of the frame 14, allowing the pin 16 to move without wobbling.

[0057] As a result, when the auxiliary device 1 transitions to the cleaning mode M2, the tip 162 protruding from the frame 14 pushes the end 2395 of the lock lever 239 (second member) toward the tip, the engagement between the lock lever 239 and the counter lever 230 (first member) is released, and the counter lever 230, pulled by the spring 2393, rotates relatively to the other side S2. In other words, when the auxiliary device 1 transitions to the cleaning mode M2, the tip 162 of the pin 16 protruding from the frame 14 pushes the end 2395 of the lock lever 239 toward the tip, and the counter mechanism transitions from the first state shown in FIG. 13(A) to the second state shown in FIG. 13(B). The "first operation" for transitioning the counter mechanism from the first state to the second state is an operation of pushing the end 2395 of the lock lever 239 (second member) toward the tip of the manipulator 2, disengaging the lock lever 239 from the counter lever 230 (first member), and rotating the counter lever 230 pulled by the spring 2393 relatively toward the other side S2. In other words, this is an operation of rotating the dial 12 from the first position shown in Figure 10 (A) to the second position shown in Figure 10 (B).

[0058] Furthermore, when the counter mechanism is in the second state shown in FIG. 13(B), the user places his / her finger on the end 2304 of the counter lever 230 protruding outside the manipulator body 231 and rotates the counter lever 230 to one side S1, thereby transitioning the counter mechanism from the second state shown in FIG. 13(B) to the first state shown in FIG. 13(A). At this time, the counter board 238 rotates by one notch of the count number 2381 in conjunction 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 decrement. The "second operation" for transitioning the counter mechanism from the second state to the first state is the user's operation of rotating the counter lever 230 to one side S1.

[0059] In this way, the counter mechanism of this embodiment counts the number of times the second state is transitioned 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's hand, while the first operation requires the rotation of the dial 12, making the first operation more difficult (harder to operate) than the second operation.

[0060] When the counter mechanism transitions from the second state to the first state (in other words, when the counter plate 238 rotates) a predetermined number of times, 17 times in the example of FIG. 13 , the protrusion 2382 of the counter plate 238 interferes with (abuts against) a protrusion provided on the edge of the window 233, which is the inner surface of the lid 232 (the surface facing the counter plate 238), thereby restricting further rotation of the counter plate 238 and the counter lever 230. As a result, when the number of transitions from the second state to the first state by the second operation reaches a predetermined number, the counter mechanism of this embodiment can no longer transition to the first state shown in FIG. 13(A). At this time, the count number 2381 displayed externally through the window 233 is "E." That is, when the count number 2381 "E" is displayed in the window 233, after using the manipulator 2, although the auxiliary device 1 can be attached and the manipulator 2 can be cleaned in the cleaning mode M2, the counter lever 230 cannot be rotated to one side S1 (because the protrusion 2382 of the counter board 238 interferes with the protrusion provided on the edge of the window 233), and therefore the manipulator 2 cannot be attached to the robot arm, and the manipulator 2 cannot be used. Note that in the example of Fig. 13, the predetermined number of times is 17, but the predetermined number of times may be determined arbitrarily depending on the durability of the manipulator 2 against the sterilization process.

[0061] 14, the surface of 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 rotation direction for rotating the dial 12 from the first position shown in FIG. 10(A) to the second position shown in FIG. 10(B), together with the position indicator 120. Furthermore, the dial 12 may be provided with a raised portion 1221 formed on the periphery of the second elongated hole 122, where the periphery of the dial 12 is raised toward the center in the longitudinal direction 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.

[0062] 15 and 16 are explanatory diagrams illustrating the configuration of the cleaning nozzle 19. FIG. 16A is a longitudinal cross-sectional view of the cleaning nozzle 19 inserted into the manipulator 2. FIG. 16B is a transverse cross-sectional view of the first flow path 191L ​​taken along line A-A in FIG. 16A. FIG. 16C is a transverse cross-sectional view of the second flow path 192L taken along line B-B in FIG. 16A. Line A-A is a line perpendicular to the extension direction of the first flow path 191L, and line B-B is a line perpendicular to the extension direction of the second flow path 192L. Therefore, FIG. 16B shows a cross-sectional view taken along a plane perpendicular to the extension direction of the first flow path 191L, and FIG. 16C shows a cross-sectional view taken along a plane perpendicular to the extension direction of the second flow path 192L. The configuration of the cleaning nozzle 19 will be described using FIGS. 15 and 16.

[0063] The cleaning nozzle 19 includes a nozzle body 190. The nozzle body 190 has a first surface 1901 located on the base end side and a second surface 1902 located on the tip end side. A protrusion 1903 is provided from the second surface 1902 of the nozzle body 190 toward the tip end side. A notch 194 is formed in the lower part of the nozzle body 190 by cutting out a portion of the nozzle body 190. Note that the notch 194 can be omitted. As shown in FIG. 16A , when the assist device 1 is connected to the manipulator 2, the tip end of the nozzle body 190 (specifically, the tip end of the protrusion 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. A first base end opening 191 and a second base end opening 192 are provided on the base end (specifically, the first surface 1901) of the nozzle body 190. A first tip opening 193 and a second tip opening 195 are provided at the tip of the nozzle body 190 (specifically, at the tip of the protruding portion 1903). When the assist device 1 is connected to the manipulator 2, the first tip opening 193 and the second tip opening 195 communicate with a cleaning port 2361 of the manipulator 2.

