US-12616360-B2 - Manipulator arm and patient-side system for surgical system

US12616360B2US 12616360 B2US12616360 B2US 12616360B2US-12616360-B2

Abstract

A surgery manipulator arm according to an embodiment may include an arm body and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached; a connection unit connecting the proximal and distal side units; and an electrical wiring circuit electrically connecting the proximal and distal side units. The connection unit includes first and second pulleys; and a belt member wound around the first and second pulleys. The proximal and distal side units are attached to first and second attachment positions of the belt member such that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the belt member.

Inventors

Yasuhiko Hashimoto
Toshiaki Yoshida
Kazunori SUGA

Assignees

KAWASAKI JUKOGYO KABUSHIKI KAISHA

Dates

Publication Date: 20260505
Application Date: 20230601
Priority Date: 20181226

Claims (20)

1 . A manipulator arm for a surgery system, comprising: an arm body including a plurality of links and a plurality of joints; and a translation mechanism provided to a distal end portion of the arm body, wherein the translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is removably attached, a first motor configured to drive the surgical tool and a reducer reducing an output of the first motor to increase a torque; and a connection unit connecting the proximal side unit and the distal side unit and comprising a first slide mechanism and a second slide mechanism, the first slide mechanism and the second slide mechanism configured to: connect the proximal side unit to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit, the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction, and when the proximal side unit is moved in a first direction in the longitudinal direction, the distal side unit is moved in a second direction opposite to the first direction in the longitudinal direction, and the connection unit further comprises a single flexible electrical wiring circuit comprising a first flexible wiring part connected to the proximal side unit, a second flexible wiring part connected to the distal side unit, and a connecting wiring part that extends along a side wall of the connection unit and electrically connects the proximal side unit and the distal side unit.
2 . The manipulator arm according to claim 1 , wherein the distal side unit includes an encoder that detects a rotation angle of the first motor.
3 . The manipulator arm according to claim 2 , wherein the first motor comprises a plurality of first motors, and the reducer comprises a plurality of reducers arranged corresponding to the plurality of first motors respectively, and the distal side unit comprises the plurality of first motors, the plurality of reducers, and a plurality of encoders which detect rotation angles of the plurality of first motors, respectively.
4 . The manipulator arm according to claim 1 , wherein the first motor comprises a plurality of first motors, and the reducer comprises a plurality of reducers arranged corresponding to the plurality of first motors respectively.
5 . The manipulator arm according to claim 1 , wherein the interlocking mechanism moves the proximal side unit at a first speed in a first direction and moves the distal side unit at the first speed in a second direction opposite to the first direction.
6 . The manipulator arm according to claim 1 , wherein the connection unit comprises a second motor to drive the interlocking mechanism, and the interlocking mechanism changes relative positions of the proximal side unit and the distal side unit in the longitudinal direction when the second motor is driven.
7 . The manipulator arm according to claim 1 , wherein the distal side unit moves in a first direction with respect to the connection unit when the proximal side unit moves in a second direction opposite to the first direction with respect to the connection unit, and a moving speed of the distal side unit with respect to the proximal side unit is twice a moving speed of the distal side unit with respect to the connection unit.
8 . The manipulator arm according to claim 1 , wherein the proximal side unit is connected to the distal end portion of the arm body through a rotation joint.
9 . The manipulator arm according to claim 1 , wherein the manipulator arm has 7 or more degrees of freedom.
10 . A surgery robotic system comprising: a manipulator arm comprising an arm body including a plurality of links and a plurality of joints, and a translation mechanism provided to a distal end portion of the arm body; an instruction apparatus configured to receive an input comprising an instruction for movement of the manipulator arm; and a controller configured to move the manipulator arm in response to the instruction, wherein the translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is removably attached, a first motor configured to drive the surgical tool and a reducer reducing an output of the first motor to increase a torque; and a connection unit connecting the proximal side unit and the distal side unit and comprising a first slide mechanism and a second slide mechanism, the first slide mechanism and the second slide mechanism configured to: connect the proximal side unit to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit, the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction, and when the proximal side unit is moved in a first direction in the longitudinal direction, the distal side unit is moved in a second direction opposite to the first direction in the longitudinal direction the connection unit further comprises a single flexible electrical wiring circuit comprising a first flexible wiring part connected to the proximal side unit, a second flexible wiring part connected to the distal side unit, and a connecting wiring part that extends along a side wall of the connection unit and electrically connects the proximal side unit and the distal side unit.
11 . The surgery robotic system according to claim 10 , wherein the distal side unit includes an encoder that detects a rotation angle of the first motor.
12 . The surgery robotic system according to claim 11 , wherein the first motor comprises a plurality of first motors, and the reducer comprises a plurality of reducers arranged corresponding to the plurality of first motors respectively, and the distal side unit comprises the plurality of first motors, the plurality of reducers, and a plurality of encoders detect rotation angles of the plurality of first motors, respectively.
13 . The surgery robotic system according to claim 10 , wherein the first motor comprises a plurality of first motors and the reducer comprises a plurality of reducers arranged corresponding to the plurality of first motors, respectively.
14 . The surgery robotic system according to claim 10 , wherein the interlocking mechanism moves the proximal side unit at a first speed in a first direction and moves the distal side unit at the first speed in a second direction opposite to the first direction.
15 . The surgery robotic system according to claim 10 , wherein the connection unit comprises a second motor to drive the interlocking mechanism, and the interlocking mechanism changes relative positions of the proximal side unit and the distal side unit in the longitudinal direction when the second motor is driven.
