Robot arm cover, robot body part cover, robot cover, and method for attaching robot arm cover

Abstract

Provided is a robot arm cover that can reduce the burden of attachment work.　The robot arm cover covers a robot arm of a robot comprising a robot body part and a robot arm which is movable with respect to the robot body part and is capable of holding a probe of an ultrasonic device. The robot arm cover is formed in a bottomed cylindrical shape extending to the proximal end of the robot arm with the distal end of the robot arm being located at the bottom.

Description

Robot arm cover, robot main body cover, robot cover, and method for attaching a robot arm cover

[0001] The present disclosure relates to a cover for a robot arm, a cover for a robot main body, a cover for a robot, and a method for attaching a cover for a robot arm.

[0002] Conventionally, as a robot of this type, one that has been proposed includes a robot arm that holds an ultrasonic probe and moves the ultrasonic probe along the body surface of a subject, a memory unit that stores instruction trajectory information for moving the ultrasonic probe by the robot arm, and a robot arm control unit that controls the drive of the robot arm so as to move the ultrasonic probe in accordance with the stored instruction trajectory information (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-159027

[0004] When using a robot as a medical device in surgery or other procedures, it is required to cover the parts used in the so-called clean area with sterilized covers. Furthermore, the robot must be installed while maintaining the sterilized state, which increases the burden of the installation work.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a cover for a robot arm, a cover for a robot main body, a cover for a robot, and an installation method for a cover for a robot arm that can reduce the burden of installation work.

[0006] In order to solve the above problems, this specification discloses a robot arm cover that covers the robot arm of a robot that includes a robot main body and a robot arm that is movable relative to the robot main body and can hold a probe of an ultrasound device, the robot arm cover being formed in a cylindrical shape with a bottom that extends from the tip end of the robot arm to the base end of the robot arm.

[0007] Furthermore, the contents of the present disclosure are not limited to implementation as a cover for a robot arm, but are also extremely effective when implemented as a cover for a robot main body that covers the robot main body of a robot, a robot cover, an attachment method for a robot arm cover, etc.

[0008] According to the robot arm cover, robot main body cover, robot cover, and robot arm cover installation method disclosed herein, the burden of installation work can be reduced.

[0009] 1 is a perspective view of the appearance of a robot and an ultrasonic device according to the present embodiment; FIG. 1 is a schematic diagram of the robot; FIG. 2 is a partially enlarged view of a robot arm including a hand; FIG. 2 shows an arm cover in a folded state; FIG. 3 shows a main body cover; FIG. 4 is an explanatory diagram showing an example of a state change in which the arm cover in a folded state is gradually extended; FIG. 3 is a schematic diagram showing a state in which the arm cover is placed on the robot arm, and a state in which the main body cover is placed on the robot main body; FIG. 4 shows an arm cover in a folded state according to another example; FIG. 5 is an explanatory diagram showing a state in which the cover is placed on the robot's hand and before the restraint is attached; FIG. 5 is an explanatory diagram showing how the cover placed on the hand is tied with the restraint; FIG. 6 shows a main body cover in a folded state; FIG. 7 shows an emergency stop switch cover; FIG. 8 shows a state in which the emergency stop switch cover, tablet cover, wireless controller cover, and foot switch cover are attached; FIG. 9 shows a tablet cover; FIG. 10 shows a controller cover; and FIG. 11 shows a foot switch cover.

[0010] An embodiment of a robot arm cover, a robot main body cover, a robot cover, and an attachment method for a robot arm cover according to the present disclosure will be described below with reference to the drawings. FIG. 1 is an external perspective view of a robot 10 and an ultrasonic device 100 according to the present embodiment. FIG. 2 is a schematic configuration diagram of the robot 10. FIG. 3 is a partial enlarged view of a robot arm 21 including a hand 60. In the following description, as shown in FIGS. 1 and 2 , the direction as seen by an operator operating an operation panel 90 of the robot main body 20 is used as a reference, and the front-to-back direction will be referred to as the X-axis direction, the left-to-right direction as the Y-axis direction, and the up-to-down direction as the Z-axis direction.

[0011] As shown in FIGS. 1 to 3 , the robot 10 of this embodiment includes a robot main body 20, a robot arm 21, a base 25, a foot switch 91, an ESR controller 92, a tablet terminal 93, and an emergency stop switch 94. The robot arm 21 is a multi-joint robot arm that is movable relative to the robot main body 20 and is capable of holding an ultrasound probe 101 of an ultrasound device 100. The robot arm 21 is capable of holding the ultrasound probe 101 of the ultrasound device 100 by a hand 60 attached to its tip. The robot 10 controls the robot arm 21 to move the ultrasound probe 101 held by the hand 60 against the surface of the human body, thereby causing the ultrasound device 100 to acquire an ultrasound echo image of the human body. The robot 10 is used, for example, as an ultrasound echo guide during surgery such as catheter surgery. An operator (surgeon) operating the catheter guide wire instructs the robot 10 to place the ultrasonic probe 101 on the surface of the human body (patient), and advances the guide wire while recognizing the positional relationship between the tip of the guide wire and the blood vessel from the obtained ultrasonic echo image, thereby enabling the guide wire to accurately pass through the center of the occluded or narrowed part of the blood vessel. As a preliminary step, the operator manually operates the robot arm 21, and while checking the obtained ultrasonic echo image by placing the ultrasonic probe 101 held by the robot arm 21 on the patient, determines points (images) to be reproduced during surgery and registers them in the robot 10 (robot control device 80) as direct teaching.

[0012] 1, the ultrasound device 100 includes an ultrasound probe 101, an ultrasound device main body 110, and an image display unit 113. The ultrasound device main body 110 is connected to the ultrasound probe 101 via a cable 102, processes signals received from the ultrasound probe 101 to generate ultrasound echo images, and displays the ultrasound echo images on the image display unit 113. Note that the ultrasound probe 101 may be a one-dimensional linear type or convex type, or may be a two-dimensional or three-dimensional multidimensional probe, an H-type probe, or any other shape.

[0013] As shown in Figures 1 to 3, the base 25 comprises a base support part 25A and a pair of protrusions 25B. The base 25 is a generally rectangular plate with a predetermined thickness in the vertical direction. The robot main body 20 is mounted on the base support part 25A and fixed to the base support part 25A. Each of the pair of protrusions 25B is provided on both left and right ends of the front end of the base support part 25A. Each of the pair of protrusions 25B has a shape that protrudes forward from the front end of the base support part 25A.

[0014] A plurality of (e.g., four) casters 26 with stoppers are attached to the back surface of the base 25. The four casters 26 are provided at four locations: both left and right ends (corners) of the rear end of the base support portion 25A and the front ends of the pair of protrusions 25B. The robot 10 can be freely moved by the casters 26. In addition, locking portions 28 (see FIG. 2) are provided at multiple locations (e.g., three locations) on the back surface of the base 25. The three locking portions 28 protrude vertically downward by pressing down a lever 27 (see FIG. 2) protruding rearward from the back surface of the base support portion 25A, thereby locking (fixing) the robot 10 so that it cannot move.

