Brake release mechanism and medical manipulator provided with same
A medical manipulator is provided with a brake release mechanism. The brake release mechanism is provided with a release button which is provided on a tilt wheel, and a lever mechanism which has at least one portion arranged on the inside of the tilt wheel and which is pressed when the release button moves inwards. By the action of the lever mechanism when the release button is operated, braking by a brake mechanism is released.
1. A medical manipulator equipped with a distal end working unit on a distal end of a shaft that extends from a handle, the distal end working unit tiltable with respect to the shaft, the medical manipulator being constituted so as to mechanically transmit an input operation with respect to a tilt operating member provided on the handle to thereby tiltably operate the distal end working unit, and further being equipped with a brake release mechanism, the brake release mechanism comprising:
a release operating unit disposed on the tilt operating member; and
a lever mechanism, at least a portion of which is arranged on an inner side of the tilt operating member, and which is pressed accompanying inward movement of the release operating unit,
wherein the lever mechanism undergoes movement accompanying an operation performed with respect to the release operating unit, whereby a braking action implemented by the brake release mechanism is released,
wherein the brake release mechanism is equipped with a brake rotor that operates in conjunction with rotation of the tilt operating member, and a brake shoe configured to contact an outer circumference of the brake rotor, wherein based on an elastic force of an elastic member, the brake shoe is pressed against the brake rotor to thereby generate a braking force,
wherein the lever mechanism includes a lever that is pressed and rotates on an inner side of the tilt operating member accompanying inward movement of the release operating unit, a shaft on which the lever is disposed, and a cam that operates about the shaft,
wherein accompanying an operation performed with respect to the release operating unit, the cam causes the brake shoe to move in a direction away from the brake rotor in opposition to the elastic force, thereby releasing the braking action.
2. The medical manipulator according to claim 1 , wherein:
the lever mechanism includes a pair of lever mechanisms;
the release operating unit includes a plurality of release operating units;
one of the lever mechanisms is actuated based on an operation carried out with respect to part of the plurality of release operating units;
another of the lever mechanisms is actuated based on an operation carried out with respect to other part of the plurality of release operating units; and
the braking action is released by actuating at least one of the pair of lever mechanisms.
3. The medical manipulator according to claim 2 , wherein the cam provided on one of the lever mechanisms, and the cam provided on the other of the lever mechanisms are disposed in mutually overlapping positions as viewed from an axial direction of the shaft.
4. The medical manipulator according to claim 3 , wherein accompanying operation of at least one of the pair of lever mechanisms, at least one of the cams presses a central region in a widthwise direction of a slide member on which the brake shoe is disposed.
5. The medical manipulator according to claim 1 , wherein the release operating unit is disposed displaceably in inward and outward directions on an outer circumference of the tilt operating member.
6. The medical manipulator according to claim 5 , wherein
a slip-out prevention part is provided on the release operating unit to prevent slipping out of the release operating unit from the tilt operating member; and
a backup member, which presses the release operating unit outwardly, is provided on an inner side of the tilt operating member.
7. The medical manipulator according to claim 1 , wherein the release operating unit includes plural release operating units that are provided at different positions circumferentially on an outer circumference of the tilt operating member.
8. The medical manipulator according to claim 7 , wherein plural convex portions and plural concave portions are formed alternately along a circumferential direction on the outer circumference of the tilt operating member, the plural release operating units being disposed respectively in the plural concave portions.
9. The medical manipulator according to claim 1 , wherein the tilt operating member is disposed rotatably on the handle; and
wherein under a condition in which the release operating unit is pressed inwardly, the tilt operating member is rotated to thereby tilt the distal end working unit.