Support arm device
A support arm device includes a first drive part that is fixed to a base part and cause a first drive shaft to perform shaft rotation, a second drive part that is fixed to the base part and cause a second drive shaft to perform shaft rotation, and an arm part including at least one parallel link and that supports a predetermined tool. The arm part is caused to change an attitude to cause the predetermined tool to perform a predetermined rotational motion by the first drive part and the second drive part being driven.
1. A support arm device, comprising:
a first drive part, fixed to a base part, configured to rotate and a first drive shaft;
a second drive part, fixed to the base part, configured to rotate a second drive shaft; and
an arm part, including at least one parallel link configured to support a tool, wherein
the tool is an endoscope,
the arm part is configured to move the tool in a rotational motion, with respect to a remote center of motion, based on a drive operation of the first drive part and the second drive part, and
the remote center of motion is present on an axis of the second drive shaft.
2. The support arm device according to claim 1 , further comprising a third drive part, fixed to the base part, configured to rotate a third drive shaft, wherein
the arm part is configured to move the tool, based on the drive operation of the first drive part, the second drive part, and the third drive part, and
the motion of the tool comprises a pivotal motion with respect to the remote center of motion as the rotational motion and a translational motion along a straight line passing through the remote center of motion.
3. The support arm device according to claim 2 , wherein
the arm part is movable by the drive operation of the first drive part, the second drive part, and the third drive part, and
the base part is immovable by the drive operation of the first drive part, the second drive part, and the third drive part.
4. The support arm device according to claim 2 , comprising:
a first orthogonal joint part interposed between a first drive link constituting the arm part and the first drive shaft to constitute orthogonal three degrees of freedom;
a second orthogonal joint part interposed between a second drive link constituting the arm part and the second drive shaft to constitute orthogonal two degrees of freedom; and
a third orthogonal joint part interposed between a third drive link constituting the arm part and the third drive shaft to constitute the orthogonal three degrees of freedom.
5. The support arm device according to claim 4 , comprising a stopper configured to regulate a revolution range of the first drive link in a rotation direction of the rotation of the first drive shaft.
6. The support arm device according to claim 4 , comprising a stopper configured to regulate a revolution range of the second drive link in a rotation direction of the rotation of the second drive shaft.
7. The support arm device according to claim 2 , wherein
an axis of the first drive shaft is present on a first plane,
an axis of the third drive shaft is present on a second plane, and
the first plane is parallel to the second plane.
8. The support arm device according to claim 7 , wherein the axis of the first drive shaft and the axis of the third drive shaft are in one of an equidistant parallel state or on a same axis.
9. The support arm device according to claim 7 , wherein an axis of the second drive shaft is orthogonal to both the axis of the first drive shaft and the axis of the third drive shaft.
10. The support arm device according to claim 2 , wherein the tool revolves with the remote center of motion serving as a rotation center based on the rotation of the first drive shaft and the third drive shaft in a same direction.
11. The support arm device according to claim 2 , wherein the tool moves in the translational motion along the straight line passing through the remote center of motion based on the rotation of the first drive shaft and the third drive shaft in opposite directions.
12. The support arm device according to claim 11 , wherein the arm part comprises a linear bushing configured to guide the translational motion.
13. The support arm device according to claim 12 , wherein
the arm part comprises
a parallel link including one side on the straight line passing through the remote center of motion, and
a guide pin in a direction parallel to the straight line passing through the remote center of motion, and
the guide pin is configured to move forward and backward in the linear bushing.
14. The support arm device according to claim 13 , wherein the guide pin is disposed on the straight line which is orthogonal to at least one of an axis of the first drive shaft or an axis of the third drive shaft.
15. The support arm device according to claim 13 , wherein, two sides, which intersect the one side of the parallel link on the straight line, move in a state parallel to an axis of the second drive shaft.
16. The support arm device according to claim 1 , wherein
the arm part comprises a plurality of parallel links, and
the plurality of parallel links is present within a link configuration plane.
17. The support arm device according to claim 16 , wherein the tool rotates in a direction that intersects with the link configuration plane due to the rotation of the second drive shaft.