[0015] The robot main body 20 has, for example, a cylindrical shape extending in the vertical direction. The front surface of the robot main body 20 has a shape that protrudes forward at the center in the left-right direction, and the rear surface has a generally flat shape extending in the left-right and up-down directions. The robot main body 20 includes a lifting device 40 (see FIG. 2), a robot control device 80 (see FIG. 2), and an operation panel 90 (see FIG. 2). The robot control device 80 controls the robot 10. The robot control device 80 controls the operation of the robot arm 21 and the lifting device 40 by controlling each motor (such as the motor of the first arm driving device 35) described below. The operation panel 90 includes, for example, a touch panel, push buttons, lamps, etc., and is attached to the top surface of the robot main body 20. It displays various information and allows the operator to input operations.

[0016] 1 includes a button section 91A provided with a pedal switch that is turned on when the operator steps on it, and a cable 91B that connects the button section 91A to the robot control device 80. In this embodiment, the foot switch 91 includes four pedal switches (a first switch 911, a second switch 912, a third switch 913, and a fourth switch 914) arranged horizontally on the button section 91A.

[0017] The ESR controller 92 is an operation controller that is held by the operator with both hands and pressed down, and is connected wirelessly to the robot control device 80 of the robot 10. The ESR controller 92 may also be connected to the robot control device 80 of the robot 10 via a wire. In this embodiment, as shown in FIG. 1 , the ESR controller 92 has a directional key button 921, a push button 922, a button 923, a button 924, and push buttons 925 and 926. The directional key button 921 has buttons (up button, down button, left button, and right button) that can be operated with the thumb of the left hand. The push button 922 has four buttons (A button, B button, X button, and Y button) that can be operated with the thumb of the right hand and are arranged in a diamond shape. The button 923 has an L1 button and an L2 button that can be operated with the index finger and middle finger of the left hand, respectively. The buttons 924 include an R1 button and an R2 button that can be operated with the index finger and middle finger of the right hand, respectively. A plurality of push buttons 925 and 926 are arranged between the directional key button 921 and the four push buttons 922.

[0018] The tablet terminal 93 includes a control device including a CPU, ROM, RAM, and storage (SSD), a touch panel display that displays various information and allows the operator to input operations, and a communication unit. The tablet terminal 93 is communicably connected to the robot control device 80 of the robot 10 via wireless communication. In this embodiment, the tablet terminal 93 has a remote desktop function that allows the operation panel 90 to be remotely controlled from the tablet terminal 93 via wireless communication. The robot 10 can issue operation instructions, register destination points, and the like using the foot switch 91, ESR controller 92, and tablet terminal 93 described above.

[0019] The emergency stop switch 94 has a button section 94A provided with a button for forcibly stopping the robot 10 in an emergency, and a cable 94B connecting the button section 94A to the robot control device 80. The emergency stop switch 94 outputs a stop signal to the robot control device 80 in response to operation of the button on the button section 94A. The emergency stop switch 94 may also be provided on the robot arm 21, the housing 29, etc.

[0020] As shown in Figures 1 and 2, in this embodiment, the robot arm 21 is a seven-axis articulated arm and includes a first arm 22, a second arm 23, a base 24, a first arm driving device 35, a second arm driving device 36, an attitude holding device 37, and a three-axis rotation mechanism 50.

[0021] The base end of the first arm 22 is connected to the base 24 via a first joint shaft 31 extending in the vertical direction (Z-axis direction). The first arm driving device 35 includes a motor, an encoder, and an amplifier. The rotation shaft of the motor of the first arm driving device 35 is connected to the first joint shaft 31 via a reducer (not shown). The first arm driving device 35 rotates (pivots) the first arm 22 along a horizontal plane (XY plane) around the first joint shaft 31 as a fulcrum by driving the first joint shaft 31 to rotate using the motor.

[0022] The base end of the second arm 23 is connected to the tip end of the first arm 22 via a second joint shaft 32 extending in the vertical direction. The second arm driving device 36 includes a motor, an encoder, and an amplifier. The rotation shaft of the motor of the second arm driving device 36 is connected to the second joint shaft 32 via a reducer (not shown). The second arm driving device 36 rotates (pivots) the second arm 23 along a horizontal plane around the second joint shaft 32 as a fulcrum by driving the second joint shaft 32 to rotate using the motor.

[0023] As shown in FIG. 2 , an elevator device 40 is provided within the robot main body 20. The base 24 is provided at the base end of the robot arm 21 and is movable up and down (in the Z-axis direction) by the elevator device 40. The elevator device 40 includes a first slider 41, a first guide member 42, a first ball screw shaft 43 (elevation shaft), and an elevator drive device 44. The first slider 41 is fixed to the base 24. The first guide member 42 extends up and down to guide the movement of the first slider 41. The first ball screw shaft 43 extends up and down and is threadedly engaged with a ball screw nut (not shown) fixed to the first slider 41. The elevator drive device 44 rotates the first ball screw shaft 43. The elevator drive device 44 includes a motor, an encoder, and an amplifier. The lifting device 40 rotates the first ball screw shaft 43 using the motor of the lifting drive device 44 , and moves the base 24 fixed to the first slider 41 up and down along the first guide member 42 .

[0024] The three-axis rotation mechanism 50 is connected to the tip of the second arm 23 via an attitude maintaining shaft 33 extending in the vertical direction. The three-axis rotation mechanism 50 includes a first rotation shaft 51, a second rotation shaft 52, and a third rotation shaft 53 that are perpendicular to one another, a first rotation device 55 that rotates the first rotation shaft 51, a second rotation device 56 that rotates the second rotation shaft 52, and a third rotation device 57 that rotates the third rotation shaft 53. The first rotation shaft 51 is supported in an orientation perpendicular to the attitude maintaining shaft 33. The second rotation shaft 52 is supported in an orientation perpendicular to the first rotation shaft 51. The third rotation shaft 53 is supported in an orientation perpendicular to the second rotation shaft 52. The first rotation device 55, the second rotation device 56, and the third rotation device 57 each include a motor, an encoder, and an amplifier.

[0025] 2 and 3 , the third rotation device 57 includes a housing 54 to which the second rotation shaft 52 is coupled and which rotatably supports the third rotation shaft 53 so as to extend perpendicular to the second rotation shaft 52, a motor fixed within the housing 54 for rotationally driving the third rotation shaft 53, a force sensor, an operation handle 66, a stop button 67, etc. The operation handle 66 is located on the surface of the housing 54 opposite to the surface from which the third rotation shaft 53 extends (the top surface in FIG. 2 ), and is held by an operator when the operator manually operates the ultrasound probe 101 held by the robot arm 21 during direct teaching. The stop button 67 is located on the opposite surface of the housing 54 (the top surface in FIG. 2 ), and is used by the operator to temporarily stop the operation of the robot arm 21 when an unexpected movement of the robot arm 21 occurs. The force sensor is attached to the third rotation axis 53 of the robot arm 21, and transmits power from the motor to the third rotation axis 53 (hand end portion 60), while detecting force components acting in the axial directions of the X-axis, Y-axis, and Z-axis as external forces applied to the hand end portion 60 and the operating handle 66, as well as torque components acting around each axis.

[0026] The hand portion 60 is attached to the tip of the third rotating shaft 53 and includes a base portion 61, a holding portion 62, and a grip portion 63. The base portion 61 is a plate-shaped member and is detachably attached to the third rotating shaft 53 with a snap lock 74. The hand portion 60 (base portion 61) may be attached to the third rotating shaft 53 with other fasteners (for example, a ratchet-type fastener, a screw, etc.).

