JP2011089797A - Rotary encoder and medical manipulator using the same - Google Patents

Abstract

A rotary encoder having a highly waterproof structure, and a medical manipulator using such a rotary encoder.
An encoder scale 150 is formed integrally with an inner wall portion of a gripping portion main body 202 as a box-shaped casing that is rotatable about a rotation shaft 202a and has an opening 203 formed in the lower portion thereof. The optical fibers 7a and 7b are arranged so as to face the pattern. Further, a partition wall 204 is provided so as to cover the opening 203 of the gripper body 202 and the optical fibers 7a and 7b, and the partition wall 204 is bonded to the manipulator body 201 to form a sealed structure between the optical fibers 7a and 7b and the encoder scale 150. .
[Selection] Figure 4

Description

  The present invention relates to a rotary encoder suitable for a medical manipulator and a medical manipulator using the same.

  In a conventional endoscopic surgical operation, an insertion hole is formed in a body wall such as an abdominal wall, and an endoscope and a treatment tool are inserted through the insertion hole to observe and process the body cavity. In recent years, in such an endoscopic surgical operation, an endoscope and a treatment tool introduced into a patient's body are often operated using a medical manipulator installed outside the patient's body. .

  For example, Japanese Patent Application Laid-Open No. H11-133707 proposes a moving part of such a medical manipulator provided with an encoder. By providing an encoder (rotary encoder) on the movable part of the medical manipulator, it becomes possible to detect the displacement amount of the movable part.

  Here, in many cases, a medical manipulator is provided with a gripping portion for gripping a treatment instrument or the like at the tip thereof. This grasping portion is usually a portion that is introduced into the patient's body together with the treatment instrument and the like. For this reason, when an encoder is provided in the gripper so as to detect the amount of opening and closing of the gripper, a waterproof technique is required to prevent foreign matters such as blood from entering the encoder.

  For example, Patent Document 2 proposes a waterproof structure of a mechanism having a rotating shaft such as a rotary encoder. The technique of this patent document 2 is a proposal regarding the waterproof structure of a fishing reel. And in patent document 2, the rotating shaft is rotatably mounted on the reel body via a bearing mounted on the reel body. Further, in Patent Document 2, the outer side of the reel main body of the bearing is covered, and the fixing portion is fitted and crimped to the locking portion provided on the reel main body or the rotary shaft, and the sliding contact portion is further connected to the rotary shaft or the reel main body. The sealing structure is formed between the sliding contact portion and the rotating shaft.

JP 2000-312684 A JP 2003-189770 A

  Here, the technique of Patent Document 2 has a sealing structure between the sealing material and the rotating shaft by pressing the sliding contact portion against the rotating shaft. In such a structure, in order to maintain the degree of freedom of rotation of the rotating shaft, the pressure applied to the sliding contact portion cannot be increased more than necessary. For this reason, it is not always possible to make a perfect sealing structure between the sealing material and the rotating shaft, and the possibility of water immersion between the sealing material and the rotating shaft cannot be denied.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a rotary encoder having a highly waterproof structure and a medical manipulator using such a rotary encoder.

  In order to achieve the above object, a rotary encoder according to a first aspect of the present invention includes a main body having a box-shaped housing that is rotatable about a rotation axis and has an opening formed in a part thereof, An encoder scale that is integrally formed with the inner wall of the housing and is rotatable about the rotation axis, and is formed so that a predetermined pattern is exposed through the opening, and the pattern through the opening. And a partition having elasticity and attached to the casing so as to seal a part of the encoder scale and the detection unit together with the casing.

  In order to achieve the above object, a rotary encoder according to a second aspect of the present invention includes a main body configured to be rotatable about a rotation axis, a body integrally formed with the rotation axis, and centered on the rotation axis. An encoder scale formed in a predetermined pattern, a detection member arranged to be able to read the pattern, a case portion covering the encoder scale and the detection member, and the encoder scale And an elastic partition wall attached to the case portion so as to seal the detection member.

  In order to achieve the above object, a medical manipulator according to a third aspect of the present invention is characterized in that the rotary encoder according to the first or second aspect is provided in a grip portion.

  According to the present invention, it is possible to provide a rotary encoder having a highly waterproof structure and a medical manipulator using such a rotary encoder.