[0064] A first flow path 191L ​​and a second flow path 192L are formed inside the nozzle body 190. The first flow path 191L ​​is a flow path whose tip end communicates with a first tip opening 193 and whose base end communicates with the first base end opening 191. The second flow path 192L is a flow path whose tip end communicates with a second tip opening 195 and whose base end communicates with the second base end opening 192. As shown in FIGS. 16(B) and 16(C), the cross-sectional area of ​​the second flow path 192L is smaller than the cross-sectional area of ​​the first flow path 191L. Here, as shown in FIG. 16(A), a portion of the second flow path 192L on the second base end opening 192 side is formed as an enlarged flow path 192La with a larger cross-sectional area so that a syringe as an external instrument can be inserted. 16C , the second flow path 192L having a cross-sectional area smaller than the cross-sectional area of ​​the first flow path 191L ​​refers to the portion of the second flow path 192L other than the expanded flow path 192La. In addition, in the illustrated example, the cross-sectional shapes of the first flow path 191L ​​and the second flow path 192L are both circular, but the cross-sectional shapes of the first flow path 191L ​​and the second flow path 192L may be any shape other than circular.

[0065] As shown in FIG. 16A , the second flow path 192L is formed inside the second flow path forming member 196. The second flow path forming member 196 is disposed inside the nozzle body 190 at an angle with respect to the extension direction (X-axis direction) of the nozzle body 190. A portion of the tip side of the second flow path forming member 196 protrudes into the first flow path 191L ​​from the inner circumferential surface of the first flow path 191L. Therefore, at the tip side of the nozzle body 190, the protruding portion 1903 and the second flow path forming member 196 form a double-pipe-like structure, and a portion of the tip side of the second flow path 192L is provided inside the first flow path 191L. In addition, the tip portion of the second flow path forming member 196 protrudes from the first tip opening 193 toward the tip side (toward the manipulator 2, toward the flow path 2L within the manipulator 2). Therefore, second tip opening 195 at the tip of second flow path 192L protrudes from first tip opening 193 and is located closer to the tip (toward manipulator 2, toward flow path 2L within manipulator 2) than first tip opening 193. The protruding length L of second tip opening 195, in other words, the linear distance L between second tip opening 195 and first tip opening 193, may be determined arbitrarily.

[0066] 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, the relationship shown in the following formula (1) holds in the manipulator system 9 of this embodiment. 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)

[0067] 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 larger than the flow path resistance FR3 of the flow path 2L inside the manipulator 2. FR1<FR3<FR2 (2)

[0068] The magnitude relationship among the flow path resistances FR1, FR2, and FR3, i.e., the relationship between equations (1) and (2), can be confirmed by the amount of water flowing out from the first base end opening 191, the second base end opening 192, and the forceps 211 when water is filled from the first base end opening 191 to the first flow path 191L, the second flow path 192L, and the flow path 2L of the manipulator 2. Furthermore, with regard to the flow path resistances FR1 and FR2, it is obvious that FR1<FR2 from the magnitude relationship between the cross-sectional areas of the first flow path 191L ​​and the second flow path 192L.

[0069] 17A and 17B are explanatory diagrams of how to use the cleaning nozzle 19. Fig. 17A shows how cleaning fluid is injected into the flow path 2L inside the manipulator 2. Fig. 17B shows how cleaning fluid is discharged from the flow path 2L inside the manipulator 2.

[0070] 17A , a case will be described in which cleaning fluid is injected into the flow path 2L to clean the inside of the main device 23, the inside of the main shaft 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, flows out from the first tip end opening 193, and is supplied to the flow path 2L of the manipulator 2. When the cleaning fluid flows into the flow path 2L, air in the flow path 2L is pushed out from the second tip end opening 195 to the second flow path 192L and is discharged to the outside via 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.

[0071] 17B , a case will be described in which the cleaning fluid filling the flow path 2L in the manipulator 2 is discharged to the outside. In this case, the tip of the syringe 3 filled with air (or another gas) is inserted from the second base-end opening 192 into the second flow path 192L (specifically, the enlarged flow path 192La). 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-end opening 195 to be supplied to the flow path 2L of the manipulator 2. When the air flows into the flow path 2L, the cleaning fluid in the flow path 2L is pushed from the first tip-end opening 193 to 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 smoothly from the flow path 2L in the manipulator 2 without requiring excessive force. That is, the first flow path 191L ​​is a flow path for liquid, and the second flow path 192L is a flow path for gas (air).

[0072] 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-end opening 191, the cleaning nozzle 19 slides from the base end toward the tip end (in other words, toward the manipulator 2) within the auxiliary device 1. Similarly, as shown by the white arrow in FIG. 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-end opening 192, the cleaning nozzle 19 slides from the base end toward the tip end (in other words, toward the manipulator 2) within the auxiliary device 1. This is achieved by the cleaning nozzle 19 being slidably fixed to the frame 14 of the auxiliary device 1. When an external force is applied from the first base end opening 191 or the second base end opening 192, the cleaning nozzle 19 slides along the X axis from the base end side to the tip end side (in other words, toward the manipulator 2). For example, as shown in Fig. 17A , the first tip end opening 193 and the first base end opening 191, which are located at both ends of the first flow path 191L, are linearly arranged along the sliding direction (X axis) of the cleaning nozzle 19. On the other hand, the second base end opening 192, which is located at the base end of the second flow path 192L, is arranged on a virtual line VL that intersects with the sliding direction (X axis).

