TREATMENT MANIPULATOR AND MANIPULATOR SYSTEM
A treatment manipulator including an inserted-portion main unit; at least one arm provided so as to protrude forward from a distal-end surface of the inserted-portion main unit and that has an end effector at the distal end; and an endoscope provided in the inserted-portion main unit that has a viewing-field area in which the end effector at the distal end of the arm can be observed, wherein the arm having, sequentially from the distal-end side, a first flexing joint that can pivot the end effector about a first axis orthogonal to a longitudinal axis of the arm, an intermediate roll joint that can be rotated about the longitudinal axis, and a second flexing joint that can be pivoted about a second axis orthogonal to the longitudinal axis, and the first flexing joint can be flexed 90° or more, at least on one side, with respect to the longitudinal axis.
1 . A treatment manipulator comprising:
an inserted-portion main unit;
at least an arm that is provided so as to protrude forward from a distal-end surface of the inserted-portion main unit and that has an end effector at a distal end thereof; and
an endoscope that is provided in the inserted-portion main unit and that has a viewing-field area in which the end effector at the distal end of the arm can be observed,
wherein the arm is provided with, sequentially from the distal-end side, a first flexing joint that can pivot the end effector about a first axis orthogonal to a longitudinal axis of the arm, an intermediate roll joint that can be rotated about the longitudinal axis, and a second flexing joint that can be pivoted about a second axis orthogonal to the longitudinal axis, and
the first flexing joint can be flexed 90° or more at least on one side with respect to the longitudinal axis.
2 . A treatment manipulator according to claim 1 ,
wherein the inserted-portion main unit is provided with a through-hole that passes through the inserted-portion main unit in a longitudinal direction so as to open at the distal-end surface thereof and that accommodates the endoscope in a movable manner, and
the through-hole is provided with a notch having a larger width than an outer diameter of the endoscope over a predetermined length from an opening at the distal-end surface.
3 . A treatment manipulator according to claim 1 , wherein a driving wire rod that drives the end effector is disposed so as to pass through interiors of the individual joints constituting the arm.
4 . A treatment manipulator according to claim 3 ,
wherein the first flexing joint can be flexed 90° or more only on one side with respect to the longitudinal axis, and
the first flexing joint has, at the interior thereof, a pathway through which the driving wire rod passes, and is provided with a pivoting member that can be passively pivoted about a flexing center of the first flexing joint in response to the operation of the bending driving wire rod.
5 . A treatment manipulator according to claim 1 , further comprising:
a base-end-side roll joint that is provided closer to the base-end side than the second flexing joint is so as to be rotatable about the longitudinal axis.
6 . A treatment manipulator according to claim 1 , further comprising:
a guide groove that is provided in an outer surface of the inserted-portion main unit along the longitudinal direction thereof, that has an opening part that opens radially outward, and into which a tubular guide member can be inserted from a radially outward direction via the opening part.
7 . A manipulator system comprising:
a slave apparatus provided with a treatment manipulator according to claim 1 and a driving portion that drives the treatment manipulator;
a master apparatus provided with a manipulation portion that is manipulated by an operator; and
a controller that controls the driving portion of the slave apparatus based on an input signal input via the manipulation portion of the master apparatus.
8 . A manipulator system according to claim 7 , wherein, when generating operation instruction signals for the individual joints of the slave apparatus based on input signals received from the master apparatus, the controller calculates the operation instruction signals for the individual joints so that the first flexing joint is disposed at a position further away from a center of an endoscope image.