It is a figure showing composition of a medical manipulator system provided with a medical manipulator concerning each embodiment of the present invention. It is the figure which extracted and showed the structure concerning the rotary encoder provided in the medical manipulator system shown in FIG. It is a figure which shows the structure of an encoder scale. It is sectional drawing of one of the two holding parts which comprise the holding part of the medical manipulator provided with the rotary encoder which concerns on the 1st Embodiment of this invention. FIG. 5A is an external view of the gripping part main body, and FIG. 5B is an external view of the gripping part main body provided with a partition wall. It is a figure which shows a mode when a holding part rotates. It is sectional drawing of one of the two holding parts which comprise the holding part of the medical manipulator provided with the rotary encoder which concerns on the 2nd Embodiment of this invention. It is a perspective view which shows the external appearance of the holding part at the time of rubber ring mounting | wearing. FIG. 9A is a cross-sectional view of one of the two gripping portions constituting the gripping portion of the medical manipulator provided with the rotary encoder according to the third embodiment of the present invention, and FIG. These are figures which show the external appearance at the time of providing the partition part in the holding | maintenance part main body in the 3rd Embodiment of this invention. FIG. 10A is a cross-sectional view of one of the two gripping portions constituting the gripping portion of the medical manipulator provided with the rotary encoder according to the modification of the third embodiment of the present invention. (B) is a figure which shows the external appearance at the time of providing a partition in the holding | maintenance part main body in the modification of the 3rd Embodiment of this invention. It is a figure which shows the external appearance at the time of providing a partition in the holding | maintenance part main body in another modification of the 3rd Embodiment of this invention. FIG. 12A is a cross-sectional view of one of the two gripping portions constituting the gripping portion of the medical manipulator provided with the rotary encoder according to the modification of the fourth embodiment of the present invention. (B) is a figure which shows the structure of a rubber cover.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, a first embodiment of the present invention will be described. FIG. 1 is a diagram illustrating a configuration of a medical manipulator system including a medical manipulator according to each embodiment of the present invention. The medical manipulator system shown in FIG. 1 includes a medical manipulator (hereinafter simply referred to as a manipulator) 1 and a bending operation device 10. The bending operation device 10 is provided outside the manipulator 1 and is connected to the manipulator 1 via a wire 5 and an optical fiber 7. In such a configuration, the manipulator 1 can be remotely operated by the bending operation device 10.

  The manipulator 1 has a tubular part 2 and an action part 3. The tubular portion 2 has an elongated tubular shape, and a wire 5 that is a linear power transmission member is inserted into the tubular portion 2. The operation unit 3 is provided on the distal end side (referred to as a side to be introduced into the patient's body) of the tubular unit 2, and is connected to the drive unit 11 of the bending operation device 10 via the wire 5. The operating unit 3 receives a driving force from the driving unit 11 and bends in the vertical direction (arrow A direction shown in the figure) and the horizontal direction (arrow B direction shown in the figure), and around the central axis of the tubular part 2 (arrow C in the figure). Direction). Two of the wires 5 are connected to the upper part and the lower part of the operating part 3, respectively. These two wires 5 are used for the bending operation of the operation unit 3 in the vertical direction. Further, two of the wires 5 are connected to the left part and the right part of the operation part 3. These two wires 5 are used for the bending operation of the operation unit 3 in the left-right direction. Further, two of the wires 5 are connected to the rotating part of the operating part 3. These two wires 5 are used for the rotation operation of the operation unit 3.

  Further, a gripping portion 6 is attached to the distal end side of the operating portion 3. The gripping part 6 is composed of two gripping parts that make a pair. Two of the wires 5 are connected to one gripping portion, and two of the wires 5 are connected to the other gripping portion. Two of these four wires 5 are used for the rotation of one gripping part, two are used for the rotation of the other gripping part, and these two gripping parts rotate independently of each other. Thus, opening / closing and bending of the grip are performed.

  Here, in this embodiment, a rotary encoder (hereinafter simply referred to as an encoder) is provided in each of the two gripping parts constituting the gripping part 6, the upper and lower parts of the operating part 3, the left and right parts, and the rotating part. It has been. With these encoders, it is possible to detect the bending angle and rotation amount of the operating portion 3 of the manipulator 1, the opening / closing amount of the grip portion 6, and the like.

  The bending operation device 10 includes a drive unit 11, a control unit 12, an operation unit 13, and an encoder signal processing unit 15.

  The drive unit 11 is connected to the proximal end side of the wire 5. The drive unit 11 is, for example, a combination of a rotary motor and a pulley, or a linear motor. Then, the wire 5 is connected to the vertical drive motor, the left and right drive motor, the rotation drive motor, and the gripper drive motor, respectively, or the vertical and left and right wires 5 are integrated and wound around the pulley. It is.