[0027] The holding unit 62 is a member that holds the ultrasonic probe 101 so as to be coaxial with the third rotation axis 53. The holding unit 62 has holders 621, 622 attached to one surface of the base unit 61, and the holders 621, 622 hold the ultrasonic probe 101. The holder 621 includes a pair of support walls 621s that support the ultrasonic probe 101 from both sides, and a plate-shaped pressing member 621p that spans from one support wall 621s to the other support wall 621s and presses and holds the ultrasonic probe 101 against the base unit 61. One side of the pressing member 621p is rotatably attached to one support wall 621s via a hinge, and the other side on the opposite side is detachably fixed to the other support wall 621s by a fixing device (for example, a snap lock). Therefore, the pressing member 621p can be opened and closed relative to the pair of support walls 621s, and is switched between a closed state in which the ultrasonic probe 101 is held and an open state in which the ultrasonic probe 101 can be attached and detached. The holder 622 is formed by a pair of support members that support, from both sides, a stepped portion of the ultrasonic probe 101 that is narrower than the portion held by the holding portion 62. The holders 621, 622 are each detachably attached to the base portion 61 with fastening members such as screws S. Furthermore, multiple types of holders 621, 622 are available, and they can be replaced with ones suitable for holding the ultrasonic probe 101 depending on the shape and dimensions of the ultrasonic probe 101 being used. This makes it possible to accommodate a variety of ultrasonic probes 101. Note that, in order to hold the ultrasonic probe 101, the holders 621, 622 may be used in combination with an adapter that corresponds to the shape and dimensions of the ultrasonic probe 101.

[0028] The grip portion 63 is a portion that is held by an operator. For example, during direct teaching, the operator holds the grip portion 63 when manually moving the ultrasound probe 101 held by the robot arm 21. The grip portion 63 is provided on the surface of the base portion 61 opposite the surface on which the holding portion 62 is provided, and is formed so as to protrude convexly outward from the other surface. In this embodiment, the grip portion 63 is formed with a convex curved surface as shown in FIG. 3 . However, other shapes that can be held by the operator, such as a rod shape, a hemisphere shape, a rectangular parallelepiped shape, or a cube shape, may also be employed. In addition, a direct teaching switch 71 is provided on the upper portion of the grip portion 63 to allow the operator to manually operate the robot arm 21 during direct teaching. The direct teaching switch 71 may be provided at another position, such as the top of the convex portion (convex curved portion) of the grip portion 63, or at a position other than the grip portion 63 (the opposite surface of the housing 54 (top surface in Figure 2)).

[0029] In this embodiment, the direct teaching switch 71 is configured as a three-position enable switch. The direct teaching switch 71 is not limited to a three-position enable switch, and may be another type of switch, such as a normal two-position switch. One end of a cable 72 is connected to a terminal of the direct teaching switch 71. A cable guide 73 that guides one end of the cable 72 to the direct teaching switch 71 is fixed to the other surface of the base portion 61 of the hand 60, closer to the housing 54 than the grip portion 63. For example, one end of the cable 72 is fixed to the cable guide 73 with a cable tie or the like. The other end of the cable 72 is provided with, for example, a connector 721, which is removably connected to a connector 722 provided on the housing 54. The connector 722 is connected to wiring that runs from the housing 54 through the robot arm 21 and connects to the robot control device 80. Therefore, the other end of the cable 72 is connected to the robot control device 80 via the connectors 721 and 722. Furthermore, by unlocking the snap lock 74 and pulling out the connector 721 from the connector 722, the hand portion 60 can be easily detached from the housing 54, improving maintainability.

[0030] Furthermore, the robot 10 of this embodiment operates the robot arm 21 by a combination of translational motion in three directions, the X-axis, the Y-axis, and the Z-axis, performed by the first arm driving device 35, the second arm driving device 36, and the lifting device 40, and rotational motion in three directions, around the X-axis (pitching), around the Y-axis (rolling), and around the Z-axis (yawing), performed by the three-axis rotation mechanism 50. This allows the robot 10 to move the ultrasonic probe 101 in each of the X-axis, Y-axis, and Z-axis directions (both forward and reverse directions) and rotate it around each axis (both forward and reverse rotation directions).

[0031] The attitude holding device 37 is a device that holds the attitude of the three-axis rotation mechanism 50 (the orientation of the first rotation shaft 51) in a constant direction regardless of the attitudes of the first arm 22 and the second arm 23. The attitude holding device 37 includes a motor, an encoder, and an amplifier. The rotation shaft of the motor is connected to the attitude holding shaft 33 via a reducer (not shown). The attitude holding device 37 sets a target rotation angle of the attitude holding shaft 33 based on the rotation angles of the first joint shaft 31 and the second joint shaft 32 so that the axial direction of the first rotation shaft 51 is always in the left-right direction (Y-axis direction). The attitude holding device 37 drives and controls the motor so that the attitude holding shaft 33 reaches the set target rotation angle. This makes it possible to independently control the translational motion in three directions and the rotational motion in three directions, making control easier.

[0032] As shown in FIG. 3 , the robot arm 21 is provided with a brake lever 65. The brake lever 65 is a generally L-shaped member that extends downward in FIG. 3 from the first rotation shaft 51 (in the direction in which the attitude-maintaining shaft 33 extends) and bends perpendicularly at the end of the extension. Mechanical brakes (e.g., disc brakes) are attached to each axis of the robot arm 21 except for the horizontally rotating axes (the first joint shaft 31, the second joint shaft 32, and the attitude-maintaining shaft 33). The mechanical brakes are configured to activate when the corresponding motors stop operating. The operator can deactivate the mechanical brakes by operating the brake lever 65 upward in FIG. 3 . This allows the operator to manually deactivate the mechanical brakes by operating the brake lever 65, even if the power supply to the robot 10 is interrupted due to some abnormality, and to move the robot arm 21 to retract.

[0033] As described above, the robot 10 of this embodiment configured as described above is used in surgery (e.g., catheter surgery). Therefore, during surgery, it is necessary to cover the robot 10, including the robot arm 21, and the ultrasound device 100, including the ultrasound probe 101, with sterilized covers. That is, it is necessary to use the robot 10 with sterilized covers covering the parts used in a so-called clean area, and the sterilized state must be maintained when the covers are attached. The robot 10 of this embodiment is capable of being fitted with sterilized robot covers, including a robot arm cover 201 (hereinafter referred to as an arm cover) shown in FIG. 4 and a robot main body cover (hereinafter referred to as a main body cover) 202 (hereinafter referred to as a main body cover) shown in FIG. 5. The robot 10 is also capable of being fitted with an emergency stop switch cover 241 (shown in FIG. 12), a tablet cover 242 (shown in FIG. 14), a wireless controller cover 243 (shown in FIG. 15), and a foot switch cover 244 (shown in FIG. 16).

[0034] Fig. 4 shows the arm cover 201 in a folded state. The arm cover 201 is a sterilization cover that can be attached to the robot arm 21. Fig. 6 shows an example of the change in state from the top to the bottom of the drawing as the arm cover 201 from a folded state is gradually unfolded and extended. The bottom drawing in Fig. 6 shows the arm cover 201 in an extended state. Fig. 7 shows the arm cover 201 in a state where it is placed on the robot arm 21, and the main body cover 202 in a state where it is placed on the robot main body 20. Note that in Fig. 7, to avoid cluttering the drawing, the arm cover 201 is shown by a dashed line, and the main body cover 202 is shown by a dashed line.

