JPS62227350A - Operation robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a surgical robot used in surgeries performed under a microscope, such as surgeries such as corneal transplants.

[Conventional technology and its problems]

Conventionally, when performing a surgery such as a corneal transplant, the patient's cornea must first be removed, but this surgery must be performed using a microscope because the object to be removed is extremely small, and the surgery cannot be performed manually by a doctor. Requires considerable skill.

Therefore, a possible method would be to use a robot, but in this case, the resection part for resecting the cornea and the drive source for driving it would be placed on the axis, This causes the problem that the excised portion cannot be removed using a microscope.

Furthermore, because this robot has a cantilevered structure that is fixed to the floor, it is likely that play will occur between the robot and the bed on which the patient sleeps, making it unsuitable for surgeries that require accurate positioning.

[Purpose of the invention]

The present invention is intended to solve the above-mentioned conventional problems, and its purpose is to allow a drive means that is directly fixed to the bed and drives the head part by an arm means to move freely relative to the affected area of the patient. To provide a surgical robot in which the head part is located in a position protruding from the driving means, and the affected part of the patient can be directly viewed through the head part with a microscope.

[Embodiments of the invention]

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of the entire device, and FIG. 2 is a plan view of the same. In the figure, A is an arm means, B is a drive means, and C is a head member. The arm means A has the following structure. 1 is a bed on which the patient sleeps; 2 is a mounting plate that is detachably attached to the bed 1 with screws 2a; 3 is a pair of columns fixed to both ends of the mounting plate 2; Reinforced by rod 4. 5 is each main pillar B
The first arm 6 rotates as shown in line a by a motor (not shown) embedded in the upper end of the first arm 5, and 6 is a second arm rotatably supported at the tip of each first arm 5.

A support cylinder 6a fixed to the tip of each second arm 6
The outer cylinder 7 is rotatably supported on the shaft. and,
A vertical shaft 9 is slidably fitted into the outer cylinder 7.

Further, a rotation mechanism IO having a motor tOa for rotating the vertical shaft 9 is attached to the lower support cylinder 6 of the two support cylinders 6a. Further, a motor 11 is provided at the upper end of the outer cylinder 7 for vertically moving the vertical shaft 9.
A vertical mechanism 11 having a height is attached.

Therefore, the vertical shaft 9 rotates with the rotation of the inner cylinder 8 by the rotation mechanism 10, and the vertical shaft 9 moves up and down by the vertical mechanism 11. A driving means B is attached to the lower end of the vertical shaft 9 described above.

The structure of this driving means B will be explained below with reference to FIGS. 3 and 4.

12 is a casing fixed to the lower end of the vertical shaft 9,
Three motors 13 to 15 are fixed at approximately 120 degree intervals in the rear half of the interior.

The output shafts 13a to 15a of each motor 13 to 15 have rotary wheels 163 to 18a with encoders 16 to 18 at one end.
The other ends of the shafts 19 to 21 are fixed. 2
2 to 24 are gears fixed to each of the shafts 19 to 21 in different steps. The shafts 19 to 21 described above are supported by two partition plates 12a provided inside the casing 12.

25 is a moving tube for swinging the head member C, 26 is a rotating tube for rotating the head member C, and 27 is a rotating shaft for rotating a cutter 48, which will be described later, and is detachably attached to the head member C. The base end side of is rotatably supported by a bearing 12b of the casing 12. A rotating tube 26 is rotatably fitted into the rotating shaft 27, and a moving tube 25 is slidably attached to the rotating tube 26. Note that the moving tube 25 is also pivotally supported at the other end of the casing 12.

Reference numeral 28 denotes a connecting gear having a female threaded part screwed into a male threaded part 25a formed at the base of the moving tube 25, and is connected to the partition plate 1.
2b, it is arranged in a state where only rotation is free and horizontal direction is restricted. The external gear of this connecting gear 28 is meshed with the gear 22. Therefore, motor 1
3 rotates, the connecting gear 2 is connected via the shaft 19 and the gear 22.
8 is rotated, the moving tube 25 screwed into the connecting gear 28 moves in the left-right direction in the figure.