  The control unit 12 is configured by a computer, for example, and is connected to the drive unit 11, the operation unit 13, and the encoder signal processing unit 15. The control unit 12 controls the operation of the drive unit 11. The operation unit 13 includes operation members such as a joystick and a handle, and inputs an operation signal corresponding to the operation amount of the operation member by the operator to the control unit 12. The encoder signal processing unit 15 includes an optical system transmission unit 16 and a signal processing unit 17. The optical system transmission unit 16 is connected to an encoder provided in the grip unit 6 or the operation unit 3 of the manipulator 1 via an optical fiber 7 that functions as an example of a detection member. In FIG. 1, only one optical fiber 7 is shown, but in reality, two optical fibers are provided for each encoder. The optical system transmission unit 16 mediates signal transmission between the encoder provided in the manipulator 1 and the signal processing unit 17. The signal processing unit 17 processes an input signal from an encoder provided in the manipulator 1 to generate an encoder signal, and inputs the encoder signal to the control unit 12.

  When driving the operation unit 3 of the manipulator 1 introduced into the patient's body, the operator is displayed on a display unit of an endoscope system (not shown) introduced through an insertion hole different from the manipulator 1. The operation member of the operation unit 13 is operated while viewing the image. When the operation member of the operation unit 13 is operated, an operation signal corresponding to the operation amount of the operation member is generated in the operation unit 13. This operation signal is sent to the control unit 12. In the control unit 12, a predetermined calculation is performed so that the operation amount of the operation member corresponds to the operation amount of the operation unit 3, and the displacement of the motor of the drive unit 11 that drives the operation unit 3 is calculated by this predetermined calculation. The The calculated displacement of the motor of the drive unit 11 is sent to the drive unit 11 as a displacement signal. In the drive unit 11, the displacement signal from the control unit 12 is converted into a current signal for driving the motor. Then, the motor is driven in accordance with this current signal. When the motor of the drive unit 11 is driven, the wire 5 connected to the operation unit 3 is pushed out toward the distal end side or pulled toward the proximal end side. For example, when the operation part 3 of the manipulator 1 is bent upward, the wire 5 connected to the upper part of the operation part 3 is pulled toward the base end side, and the wire 5 connected to the lower part of the operation part 3 is moved. Push to the tip side. In this manner, the bending angle of the operating part 3 of the manipulator 1 is changed in the vertical direction and the left-right direction, the rotational direction of the operating part 3 of the manipulator 1 is changed, and the gripping part 6 is opened / closed or bent.

  When displacement occurs in the operating unit 3 or the gripping unit 6 of the manipulator 1, the encoder is also displaced according to the displacement. An encoder signal is generated in the encoder signal processing unit 15 based on the displacement of the encoder. The generated encoder signal is sent to the control unit 12. The control unit 12 detects the actual bending angle and rotation amount of the operation unit 3, the actual opening / closing amount of the gripping unit 6, and the like from the encoder signal, and the drive unit 11 is controlled according to the detection result. In this way, the bending angle and rotation amount of the operation unit 3, the opening / closing amount of the gripping unit 6, and the like are controlled so as to correspond to the operation amount of the operation unit 13.

  Hereinafter, the encoder according to the present embodiment will be described in detail. FIG. 2 is a diagram showing an extracted configuration relating to one encoder provided in the medical manipulator system shown in FIG. Note that the configuration shown in FIG. 2 is a configuration in the case where an optical encoder is used.

  The encoder shown in FIG. 2 has an encoder scale 150. Optical fibers 7 a and 7 b are disposed in the vicinity of the encoder scale 150. The optical fiber 7 a is connected to the signal processing unit 17 via the detection unit 110 a in the optical system transmission unit 16. Further, the optical fiber 7 b is connected to the signal processing unit 17 via the detection unit 110 b in the optical system transmission unit 16.

  The optical fibers 7a and 7b irradiate the encoder scale 150 with the light emitted from the detectors 110a and 110b, and return the light reflected by the encoder scale 150 to the detectors 110a and 110b. Here, the optical fiber 7a and the optical fiber 7b are arranged with respect to the encoder scale 150 so that the phases of the reflected light incident on the optical fiber 7a and the optical fiber 7b are shifted by 90 degrees.

  Each of the detection units 110a and 110b includes a light source (LD) 112, a lens 114, a polarization beam splitter 116, a quarter-wave plate 118, a lens 120, a coupler 122, a lens 124, and photoelectric conversion. Element 126. The patterns formed on the encoder scale 150 are read by the detection units 110a and 110b.

  The light source 112 is, for example, a laser diode (LD), and emits light irradiated on the encoder scale 150. The lens 114 is disposed in the light emitting direction of the light source 112 and makes the light emitted from the light source 112 into parallel light. The polarization beam splitter 116 is disposed between the lens 114 and the quarter-wave plate 118 and reflects or transmits incident light. That is, the polarization beam splitter 116 transmits only the linearly polarized light component of the incident light. The quarter wavelength plate 118 is disposed between the polarization beam splitter 116 and the lens 120, and shifts the phase of incident light by a quarter wavelength. The lens 120 is disposed in the light transmission direction of the polarizing beam splitter 116, and condenses the light that has passed through the polarizing beam splitter 116 and the quarter wavelength plate 118 and makes it incident on the optical fibers 7a and 7b. In addition, the lens 120 converts the light incident from the optical fibers 7a and 7b (the reflected light from the encoder scale 150) into parallel light. The coupler 122 is for coupling the detection unit 110a and the optical fiber 7a, and the detection unit 110b and the optical fiber 7b.