[0035] As shown in FIGS. 4, 6, and 7, the arm cover 201 is formed in a cylindrical shape with a bottom that houses the tip end of the robot arm 21, i.e., the hand 60, in a bottom 205 and extends to the base 24, which is the base end of the robot arm 21. For example, the arm cover 201 has a cylindrical shape that is elongated in one direction and has a substantially uniform width H. The arm cover 201 is a transparent member made of, for example, polyethylene. The main body cover 202 is also a transparent member made of, for example, polyethylene. Note that the material of the arm cover 201 and the main body cover 202 is not limited to polyethylene, and other materials such as polypropylene may be used. Furthermore, the arm cover 201 and the main body cover 202 are not limited to transparent members, and may be translucent or opaque members.

[0036] The arm cover 201 has a bottom 205 formed at one end in the longitudinal direction (left-right direction in FIG. 6 ) and an opening 206 formed at the other end. The bottom 205 is closed and is formed with a size that can accommodate the holding part 62 when unfolded. The opening 206 has an opening 206A formed therein.

[0037] 4, the arm cover 201 can be folded in multiple stages in the longitudinal direction. Before being attached to the robot arm 21, the arm cover 201 is folded so that the bottom part 205 faces inward, and the parts closer to the opening 206 are folded so that they face outward. This allows the arm cover 201 to be attached by engaging the bottom part 205 with the hand 60 and stretching the arm cover 201 while releasing the folded state.

[0038] 7, when the arm cover 201 is attached to the robot arm 21, the inner surface of the opening 206 that faces the base 24 is referred to as the inner surface 206B. That is, the inner surface of the opening 206 that may come into contact with a so-called unclean area (a non-sterile part (base 24)) after attachment is referred to as the inner surface 206B. As shown in FIGS. 4 and 6, when the arm cover 201 is folded in multiple stages, it is folded inside out so that the inner surface 206B faces outward. Therefore, in the state shown in FIG. 4, the opening 206A of the opening 206 is folded back toward the bottom 205 (the right side in FIG. 4). This allows the arm cover 201 to be attached by touching the inner surface 206B, and allows the arm cover 201 to be attached while stretching it out, avoiding touching the outer surface of the sterilized arm cover 201 as much as possible.

[0039] When the arm cover 201 is in a folded state, an insertion opening 207 into which the robot arm 21 can be inserted is formed at the end opposite the bottom 205 (the left end in FIG. 4 ). The opening 206A and the insertion opening 207 are sized to allow the robot arm 21 to be inserted from the hand 60 (tip end). As shown in FIG. 4 , the opening 206 of the arm cover 201 is provided with an insertion opening mark 209 indicating the direction in which the hand 60, which is the tip end of the robot arm 21, is inserted into the insertion opening 207. The insertion opening mark 209 is, for example, an arrow mark printed on the inner surface 206B of the opening 206, and is provided at the end of the inner surface 206B on the insertion opening 207 side when the arm cover 201 is in a folded state. The direction of the arrow on the insertion opening mark 209 indicates the direction in which the hand 60 is inserted into the insertion opening 207. In other words, the insertion opening mark 209 indicates the direction in which the hand unit 60 should be inserted into the insertion opening 207 when the arm cover 201 is folded inside out so that the inner surface 206B faces outward. The arm cover 201 is made of a transparent material and is in a folded state before use. Therefore, when an operator looks at the arm cover 201 in a folded state, it may be difficult to tell at a glance which end of the robot arm 21 should be inserted first. Therefore, in the arm cover 201 of this embodiment, the insertion opening mark 209 indicates the direction in which the robot arm 21 should be inserted into the insertion opening 207, thereby preventing the operator from making a mistake in the insertion direction when attaching the arm cover.

[0040] The configuration of the insertion slot mark 209 shown in FIG. 4 is one example. For example, FIG. 8 shows an arm cover 201A according to another embodiment. The arm cover 201A shown in FIG. 8 includes two insertion slot marks 209A. Each of the two insertion slot marks 209A is provided on the inner surface 206B and is an arrow indicating the position of the insertion slot 207. By indicating the position of the insertion slot 207 with the insertion slot marks 209A, the occurrence of erroneous recognition of the insertion direction can be suppressed. Alternatively, as shown in FIG. 8, an insertion slot mark 209B consisting of text such as "arm insertion slot" may be printed on the inner surface 206B. Therefore, the mark of the present disclosure is not limited to a symbol such as an arrow, but may also be a letter or a combination of a symbol and a letter.

[0041] As shown in FIG. 4 , when the arm cover 201 is folded, the portion where the insertion opening 207 is formed protrudes slightly outward (to the left in FIG. 4 ) from the opening 206. This protruding protrusion 208 is, for example, the innermost portion, i.e., the portion connected to the bottom 205, and is the portion that is first folded back when viewed from the bottom 205. Therefore, when folded, the arm cover 201 of this embodiment has the protrusion 208 that protrudes the insertion opening 207 outward in the longitudinal direction. The arm cover 201 is made of a transparent material and is folded in multiple stages before use. This may make it difficult to identify which opening (the overlapping portion) is the insertion opening 207 for inserting the robot arm 21. Therefore, in this embodiment, when the arm cover 201 is folded in multiple stages, the protrusion 208 having the insertion opening 207 protrudes outward, making it easier for the operator to identify which hole is the insertion opening 207. In other words, the occurrence of erroneous recognition of the insertion slot 207 (insertion error) can be suppressed.

[0042] The arm cover 201 may not have the protrusion 208 in the folded state. For example, in the folded state, the end of the insertion opening 207 may be aligned with the end of the opening 206 (the end on the left side in FIG. 4 ). Also, in FIG. 4 , the end on the bottom 205 side also protrudes outward in the longitudinal direction (to the right in FIG. 4 ) as it approaches the inside of the folded arm cover 201. However, the end on the bottom 205 side may also be aligned. Also, as shown in FIG. 4 , a label 211 is attached to the inner surface 206B, indicating that the arm cover 201 is a sterilization cover to be used with the robot arm 21. The words "for arm" are printed on the label 211. Similarly, as shown in FIG. 5 , a label 212 is attached to the main body cover 202, indicating that the arm cover 201 is a sterilization cover to be used with the robot main body 20. The words "for body" are printed on the label 212. Alternatively, letters may be printed directly on the cover without attaching the labels 211 and 212. Attaching such labels 211 and 212 can prevent mistakes such as confusing the arm cover 201 with the main body cover 202. In actual treatment, in addition to the robot main body 20 and the robot arm 21, there is a possibility that a sterile cover will be placed on the ultrasound device 100, or, for example, the controller or foot pedals that operate the robot 10. In other words, there is a possibility that there will be many objects to which a sterile cover must be attached in the operating room. Therefore, attaching the labels 211 and 212 can prevent mistakes between the sterile cover and the object to which it is attached, and allows for quick attachment.