[0073] The components constituting the auxiliary device 1 and the manipulator 2 described above can be made of well-known resin materials or well-known metal materials. As described above, the auxiliary device 1 and the manipulator 2 do not use electronic components, and have a simple structure consisting of a combination of components made of commonly used materials, so they can withstand water exposure during the cleaning process and high temperatures during the sterilization process.

[0074] As described above, according to the manipulator system 9 of the first embodiment, the manipulator assist device 1 (manipulator assist device main body) includes the auxiliary gear 17 that engages with the driven gear 235 when the auxiliary device 1 is connected to the manipulator 2, and the 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, it is possible to provide an auxiliary device 1 that enables operation of the end effector 21 of the manipulator 2 by operating the handle 11 of the auxiliary device 1, without a medical device (surgery support robot). As a result, by connecting the auxiliary device 1 to the base end of the manipulator 2 and operating the handle 11 of the auxiliary device 1 to perform cleaning, it is possible to cause the movable parts (forceps 211, second joint 214) of the end effector 21 to assume different postures and clean the manipulator 2. Furthermore, by connecting the auxiliary device 1 to the base end of the manipulator 2 and operating the handle 11 of the auxiliary device 1, it is possible to remove the manipulator 2 from the patient's body cavity after the movable parts (forceps 211, second joint 214) of the end effector 21 are set to a safe shape for removal from the patient's body cavity (for example, the second joint 214 is in a straight state and the forceps 211 is in a closed state).

[0075] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device main 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) provided in the manipulator 2 by sliding the handle 11 while the auxiliary device 1 is connected to the manipulator 2. Therefore, in a case where the manipulator 2 has the first driven gear and the second driven gears 2351, 2354 for causing the movable part of the end effector 21 (the forceps 211, the second joint 214) to perform different operations, the auxiliary device 1 can selectively operate the movable part of the end effector 21 (the forceps 211, the second joint 214) by selectively engaging the auxiliary gear 17 with one of the first driven gear and the second driven gear 2351, 2354.

[0076] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device main body) is provided with a cleaning nozzle 19. Therefore, 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 provided with a pin 16 (acting portion). Therefore, when the auxiliary device 1 is connected to the manipulator 2, the counter mechanism of the manipulator 2 can be switched to a state enabling counting operation via the pin 16 (acting portion). As a result, the efficiency and accuracy of cleaning the manipulator 2 can be improved. Furthermore, the counter mechanism can be used to easily manage the number of times the manipulator 2 has been cleaned.

[0077] Furthermore, according to the manipulator system 9 of the first embodiment, the user can connect the assist device 1 (manipulator assist device main body) to the manipulator 2 and switch between the gear drive mode M3 and the cleaning mode M2 ​​using the dial 12 (switching unit), thereby causing the manipulator 2 to perform a desired operation. In addition, in the gear drive mode M3, sliding movement of the handle 11 is permitted and access to the cleaning nozzle 19 is restricted, while in the cleaning mode M2, sliding movement of the handle 11 is restricted and access to the cleaning nozzle 19 is permitted. As a result, when the assist device 1 is in each mode, the user can be prevented from performing operations other than those permitted in each mode. In other words, erroneous operations by the user can be prevented.

[0078] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device main body) has a neutral mode M1 in addition to the gear drive mode M3 and the cleaning mode M2. The dial 12 (switching unit) of the auxiliary device 1 allows switching between the gear drive mode M3 and the neutral mode M1, and 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 makes it possible to prevent erroneous operations, such as accidentally switching to the cleaning mode M2, which involves decrementing the counter mechanism, while the manipulator 2 is being operated in the gear drive mode M3, which involves movement of the end effector 21, and improves the usability of the auxiliary device 1.

[0079] 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 main body) on the frame 14.

[0080] Furthermore, according to the manipulator system 9 of the first embodiment, the auxiliary device 1 (manipulator auxiliary device main body) uses, as a switching unit, a disk-shaped dial 12 having a notch 121, which is disposed between the handle 11 and the frame 14 and rotatable about the main shaft 13. Therefore, by rotating the dial 12 to a first position where the notch 121 does not overlap with the base-end openings 191, 192 of the cleaning nozzle 19, 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 overlaps with the base-end openings 191, 192, the dial 12 can allow access to the cleaning nozzle 19.

[0081] 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 main body) is provided with the second elongated hole 122 that faces the same direction as the first elongated hole 145 of the frame 14 when the dial 12 is set to 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 face in the same direction, allowing the dial 12 to allow the sliding movement of the handle 11, and 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 face in a different direction, allowing the dial 12 to restrict the sliding movement of the handle 11.