  The lens 124 is disposed between the polarization beam splitter 116 and the photoelectric conversion element 126, collects light reflected by being bent by about 90 degrees by the polarization beam splitter 116, and causes the light to enter the photoelectric conversion element 126. The photoelectric conversion element 126 is, for example, a photodiode (PD), and photoelectrically converts incident light.

  In the above configuration, the light source 112 and the optical fiber 7a of the detection unit 110a and the light source 112 and the optical fiber 7b of the detection unit 110b are optically coupled by the lens 114, the lens 120, and the coupler 122, respectively. An optical system is configured. The light reflected by the encoder scale 150 is converted into an electrical signal by the coupler 122, the lens 120, the quarter-wave plate 118, the polarization beam splitter 116, the lens 124, and the photoelectric conversion element 126. The photoelectric conversion system for this is comprised.

  The encoder scale 150 has a cylindrical shape as shown in FIG. 3, and rotates about the center of the column as a rotation axis. Furthermore, the encoder scale 150 has a pattern composed of a reflective surface whose reflectivity changes periodically at a constant pitch along its circumferential direction. For example, in the encoder scale 150 shown in FIG. 3, the high reflectivity portions 152 and the low reflectivity portions 154 are alternately arranged at a constant pitch. As described above, the optical fiber 7a and the optical fiber 7b are arranged with respect to the encoder scale 150 so that the phases of the reflected light incident on the optical fiber 7a and the optical fiber 7b are shifted by 90 degrees. In FIG. 2, the reason why two sets of optical fibers and detection units are provided is to detect an A-phase encoder signal and a B-phase encoder signal that are 90 degrees out of phase. The rotational direction of the encoder scale 150 can also be detected by taking the difference between the A-phase encoder signal and the B-phase encoder signal that are 90 degrees out of phase. For example, here, the optical fiber 7a corresponds to the A phase signal, and the optical fiber 7b corresponds to the B phase signal. Instead of arranging the optical fibers 7a and 7b so that the phase of the reflected light is shifted by 90 degrees, the encoder scale 150 is formed with two rows of patterns of the high reflectivity portion 152 and the low reflectivity portion 154, and You may arrange | position so that a pattern may shift | deviate 90 degree | times.

  In the configuration as described above, the light emitted from the light source 112 included in each of the detection units 110 a and 110 b becomes parallel light via the lens 114 and enters the polarization beam splitter 116. In the light incident on the polarization beam splitter 116, only a predetermined linearly polarized light component passes through the polarization beam splitter 116 in the straight direction. The light transmitted through the polarization beam splitter 116 in the straight traveling direction is incident on the quarter wavelength plate 118 and the quarter wavelength phase is shifted. The light transmitted through the quarter-wave plate 118 is collected by the lens 120 and then enters the optical fibers 7 a and 7 b via the coupler 122. The light incident on the optical fibers 7 a and 7 b is emitted toward the encoder scale 150 after propagating through the optical fibers 7 a and 7 b.

  A part of the light reflected by the high reflectivity portion 152 or the low reflectivity portion 154 of the encoder scale 150 is incident on the optical fibers 7a and 7b. The light incident on the optical fibers 7 a and 7 b is emitted from the coupler 122, enters the quarter-wave plate 118 through the lens 120 as parallel light. The light incident on the quarter wavelength plate 118 is shifted in phase by a quarter wavelength. As a result, the light transmitted through the quarter-wave plate 118 enters the polarization beam splitter 116 as linearly polarized light whose polarization plane is orthogonal to the linearly polarized light transmitted through the polarization beam splitter 116 described above. The light that has entered the polarization beam splitter 116 is reflected by the polarization beam splitter 116 with the light direction bent by about 90 degrees and is incident on the lens 124. The light incident on the lens 124 is collected and then incident on the photoelectric conversion element 126. The photoelectric conversion element 126 outputs an electrical signal corresponding to the intensity of incident light. The same function as above can be obtained even if the polarizing beam splitter 116 is a non-polarizing beam splitter (half mirror) and the quarter-wave plate 118 is omitted.

  Here, the encoder scale 150 has a pattern in which the reflectance periodically changes at a constant pitch along the circumferential direction. For this reason, the amplitude of the waveform of the electrical signal output from the photoelectric conversion element 126 changes according to the movement of the encoder scale 150. That is, the peak of the waveform of the electric signal corresponds to the high reflectivity portion 152 of the encoder scale 150, and the valley of the waveform of the electric signal corresponds to the low reflectivity portion 154 of the encoder scale 150.