[0043] FIG. 6 shows the arm cover 201 being unfolded from top to bottom. Note that FIG. 6 also shows the state after the label 211 has been peeled off. As shown in FIG. 6, the worker can attach the arm cover 201 by unfolding and unfolding it. As described above, the arm cover 201 is folded in multiple stages with the bottom 205 facing inward and the inner surface 206B facing outward, allowing it to be attached without touching the sterilized parts. As shown in the bottom diagram of FIG. 6, for example, after unfolding the arm cover 201, the worker folds (returns) the inner surface 206B of the opening 206 inward so that it faces the base 24. By folding the inner surface 206B of the opening 206 outward, it is possible to attach the arm cover 201 without touching the sterilized parts until the end of the installation process. Note that the bottom diagram of FIG. 6 shows the insertion slot mark 209 facing inward, indicated by a dashed line.

[0044] As shown in Figure 7, the operator covers the entire robot arm 21, including the hand 60, with the arm cover 201. The operator also covers all or part of the ultrasonic device 100, including the ultrasonic probe 101 and the cable 102, with a sterile cover 215 (see Figure 9), which is separate from the arm cover 201. Figure 9 shows the state in which the ultrasonic probe 101 is covered with the sterile cover 215 and attached to the hand 60, before the restraining device 217 (see Figure 10), which will be described later, is attached. After covering the robot arm 21 with the arm cover 201, the operator attaches the ultrasonic probe 101, covered with the sterile cover 215, to the holder 62 of the hand 60.

[0045] As described above, the pressing member 621p (see FIG. 3) of the holding unit 62 is attached via a hinge to one of the pair of support walls 621s, and is configured to be openable between a closed state in which the ultrasonic probe 101 is sandwiched and held, and an open state in which the ultrasonic probe 101 can be removed. The bottom 205 is formed with a size that allows the holding unit 62 in the open state, i.e., the holding unit 62 with the pressing member 621p open, to be inserted. This allows the ultrasonic probe 101 with the sterilization cover 215 attached to be smoothly attached to the bottom 205 (holding unit 62) after the arm cover 201 is attached.

[0046] The operator places the ultrasonic probe 101 covered with the sterilized cover 215 on the holder 62, closes and attaches the pressing member 621p, and then fastens and fixes the bottom 205 (arm cover 201) using a restraining device 217 (e.g., a rubber band, a hook-and-loop fastener, masking tape, etc.) shown in Fig. 10. By fastening the bottom 205, loosening of the arm cover 201 around the hand 60 can be suppressed, and the arm cover 201 can be prevented from getting in the way when the surgeon grips the gripping portion 63 of the hand 60 or presses the direct teaching switch 71 provided on the gripping portion 63.

[0047] 9 , the direct teaching switch 71 and the housing 54 are connected in a loose state with the cable 72 outside the robot arm 21. Therefore, if the operator installs the restraining device 217 in a wrong position, the cable 72 may be restrained by the restraining device 217. The end device 60 is rotationally driven by the third rotation device 57 provided in the housing 54. If the cable 72 is restrained, the cable 72 may be pulled by the drive of the end device 60, causing interference with a structure (such as the snap lock 74) between the gripping portion 63 and the housing 54, potentially damaging or breaking the cable 72. Therefore, in this embodiment, a cable guide 73 that guides one end of the cable 72 from below is provided on the base portion 61 of the end device 60, and the operator attaches the restraining device 217 to this cable guide 73. This prevents the cable 72 from being restrained by the restraining device 217 between the cable guide 73 and the housing 54, and prevents damage or breakage of the cable 72 due to driving of the hand unit 60. Furthermore, by providing the cable guide 73 below the cable 72, i.e., on the side of the restraining device 217, the restraining device 217 can be hooked onto the cable guide 73. In other words, a space for arranging the cable 72 is secured between the cable guide 73 and the base unit 61, and the cable 72 can be protected from the restraining force of the restraining device 217. Note that the cable guide 73 may be provided above the cable 72 instead of below it, or may be provided both above and below it. In this case, too, it is possible to prevent the cable 72 from being restrained by the restraining device 217 between the cable guide 73 and the housing 54.

[0048] Alternatively, the restraining device 217 may be attached before the ultrasonic probe 101 is attached. As shown in FIG. 9 , a mark (line L) indicating a recommended position for attaching the restraining device 217 may be printed on the bottom 205. This allows the operator to easily recognize where on the bottom 205 the restraining device 217 should be attached. As shown in FIG. 7 , the arm cover 201 may be fastened to the robot arm 21 with a restraining device 218 such as masking tape on another portion of the arm cover 201 (the second arm 23 in FIG. 7 ). A mark (line L2) indicating a recommended position for attaching the restraining device 218 may be printed on the portion of the arm cover 201 that covers the second arm 23. This allows the operator to easily recognize where on the bottom 205 the restraining device 218 should be attached.

[0049] For example, the operator attaches the arm cover 201 to the robot arm 21, attaches the ultrasonic probe 101 with the sterilization cover 215 attached to the holder 62, and then attaches the main body cover 202 to the robot main body 20. The order of attachment may be changed as appropriate. As shown in Figures 5 and 7, the main body cover 202 is formed in a cylindrical shape with a bottom that extends from the top of the robot main body 20 as a bottom 221 to the lower end 20A of the robot main body 20. The main body cover 202 may be formed in a size that covers not only the robot main body 20 but also part of or the entire base 25.

[0050] Figure 5 shows the main body cover 202 as seen from the front, i.e., from the front side of the robot main body 20. The main body cover 202 is formed, for example, in a cylindrical shape, and is arranged so that the up and down direction is the axial direction when attached to the robot main body 20. The upper end of the main body cover 202 in Figure 5 is a bottom 221 that contacts the upper surface of the robot main body 20. The lower end of the main body cover 202 in Figure 5 is an opening 225 in which an insertion port 223 for inserting the robot main body 20 is formed.

[0051] The main body cover 202 is closed by providing a bottom 221 on one side at a position facing each other in the axial direction, and is open on the other side (the side opposite the bottom 221) with a circular insertion opening 223. In other words, the main body cover 202 is formed in a cylindrical shape, and the insertion opening 223 is formed in a portion (of a corresponding size) that corresponds to one of a pair of bottoms that face each other in the axial direction (the up-and-down direction in FIG. 5 ).

[0052] 11 shows an example of the folded state of the main body cover 202. As shown in FIGS. 5 and 11 , the main body cover 202 is folded, for example, at a fold line 213 along the radial direction of the circular bottom 221 so that two semicircles (the outer surfaces of the bottom 221) face each other and are in surface contact. The main body cover 202 is also folded at a pair of fold lines 216 extending axially from both ends of the fold line 213 in the radial direction. The axially extending portion of the main body cover 202 is folded into a substantially rectangular shape with the pair of fold lines 216 as the longitudinal direction. The axially extending portion of the main body cover 202 may be further folded in an overlapping manner (in multiple stages) in the axial direction.

[0053] When the main body cover 202 is folded, the insertion opening 223 is formed on a side of the outer periphery of the main body cover 202 other than the fold 213 and the pair of folds 216. In other words, the insertion opening 223 is formed as a circular hole that passes through one of the ends of the fold 216 in the axial direction, the end opposite the fold 213. Therefore, the main body cover 202 has an open bottom on one side in the axial direction. Also, the main body cover 202 is formed so that the part other than the part where the insertion opening 223 is formed is closed.

