Manipulator arm and patient-side system for surgical system
View Patent ↗A surgery manipulator arm according to an embodiment may include an arm body and a translation mechanism provided to a distal end portion of the arm body. The translation mechanism includes: a proximal side unit connected to the distal end portion of the arm body; a distal side unit including a tool holding part to which a surgical tool is attached; a connection unit connecting the proximal and distal side units; and an electrical wiring circuit electrically connecting the proximal and distal side units. The connection unit includes first and second pulleys; and a belt member wound around the first and second pulleys. The proximal and distal side units are attached to first and second attachment positions of the belt member such that the distal side unit moves in a direction opposite to a direction in which the proximal side unit moves in association with movements of the belt member.
1. A manipulator arm for a surgery system, comprising:
an arm body including a plurality of links and a plurality of joints; and
a translation mechanism provided to a distal end portion of the arm body,
wherein the translation mechanism includes:
a proximal side unit connected to the distal end portion of the arm body;
a distal side unit including a tool holding part to which a surgical tool is removably attached and a first motor configured to drive the surgical tool; and
a connection unit connecting the proximal side unit and the distal side unit and including a first slide mechanism, a second slide mechanism and a second motor,
wherein the proximal side unit is connected to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit by driving the second motor,
wherein the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction by driving the second motor, and
wherein when the proximal side unit is moved in a first direction in the longitudinal direction by driving the second motor, the distal side unit is moved in a second direction opposite to the first direction in the longitudinal direction.
2. The manipulator arm according to claim 1 , wherein
the proximal side unit is connected to the distal end portion of the arm body through a rotation joint which is one of the plurality of joints.
3. The manipulator arm according to claim 1 , wherein
the connection unit comprises an interlocking mechanism configured to interlock a movement of the proximal side unit and a movement of the distal side unit when the second motor is driven, and
the interlocking mechanism changes relative positions of the proximal side unit and the distal side unit in the longitudinal direction when the second motor is driven.
4. The manipulator arm according to claim 3 , wherein
the interlocking mechanism moves the proximal side unit at a first speed in the first direction and moves the distal side unit at the first speed in the second direction.
5. The manipulator arm according to claim 3 , wherein
the distal side unit moves in the second direction with respect to the connection unit when the proximal side unit moves in the first direction with respect to the connection unit,
a moving speed of the distal side unit with respect to the proximal side unit is twice a moving speed of the distal side unit with respect to the connection unit.
6. The manipulator arm according to claim 3 , wherein
the interlocking mechanism includes a first pulley; a second pulley; and a belt member wound around the first and second pulleys and movable in the first direction and the second direction,
wherein the proximal side unit is attached to the belt member at a first attachment position in a first side of the connection unit, and the distal side unit is attached to the belt member at a second attachment position in a second side of the connection unit such that the distal side unit moves in the second direction opposite to the first direction in which the proximal side unit moves in association with movements of the belt member.
7. The manipulator arm according to claim 1 , wherein
the manipulator arm has 7 or more degrees of freedom.
8. The manipulator arm according to claim 7 , wherein
the arm body has 7 degrees of freedom.
9. A surgery robotic system comprising:
a manipulator arm comprising an arm body including a plurality of links and a plurality of joints, and a translation mechanism provided to a distal end portion of the arm body;
an instruction apparatus configured to be input an instruction for movement of the manipulator arm; and
a controller configured to move the manipulator arm in response to the instruction,
wherein the translation mechanism includes:
a proximal side unit connected to the distal end portion of the arm body;
a distal side unit including a tool holding part to which a surgical tool is removably attached and a first motor configured to drive the surgical tool; and
a connection unit connecting the proximal side unit and the distal side unit and including a first slide mechanism, a second slide mechanism and a second motor,
wherein the proximal side unit is connected to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit by driving the second motor,
wherein the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction by driving the second motor, and
wherein when the proximal side unit is moved in a first direction in the longitudinal direction by driving the second motor, the distal side unit is moved in a second direction opposite to the first direction in the longitudinal direction.
10. The surgery robotic system according to claim 9 , wherein
the proximal side unit is connected to the distal end portion of the arm body through a rotation joint which is one of the plurality of joints.
11. The surgery robotic system according to claim 9 , wherein
the connection unit comprises an interlocking mechanism configured to interlock a movement of the proximal side unit and a movement of the distal side unit when the second motor is driven, and
the interlocking mechanism changes relative positions of the proximal side unit and the distal side unit in the longitudinal direction when the second motor is driven.
12. The surgery robotic system according to claim 11 , wherein
the interlocking mechanism moves the proximal side unit at a first speed in the first direction and moves the distal side unit at the first speed in the second direction.
13. The surgery robotic system according to claim 11 , wherein
the distal side unit moves in the second direction with respect to the connection unit when the proximal side unit moves in the first direction with respect to the connection unit,
a moving speed of the distal side unit with respect to the proximal side unit is twice a moving speed of the distal side unit with respect to the connection unit.
14. The surgery robotic system according to claim 11 , wherein
the interlocking mechanism includes a first pulley; a second pulley; and a belt member wound around the first and second pulleys and movable in the first direction and the second direction,
wherein the proximal side unit is attached to the belt member at a first attachment position in a first side of the connection unit, and the distal side unit is attached to the belt member at a second attachment position in a second side of the connection unit such that the distal side unit moves in the second direction opposite to the first direction in which the proximal side unit moves in association with movements of the belt member.
15. The surgery robotic system according to claim 9 , wherein
the manipulator arm has 7 or more degrees of freedom.
16. The surgery robotic system according to claim 15 , wherein
the arm body has 7 degrees of freedom.
17. A method for translating a surgical tool in a manipulator arm for a surgery system, comprising:
providing a manipulator arm that comprises an arm body including a plurality of links and a plurality of joints and a translation mechanism provided to a distal end portion of the arm body, wherein the translation mechanism includes a proximal side unit connected to the distal end portion of the arm body, a distal side unit including a tool holding part to which a surgical tool is removably attached and a first motor configured to drive the surgical tool, and a connection unit connecting the proximal side unit and the distal side unit and including a first slide mechanism, a second slide mechanism and a second motor, wherein the proximal side unit is connected to the connection unit through the first slide mechanism such that the proximal side unit moves in a longitudinal direction of the connection unit by driving the second motor, and the distal side unit is connected to the connection unit through the second slide mechanism such that the distal side unit moves in the longitudinal direction by driving the second motor; and
moving the proximal side unit in a first direction in the longitudinal direction and the distal side unit in a second direction opposite to the first direction in the longitudinal direction by driving the second motor, so that the surgical tool held on the tool holding part is translated in the second direction with respect to the proximal side unit.
18. The method according to claim 17 , wherein
the connection unit comprises an interlocking mechanism configured to interlock a movement of the proximal side unit and a movement of the distal side unit when the second motor is driven.
19. The method according to claim 18 , wherein
the interlocking mechanism moves the proximal side unit at a first speed in the first direction and the distal side unit at the first speed in the second direction.
20. The method according to claim 17 , wherein
a moving speed of the distal side unit with respect to the proximal side unit is twice a moving speed of the distal side unit with respect to the connection unit.