  The output signal of the photoelectric conversion element 126 included in each of the detection units 110a and 110b is sent to the signal processing unit 17. In the signal processing unit 17, the output signal of the photoelectric conversion element 126 is converted into a digital encoder signal (A-phase encoder signal, B-phase encoder signal) through general signal processing in the encoder such as filtering, waveform shaping, multiplication, and signal pulsing. ). The encoder signal obtained by the signal processing unit 17 is sent to the control unit 12. Assuming that the rotation angle of the encoder scale 150 per pulse of the encoder signal is known, the control unit 12 detects the number of pulses of the encoder signal from the signal processing unit 17 to thereby determine the rotation angle of the encoder scale 150. Can be sought.

  Next, the waterproof structure of the encoder according to the first embodiment will be described. FIG. 4 is a cross-sectional view of one of the two gripping portions constituting the gripping portion 6 of the manipulator 1 provided with the encoder according to the first embodiment.

  In FIG. 4, one gripping portion 6 a includes a gripping portion main body 202 having a substantially box-shaped housing including a protruding portion 202 b for gripping a treatment instrument and the like together with the other gripping portion. An encoder scale 150 having a pattern as shown in FIG. 3 is formed integrally with the inner wall portion of the gripping portion main body 202. In addition, a rotating shaft 202 a is formed in the gripping part main body 202, and the rotating shaft 202 a is rotatably attached to the manipulator body 201 through a hole formed in the manipulator body 201. With such a configuration, the gripper body 202 rotates with the encoder scale 150 about the rotation shaft 202a with respect to the manipulator body 201. Here, the rotation angle of the gripper body 202 with respect to the manipulator body 201 is assumed to be about ± 90 degrees.

  Further, as shown in FIGS. 4 and 5A, an opening 203 is formed in a part (lower part) of the grip portion main body 202. A pattern formed on the encoder scale 150 is exposed from the outside of the gripper body 202 through the opening 203. Furthermore, as shown in FIG. 4, optical fibers 7 a and 7 b are inserted into the gripper body 202 through the opening 203 so as to face the pattern of the encoder scale 150. The optical fibers 7a and 7b are fixed through the manipulator 201, and the gap between the optical fibers 7a and 7b and the manipulator main body 201 is blocked with an adhesive or the like to prevent intrusion of liquid or the like from the manipulator 201 side. It is out. As shown in FIG. 5A, the opening 203 opens to an angle corresponding to the rotation angle of the manipulator body 201, that is, an angle of ± 90 degrees. Actually, it is preferable to have a margin of more than ± 90 degrees.

  Furthermore, as shown in FIG. 4 and FIG. 5B, a partition wall 204 is erected so as to cover the opening 203. The partition wall 204 is formed of a member having heat resistance and stretchability of about 120 degrees. In the present embodiment, the partition wall 204 is made of, for example, silicone rubber, and the partition wall 204 has a bellows structure so that the partition wall 204 has elasticity. As shown in FIG. 4, such a partition wall 204 has one end bonded to the grip portion main body 202 and the other end bonded to the manipulator main body 201. Since the opening 203 is sealed by the partition wall 204 and the manipulator main body 201, even if liquid or the like enters through the position of the rotating shaft 202a, the liquid adheres to the encoder scale 150 or the tips of the optical fibers 7a and 7b. Never do. As the adhesive used here, an autoclave-resistant adhesive that can maintain the adhesion even when the manipulator is sterilized in an autoclave is used.

  FIG. 6 is a view showing a state when the gripping portion 6a having the structure shown in FIGS. 4 and 5 rotates. As shown in FIG. 5, in this embodiment, the gripping part main body 202 is fixed to the manipulator main body 201 via the partition wall 204. Even in such a configuration, since the partition wall 204 has a bellows structure, the gripping portion 6a rotates to the limit (-90 degrees in the drawing) as shown in the right side diagram in FIG. Even in this case, the movement of the gripping portion 6 a is not hindered by the partition wall 204. In the example of this embodiment, the partition wall 204 has a bellows structure, but the partition wall 204 does not necessarily have a bellows structure as long as it can be stretched. For example, the partition wall 204 may be formed in a bag shape or slack.

  As described above, according to the first embodiment of the present invention, the encoder scale 150 and the tip ends of the optical fibers 7a and 7b can be completely blocked and sealed from the outside world. Even when the manipulator body 201 is immersed in the liquid, the liquid does not adhere to the encoder scale 150 and the tip portions of the optical fibers 7a and 7b. It is also possible to ensure the degree of freedom of rotation required by the gripping part 6a.

