US-12616541-B2 - Surgical robot and robotic surgical system

US12616541B2US 12616541 B2US12616541 B2US 12616541B2US-12616541-B2

Abstract

A surgical robot according to this disclosure includes a wiring-line set that is arranged in a robot arm so that the wiring-line set extends in a longitudinal direction of the robot arm, and passes through a rotation axis of a first joint, which is configured to rotate in a bending direction of the robot arm, and through a plane orthogonal to the longitudinal direction of the robot arm.

Inventors

Kenichirou TANIMOTO
Fumiya MATSUMOTO
Tetsuya Nakanishi

Assignees

KAWASAKI JUKOGYO KABUSHIKI KAISHA

Dates

Publication Date: 20260505
Application Date: 20230804
Priority Date: 20220805

Claims (18)

1 . A surgical robot comprising a robot arm including a free end to which a surgical instrument is attached, and one or more joints; and a wiring-line set arranged in the robot arm, wherein the one or more joints include a first joint configured to rotate in a direction in which the robot arm is bent, and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in a longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm, wherein the first joint includes a first electric motor configured to rotate the first joint, and a first-joint speed reducer configured to transmit rotation of the first electric motor in a direction orthogonal to a rotation axis direction of the first electric motor, wherein the wiring-line set is arranged in the robot arm so that the wiring-line set extends in the longitudinal direction of the robot arm, and passes through a rotation axis of the first-joint speed reducer and through the plane orthogonal to the longitudinal direction of the robot arm.
2 . The surgical robot according to claim 1 , wherein the robot arm includes a first housing and a second housing configured to relatively rotate with respect to each other by means of the first joint; and the wiring-line set extends from an interior of the first housing to an interior of the second housing.
3 . The surgical robot according to claim 2 , wherein the first housing includes a first opening; the second housing includes a second opening; and the wiring-line set passes through the first opening and the second opening.
4 . The surgical robot according to claim 3 , wherein the first opening and the second opening are spaced away from each other in the longitudinal direction of the robot arm.
5 . The surgical robot according to claim 4 , wherein the first opening and the second opening are spaced away from each other in the longitudinal direction of the robot arm irrespective of a non-bent state in which the robot arm is not bent or a bent state in which the robot arm is bent.
6 . The surgical robot according to claim 2 , wherein the first housing includes a first limiter configured to limit movement of the wiring-line set extending from the second housing.
7 . The surgical robot according to claim 6 , wherein the first limiter has a U shape; and the wiring-line set is held in a cutout part formed between legs of the U-shaped first limiter.
8 . The surgical robot according to claim 2 , wherein the second housing includes a second limiter configured to limit movement of the wiring-line set extending from the first housing.
9 . The surgical robot according to claim 8 , wherein the second limiter has a U shape; and the wiring-line set is held in a cutout part formed between legs of the U-shaped second limiter.
10 . The surgical robot according to claim 1 , wherein the robot arm further includes a cylindrical first housing that accommodates the first electric motor and the first-joint speed reducer; the first electric motor is arranged in the first housing on one side with respect to a center line extending in the longitudinal direction of the first housing and passing through a center of the first housing; the first speed reducer overlaps the center line; and the wiring-line set is arranged on another side with respect to the center line.
11 . The surgical robot according to claim 1 , wherein the one or more joints further include a second joint configured to rotate about the longitudinal direction of the robot arm as a rotation axis; the second joint includes a second electric motor configured to rotate the second joint, and a hollow second-joint speed reducer configured to transmit rotation of the second electric motor in a direction parallel to a rotation axis direction of the second electric motor; and the wiring-line set is arranged in the robot arm so that the wiring-line set passes through an interior of the hollow second-joint speed reducer.
12 . The surgical robot according to claim 11 further comprising a cylindrical wiring-line set protector arranged in the hollow second-joint speed reducer to receive the wiring-line set.
13 . The surgical robot according to claim 12 , wherein the wiring-line set protector is formed of an elastic material.
14 . The surgical robot according to claim 1 , wherein the wiring-line set is arranged in the robot arm so that the wiring-line set passes through the rotation axis of the first joint and through the plane orthogonal to the longitudinal direction of the robot arm irrespective of a non-bent state in which the robot arm is not bent or a bent state in which the robot arm is bent.
15 . A surgical robot comprising: a robot arm including a free end to which a surgical instrument is attached, and first and second joints; and a wiring-line set arranged in the robot arm, wherein the first joint is configured to rotate in a direction in which the robot arm is bent, wherein the second joint is configured to rotate about a longitudinal direction of the robot arm as a rotation axis, and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in the longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm, and extends along the rotation axis of the second joint, wherein the first joint includes a first electric motor configured to rotate the first joint, and a first-joint speed reducer configured to transmit rotation of the first electric motor in a direction orthogonal to a rotation axis direction of the first electric motor; and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in the longitudinal direction of the robot arm, and passes through a rotation axis of the first-joint speed reducer and through the plane orthogonal to the longitudinal direction of the robot arm.
16 . The surgical robot according to claim 15 wherein, the robot arm further includes a cylindrical first housing that accommodates the first electric motor and the first-joint speed reducer; the first electric motor is arranged in the first housing on one side with respect to a center line extending in the longitudinal direction of the first housing and passing through a center of the first housing; the first-joint speed reducer overlaps the center line; and the wiring-line set is arranged on another side with respect to the center line.
17 . The surgical robot according to claim 15 , wherein the second joint includes a second electric motor configured to rotate the second joint, and a hollow second-joint speed reducer configured to transmit rotation of the second electric motor in a direction parallel to a rotation axis direction of the second electric motor; and the wiring-line set is arranged in the robot arm so that the wiring-line set passes through an interior of the hollow second-joint speed reducer.
18 . A robotic surgical system comprising: a patient-side device including a robot arm that includes a free and to which a surgical instrument is attached, and one or more joints; an operator-side device including an operation unit configured to accept an instruction from an operator; and a wiring-line set arranged in the robot arm, wherein the one or more joints include a first joint configured to rotate in a direction in which the robot arm is bent, and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in a longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm, wherein the first joint includes a first electric motor configured to rotate the first joint, and a first-joint speed reducer configured to transmit rotation of the first electric motor in a direction orthogonal to a rotation axis direction of the first electric motor, wherein the wiring-line set is arranged in the robot arm so that the wiring-line set extends in the longitudinal direction of the robot arm, and passes through a rotation axis of the first-joint speed reducer and through the plane orthogonal to the longitudinal direction of the robot arm.