[0082] Furthermore, according to the manipulator system 9 of the first embodiment, a raised portion 1221 is formed on the peripheral edge of the second elongated hole 122 of the dial 12 of the auxiliary device 1 (manipulator auxiliary device main body), with the peripheral edge raised toward the second elongated hole 122. Therefore, by forming the raised portion 1221 between positions P2, P3 ( FIG. 11 ) where the auxiliary gear 17 of the auxiliary device 1 engages with the driven gear 235 of the manipulator 2 and position P1 ( FIG. 11 ) where the auxiliary gear 17 does not engage, the user can easily understand the mechanism and the handle 11 can be prevented from moving between the engaged positions P2, P3 and the disengaged position P1. That is, the handle 11 can be prevented from being positioned between positions P2 and P1 or between positions P3 and P1.

[0083] Furthermore, according to the manipulator system 9 of the first embodiment, when torque exceeding a predetermined amount is applied to the handle 11 of the auxiliary device 1 (manipulator auxiliary device main body), the main shaft 13 causes an "axial misalignment" in which the main shaft 13 is inclined relative to the longitudinal direction of the auxiliary device 1, i.e., the X-axis direction, thereby disengaging the auxiliary gear 17 from the driven gear 235. Therefore, even when torque exceeding a predetermined amount is applied to the handle 11, excessive rotation of the driven gear 235 can be prevented, and breakdown of the end effector 21 due to excessive rotation of the driven gear 235 can be prevented.

[0084] Furthermore, according to the manipulator system 9 of the first embodiment, it is possible to provide a manipulator system 9 that includes a manipulator 2 that is connected to a medical device (surgical support robot) and has an end effector 21 that is 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.

[0085] Furthermore, according to the manipulator system 9 of the first embodiment, when the auxiliary device 1 (manipulator auxiliary device main body) is connected to the manipulator 2 and the mode is shifted to the cleaning mode M2 ​​by rotating the dial 12, the counter lever 230 (first member) is rotated relatively to the other side S2, and the end 2304 of the counter lever 230 protrudes outside the manipulator main body 231. That is, the connection of the auxiliary device 1 to the manipulator 2 and the shift to the cleaning mode M2 ​​triggers the counter mechanism to be switched to a state in which a counting operation (decrement) is possible. Also, when the auxiliary device 1 is detached from the manipulator 2 and the end 2304 of the counter lever 230 (first member) protruding outside the manipulator main body 231 is housed inside the manipulator main body 231 in order to attach the manipulator 2 to a medical device (surgery support robot), the counter lever 230 is rotated relatively to one side S1, and the counter board 238 rotates, causing the counter mechanism to count (decrement). That is, when the end 2304 of the counter lever 230 protruding outward is accommodated inside the manipulator body 231, the counter mechanism can be automatically counted (decremented).

[0086] 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 Fig. 13(A) to the second state shown in Fig. 13(B) by a first operation on the counter mechanism, and transitions from the second state shown in Fig. 13(B) to the first state shown in Fig. 13(A) by a second operation on the counter mechanism after transition to the second state. The counter mechanism of the manipulator 2 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, in a scene where the manipulator 2 is to be cleaned, the auxiliary device 1 is connected to the manipulator 2 and the auxiliary device 1 is transitioned to the cleaning mode M2, thereby executing the first operation, but the second operation is not executed. This is because, even if the end 2304 of the counter lever 230 protrudes outside the manipulator body 231 by performing 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. Therefore, it is possible to prevent multiple counts caused by accidentally operating the counter mechanism during cleaning of the manipulator 2. On the other hand, when the manipulator 2 is used, the auxiliary device 1 is removed, and the second operation must be performed to attach the manipulator 2 in a state in which the first operation has been performed (a state in which the end 2304 of the counter lever 230 protrudes outside the manipulator body 231) to a medical device (surgery support robot). Therefore, counting by the counter mechanism is reliably performed, and counting errors can be prevented. That is, the counter mechanism has a first state in which counting is not possible and a second state in which counting is possible, and only the number of transitions from the second state to the first state is counted, thereby preventing miscounting. By using such a counter mechanism to count the number of times the manipulator 2 is used, the number of times the manipulator 2 is used can be counted with high accuracy.

[0087] Furthermore, according to the manipulator system 9 of the first embodiment, the manipulator 2 has a mechanical structure consisting of the counter board 238, the counter lever 230 (first member), and the lock lever 239 (second member), so that when transitioning from the second state to the first state, the counter lever 230 (first member) of the counter mechanism can be rotated relatively to one side S1 to rotate the counter board, thereby automatically counting (decrementing) the number of transitions.

[0088] 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 Fig. 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 Fig. 13(B), the end 2304 of the counter lever 230 (first member) protrudes outside the manipulator body 231, so that the user can grasp at a glance the current state (whether it is in the first state or the second state, i.e., whether it has not yet been counted or has been counted) of the manipulator 2. Furthermore, according to the manipulator system 9, when the counter mechanism is in the second state shown in Fig. 13(B), the end 2304 of the counter lever 230 (first member) protrudes outside the manipulator body 231, preventing the base end of the manipulator 2 from being connected to the medical device, so that it is possible to suppress a transition from the second state to the first state, i.e., forgetting to decrement the number of transitions, i.e., forgetting to count.

[0089] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 inhibits 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 Fig. 13(B) , the end 2304 of the counter lever 230 (first member) protrudes outside the manipulator body 231, thereby inhibiting connection of the base end of the manipulator 2 to a medical device. This makes it possible to prevent a user from accidentally attaching to a medical device and reusing a manipulator 2 that has exceeded the upper limit 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).