[0054] As described above, the base 24 of the robot arm 21 is configured to be slidable in the vertical direction (Z-axis direction) relative to the robot main body 20. A slit 227 is formed in the front surface of the main body cover 202. The slit 227 is formed to match the range of movement within which the base 24 can slide. This allows the base 24 to move in the vertical direction within the slit 227. This prevents wrinkles and lumps from forming in the main body cover 202 due to movement of the base 24. This prevents the main body cover 202 from becoming entangled with the base 24 or parts of the robot arm 21 other than the base 24. This prevents the arm cover 201 and the main body cover 202 from peeling off.

[0055] The slit 227 is formed from bottom to top in FIG. 5 , i.e., from the end (insertion opening 223) of the main body cover 202 on the opening 225 side toward the bottom 221 (the upper end in FIG. 5 ). The slit 227 is formed by cutting a straight line from a portion of the insertion opening 223 toward the inside (upper portion in FIG. 5 ). Therefore, the insertion opening 223 is formed to a size corresponding to the cylindrical bottom 221, and one end of the slit 227 extends to the insertion opening 223. This allows the insertion opening 223 to be opened to a size corresponding to the circular bottom 221 when the slit 227 is spaced apart and widened, and the slit 227 can be further widened to make the hole larger. This makes it easier to insert the robot main body 20 into the main body cover 202.

[0056] The slit 227 is formed linearly with a length 220 that corresponds to the range of sliding movement of the base 24. Specifically, the slit 227 is formed with a length 220 that is equal to or greater than the distance that the lifting device 40 (see FIG. 2) can move the first slider 41 (base 24) in the up and down direction. This makes it possible to suppress interference between the base 24 and the main body cover 202 throughout the entire range of movement.

[0057] Furthermore, when the main body cover 202 is folded, the slit 227 is formed, for example, at a position that is the center between the pair of folds 216 in a direction perpendicular to the axial direction (the left-right direction in FIG. 5 ). Therefore, before being attached to the robot main body 20, the main body cover 202 can be folded by forming the folds 213, 216 in areas other than the area where the insertion opening 223 is formed, and closing the insertion opening 223.

[0058] The length 220, shape, etc. of the slit 227 described above are merely examples. For example, the length 220 of the slit 227 may be the same as the distance the lifting device 40 slides the first slider 41, may be shorter than the sliding distance, or may be longer than the sliding distance. The shape of the slit 227 is not limited to a linear shape and may be another shape, such as a rectangular shape. The main body cover 202 does not necessarily have to include the slit 227.

[0059] The main body cover 202 is provided with an engaging portion 229 and an engaged portion 230 with which the engaging portion 229 can engage. The engaging portion 229 is provided at a right end 231 (the end on the right side of the main body cover 202 attached to the robot main body 20) of a pair of ends separated by the slit 227, where the slit 227 of the opening 225 is formed. The engaged portion 230 is provided at the other end, a left end 232. The engaging portion 229 and the engaged portion 230 are, for example, hook-and-loop fasteners. After placing the main body cover 202 on the robot main body 20, the operator engages (attaches) the engaging portion 229 with (attaches) the engaged portion 230 below the base 24. This prevents the main body cover 202 from shifting position due to the operation of the base 24. Furthermore, the front surface of the robot main body 20, which is an unsanitary area, can be more reliably covered.

[0060] Furthermore, the engaging portion 229 is provided on the outer peripheral surface (front surface) of the cylindrical main body cover 202, and the engaged portion 230 is provided on the inner peripheral surface (back surface). This allows the engaging portion 229 and the engaged portion 230 to be arranged facing each other in the radial direction of the main body cover 202. Compared to when both the engaging portion 229 and the engaged portion 230 are provided on the outer peripheral surface or when both are provided on the inner peripheral surface, there is no need to bend the right end portion 231 or the left end portion 232 to engage them, making it more difficult for the engaging portion 229 and the engaged portion 230 to come off.

[0061] 11, for example, the cover can be folded with the engaging portion 229 engaged with the engaged portion 230, allowing for more compact storage of the main body cover 202. Furthermore, by not providing a crease in the area where the slit 227 is formed in the folded state, the engaging portion 229 and the engaged portion 230 can be brought into surface contact and easily engaged with each other during use.

[0062] The above-described configurations of the engaging portion 229 and the engaged portion 230 are merely examples. For example, the engaging portion 229 may be provided on the left end portion 232, and the engaged portion 230 may be provided on the right end portion 231. Furthermore, both the engaging portion 229 and the engaged portion 230 may be provided on the outer circumferential surface or the inner circumferential surface. Furthermore, the engaging portion 229 and the engaged portion 230 are not limited to hook-and-loop fasteners. For example, the engaged portion 230 may be configured as a hole formed in the left end portion 232, and the engaging portion 229 may be configured as a string-like member that is passed through the hole and tied.

[0063] Furthermore, a slit end mark 233 indicating the position of the base 227A of the slit 227 is provided on the base 227A of the slit 227 on the bottom 221 side. The base 227A is the intersection of the slits of the main body cover 202 separated by the slit 227, and is the base of the slit. The slit end mark 233 is, for example, an arrow indicating the position of the base 227A and is printed on the outer surface of the main body cover 202. With a transparent main body cover 202, it is likely that it is difficult to determine the extent to which the slit 227 extends. Furthermore, the sterilization cover is difficult to unfold or touch accidentally. Therefore, if the base 227A of the slit 227 is difficult to determine, it becomes difficult to determine which part to support with one's hand when attaching the main body cover 202 to the robot main body 20 and inserting the base 24 into the slit 227. In contrast, by providing the slit end mark 233, the position of the base 227A becomes clear, and the body cover 202 can be smoothly attached. Note that the slit end mark 233 is not limited to a symbol, as with the insertion port mark 209, and may be a letter or the like. Also, the body cover 202 may not be configured to include the slit end mark 233.

[0064] As shown in FIG. 5 , labels 235 may be provided on the front and rear of the main body cover 202 to indicate the front and rear orientations. For example, a label 235 with the words "Front Body" may be attached to the front of the main body cover 202, and a label 235 with the words "Rear Body" may be attached to the rear of the main body cover 202. This makes the orientation of the main body cover 202 clear when attaching the main body cover 202 to the robot main body 20, preventing mistakes in the orientation of the cover. The labels 235 may be removed when performing treatment. The words on the labels 235 may also be printed on the main body cover 202.

[0065] Next, a description will be given of the emergency stop switch cover 241. The emergency stop switch cover 241 is a sterilization cover that can be attached to the emergency stop switch 94. In the following descriptions of the emergency stop switch cover 241, the tablet cover 242, the wireless controller cover 243, and the foot switch cover 244, descriptions of the same contents as those of the arm cover 201 and the main body cover 202 will be omitted as appropriate.

[0066] FIG. 12 shows the emergency stop switch cover 241 in a folded state. FIG. 13 shows the emergency stop switch cover 241, tablet cover 242, wireless controller cover 243, and foot switch cover 244 each placed over the corresponding device. As shown in FIGS. 12 and 13 , the emergency stop switch cover 241, like the arm cover 201, has a bottom 251 housing a button section 94A provided with a forced stop button, and is formed in a cylindrical shape with a bottom that extends to the base end of the cable 94B of the emergency stop switch 94. The emergency stop switch cover 241 has the bottom 251 formed at one end in the longitudinal direction and an opening 252 (opening 252A) formed at the other end. Before being attached to the emergency stop switch 94, the emergency stop switch cover 241 is folded in multiple stages with the bottom 251 facing inward and folded so that the sections closer to the opening 252 are outward. Therefore, similarly to the arm cover 201, the bottom portion 251 can be engaged with the button portion 94A, and the emergency stop switch cover 241 can be attached by extending it while releasing the folded state.