  As described above, in this embodiment, the waterproof structure of the encoder can be realized in a small size. Application is particularly preferred.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 7 is a cross-sectional view of one of the two gripping portions constituting the gripping portion 6 of the manipulator 1 provided with the encoder according to the second embodiment.

  The grasping part 6a in the present embodiment includes a grasping part main body 202 including a protruding part 202b for grasping a treatment instrument and the like together with the other grasping part. A rotating shaft 202a is formed on the gripper body 202, and an encoder scale 150 is formed integrally with the rotating shaft 202a. The rotating shaft 202a is rotatably attached to the inner wall of the manipulator body 201 as a case portion formed so as to cover the encoder scale 150 from the upper part to the lower part. With such a configuration, the gripping part main body 202 rotates with the encoder scale 150 about the rotation shaft 202a with respect to the manipulator main body 201. Here, the rotation angle of the gripper body 202 with respect to the manipulator body 201 is assumed to be about ± 90 degrees.

  Further, as shown in FIG. 7, optical fibers 7 a and 7 b are inserted from the manipulator body 201 so as to face the pattern of the encoder scale 150. The optical fibers 7a and 7b are fixed through the manipulator 201, and the gap between the optical fibers 7a and 7b and the manipulator main body 201 is blocked with an adhesive or the like to prevent intrusion of liquid or the like from the manipulator 201 side. It is out. Further, an opening is formed on the surface of the manipulator body 201 facing the gripping part body 202, and a rubber ring 204a is bonded so as to cover the opening, so that the gripping part body 202 and the encoder scale 150 are partitioned. Yes. The rubber ring 204 a is formed of a member having heat resistance and elasticity, and is bonded to the end of the manipulator body 201 configured to cover the encoder scale 150. The portion where the rubber ring 204a and the gripping body 202a are in contact is bonded. Further, the rubber ring 204a has a certain degree of slack by being formed in a wave shape or the like in which the rotation shaft 202a is a concentric circle. The rubber ring 204a is twisted and pulled by the rotating shaft 202a when the gripping part main body 202 is rotated. This pulling force is absorbed by the slackness of the rubber ring 204a. With such a structure, rotation of the grip portion 6a by about ± 90 degrees is not hindered. As the adhesive used here, an autoclave-resistant adhesive that can maintain the adhesion even when the manipulator is sterilized in an autoclave is used.

  As described above, even in the second embodiment of the present invention, the encoder scale 150 and the tip portions of the optical fibers 7a and 7b can be completely shielded and sealed from the outside as shown in FIG. For example, even if the gripping portion 6a and the manipulator main body 201 enter the liquid, the liquid does not adhere to the encoder scale 150 and the tip ends of the optical fibers 7a and 7b. It is also possible to ensure the degree of freedom of rotation required by the gripping part 6a.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. FIG. 9A is a cross-sectional view of one of the two gripping portions constituting the gripping portion 6 of the manipulator 1 provided with the encoder according to the third embodiment.

  One gripping part 6a in the present embodiment includes a box-shaped gripping part main body 202 including a protruding part 202b for gripping a treatment instrument and the like together with the other gripping part. Further, an encoder scale 150 is formed integrally with the grip portion main body 202 from the inner wall on the upper side of the grip portion main body 202 in the drawing. The gripper body 202 has an opening at the bottom. The optical fiber 7 a is inserted from the manipulator body 201 through the opening so as to face the pattern of the encoder scale 150. The optical fibers 7a and 7b are fixed through the manipulator 201, and the gap between the optical fibers 7a and 7b and the manipulator main body 201 is blocked with an adhesive or the like to prevent intrusion of liquid or the like from the manipulator 201 side. It is out. As the adhesive used here, an autoclave-resistant adhesive that can maintain the adhesion even when the manipulator is sterilized in an autoclave is used.

  In addition, a rotating shaft 202 a is formed in the gripping part main body 202, and the rotating shaft 202 a is rotatably attached to the manipulator body 201 through a hole formed in the manipulator body 201. With such a configuration, the gripper body 202 rotates with the encoder scale 150 about the rotation shaft 202a with respect to the manipulator body 201. Here, the rotation angle of the gripper body 202 with respect to the manipulator body 201 is assumed to be about ± 90 degrees.

