Medical manipulator and surgical system including the same
View Patent ↗A medical manipulator according to one or more embodiments may include: a first manipulator arm with multi-degree of freedom that holds a medical tool at a distal end portion thereof; a second manipulator arm with multi-degree of freedom that holds a medical tool at a distal end portion thereof; an arm base that holds base end portions of the first and second manipulator arms; a movement mechanism configured to move the base end portion of the first manipulator arm with respect to the arm base to change a distance between the base end portion of the first manipulator arm and the base end portion of the second manipulator arm; and a positioner configured to move the arm base and position the arm base in place.
1. A medical manipulator, comprising:
a first manipulator arm with multiple degrees of freedom that holds a medical tool at a distal end portion thereof;
a second manipulator arm with multiple degrees of freedom that holds a medical tool at a distal end portion thereof;
an arm base that holds base end portions of the first and second manipulator arms;
a movement mechanism configured to move the base end portion of the first manipulator arm with respect to the arm base to change a distance between the base end portion of the first manipulator arm and the base end portion of the second manipulator arm; and
a positioner configured to move the arm base and position the arm base in place, wherein
the movement mechanism comprises a plurality of rollers, a motor that rotates at least one of the rollers and a belt that is suspended on the rollers and moves by rotating at least one of the rollers,
the base end portion of the first manipulator arm is connected to the belt by a connection member, and
the base end portion of the second manipulator arm is fixed to the arm base.
2. The medical manipulator according to claim 1 , further comprising:
a third manipulator arm with multiple degrees of freedom that holds a medical tool by a distal end portion thereof; and
a fourth manipulator arm with multiple degrees of freedom that holds a medical tool by a distal end portion thereof, wherein
the first to fourth manipulator arms are held by the arm base and arranged in the recited order in a longitudinal direction of the arm base,
the movement mechanism includes a first movement mechanism that is configured to move the base end portion of the first manipulator arm with respect to the arm base and a second movement mechanism that is configured to move a base end portion of the fourth manipulator arm with respect to the arm base to change a distance between a base end portion of the third manipulator arm and the base end portion of the fourth manipulator arm,
the second movement mechanism comprises a plurality of second rollers, a second motor that rotates at least one of the second rollers and a second belt that is suspended on the second rollers and moves by rotating at least one of the second rollers,
the base end portion of the fourth manipulator arm is connected to the second belt by a second connection member, and
the base end portion of the third manipulator arm is fixed to the arm base.
3. The medical manipulator according to claim 2 , wherein
the arm base includes a base body portion, a first inclined portion that is connected to a first end portion of the base body portion which is inclined with respect to the base body portion, and a second inclined portion that is connected to a second end portion of the base body portion which is inclined with respect to the base body portion, wherein
the first inclined portion movably holds the first manipulator arm, the base body portion fixedly holds the second and third manipulator arms, and the second inclined portion movably holds the fourth manipulator arm.
4. The medical manipulator according to claim 3 , wherein
the first movement mechanism is arranged in the first inclined portion to move the first manipulator arm with respect to the arm base, and
the second movement mechanism is arranged in the second inclined portion to move the fourth manipulator arm with respect to the arm base.
5. The medical manipulator according to claim 1 , wherein
each of the first and second manipulator arms has six or more degrees of freedom.
6. The medical manipulator according to claim 1 , wherein
each of the first and second manipulator arms has seven or more degrees of freedom.
7. The medical manipulator according to claim 1 , further comprising
a control unit that controls the movement mechanism to move the base end portion of the first manipulator arm with respect to the arm base to avoid interference between the first manipulator arm and the second manipulator arm during surgery.
8. The medical manipulator according to claim 1 , wherein
the positioner comprises a vertical articulated robot.
9. The medical manipulator according to claim 1 , further comprising:
an operation input unit that issues an instruction to move the base end portion of the first manipulator arm with respect to the arm base.
10. The medical manipulator according to claim 9 , wherein
the operation input unit issues an instruction to cause the positioner to move the arm base.
11. The medical manipulator according to claim 1 , wherein
the medical manipulator is configured to be transformed in an accommodation posture in which the first and second manipulator arms are folded.
12. A surgical system, comprising:
a medical manipulator that includes a first manipulator arm with multiple degrees of freedom that holds a medical tool by a distal end portion thereof and a second manipulator arm with multiple degrees of freedom that holds a medical tool by a distal end portion thereof; and
an instruction apparatus that instructs actions of the first and second manipulator arms, wherein
the medical manipulator comprises
an arm base that holds base end portions of the first and second manipulator arms,
a movement mechanism configured to move the base end portion of the first manipulator arm with respect to the arm base to change a distance between the base end portion of the first manipulator arm and the base end portion of the second manipulator arm, and
a positioner configured to move the arm base and position the arm base in place, wherein
the movement mechanism comprises a plurality of rollers, a motor that rotates at least one of the rollers and a belt that is suspended on the rollers and moves by rotating at least one of the rollers,
the base end portion of the first manipulator arm is connected to the belt by a connection member, and
the base end portion of the second manipulator arm is fixed to the arm base.
13. The surgical system according to claim 12 , wherein
the medical manipulator includes an operation input unit that issues an instruction to move the base end portion of the first manipulator arm with respect to the arm base.
14. The surgical system according to claim 13 , wherein
during a setup stage before surgery, the operation input unit issues an instruction to move the base end portion of the first manipulator arm with respect to the arm base.
15. The surgical system according to claim 13 , wherein
the operation input unit issues an instruction to cause the positioner to move the arm base.
16. The surgical system according to claim 12 , further comprising
a control unit that controls the movement mechanism to move the base end portion of the first manipulator arm with respect to the arm base to avoid interference between the first manipulator arm and the second manipulator arm during surgery.
17. The surgical system according to claim 12 , further comprising:
a third manipulator arm with multiple degrees of freedom that holds a medical tool at a distal end portion thereof; and
a fourth manipulator arm with multiple degrees of freedom that holds a medical tool at a distal end portion thereof, wherein
the first to fourth manipulator arms are held by the arm base and arranged in the recited order in a longitudinal direction of the arm base,
the movement mechanism includes a first movement mechanism that is configured to move the base end portion of the first manipulator arm with respect to the arm base and a second movement mechanism that is configured to move a base end portion of the fourth manipulator arm with respect to the arm base to change a distance between a base end portion of the third manipulator arm and the base end portion of the fourth manipulator arm,
the second movement mechanism comprises a plurality of second rollers and a second belt that is suspended on the second rollers and moves by rotating the second rollers,
the base end portion of the fourth manipulator arm is connected to the second belt by a second connection member, and
the base end portion of the third manipulator arm is fixed to the arm base.
18. The surgical system according to claim 17 , wherein
the arm base includes a base body portion, a first inclined portion that is connected to a first end portion of the base body portion with inclined with respect to the base body portion, and a second inclined portion that is connected to a second end portion of the base body portion with inclined with respect to the base body portion, wherein
the first inclined portion movably holds the first manipulator arm, the base body portion fixedly holds the second and third manipulator arms, and the second inclined portion movably holds the fourth manipulator arm.
19. The surgical system according to claim 12 , wherein
each of the first and second manipulator arms has seven or more degrees of freedom.
20. The surgical system according to claim 12 , wherein
the positioner comprises a vertical articulated robot.