A gear 29 is fitted onto the base end of the rotary tube 26 exposed from the base end of the moving tube 25, and the gear 23 is meshed with this gear. A gear 30 is fitted onto the base end of the rotary shaft 27 exposed from the base end of the rotary tube 26, and the gear 24 is meshed with this gear.

Therefore, when the motors 14 and 15 rotate, the shafts 20 and
21. Since the gears 29 and 30 are rotated through the gears 23 and 24, the rotating tube 2 in which the gears 29 and 30 are fitted
6. The rotating shaft 27 rotates.

In this way, a head member C for directly performing surgery such as resecting the cornea is connected to the tips of the moving tube 25, the rotating tube 26, and the rotating shaft 27, which are moved or rotated in the left-right direction by the motors 13 to 15. There is.

Hereinafter, this head member C will be explained with reference to FIGS. 5 to 8.

Reference numeral 31 denotes a fixed plate fixed to the tip of the moving tube 25, and a pair of moving plates 32 are fixed to both ends.

Reference numeral 33 denotes a fixed plate fixed to the tip of the rotating tube 26 described above, and a pair of links 34 are fixed to both ends.

Reference numeral 35 designates a pair of suction tube holding plates having an abbreviated letter shape, and a base end 35a is connected to the movable plate 32 via a link 36, and a bent portion 35b is connected to the link 34. A suction outer tube 38 is fixed to the tip 35c of the suction tube holding plate 35 via a spacer 37. Further, a bearing body 39 is attached between the suction tube holding plates 35, and a shaft 40 having gears 40a and 40b at both upper and lower ends is pivotally supported by this bearing body 39.

Reference numeral 41 denotes a crown gear fixed to the tip of the rotating shaft 27, which is meshed with the gear 40a of the shaft 40. Note that this engagement is performed at the pivot point between the link 34 and the suction tube holding plate 35.

Reference numeral 42 denotes a male threaded portion 3 formed on the outer periphery of the outer suction tube 38.
It is a vertically moving gear having internal teeth screwed onto the shaft 40, and its external teeth are meshed with the gear 4'Ob of the shaft 40. A magnet 43 is fitted to the lower end of the outer periphery of this vertically movable gear.

44 is an inner suction tube fixed to the upper end of the outer suction tube 38 through a ring-shaped spacer 45;
A spacer 45 is provided between the inner suction tube 44 and the outer suction tube 38.
A void g is formed except for. A rubber joint 46 is connected to this gap g to a small hole 38b formed in the outer adsorption tube 38, and an air pipe 47 is connected through this rubber joint 46.

48 is detachably inserted into the lower end of the outer suction tube 38,
It is a cylindrical cutter that is attracted and fixed to the magnet 43.

Next, to explain the operation of the head member C, the moving tube 2
5 is driven by the drive means B described above in FIG.

If the moving plate 32 moves to the left in FIG.
, the suction holding plate 35 is rotated via the link 36 using the pivot point with the link 34 as a fulcrum.

Therefore, the suction outer cylinder 3 fixed to this suction tube holding plate 35
8 makes a rocking motion as shown in FIG.

Of course, this causes the cutter 48 to swing.

In this rocking motion, the engagement between the crown gear 41 and the gear 40a of the shaft 40 is not affected in any way because the fulcrum of the rocking motion and the meshing position coincide.

Next, when the rotary tube 26 is rotated by the driving means B described above, the fixed plate 33 fixed to the rotary tube 26 and the link 3
4. Since the pressure is transmitted to the suction outer cylinder 38 via the suction tube holding plate 35, the suction outer cylinder 38 performs an oscillating motion. At this time, rotational force is also applied to the fixed plate 31 via the link 36, so the movable plate 25 also rotates, but the swinging motion is actually performed during pre-surgery positioning. Cutter 4
8 has no effect whatsoever.

Next, when the rotating shaft 27 is rotated by the driving means B described above, the rotational force is transmitted to the vertical moving gear 42 via the crown gear 41 and the gears 40a and 40b.