Description

CROSS-REFERENCE TO RELATED APPLICATION The priority application number JP2022-125793, a surgical robot, Aug. 5, 2022, Kenichirou TANIMOTO, Fumiya MATSUMOTO, and Tetsuya NAKANISHI, upon which this patent application is based, are hereby incorporated by reference. BACKGROUND OF THE INVENTION Field of the Invention This disclosure relates to a surgical robot and a robotic surgical system. Description of the Background Art Conventionally, a surgical robot is known. For example, Japanese Laid-Open Patent Publication No. JP 2020-151354 discloses a medical manipulator including manipulator arms and a positioner configured to move the manipulator arm. In the Japanese Laid-Open Patent Publication No. JP 2020-151354, the positioner is a vertical multi-joint robot, and includes a plurality of links. The links are coupled to each other by joints configured to rotate in a direction in which the manipulator arm is bent. The joint includes an electric motor and a speed reducer. A power supply cable for supplying power to the positioner is held in the positioner. In the Japanese Laid-Open Patent Publication No. JP 2020-151354, a base end side part of the power supply cable extends in a direction different from a rotation axis direction of the speed reducer to bypass the speed reducer. Accordingly, size increase of the speed reducer can be prevented as compared with a configuration in which the power supply cable is inserted into an interior of a hollow shaft of the speed reducer whereby extending along a rotation axis of the speed reducer, and is then drawn to a lateral side of the speed reducer. In the Japanese Laid-Open Patent Publication No. JP 2020-151354, the size increase of the speed reducer can be prevented by the arrangement in which the base end side part of the power supply cable extends in the direction different from the rotation axis direction of the speed reducer to bypass the speed reducer. Although this arrangement can prevent size increase of a manipulator arm, it is desired to a thinner manipulator arm. SUMMARY OF THE INVENTION The present disclosure is intended to solve the above problem, and provides a surgical robot and a robotic surgical system capable of thinning their robot arm. In order to attain the aforementioned object, a surgical robot according to a first aspect of the present disclosure includes a robot arm including a fore end to which a surgical instrument is attached, and a joint; and a wiring-line set arranged in the robot arm, wherein the joint includes a first joint configured to rotate in a direction in which the robot arm is bent, and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in a longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm. A surgical robot according to a second aspect of the present disclosure includes a robot arm including a free end to which a surgical instrument is attached, and first and second joints; and a wiring-line set arranged in the robot arm, wherein the first joint is configured to rotate in a direction in which the robot arm is bent, the second joint is configured to rotate about a longitudinal direction of the robot arm as a rotation axis, and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in a longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm, and extends along the rotation axis of the second joint. A robotic surgical system according to a third aspect of the present disclosure includes a patient-side device including a robot arm that includes a fore end to which a surgical instrument is attached, and a joint(s); an operator-side device including an operation unit configured to accept an instruction from an operator; and a wiring-line set arranged in the robot arm, wherein the joint(s) includes/include a first joint configured to rotate in a direction in which the robot arm is bent, and the wiring-line set is arranged in the robot arm so that the wiring-line set extends in the longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm. In the surgical robots according to the first and second aspects of the present disclosure, and the robotic surgical system according to the third aspect of the present disclosure, as discussed above, the wiring-line set is arranged in the robot arm so that the wiring-line set extends in a longitudinal direction of the robot arm, and passes through a rotation axis of the first joint and through a plane orthogonal to the longitudinal direction of the robot arm. Consequently, because the wiring-line set will not bulge in the rotation axis direction of the first joint, a width (thickness) in the rot