Medical manipulator
View Patent ↗A medical manipulator includes a surgical tool that has an end effector at a distal end and a drive unit that is detachable from a handle of the surgical tool. In a state where the drive unit is mounted on the handle, when a manipulation lever is manipulated, a driving force of a motor is transmitted to the handle, and the end effector is operated. Even in a state where the drive unit is detached from the handle, the surgical tool can be independently used by a manual manipulation.
1. A medical manipulator, comprising:
a surgical tool that has an end effector provided at a distal end and a handle in which at least one manual manipulation portion is provided and is manipulable by a human hand, and in which the end effector is operated when a manipulating force of the manual manipulation portion is mechanically transmitted; and
a drive unit that is detachable from the handle, wherein
the drive unit has a drive unit manipulation portion arranged on a main unit body of the drive unit that is manipulable by a human hand, and a driving source that is operated based on manipulation of the drive unit manipulation portion, and
in a state where the drive unit is mounted on the handle, the end effector is operated by a drive of the driving source.
2. The medical manipulator according to claim 1 , wherein
the handle is provided with a handle-side engagement portion,
the drive unit is provided with a drive unit engagement portion that is operated based on a driving force of the driving source,
in a state where the drive unit is mounted on the handle, the handle-side engagement portion and the drive unit engagement portion are engaged to be unrotatable with each other, and
a driving force transmitted to the handle-side engagement portion is transmitted to the end effector via a power transmission path that is provided in the surgical tool.
3. The medical manipulator according to claim 1 , wherein
in addition to the manual manipulation portion, the handle has an opening and closing manipulation portion that mechanically transmits power by a manual manipulation thereof, and that opens and closes the end effector,
the surgical tool includes a posture changing mechanism that changes a posture of the end effector,
in a state where the drive unit is mounted on the handle, the posture changing mechanism is operated under a driving operation of the driving source based on manipulation of the drive unit manipulation portion, and
in a state where the handle and the drive unit are separated from each other, the posture changing mechanism is operated based on manipulation of the manual manipulation portion.
4. The medical manipulator according to claim 1 , wherein
the surgical tool includes a posture changing mechanism that changes a posture of the end effector,
the posture changing mechanism can carry out a rolling operation in which the end effector is rotated about an axis line thereof, and a tilting operation in which the end effector is operated in a tilting manner,
the handle is provided with Two manual manipulation portions,
in a state where the drive unit is mounted on the handle, notched portions are provided in the drive unit to expose one of the two manual manipulation portions or the other of the two manual manipulation portions to the outside,
in a state where the drive unit is separated from the handle, the rolling operation of the end effector is carried out via a rolling operation drive shaft based on manipulation of the one manual manipulation portion, and the tilting operation of the end effector is carried out via a tilting operation drive shaft based on manipulation of the other manual manipulation portion, and
in a state where the drive unit is mounted on the handle, one operation of the rolling operation and the tilting operation is carried out by a driving operation of the driving source when a user manipulates the drive unit manipulation portion, and the other operation is carried out when the user manipulates the manual manipulation portions corresponding to the other operation of the rolling operation and the tilting operation via the notched portions.
5. The medical manipulator according to claim 1 , wherein
the surgical tool includes a posture changing mechanism that changes a posture of he end effector,
the posture changing mechanism can carry out a rolling operation in which the end effector is rotated about an axis line thereof, and a tilting operation in which the end effector is operated in a tilting manner,
the handle is provided with two manual manipulation portions,
the rolling operation of the end effector is carried out via a rolling operation drive shaft based on manipulation of one of the two manual manipulation portions, and the tilting operation of the end effector is carried out via a tilting operation drive shaft based on manipulation of the other of the two manual manipulation portions, and
in a state where the drive unit is mounted on the handle, the handle further includes a switching mechanism that selectively switches a switching state between a first switching state where a power transmission path is formed between the driving source and the rolling operation drive shaft and a second switching state where a power transmission path is formed between the driving source and the tilting operation drive shaft.
6. The medical manipulator according to claim 1 , wherein
the drive unit is detachable in a proximal end direction of the handle.
7. The medical manipulator according to claim 1 , wherein
the drive unit manipulation portion is provided in side portions of the drive unit, and
in a state where the drive unit is mounted on the handle, the drive unit manipulation portion is positioned to overlap with the manual manipulation portion in a forward and backward direction.
8. A medical manipulator, comprising:
a surgical tool having:
an end effector provided at a distal end of the surgical tool, and
a handle having a manual manipulation portion configured to be manipulated by a human hand,
wherein the end effector is operated when a manipulating force of he manual manipulation portion is mechanically transmitted; and
a drive unit detachably connected to the handle, the drive unit having:
a drive unit manipulation portion arranged on a main unit body of the drive unit and configured to be manipulated by a human hand, and
a driving source configured to be operated based on manipulation of the drive unit manipulation portion;
wherein the end effector is configured to be operated by a drive of the driving source when the drive unit is mounted on the handle.