Here, when the vertical gear 42 is rotated, the suction outer cylinder 38
Due to the relationship with the male threaded portion 38a, the vertical gear 42 rotates while moving in either the up or down direction. Therefore, the cutter 48 fixed to the vertical gear 42 via the magnet 43 moves up or down while rotating, as shown in FIG.

Next, a case will be described in which corneal transplantation is performed using the robot according to the present invention.

First, the robot of the present invention is mounted on the head side of the bed 1 using the mounting plate 2 of the arm means A. Next, the patient is laid down, and the patient's face is positioned approximately directly below the head member C, and the head is fixed, and the eyelids are fixed in an open state by appropriate means.

Next, when the motor embedded in the column 3 is driven and the first arm 5 is rotated, it rotates as shown by line a, so that the driving means B is inside the line, and the head member C is located inside the line. Move like C. Further, the head member C is moved as shown by line d by driving the motor 10a.

In this way, the head member C is moved over the eye whose cornea is to be removed by driving the motor. Then motor l
1a to lower the drive device B until the head member C approaches the eye.

The above operations complete the first stage of preparation, and then the actual surgery begins.

First, air is supplied from the air vibrator 47, the air is discharged from the gap g toward the eye, and while the distance to the eye is measured with an air micrometer (pressure sensor), the motor lla is driven again to move the head member C. lower until it touches the eye. Then, in the distance measurement, when the distance reaches the point where it comes into contact with the eye, the descent is stopped, and then, while looking through the top of the suction inner tube 44 with a microscope, the motor 1 of the drive device B is
3° 14 to swing and swing the head member C so that the cutter 48 is directly above the cornea.

Then, with the positioning completed, the air pipe 4
The cutter 48 is rotated by driving the motor 15 while suctioning the air in the gap g through the cutter 7.

As a result, the cutter 48 descends while rotating, so that the cornea is ablated while being suctioned through the gap g.

During this cutting, the torque applied to the cutter is applied while measuring the current to the encoder and motor. Immediately before the end of the corneal ablation, the torque applied to the cutter 48 becomes smaller, so the measuring means detects this and the power to the motor 15 is immediately cut off.
Zero rotation and descent stop. Moreover, since the cornea is adsorbed by the gap g at this time, as described above, the excised cornea can be taken out.

Therefore, the motor lla is energized again and rotated in the opposite direction to the above to raise the driving means B, thereby completing the corneal ablation surgery.

In addition, although the above-mentioned example described corneal ablation,
Of course, this can be used for all surgeries performed under a microscope.

〔Effect of the invention〕

As described above, the present invention fixes a surgical robot to a bed, and allows surgical members such as cutters to move freely in the front and back, left and right, and up and down directions with respect to the bed, and furthermore, the surgical members at least touch the affected area. In addition to being rotatable for resection, the drive source such as a motor for driving the surgical member is placed in a horizontal position relative to the surgical member, so that surgery can be performed while viewing the affected area through the surgical member with a microscope. This method has the advantage that it allows for quick and accurate surgery and does not require the skill of the conventional method.

[Brief explanation of drawings]

The figures show an embodiment of the surgical robot according to the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a plan view of the same, Fig. 3,
FIG. 4 is a sectional view of the driving means, FIG. 5 is a sectional view of the head member, FIG. 6 is a plan view of the same as above, FIG. 7 is a side view showing the swinging state of the head member, and FIG. 8 is the head member. FIG. A... Arm means, B... Drive means, C... Head member, 6a... Support tube, 25... Moving shaft, 26...
... Rotating tube, 27... Rotating shaft, 48... Cutter.

Claims (1)

[Claims] arm means fixed to the bed and having a distal end support portion movable in the front-rear, left-right, and up-down directions of the bed;
A drive means that is attached to the tip support portion of the arm means, has a drive source such as a motor provided therein, and has a drive shaft that is rotated or moved back and forth by the drive source and projects in a substantially horizontal direction; and a drive means for driving the drive means. A surgical robot characterized by comprising a head member attached to the tip of a shaft and having a surgical member such as a cutter for cutting an affected part.