[0067] A label 255 indicating that the emergency stop switch cover 241 is a sterilized cover to be used for the emergency stop switch 94 is attached to an inner surface 252B of the opening 252 facing the cable 94B. The label 211 has the words "for emergency stop switch" printed on it, for example. This makes it easy to determine which cover is which by looking at the labels 211 and 255, even if the arm cover 201 and the emergency stop switch cover 241 are folded in the same shape. This reduces the occurrence of installation errors.

[0068] Furthermore, when the emergency stop switch cover 241 is folded, an insertion opening 257 through which the emergency stop switch 94 can be inserted is formed at the end opposite the bottom 251 (the left end in FIG. 12 ). An insertion opening mark 259 indicating the direction in which the emergency stop switch 94 should be inserted into the insertion opening 257 is provided on the inner surface 252B of the opening 252. Furthermore, when folded, the emergency stop switch cover 241 has a protrusion 261 that protrudes the insertion opening 257 outward in the longitudinal direction. This, like the protrusion 208 of the arm cover 201, reduces the occurrence of insertion errors. With the emergency stop switch cover 241 configured as described above, like the arm cover 201, the operator can attach the emergency stop switch cover 241 to the emergency stop switch 94 by unfolding and extending it (see FIG. 6 ). The cover can be attached without touching sterilized parts. The emergency stop switch cover 241 may be attached before or after the arm cover 201 and the main body cover 202. The same applies to the tablet cover 242, the wireless controller cover 243, and the foot switch cover 244.

[0069] Next, the tablet cover 242 will be described. The tablet cover 242 is a sterilization cover capable of housing the tablet terminal 93. Fig. 14 shows a plan view of the tablet cover 242. As shown in Figs. 13 and 14, the tablet cover 242 has, for example, a rectangular shape in plan view that matches the size and shape of the tablet terminal 93. The tablet cover 242 has an opening 242A formed on one side in the longitudinal direction (the left-right direction in Fig. 14) through which the tablet terminal 93 is inserted. In addition, a label 262 with the words "for tablet" printed on it is attached to the outer surface of the tablet cover 242.

[0070] Furthermore, a fixing tape 263 is provided along the short direction (the vertical direction in FIG. 14 ) at the end of the tablet cover 242 on the opening 242A side. The fixing tape 263 is provided on the inner surface of the tablet cover 242, with a cover tape affixed to the adhesive surface. For example, after placing the tablet terminal 93 into the tablet cover 242 through the opening 242A, the worker removes the cover tape of the fixing tape 263 and affixes the fixing tape 263 to the opposing inner surface to close the opening 242A. This allows the tablet terminal 93 to be stored inside the sterilized tablet cover 242.

[0071] Next, the wireless controller cover 243 will be described. The wireless controller cover 243 is a sterilization cover capable of housing the ESR controller 92. FIG. 15 shows a plan view of the wireless controller cover 243. As shown in FIGS. 13 and 15 , the wireless controller cover 243 has a rectangular shape that matches the size and shape of the ESR controller 92, and an opening 243A is formed on one of its longitudinal sides. A label 265 with the words "for controller" printed on it is attached to the outer surface of the wireless controller cover 243. A fixing tape 266 is attached to the end of the wireless controller cover 243 on the opening 243A side. Similar to the tablet terminal 93, an operator can insert the ESR controller 92 into the wireless controller cover 243 through the opening 243A and then attach the fixing tape 266 to store the ESR controller 92 inside the wireless controller cover 243.

[0072] Next, the foot switch cover 244 will be described. The foot switch cover 244 is a cover capable of housing the foot switch 91. Because the foot switch 91 is operated by foot, the foot switch cover 244 does not need to be a sterilized cover; in other words, it may be a non-sterile cover. FIG. 16 shows a plan view of the foot switch cover 244. As shown in FIGS. 13 and 16 , the foot switch cover 244 has a bag-like shape in plan view capable of housing the button portion 91A of the foot switch 91, which is provided with a pedal switch (such as the first switch 911). The foot switch cover 244 has an opening 244A formed therein large enough to allow the foot switch 91 to be inserted therein. A label 268, on the outer surface of which the words "For Foot Switch" are printed, is attached.

[0073] Additionally, a ring-shaped rubber 269 (rubber band) is attached to the opening 244A of the foot switch cover 244. The rubber 269 is formed, for example, from a ring with an inner diameter smaller than the opening 244A, and stretches and elastically deforms as the opening 244A is widened, contracting in a direction to close the opening 244A. For example, the operator widens the opening 244A, stores the button portion 91A inside the foot switch cover 244, and releases the force widening the opening 244A while pulling the cable 91B out of the opening 244A. This allows the rubber 269 to restrain the foot switch cover 244 to the cable 91B, and closes the opening 244A with the cable 91B.

[0074] In the case of an emergency stop switch 94, where the button portion 94A is relatively small compared to the thickness of the cable 94B, even if the emergency stop switch cover 241 is cylindrical as shown in FIG. 12 , the inner diameter of the emergency stop switch cover 241 is unlikely to be excessively large compared to the thickness of the cable 94B. On the other hand, in the case of a foot switch 91, where the button portion 91A is relatively large compared to the thickness of the cable 91B, if the foot switch cover 244 is cylindrical like the emergency stop switch cover 241, the inner diameter of the foot switch cover 244 may be excessively large compared to the thickness of the cable 91B. As a result, there is a risk that the foot switch cover 244 cannot be properly stored at the base end of the cable 91B. Therefore, by making the foot switch cover 244 bag-shaped so that it covers only the button portion 91A, the burden of the installation work can be reduced.

[0075] Incidentally, the correspondence between the terms used in this embodiment and those described in the claims will be explained below. The robot arm 21 of this embodiment is an example of an arm of the present disclosure. The ultrasonic probe 101 is an example of a probe. The hand unit 60 is an example of a tip unit. The base 24 is an example of a base end unit. The arm covers 201, 201A and the main body cover 202 are examples of robot covers. The right end unit 231 and the left end unit 232 are examples of end units.

[0076] As described above, the present embodiment provides the following advantages: The arm cover 201, which is one aspect of the present embodiment, is formed in a cylindrical shape with a bottom that extends from the hand end 60 of the robot arm 21 as the bottom 205 to the base 24, which is the base end of the robot arm 21. This allows the arm cover 201 to be inserted into the robot arm 21, thereby reducing the burden of the installation work.

[0077] The present disclosure is not limited to the above-described embodiment, and various improvements and modifications are possible within the scope of the present disclosure. For example, the arm cover 201 does not have to be folded in multiple stages before attachment. For example, it may be folded by folding it multiple times in the longitudinal direction and overlapping it. Furthermore, it does not have to be folded inside out so that the inner surface 206B faces outward before attachment. Furthermore, the arm cover 201 does not have to have an insertion port mark 209. Furthermore, the arm cover 201 does not have to have a label 211. Furthermore, the main body cover 202 does not have to have labels 212 and 235.