  Here, in this embodiment, as shown in FIG. 9A, a partition wall 204 is provided to the manipulator body 201 along the inner wall of the gripper body 202 so as to cover the encoder scale 150 and the optical fibers 7a and 7b. The partition wall 204 is bonded to the upper inner wall of the gripper body 202 and the manipulator body 201, respectively. The partition wall 204 is formed of a member having heat resistance and stretchability of about 120 degrees. In the present embodiment, the partition wall 204 is made of, for example, silicone rubber, and the partition wall 204 has a bellows structure so that the partition wall 204 has elasticity. FIG. 9B shows an external appearance when the partition wall 204 is provided on the gripping part main body 202. As shown in FIG. 9B, the partition 204 is provided from the upper inner wall of the gripper main body 202, so that the expansion and contraction amount of the partition 204 can be reduced as compared with the structure of the first embodiment shown in FIG. It can be increased. Thereby, it is easier to secure the degree of freedom of rotation required by the gripping portion 6a than in the first embodiment.

  Here, considering the application of the manipulator 1 as a gripping portion, the rotational freedom degree of the gripping portion main body 202 may be about ± 90 degrees. For this reason, it is good also as a structure like the modification demonstrated below. FIG. 10A is a cross-sectional view of one of the two gripping portions constituting the gripping portion 6 of the manipulator 1 provided with the encoder according to the modification of the third embodiment. One gripping portion 6a in this modification includes a box-shaped gripping portion main body 202 including a protruding portion 202b for gripping a treatment instrument and the like together with the other gripping portion. An encoder scale 150 is formed integrally with the grip portion main body 202 from the inner wall on the right side of the grip portion main body 202 in the drawing. The gripper body 202 has an opening at the bottom. The optical fibers 7 a and 7 b are inserted from the manipulator body 201 through the opening so as to face the pattern of the encoder scale 150. The optical fibers 7a and 7b are fixed through the manipulator 201, and the gap between the optical fibers 7a and 7b and the manipulator main body 201 is blocked with an adhesive or the like to prevent intrusion of liquid or the like from the manipulator 201 side. It is out. As the adhesive used here, an autoclave-resistant adhesive that can maintain the adhesion even when the manipulator is sterilized in an autoclave is used.

  In addition, a rotating shaft 202 a is formed in the gripping part main body 202, and the rotating shaft 202 a is rotatably attached to the manipulator body 201 through a hole formed in the manipulator body 201. With such a configuration, the gripper body 202 rotates with the encoder scale 150 about the rotation shaft 202a with respect to the manipulator body 201.

  In the present modification, a semicircular partition 204 is formed so as to cover substantially the entire surface of the opening provided at the lower portion of the gripping part main body 202 (other than the part through which the optical fibers 7a and 7b are inserted). The partition wall 204 is formed of a member having heat resistance and stretchability of about 120 ° C. In this modification, the partition wall 204 is made of, for example, silicone rubber, and the partition wall 204 has a bellows structure, thereby forming the partition wall 204. Here, in this modification, when the gripping portion 6a is rotated by +90 degrees or -90 degrees, the partition wall 204 is extended to twice that when the gripping portion 6a is not rotated. It has become.

  FIG. 10B shows an external appearance when the partition wall 204 is provided on the gripping part main body 202. 10B, the degree of freedom of rotation required by the gripping portion 6a can be easily secured by providing the partition wall 204 with a semicircular partition wall 204 from the bottom of the gripping portion main body 202. Moreover, in this modification, the rigidity of the rotating part is improved as compared with the third embodiment by configuring the partition wall 204 by an angle necessary for the rotation of the gripping part 6a.

  In the example of FIG. 10, the partition wall 204 is semicircular, but the center angle of the sector-shaped partition wall 204 may be 180 degrees or more as shown in FIG. 11. If it does in this way, the rotation freedom degree which grip part 6a requires can be ensured reliably.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described. FIG. 12A is a cross-sectional view of one of the two gripping portions constituting the gripping portion 6 of the manipulator 1 provided with the encoder according to the fourth embodiment.

  The grasping part 6a in the present embodiment includes a grasping part main body 202 including a protruding part 202b for grasping a treatment instrument and the like together with the other grasping part. A rotary shaft 202a is formed on the gripper body 202, and an encoder scale 150 is formed integrally with the rotary shaft 202a. The rotating shaft 202a is attached to the inner wall of the manipulator body 201 as a case portion formed so as to cover the encoder scale 150 from the upper part to the lower part. With such a configuration, the gripper body 202 rotates with the encoder scale 150 about the rotation shaft 202a with respect to the manipulator body 201. Here, the rotation angle of the gripper body 202 with respect to the manipulator body 201 is assumed to be about ± 90 degrees.

  Further, as shown in FIG. 12A, the optical fiber 7 a is inserted from the manipulator body 201 so as to face the pattern of the encoder scale 150. The optical fibers 7a and 7b are fixed through the manipulator 201, and the gap between the optical fibers 7a and 7b and the manipulator main body 201 is blocked with an adhesive or the like to prevent intrusion of liquid or the like from the manipulator 201 side. It is out.

