Medical manipulator
View Patent ↗A medical manipulator according to an embodiment may include an arm base including a first engagement portion and a manipulator arm including a distal end portion to support a surgical tool and a proximal end portion including a second engagement portion. One of the first and second engagement portions includes a shaft member and the other includes an engagement member engageable with the shaft member such that the engagement member engaged with the shaft member is rotatable with respect to the shaft member. The arm base includes a restriction portion to restrict rotation of the manipulator arm about the shaft member to which the engagement member is engaged. The proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member in a state where restriction portion stops the rotation of the manipulator arm.
1. A medical manipulator comprising:
an arm base including an attachment surface from which a first engagement portion and a restriction portion are projected; and
a manipulator arm including a distal end portion including a tool support portion configured to support a surgical tool, a proximal end portion including a second engagement portion, and plural links provided between the distal end portion and the proximal end portion and including a first link rotatably connected to the proximal end portion via a roll joint,
wherein one of the first and second engagement portions includes a shaft member extending an axial direction thereof parallel to the attachment surface,
the other of the first and second engagement portions includes an engagement member that is engageable with the shaft member, such that in a state where the engagement member is engaged with the shaft member, the engagement member is rotatable with respect to the shaft member,
the restriction portion of the arm base is formed with a restriction surface configured, in the state where the engagement member and the shaft member are engaged with each other, to come in contact with the proximal end portion of the manipulator arm to restrict rotation of the manipulator arm about the shaft member, wherein the restriction surface is parallel to the axial direction of the shaft member and is inclined with respect to the attachment surface of the arm base, and
the proximal end portion of the manipulator arm is fixed to the restriction portion of the arm base with a fixing member that extends through the restriction portion to the proximal end portion of the manipulator arm in a state where the restriction surface of the restriction portion of the arm base is in contact with the proximal end portion of the manipulator arm, such that an axis of the proximal end portion of the manipulator arm parallel to a first rotational axis of the roll joint is inclined with respect to the attachment surface of the arm base.
2. The medical manipulator according to claim 1 , wherein
the second engagement portion is projected from the proximal end portion of the manipulator arm, and a distal end portion of the second engagement portion includes one of the shaft member and the engagement member.
3. The medical manipulator according to claim 1 , wherein
the engagement member is formed in a hook shape.
4. The medical manipulator according to claim 1 , wherein
the restriction portion is configured to come in contact with the proximal end portion of the manipulator arm to restrict the rotation of the manipulator arm about the shaft member due to the weight of the manipulator arm.
5. The medical manipulator according to claim 1 , wherein
the restriction portion is configured to come in contact with the proximal end portion of the manipulator arm to position the manipulator arm with respect to the arm base.
6. The medical manipulator according to claim 1 , wherein
the proximal end portion of the manipulator arm is provided with a first connector and the arm base is provided with a second connector, such that a connection of the first connector and the second connector causes an electrical connection between the manipulator arm and the arm base, and
the arm base is provided with the second connector at a position other than the restriction surface of the restriction portion with which the proximal end portion of the manipulator arm comes in contact.
7. The medical manipulator according to claim 1 , wherein
the manipulator arm is provided with a cover configured to cover the first engagement portion, the second engagement portion, and the restriction portion in an integrated manner in a state where the proximal end portion of the manipulator arm is in contact with the restriction portion.
8. The medical manipulator according to claim 1 , further comprising
a positioner supporting the arm base through a second roll joint having a second rotational axis of the arm base and configured to move the arm base; and
a wheeled base to which the positioner is provided.
9. The medical manipulator according to claim 8 , wherein
the positioner comprises a multi-axis robot.
10. The medical manipulator according to claim 1 , further comprising:
a second manipulator arm including a second distal end portion including a second tool support portion configured to support a second surgical tool, a second proximal end portion including a fourth engagement portion, and plural links provided between the second distal end portion and the second proximal end portion and including a second link rotatably connected to the second proximal end portion via a roll joint,
wherein the arm base comprises a third engagement portion projected from the attachment surface,
one of the third and fourth engagement portions includes a second shaft member extending an axial direction thereof parallel to the attachment surface, and
the other of the third and fourth engagement portions includes a second engagement member that is engageable with the second shaft member, such that in a state where the second engagement member is engaged with the second shaft member, the second engagement member is rotatable with respect to the second shaft member.