[0090] Furthermore, according to the manipulator system 9 of the first embodiment, the counter mechanism of the manipulator 2 has the window 233 and the counter panel 238 as display units that display the number of transitions, so 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 displays 233, 238. As a result, the usability of the manipulator 2 can be improved.

[0091] Furthermore, according to the manipulator system 9 of the first embodiment, the cleaning nozzle 19 of the auxiliary device 1 (manipulator auxiliary device main body) has a first flow path 191L ​​and a second flow path 192L having a smaller cross-sectional area than the first flow path 191L, and the tip of the first flow path 191L ​​is connected to the first tip opening 193 and the base end is connected to the first base end opening 191, and the tip of the second flow path 192L is connected to the second tip opening 195 and the base end is connected to the second base end opening 192. Therefore, when injecting cleaning fluid for cleaning the inside of the manipulator 2 from the syringe 3 as an external instrument, the syringe 3 is inserted into the first base end opening 191 and the cleaning fluid is injected into the inside of the manipulator 2 from the first flow path 191L ​​via the cleaning port 2361 of the manipulator 2, thereby 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, it is easy to inject cleaning fluid into the inside of the manipulator 2. Furthermore, when discharging 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 inside of the manipulator 2 from the second flow path 192L via the cleaning port 2361 of the manipulator 2, thereby 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, by using the cleaning nozzle 19, cleaning of the manipulator 2 can be carried out efficiently.

[0092] 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 closer to the tip than the first tip opening 193, making it easier to exhaust air from inside the manipulator 2 when injecting cleaning fluid and to inject air into the manipulator 2 when discharging cleaning fluid.

[0093] Furthermore, according to the manipulator system 9 of the first embodiment, the flow path resistance FR2 of the second flow path 192L of the cleaning nozzle 19 is greater than the flow path resistance FR3 of the flow path 2L of the manipulator 2 that is connected to the cleaning port 2361 of the manipulator 2 (i.e., the flow path resistance FR3 of the flow path inside the manipulator), making it easier to exhaust air from inside the manipulator 2 when injecting cleaning fluid and to inject air into the manipulator 2 when discharging cleaning fluid.

[0094] Furthermore, according to the manipulator system 9 of the first embodiment, it is possible to provide the auxiliary device 1 equipped with the cleaning nozzle 19 that can efficiently clean the manipulator 2.

[0095] Furthermore, according to the manipulator system 9 of the first embodiment, the cleaning nozzle 19 of the auxiliary device 1 (manipulator auxiliary device main body) is fixed to the frame 14 of the auxiliary device 1 so as to be slidable from the base end side toward the tip end side 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 side, the tip end of the cleaning nozzle 19 can be inserted deeper into the cleaning port 2361 of the manipulator 2, and the cleaning nozzle 19 and the manipulator 2 can be more securely fixed. As a result, operability can be improved when injecting and discharging cleaning fluid.

[0096] Furthermore, according to the first embodiment of the manipulator system 9, the first tip opening 193 and the first base end opening 191 of the cleaning nozzle 19 are arranged in a straight line along the sliding direction of the cleaning nozzle 19, thereby enabling smooth injection and discharge of cleaning fluid through the first tip opening 193, the first flow path 191L, and the first base end opening 191.

[0097] Second Embodiment In the second embodiment, a configuration will be described in which, in the gear drive mode M3, the auxiliary gear 17 is engaged with only a single driven gear 235. A manipulator system 9A of the second embodiment includes an auxiliary device 1A instead of the auxiliary device 1, and a manipulator 2A instead of the manipulator 2.

[0098] 18 is an explanatory diagram showing the configuration of a manipulator 2A of the second embodiment. The manipulator 2A of the second embodiment includes 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. Therefore, the end effector 21 of the manipulator 2A can release / grasp the forceps 211 and rotate the main shaft 22, but cannot rotate the forceps 211 and does not have the second joint 214.

[0099] FIG. 19 shows the state of the auxiliary device 1A in each mode of the second embodiment. The auxiliary device 1A of the second embodiment includes a dial 12A instead of the dial 12. The dial 12A includes a position indicator 120A instead of the position indicator 120, and a second elongated hole 122A instead of the second elongated hole 122. The position indicator 120A and the second elongated hole 122A only have portions corresponding to the center P1 and one end side P2 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 side P3 described in the first embodiment. Therefore, as shown in FIG. 19C , in gear drive mode M3, sliding the handle 11 toward one end side of the second elongated hole 122A causes the main shaft 13 connected to the handle 11 to slide toward one end side P2 of the second elongated hole 122. As a result, the auxiliary gear 17 engages with the driven gear 235 (specifically, the gripping shaft gear 2351) of the manipulator 2A. By rotating the handle 11 in this state, the auxiliary device 1A can operate the forceps 211 of the manipulator 2A.

[0100] As described above, the configurations of the auxiliary device 1A and the manipulator 2A can be modified in various ways, and may be configured such that the auxiliary gear 17 engages with only a single driven gear 235 (gripping shaft gear 2351) in the gear driving mode M3. In the second embodiment, the bending shaft gear 2354 is omitted, and the auxiliary gear 17 engages with the gripping shaft gear 2351 in the gear driving mode M3. However, the gripping shaft gear 2351 may be omitted, and the auxiliary gear 17 may engage with the bending shaft gear 2354 in the gear driving mode M3. The manipulator system 9A of the second embodiment as described above can also achieve the same effects as those of the first embodiment described above.