[0078] The positions of the insertion opening 223 and the opening 225 on the body cover 202 are merely examples. For example, the body cover 202 may have a bottom 221 in a portion corresponding to the insertion opening 223, and the insertion opening 223 may be provided in a center (part) of the bottom 221. Therefore, the body cover 202 may have a configuration in which the entire bottom on one axial side is not open. Alternatively, the insertion opening 223 may be provided on the back surface of the body cover 202, and the slit 227 may be provided on the front surface. The robot arm 21 may then be inserted distally into the slit 227 of the body cover 202, and the body cover 202 may be advanced to the base end, after which the body cover 202 may be inserted and attached through the insertion opening 223. The body cover 202 may not necessarily have the engaging portion 229 and the engaged portion 230. The slit end mark 233 may not necessarily be provided on the body cover 202. Furthermore, the arm cover 201 and the main body cover 202 may not be two separate members, but may be partially connected.

[0079] In the above-described embodiment, the robot 10 is configured as a seven-axis articulated robot capable of translational motion in three directions and rotational motion in three directions. However, any number of axes may be used. The robot 10 may also be configured as a so-called vertical articulated robot or horizontal articulated robot. The shape and structure of the robot 10 shown in FIGS. 1 to 3 are merely examples. For example, the robot main body 20 may be cylindrical. The ultrasound device disclosed herein is not limited to a device that captures echo images, but may also be a device that captures echo images and performs treatment, such as high-intensity focused ultrasound (HIFU). In other words, the purpose of use of the ultrasound emitted from the probe can be changed as appropriate.

[0080] The scope of the present disclosure is not limited to the dependent relationships set forth in the claims. For example, this specification also discloses a technical idea in which "a robot arm cover according to claim 1 or claim 2" in claim 6 is changed to "a robot arm cover according to any one of claims 1 to 5." It also discloses a technical idea in which "a robot body cover according to claim 7 or claim 8" in claim 10 is changed to "a robot body cover according to any one of claims 7 to 9."

[0081] INDUSTRIAL APPLICABILITY The present disclosure is applicable to the robot manufacturing industry and the like.

[0082] 10 Robot, 20 Robot main body, 20A Lower end, 21 Robot arm (arm), 24 Base (base end), 60 Hand part (tip part), 62 Holding part, 100 Ultrasonic device, 101 Ultrasonic probe (probe), 201, 201A Robot arm cover (robot cover), 202 Robot main body cover (robot cover), 205 Bottom, 206 Opening, 206B Inner surface, 207 Insertion port, 208 Protrusion, 209, 209A, 209B Insertion port mark, 220 Length, 221 Bottom, 223 Insertion port, 225 Opening, 227 Slit, 227A Base, 231 Right end (end), 232 Left end (end), 229 Engagement part, 230 Engaged part, 233 Slit end mark.

Claims

1. A robot arm cover for covering a robot comprising: a robot main body; and a robot arm movable relative to the robot main body and capable of holding a probe of an ultrasound device, the robot arm cover being formed in a cylindrical shape with a bottom that extends from the tip end of the robot arm to the base end of the robot arm.

2. A robot arm cover as described in claim 1, which, before being attached to the robot arm, can be folded in multiple stages in the longitudinal direction and can be folded so that the bottom part is on the inside.

3. A robot arm cover as described in claim 2, wherein the opening of the robot arm cover is attached with its inner surface facing the base end of the robot arm when the robot arm cover is attached to the robot arm, and is folded inside out so that the inner surface is on the outside when the robot arm cover is folded in multiple stages before being attached to the robot arm.

4. A robot arm cover as described in claim 3, wherein when the robot arm cover is folded in multiple stages before being attached to the robot arm, an insertion opening for inserting the tip of the robot arm is formed, and an insertion opening mark is provided on the inner side of the opening, and when the robot arm cover is folded inside out with the inner side facing outward, the insertion opening mark indicates the orientation for inserting the tip into the insertion opening or the position of the insertion opening.

5. A robot arm cover as described in claim 4, wherein when the robot arm cover is folded in multiple stages prior to attachment to the robot arm, the robot arm cover has a protruding portion that protrudes the insertion opening outward in the longitudinal direction.

6. A cover for a robot arm as described in claim 1 or claim 2, wherein the tip of the robot arm is provided with a holding portion capable of holding the probe, the holding portion is configured to be openable and closable between a closed state in which the probe is clamped and held, and an open state in which the probe can be removed, and the bottom of the cover for the robot arm is formed with a size that allows the holding portion in the open state to be inserted.

7. A cover for a robot body part that covers a robot body part of a robot comprising: a robot body part; and a robot arm that is movable relative to the robot body part and can hold a probe of an ultrasonic device, wherein a base end of the robot arm is configured to be slidably movable relative to the robot body part, and a slit is formed in the cover for the robot body part to match the range of sliding movement of the base end part.

8. A cover for a robot body part as described in claim 7, which is formed into a cylindrical shape with a bottom extending from the upper part of the robot body part to the lower end part of the robot body part, the base end part of the robot arm is configured to be slidable in the vertical direction relative to the robot body part, and the slit is formed from an opening of the cover for the robot body part toward the bottom part, a length matching the range of sliding movement of the base end part.

9. A cover for a robot body as described in claim 8, wherein an engaging portion is provided at one end of a pair of ends separated by the slit at the portion of the opening where the slit is formed, and an engaged portion with which the engaging portion can engage is provided at the other end.

10. A cover for a robot main body unit as described in claim 9, wherein the engaging portion is provided on an outer peripheral surface of the cylindrical cover for the robot main body unit, and the engaged portion is provided on an inner peripheral surface of the cover for the robot main body unit.

11. A cover for a robot body as described in claim 8 or claim 9, wherein the cover for the robot body is formed from a transparent material, and a slit end mark is provided at the base of the bottom side of the slit to indicate the position of the base of the slit.

12. A cover for a robot body part as described in claim 8, which is formed in a cylindrical shape, has a bottom on one side facing the axial direction and is closed, and has an insertion opening on the other side that opens and allows the robot body part to be inserted, and the slit is formed from the insertion opening toward the bottom side.

13. A robot cover for a robot comprising: a robot main body; and a robot arm movable relative to the robot main body and capable of holding a probe of an ultrasound device, wherein the base end of the robot arm is configured to be slidably movable relative to the robot main body, and the robot cover is formed in a bottomed cylindrical shape that extends from the tip end of the robot arm to the base end of the robot arm and covers the robot arm, and a robot main body cover having a slit formed in it to match the slidable range of the base end and covering the robot main body.

14. A method for attaching a robot arm cover that covers the robot arm of a robot comprising: a robot main body; and a robot arm movable relative to the robot main body and capable of holding a probe of an ultrasound device, wherein the robot arm cover is formed in a bottomed cylindrical shape that extends from the tip end of the robot arm to the base end of the robot arm, and before being attached to the robot arm, is folded in multiple stages in the longitudinal direction and is folded so that the bottom is on the inside, the tip end of the robot arm is inserted through an insertion opening of the robot arm cover in its folded state, and the robot arm cover is extended to the base end of the robot arm and attached while opening the folded state of the robot arm cover.

Images