11. The medical manipulator according to claim 1 , wherein
the restriction surface is a flat surface inclined with respect to the attachment surface, and
the flat restriction surface is configured to come in surface contact with a flat contact surface of the proximal end portion of the manipulator arm parallel to the first rotational axis of the roll joint, to restrict the rotation of the manipulator arm about the shaft member.
12. A medical manipulator comprising:
a manipulator arm including a distal end portion including a tool support portion configured to support a surgical tool, a proximal end portion, and plural links provided between the distal end portion and the proximal end portion and including a first link rotatably connected to the proximal end portion via a roll joint;
an arm base configured to hold the proximal end portion of the manipulator arm;
a first engagement portion projected from an attachment surface of the arm base;
a second engagement portion provided to the proximal end portion of the manipulator arm;
a shaft member provided to one of the first and second engagement portions and extending in a first axial direction;
an engagement member provided to the other of the first and second engagement portions and engageable with the shaft member such that in a state where the engagement member is engaged with the shaft member, the engagement member is rotatable with respect to the shaft member;
a restriction portion projected from the attachment surface of the arm base and including a restriction surface configured to come in contact with the proximal end portion of the manipulator arm to restrict rotation of the manipulator arm about the shaft member in the state where the engagement member is engaged with the shaft member, wherein the restriction surface is parallel to the first axial direction of the shaft member and is inclined with respect to the attachment surface of the arm base; and
a fixing member extending through the restriction portion to the proximal end portion of the manipulator arm and configured to fix the proximal end portion of the manipulator arm to the restriction portion in a state where the restriction surface is in contact with the proximal end portion of the manipulator arm, such that an axis of the proximal end portion of the manipulator arm parallel to a first rotational axis of the roll joint is inclined with respect to the attachment surface of the arm base.
13. The medical manipulator according to claim 12 , wherein
the engagement member is formed in a hook shape.
14. The medical manipulator according to claim 12 , wherein
the restriction portion is configured to restrict the rotation of the manipulator arm about the shaft member due to the weight of the manipulator arm.
15. The medical manipulator according to claim 12 , further comprising:
a positioner supporting the arm base through a second roll joint having a second rotational axis of the arm base and configured to move the arm base; and
a wheeled base to which the positioner is provided.
16. The medical manipulator according to claim 15 , wherein the positioner comprises a multi-axis robot.
17. A method of attaching to an arm base a manipulator arm whose distal end portion includes a tool support portion configured to support a surgical tool, the method comprising:
engaging a second engagement portion provided to a proximal end portion of the manipulator arm to a first engagement portion projected from an attachment surface of the arm base, wherein one of the first engagement portion and the second engagement portion is provided with a shaft member, and the other of the first engagement portion and the second engagement portion is provided with an engagement member engageable with the shaft member such that in a state where the engagement member is engaged with the shaft member, the engagement member is rotatable with respect to the shaft member;
causing the manipulator arm to rotate about the shaft member due to the weight of the manipulator arm, to thereby stop rotation of the manipulator arm in place by a restriction surface of a restriction portion projected from the attachment surface of the arm base, wherein the restriction surface of the arm base is parallel to an axial direction of the shaft member and is inclined with respect to the attachment surface of the arm base; and
fixing the proximal end portion of the manipulator arm to the restriction portion of the arm base using a fixing member that extends through the restriction portion to the proximal end portion of the manipulator arm in a state where the restriction surface is in contact with the proximal end portion of the manipulator arm, such that an axis of the proximal end portion of the manipulator arm is inclined with respect to the attachment surface of the arm base.
18. The method according to claim 17 , wherein
the engagement member is formed in a hook shape.
19. The method according to claim 17 , further comprising
a positioner comprising a multi-axis robot configured to move the arm base; and
a wheeled base to which the positioner is provided.
20. The method according to claim 19 , further comprising
covering the first engagement portion, the second engagement portion, and the restriction portion with a cover.