[0101] Third Embodiment In the third embodiment, a configuration will be described in which, in the gear drive mode M3, the auxiliary gear 17 can selectively engage with all of the driven gears 235. A 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 that of the first embodiment.

[0102] 20 is a diagram showing 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 the dial 12. The dial 12B has a second elongated hole 122B instead of the second elongated hole 122. The second elongated hole 122B has an X-shape formed by two intersecting elongated holes. In addition to the positions P1 to P3 described in the first embodiment, the second elongated hole 122B further has an end P4 located on the main shaft gear 2352 side from the center P1, and an end P5 located on the tip rotary shaft gear 2353 side from the center P1.

[0103] In gear drive mode M3, by sliding the handle 11 to end P4 of the second elongated hole 122B, the main shaft 13 connected to the handle 11 slides to end P4 of the second elongated 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 also changes from position P1 to position P4, and the auxiliary gear 17 engages with the main shaft gear 2352 of the manipulator 2. By rotating the handle 11 in this state, the auxiliary device 1B can rotate the main shaft 22 of the manipulator 2. Similarly, in gear drive mode M3, by sliding the handle 11 to end P5 of the second elongated hole 122B, the main shaft 13 connected to the handle 11 slides to end P5 of the second elongated 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. By rotating the handle 11 in this state, the auxiliary device 1B can rotate the forceps 211 of the manipulator 2.

[0104] As described above, the configuration of the auxiliary device 1B can be modified in various ways, and the auxiliary gear 17 may be configured to be selectively engageable with all of the driven gears 235. Furthermore, the auxiliary device 1B may be configured so that the auxiliary gear 17 engages with any three of the driven gears 235. In this case, the shape of the second elongated hole 122B of the dial 12B may be changed. The manipulator system 9B of the third embodiment as described above can also achieve the same effects as those of the first embodiment described above.

[0105] Fourth Embodiment In the fourth embodiment, a manipulator system 9C will be described in which some of the components described in the first embodiment are omitted. The manipulator system 9C of the fourth embodiment includes an auxiliary device 1C instead of the auxiliary device 1, and a manipulator 2C instead of the manipulator 2.

[0106] FIG. 21 is an explanatory diagram of an auxiliary device 1C and a manipulator 2C of the fourth embodiment. The auxiliary device 1C does not have the cleaning nozzle 19 described in the first embodiment. Therefore, the auxiliary device 1C does not transition to the cleaning mode M2 ​​among the operation modes described in FIG. 4. Therefore, the notch 121 of the dial 12 may be omitted. The manipulator 2C has a lid 232C instead of the lid 232. The lid 232C does not have a window 233 for displaying the count number 2381 of the counter panel 238. Therefore, it is not possible to check the remaining number of uses of the manipulator 2C from the outside. However, the manipulator 2C internally counts the remaining number of uses using the counter mechanism described in the first embodiment.

[0107] 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 above-described optional components are merely examples, and other components not illustrated may also be omitted. For example, the auxiliary device 1C may be configured such that the knob latch spring 115 and the dial rotation spring 129 are omitted, and the handle 11 and the dial 12 are not biased. For example, the manipulator 2C may be configured such that the protrusion 2382 of the counter board 238 is omitted so as not to inhibit the transition from the second state to the first state a predetermined number of times or more. For example, the lever 234 may be omitted from the manipulator 2C. The manipulator system 9C of the fourth embodiment described above can also achieve the same effects as those of the first embodiment described above.

[0108] Fifth Embodiment In the fifth embodiment, a configuration that enables a state transition without passing through the neutral mode M1 will be described. A manipulator system 9D of the fifth embodiment includes an auxiliary device 1D instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as that of the first embodiment.

[0109] FIG. 22 is an explanatory diagram showing 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 FIG. 10A , the dial 12 does not block the openings (first base-end opening 191 and second base-end opening 192) of the cleaning nozzle 19. Furthermore, in the auxiliary device 1D, the hole formed in the dial 12 through which the main shaft 13 passes is not the second elongated hole 122 described in the first embodiment, but a circular hole through which the handle 11 can slide, whether the dial 12 is in the first position or the second position. Furthermore, the auxiliary device 1D does not include the knob latch spring 115 and the dial rotation spring 129, and the handle 11 and the dial 12 are not biased. As a result, as shown in FIG. 22 , the auxiliary device 1D can directly switch between the cleaning mode M2 ​​and the gear drive mode M3 without going through the neutral mode M1.

[0110] In this way, the configuration of the manipulator system 9D can be modified in various ways, and the state transition of the assist device 1D may be enabled without going through the neutral mode M1. The manipulator system 9D of the fifth embodiment as described above can also achieve the same effects as those of the first embodiment.

[0111] Sixth Embodiment In the sixth embodiment, a configuration including a cleaning nozzle 19E different from that of the first embodiment will be described. A manipulator system 9E of the sixth embodiment includes an auxiliary device 1E instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as that of the first embodiment.