  Further, an opening is formed on the surface of the manipulator body 201 facing the gripping part body 202, and a rubber cover 204b is bonded so as to cover the opening, so that the gripping part body 202 and the encoder scale 150 are partitioned. Yes. The rubber cover 204b is made of a heat-resistant member such as silicone rubber. As shown in FIG. 12B, the rubber cover 204b has an opening 302 having a diameter into which the rotation shaft 202a can be inserted at the center, and has a first base 301 having a circular shape. A tubular portion 303 having a diameter into which the rotating shaft 202a can be inserted is bonded to the first base portion 301. Further, the tubular portion 303 has an opening 302 having a diameter into which the rotating shaft 202a can be inserted, and a second base portion 304 having a circular shape with the same diameter as the opening formed in the manipulator body 201 is bonded thereto. .

  The rotating shaft 202a is inserted into the tubular portion 303 of the rubber cover 204b having such a configuration, the first base portion 301 is bonded to the grip portion main body 202, and the second base portion 304 is the manipulator main body. Bonded to 201. As the adhesive used here, an autoclave-resistant adhesive that can maintain the adhesion even when the manipulator is sterilized in an autoclave is used.

  As described above, according to the fourth embodiment of the present invention, the encoder cover 150 and the tip ends of the optical fibers 7a and 7b can be completely shielded and sealed from the outside by the rubber cover 204b. Even if the gripping part 6a enters the liquid, the liquid does not adhere to the encoder scale 150 and the tip of the optical fiber 7a. It is also possible to ensure the degree of freedom of rotation required by the gripping part 6a.

  Although the present invention has been described above based on the embodiments, the present invention is not limited to the above-described embodiments, and various modifications and applications are naturally possible within the scope of the gist of the present invention. For example, in each of the above-described embodiments, a configuration in which an optical encoder is used is shown. It is applicable.

  Further, the above-described embodiments include various stages of the invention, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. For example, even if some configuration requirements are deleted from all the configuration requirements shown in the embodiment, the above-described problem can be solved, and this configuration requirement is deleted when the above-described effects can be obtained. The configuration can also be extracted as an invention.

  DESCRIPTION OF SYMBOLS 1 ... Medical manipulator (manipulator), 2 ... Tubular part, 3 ... Operation part, 5 ... Wire, 6 ... Gripping part, 7 ... Optical fiber, 10 ... Bending operation apparatus, 11 ... Drive part, 12 ... Control part, 13 DESCRIPTION OF SYMBOLS ... Operation part, 15 ... Encoder signal processing part, 16 ... Optical system transmission part, 17 ... Signal processing part, 201 ... Manipulator main body, 202 ... Gripping part main body, 202a ... Rotating shaft, 203 ... Opening, 204 ... Septum, 204a ... Rubber ring, 204b ... Rubber cover

Claims (11)

A main body having a box-shaped housing that is rotatable around a rotation axis and has an opening formed in part;
An encoder scale that is integrally formed with the inner wall of the housing and is rotatable about the rotation axis, and is formed so that a predetermined pattern is exposed through the opening;
A detection member for reading the pattern through the opening;
An elastic partition wall attached to the housing so as to seal a part of the encoder scale and the detection unit together with the housing;
A rotary encoder comprising:   The rotary encoder according to claim 1, wherein the partition wall has an extendable structure.   The rotary encoder according to claim 2, wherein the extendable structure is a bellows structure.   The rotary encoder according to any one of claims 1 to 3, wherein the partition wall is formed in a fan shape from an opening of the housing.   5. The rotary encoder according to claim 1, wherein the main body is rotatable in a direction of ± 90 degrees about the rotation axis. The predetermined pattern is composed of two types of reflecting surfaces having different reflectivities,
The rotary encoder according to claim 1, wherein the detection member includes an optical fiber that guides light to the reflection surface and guides light from the reflection surface. A main body configured to be rotatable around a rotation axis;
An encoder scale that is configured integrally with the rotating shaft and is rotatable about the rotating shaft, and in which a predetermined pattern is formed;
A detection member arranged to be able to read the pattern;
A case portion covering the encoder scale and the detection member;
An elastic partition wall attached to the case portion so as to seal the encoder scale and the detection member;
A rotary encoder comprising:   The rotary encoder according to claim 7, wherein the partition has a tubular portion into which the rotation shaft can be inserted.   The rotary encoder according to claim 7 or 8, wherein the main body is rotatable in a direction of ± 90 degrees about the rotation axis. The predetermined pattern is composed of two types of reflecting surfaces having different reflectivities,
The rotary encoder according to claim 7, wherein the detection member includes an optical fiber that guides light to the reflection surface and guides light from the reflection surface.   A medical manipulator comprising the rotary encoder according to any one of claims 1 to 10 in a grip portion.

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