Medical manipulator

• US 9,568,992 B2
• Filed: 01/30/2014
• Issued: 02/14/2017
• Est. Priority Date: 08/04/2011
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Hasegawa, Mitsuaki, Kishi, Kosuke
• Primary Examiner(s): Tyson, Melanie
• Application Number:
  US14/168,525
• Publication Number:
  US 20140148817A1
• Time in Patent Office: 1,111 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 18/1402 Probes for open surgery
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 46/23 with means to retain or hold surgical implements
• CPC Class Codes: A61B 46/27 tubular, e.g. for arms or legs A61B46/13 takes precedence
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• CPC Class Codes: Y10S 901/08 Robot
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/30 End effector
• CPC Class Codes: Y10T 29/49826 Assembling or joining
• CPC Class Codes: Y10T 74/18056 Rotary to or from reciprocating or oscillating

Abstract

A medical manipulator including a base section at which a support surface is formed, a movable part movably supported on the support surface, when a reference direction parallel to the support surface is defined, between a distal end position, which is a distal end side in the reference direction with respect to the base section, and a proximal end position, which is a proximal end side in the reference direction, a positioning mechanism configured to position the movable part at the distal end position with respect to the base section, a holding section movably supported in the reference direction with respect to the movable part and configured to detachably hold a proximal end portion of a treatment tool, and a driving unit configured to move the holding section in the reference direction with respect to the movable part.

Claims

1. A medical manipulator comprising:

a base section at which a support surface is formed;

a movable part movably supported on the support surface, between a distal end position, which is a distal end side in a reference direction, and a proximal end position, which is a proximal end side in the reference direction, with respect to the base section, when the reference direction parallel to the support surface is defined;

a positioning mechanism configured to position the movable part at the distal end position with respect to the base section;

a holding section movably supported in the reference direction with respect to the movable part, and configured to detachably hold a proximal end portion of a treatment tool such that a longitudinal direction of the treatment tool having an elongated shape is substantially parallel to the reference direction; and

a driving unit configured to move the holding section in the reference direction with respect to the movable part,

wherein the positioning mechanism includes;

an engaging section provided at one of the base section and the movable part; and

an engaged device having an engaged section provided at an other of the base section and the movable part, and restricted movement to the reference direction on engaging with the engaging section, and

wherein the engaged device includes;

a support member configured to support the engaged section; and

a biasing member configured to bias the support member such that the engaged section engages with the engaging section.

2. The medical manipulator according to claim 1, wherein

the engaged device includes a rotating shaft configured to rotatably connect the other of the base section and the movable part to the support member, and

the biasing member biases the support member to rotate about the rotating shaft.

3. The medical manipulator according to claim 2, wherein

the support member has a rod shape;

the support member is supported by the rotating shaft at an intermediate section in an extension direction in which the support member extends;

the engaged section is provided at a first end portion of the support member, which is a distal end side in the reference direction, and

a second end portion of the support member is disposed at the proximal end side in the reference direction with respect to the first end portion of the support member.

4. The medical manipulator according to claim 3, wherein

the positioning mechanism includes a pair of engaging sections and a pair of engaged devices;

the pair of engaging sections are provided so as to separate from each other in a perpendicular direction perpendicular to the reference direction parallel to the support surface;

the engaged sections of the engaged devices are configured to be disposed between the pair of engaging sections, and

the biasing member biases the first end portions of the support members to make the first end portions of the support members being separated from each other.

5. The medical manipulator according to claim 1, wherein the positioning mechanism positions the movable part at the proximal end position with respect to the base section.

6. The medical manipulator according to claim 1, wherein, when the movable part is moved to the proximal end side in the reference direction with respect to the base section, the movable part can be removed from the base section.

7. The medical manipulator according to claim 1, wherein a length in a longitudinal direction of the treatment tool is set to be smaller than a length in the reference direction between the distal end position and the proximal end position.

8. The medical manipulator according to claim 1, wherein lengths in the longitudinal direction of a plurality of treatment tools detachably held by the holding section are equal to each other.

9. A medical manipulator comprising:

a base section at which a support surface is formed;

a movable part movably supported on the support surface, between a distal end position, which is a distal end side in a reference direction, and a proximal end position, which is a proximal end side in the reference direction, with respect to the base section, when the reference direction parallel to the support surface is defined;

a positioning mechanism configured to position the movable part at the distal end position with respect to the base section;

a holding section movably supported in the reference direction with respect to the movable part, and configured to detachably hold a proximal end portion of a treatment tool such that a longitudinal direction of the treatment tool having an elongated shape is substantially parallel to the reference direction;

a driving unit configured to move the holding section in the reference direction with respect to the movable part,

a position detecting unit configured to detect a distal end disposition state in which the movable part is disposed at the distal end position with respect to the base section or a non-distal end disposition state in which the movable part is not disposed at the distal end position with respect to the base section;

an input unit configured to output a manipulation signal to control the driving unit based on an input from an operator; and

a control unit having a driving mode of controlling movement in the reference direction of the holding section by the driving unit and a standby mode of not controlling the driving unit based on the manipulation signal, and configured to select the driving mode when the position detecting unit detects the distal end disposition state and the standby mode when the position detecting unit detects the non-distal end disposition state.

10. A medical manipulator comprising:

a base section at which a support surface is formed;

a movable part movably supported on the support surface, between a distal end position, which is a distal end side in a reference direction, and a proximal end position, which is a proximal end side in the reference direction, with respect to the base section, when the reference direction parallel to the support surface is defined;

a positioning mechanism configured to position the movable part at the distal end position with respect to the base section;

a holding section movably supported in the reference direction with respect to the movable part, and configured to detachably hold a proximal end portion of a treatment tool such that a longitudinal direction of the treatment tool having an elongated shape is substantially parallel to the reference direction;

a driving unit configured to move the holding section in the reference direction with respect to the movable part, and

a biasing mechanism configured to bias the movable part to the proximal end side in the reference direction with respect to the base section.

11. The medical manipulator according to claim 10, wherein a biasing force applied to bias the movable part by the biasing mechanism is constant regardless of a position of the movable part in the reference direction with respect to the base section.