[0112] FIG. 23 is an explanatory diagram illustrating the configuration of a cleaning nozzle 19E according to a sixth embodiment. The auxiliary device 1E includes the cleaning nozzle 19E shown in FIG. 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 a cleaning port 2361 of the manipulator 2. The second flow path forming member 196E is disposed inside the nozzle body 190E, tilted relative 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. Therefore, the second tip opening 195E provided at the tip of the second flow path 192L is provided on the inner circumferential surface of the first flow path 191L. In other words, first flow path 191L ​​and second flow path 192L merge at second tip opening 195E. The linear distance L between the center of second tip opening 195E and first tip opening 193 may be determined arbitrarily, but is preferably as short (small as possible).

[0113] As described above, 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 as described above can also achieve the same effects as those of the first embodiment. 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, a cleaning nozzle 19E and an auxiliary device 1E that can efficiently clean the manipulator 2 can be provided with a configuration in which the second tip opening 195E is housed within the first flow path 191L.

[0114] Seventh Embodiment In the seventh embodiment, a configuration including a cleaning nozzle 19F different from that of the first embodiment will be described. A manipulator system 9F of the seventh embodiment includes an auxiliary device 1F instead of the auxiliary device 1. The configuration of the manipulator 2 is the same as that of the first embodiment.

[0115] FIG. 24 is an explanatory diagram illustrating the configuration of a cleaning nozzle 19F of the seventh embodiment. The auxiliary device 1F includes the cleaning nozzle 19F shown in FIG. 24. In the cleaning nozzle 19F, a first distal end opening 193 and a second distal end opening 195F are provided at different positions on the distal end of a nozzle main body 190F (specifically, at the distal end of a protruding portion 1903). As shown in FIG. 24, the first distal end opening 193 and the second distal end opening 195F are spaced apart in the Z-axis direction on the distal end surface of the protruding portion 1903. When the auxiliary device 1F is connected to the manipulator 2, the first distal end opening 193 and the second distal end opening 195F each communicate with a cleaning port 2361 of the manipulator 2. The second flow path forming member 196F is arranged inside the nozzle main body 190F, parallel to the extension direction (X-axis direction) of the nozzle main body 190E.

[0116] As described above, the configuration of the cleaning nozzle 19F can be modified in various ways, and the first distal end opening 193 and the second distal end opening 195F may be provided at different positions and spaced apart. The manipulator system 9F of the seventh embodiment as described above can also achieve the same effects as those of the first embodiment. Furthermore, according to the configuration of the seventh embodiment, the second distal end opening 195F of the cleaning nozzle 19F is provided at a position different from the first distal end opening 193 at the tip of the nozzle body 190F. This makes it possible to easily manufacture a cleaning nozzle 19F and an auxiliary device 1F that can efficiently clean the manipulator 2.

[0117] <Modifications of this embodiment> The present invention is not limited to the above-described embodiment, and can be implemented in various forms without departing from the spirit of the present invention. For example, the following modifications are also possible.

[0118] [Modification 1] In the first to seventh embodiments described above, one example of the configuration of the manipulator system 9, 9A to 9F has been shown. However, the configuration of the manipulator system 9 can be modified in various ways. For example, the manipulator system 9 may further include other devices different from the auxiliary devices 1, 1A to 1F and the manipulators 2, 2A, and 2C. For example, only some 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, and 2C may be used, or only the cleaning nozzles 19, 19E, and 19F may be used.

[0119] [Variation 2] In the first to seventh embodiments, one example of the configuration of the auxiliary device 1, 1A to 1F was described. However, various modifications are possible to the configuration of the auxiliary device 1. For example, the shapes of the handle 11, dial 12, main shaft 13, frame 14, side lock button 15, pin 16, auxiliary gear 17, protrusion 18, and cleaning nozzle 19 may be modified as appropriate. For example, the position indicator 120 and direction indicator 1201 of the dial 12 (switching unit) may be omitted. For example, the pin 16 (acting unit) may be omitted. In this case, the cam structure 123 of the dial 12 that operates the pin 16 may also be omitted. For example, although the counter mechanism has been described as decrementing, it may also be counted by incrementing. For example, the cleaning nozzle 19 may be configured to be fixed to the frame 14 and not slide when an external force is applied from the first base end opening 191 or the second base end opening 192. For example, a torque limiting mechanism may be realized by a method other than causing the main shaft 13 to misalign. In this case, the handle 11 and the main shaft 13 may be connected via an O-ring made of an elastic material, so that the handle 11 rotates freely relative to the main shaft 13 when the torque applied to the handle 11 exceeds a predetermined amount.

[0120] [Modification 3] In the first to seventh embodiments, one example of the configuration of the manipulators 2, 2A, and 2C has been described. However, the configuration of the 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, the first joint 212, the first extension 213, the second joint 214, and the second extension 215 may be omitted. Furthermore, another surgical tool (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 replaceable. For example, the shapes of the parts constituting the main body device 23 (e.g., the manipulator main body 231, the lid 232, the window 233, the lever 234, the driven gear 235, the gear cover 237, etc.) may be modified as appropriate. For example, the lid 232 does not need to be openable or closable, and the gear cover 237 may be omitted. For example, the counter mechanism may be used for counting something other than the number of times the manipulator 2 has been washed. For example, the manipulator 2 may not include a counter mechanism. For example, the counter lever 230 of the manipulator 2 may not have the end portion 2304, and the end portion 2304 may not protrude outside the manipulator body 231 in the second state of the counter mechanism.