16 . The surgery robotic system according to claim 10 , wherein the distal side unit moves in a first direction with respect to the connection unit when the proximal side unit moves in a second direction opposite to the first direction with respect to the connection unit, and a moving speed of the distal side unit with respect to the proximal side unit is twice a moving speed of the distal side unit with respect to the connection unit.
17 . The surgery robotic system according to claim 10 , wherein the proximal side unit is connected to the distal end portion of the arm body through a rotation joint.
18 . A method for translating a surgical tool in a manipulator arm for a surgery system, comprising: providing a manipulator arm that comprises an arm body including a plurality of links and a plurality of joints and a translation mechanism provided to a distal end portion of the arm body, wherein: the translation mechanism includes a proximal side unit connected to the distal end portion of the arm body, a distal side unit including a tool holding part to which a surgical tool is removably attached, a first motor configured to drive the surgical tool and a reducer reducing an output of the first motor to increase a torque and a connection unit connecting the proximal side unit and the distal side unit and comprising a first slide mechanism and a second slide mechanism, the first slide mechanism and the second slide mechanism configured to: connect the proximal side unit to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit, the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction, and when the proximal side unit is moved in a first direction in the longitudinal direction, the distal side unit is moved in a second direction opposite to the first direction in the longitudinal direction so that the surgical tool held on the tool holding part is translated in the second direction with respect to the proximal side unit; and the proximal side unit and the distal side unit are electrically connected by a single flexible electrical wiring circuit comprising a first flexible wiring part connected to the proximal side unit, a second flexible wiring part connected to the distal side unit, and a connecting wiring part that extends along a side wall of the connection unit and electrically connects the proximal side unit and the distal side unit.
19 . The method according to claim 18 , wherein the connection unit comprises a second motor to drive the interlocking mechanism.
20 . The method according to claim 18 , wherein a moving speed of the distal side unit with respect to the proximal side unit is twice a moving speed of the distal side unit with respect to the connection unit.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation of application Ser. No. 16/726,241, filed on Dec. 24, 2019, which is based upon and claims the benefit of priority from the prior Japanese Patent Application No. 2019-227262, filed on Dec. 17, 2019 and prior Japanese Patent Application No. 2018-243446, filed on Dec. 26, 2018, the entire contents of all of which are incorporated herein by reference. BACKGROUND The disclosure may relate to a manipulator arm and a patient-side system to be used in a surgical system. There has been known a master-slave type surgical system that includes multiple manipulator arms and performs surgery by moving the manipulator arms based on operation of a surgeon (for example, see Documents 1 and 2). In such a system, a surgical tool is attached to a distal end portion of each of the manipulator arms, and each of the attached surgical tools is translationally (straightly) moved by a translation mechanism. In light of the surgical safety, it may be preferable that the surgical tool is pulled out of a patient by only the translational movements of the translation mechanism. However, if the longitudinal length of the translation mechanism is large, the translation mechanism may get in the way during the surgery preparation or the surgery. There has been known a manipulator in which a translation mechanism, which is configured to translationally move a surgical tool attached to a distal end portion of a manipulator arm, includes a base link, an idle link, and a carriage link which are expandable (for example, see Document 3). Document 1: Published Japanese Translation of PCT International Application No. 2017-515524Document 2: Published Japanese Translation of PCT International Application No. 2017-513550Document 3: U.S. Pat. No. 8,182,470 That is, Document 3 discloses the translation mechanism which is expandable (contractable). The translation mechanism disclosed in Document 3 has room for improvement with respect to the linear movement speed of the surgical tool. Further, in the translation mechanism disclosed in Document 3, rotation shafts D to G to drive the surgical tool is driven by cables. This makes the structure of the translation mechanism complicated. An object of an aspect of one or more embodiments in the disclosure may be to provide a surgical manipulator arm for a surgical system including a translation mechanism capable of a quick linear movement of a surgical tool. Another object of an aspect of one or more embodiments in the disclosure may be to provide a surgical manipulator arm capable of driving a surgical tool with an uncomplicated configuration. An aspect of one or more embodiments may be a surgery manipulator arm that may include: an arm body including a plurality of links and a plurality of joints; and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached and which includes a motor configured to drive the surgical tool; a connection unit connecting the proximal side unit and the distal side unit; and an electrical wiring circuit electrically connecting the proximal side unit and the distal side unit. The connection unit includes a first pulley; a second pulley; and a belt member wound around the first and second pulleys and moveable in a first direction from the first pulley toward the second pulley and a second direction opposite to the first direction. The proximal side unit is attached to the belt member at a first attachment position, and the distal side unit is attached to the belt member at a second attachment position in such a manner that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the belt member. An aspect of one or more embodiments may be a patient-side system for a surgery system that may include: a manipulator arm; a wheeled base configured to hold the manipulator arm. The manipulator arm comprises: an arm body including a plurality of links and a plurality of joints; and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached and which includes a motor configured to drive the surgical tool; a connection unit connecting the proximal side unit and the distal side unit; and an electrical wiring circuit electrically connecting the proximal side unit and the distal side unit. The connection unit includes a first pulley; a second pulley; and a belt member wound around the first and second pulleys and moveable in a first direction from the first pulley toward the second pulley and a second direction opposite to the