[0121] [Modification 4] The configurations of the manipulator systems 9, 9A to 9F of the first to seventh embodiments and the configurations of the manipulator systems 9, 9A to 9F of the above-described modifications 1 to 3 may be appropriately combined. For example, in the manipulator systems 9A, 9B that operate in the gear drive mode M3 described in the second embodiment or the gear drive mode M3 described in the third embodiment, the components described in the fourth embodiment may be omitted, or the neutral mode M1 described in the fifth embodiment may be omitted, and the cleaning nozzles 19E, 19F described in the sixth and seventh embodiments may be provided.

[0122] This aspect has been described above based on embodiments and modifications. However, the above-described embodiments are intended to facilitate understanding of this aspect and are not intended to limit this aspect. This aspect may be modified or improved without departing from the spirit and scope of the claims, and equivalents thereof are included in this aspect. Furthermore, if a technical feature is not described as essential in this specification, it may be deleted as appropriate.

[0123] DESCRIPTION OF SYMBOLS 1, 1A to 1F... Auxiliary device 2, 2A, 2C... Manipulator 3... External instrument, syringe 9, 9A to 9F... Manipulator system 11... Handle 12, 12A, 12B... Dial (switching unit) 13... Main shaft 14... Frame (main body) 15... Side lock button 16... Pin (acting unit) 17... Auxiliary gear 18... Protrusion 19, 19E, 19F... Cleaning nozzle 21... End effector 22... Main shaft 23... Main body device 111... Grip portion 112... Extension portion 114... Washer 120, 120A... Position indication 121... Notch 122, 122A, 122B... Second elongated hole 123... Cam structure portion 124... Dial lock pin 131... Bearing 141... Flange 142... Base end surface DESCRIPTION OF SYMBOLS 143: Recess 144: Storage portion 145: First elongated hole 151: Claw 152: Shaft 161: Elongated hole 162: Tip portion 171: Washer 190, 190E, 190F: Nozzle body 191: First base end opening 191L: First flow path 192: Second base end opening 192L: Second flow path 192La: Enlarged flow path 193: First tip opening 194: Notch 195, 195E, 195F: Second tip opening 196, 196E, 196F: Second flow path forming member 211: Forceps 212: First joint 213: First extension portion 214: Second joint 215: Second extension portion 230: Counter lever (first member) 231: Manipulator body 232, 232C... Cover 233... Window (display unit) 234... Lever 235,DESCRIPTION OF SYMBOLS 235A...Driven gear 236...Base end surface 237...Gear cover 238...Counter board (display unit) 239...Lock lever (second member) 1201...Direction display 1221...Raised portion 1231...Concave portion 1232...Inclined portion 1233...Convex portion 1901...First surface 1902...Second surface 1903...Protruding portion 2301...First extension portion 2302...Second extension portion 2303...Axis 2304...End portion 2311...Side surface 2341...Protruding portion 2342...Arm 2343...End portion 2351...Gripping shaft gear 2352...Main shaft gear 2353...Tip rotating shaft gear 2354...Bending shaft gear 2361...Cleaning port 2381...Count number 2382...Protruding portion 2391...recessed portion 2392...extension portion 2394...shaft 2395...end portion,

Claims

1. A cleaning nozzle for cleaning a manipulator, a nozzle body having a tip portion to be inserted into an opening of the manipulator, a first tip opening provided at the tip portion and communicating with the opening of the manipulator when the tip portion is inserted into the opening of the manipulator, and a base end having a first base end opening and a second base end opening to which an external instrument is connected; a first flow passage formed inside the nozzle body, the first flow passage having a tip end communicating with the first tip opening and a base end communicating with the first base end opening; a second flow passage formed inside the nozzle body and having a cross-sectional area smaller than that of the first flow passage, the second flow passage having a base end communicating with the second base end opening; a second end opening communicating with a tip of the second flow path; A cleaning nozzle comprising:

2. 2. The cleaning nozzle according to claim 1, A portion of a tip side of the second flow passage is provided inside the first flow passage, The second tip opening protrudes from the first tip opening and is located on a tip side of the first tip opening.

3. 2. The cleaning nozzle according to claim 1, The second tip opening is provided on an inner circumferential surface of the first flow passage, The first flow path and the second flow path join together at the second tip opening.

4. 2. The cleaning nozzle according to claim 1, A cleaning nozzle, wherein the second tip opening is provided at a position different from the first tip opening in the tip portion of the nozzle body.

5. A cleaning nozzle according to any one of claims 1 to 4, A cleaning nozzle, wherein a flow path resistance of the second flow path is greater than a flow path resistance of a flow path that is included in the manipulator and that communicates with an opening of the manipulator.

6. A manipulator assist device connected to a base end of the manipulator, The cleaning nozzle according to any one of claims 1 to 4, A main body to which the cleaning nozzle is attached; A manipulator assist device comprising:

7. 7. A manipulator assist device according to claim 6, comprising: The manipulator assist device, wherein the cleaning nozzle is fixed to the main body portion so as to be slidable from the base end side toward the tip end side when an external force is applied from the first base end opening or the second base end opening.

8. A manipulator assist device according to claim 7, comprising: the first distal end opening and the first proximal end opening are arranged linearly along a sliding direction of the cleaning nozzle, The second base end opening is disposed on a virtual line intersecting the sliding direction.