JP2019005864A - Arm system, medical arm system and rotating mechanism - Google Patents

Abstract

An arm system having a wider angle range in which a joint can be rotated and being more convenient for a user is provided. A plurality of joints and a plurality of links connected by the plurality of joints, wherein at least one of the plurality of joints has a first contact portion in a part in a circumferential direction. , A rotatable movable part, a second abutting part that abuts on the first abutting part as the movable part is pivoted, and another surface facing the one surface provided with the second abutting part An intermediate body having a third abutting portion provided in a part of the circumferential direction of the movable body and being rotatable coaxially with the movable portion, and the third abutting portion according to the rotation of the intermediate body. An arm system which is a rotation mechanism including a fourth abutting portion that abuts and a fixing portion fixed in the circumferential direction. [Selection] Figure 1

Description

  The present disclosure relates to an arm system, a medical arm system, and a rotation mechanism.

  In recent years, it has become common in the medical field to use an arm system to perform work more accurately and quickly. The arm system includes a multi-link structure in which a plurality of links are connected by a plurality of joints, and can perform an accurate and quick operation by controlling the rotational driving of each joint.

  In the arm system, various medical units (also referred to as functional units) are provided at the tip of the arm in order to perform various kinds of treatment (for example, surgery or examination). For example, by providing a functional unit having an imaging function such as a microscope, an endoscope, or an imaging device at the tip of the arm, the user (practitioner) can perform various treatments while observing an image of the affected area captured by the functional unit. It can be performed.

  For example, Patent Document 1 below discloses an arm device in which a plurality of links are connected by a plurality of joints that realize a degree of freedom of 6 degrees or more. Patent Document 1 below discloses that whole body cooperative control and ideal joint control using generalized inverse dynamics are applied in drive control of the arm device.

International Publication No. 2015/046081

  Here, in the joint used in the arm system, the angle range in which the rotation is possible is controlled so as not to exceed the angle range of 0 to 360 degrees that can be detected by the encoder.

  However, when the angular range in which the joint can be rotated is controlled using a mechanical structure such as a stopper, the angular range in which the joint can be rotated is not possible because the angular range in which the stopper is provided cannot be rotated. Will be greatly limited. On the other hand, when the angle range in which the joint can be rotated is controlled using electrical control such as servo control, the rotation range of the joint cannot be controlled if power is not supplied.

  Therefore, there has been a demand for an arm system that has a wider angle range in which the joint can be rotated and is more convenient for the user (practitioner). The present disclosure proposes a new and improved arm system, medical arm system, and rotation mechanism that are more convenient for the user (operator).

  According to the present disclosure, it includes a plurality of joints and a plurality of links connected by the plurality of joints, and at least one of the plurality of joints includes a first contact portion in a part in a circumferential direction. And a movable portion that can be rotated, a second abutting portion that abuts on the first abutting portion as the movable portion rotates, and a surface on which the second abutting portion is provided. An intermediate body having a third contact portion provided in a part of the other surface in the circumferential direction and coaxially rotatable with the movable portion, and the third contact with the rotation of the intermediate body An arm system is provided that is a rotation mechanism that includes a fixing portion that has a fourth contact portion that contacts the portion and is fixed in the circumferential direction.

  In addition, according to the present disclosure, a plurality of joints and a plurality of links connected by the plurality of joints are provided, and at least one of the plurality of joints has a first contact with a part in a circumferential direction. And a movable part that can be rotated, a second contact part that contacts the first contact part as the movable part rotates, and a surface on which the second contact part is provided. An intermediate body having a third abutting portion provided on a part of the opposite other surface in the circumferential direction and rotatable coaxially with the movable portion, and the third body as the intermediate body rotates. A medical arm system is disclosed that is a rotation mechanism that includes a fourth abutting portion that abuts on the abutting portion and a fixing portion that is fixed in the circumferential direction.

  Further, according to the present disclosure, the first abutting portion is provided in a part of the circumferential direction, the movable portion that can be rotated, and the first abutting portion that abuts on the first abutting portion as the movable portion rotates. 2 abutting portions and a third abutting portion provided on a part of the circumferential surface of the other surface facing the one surface on which the second abutting portion is provided, and can be rotated coaxially with the movable portion. Provided with a rotation mechanism, and a fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate member rotates. Is done.

  According to the present disclosure, the angular range in which the joint can rotate can be expanded to 360 degrees or more while the angular range in which the joint can rotate is controlled by the mechanical structure.

  As described above, according to the present disclosure, an arm system that is more convenient for the user can be provided.

  Note that the above effects are not necessarily limited, and any of the effects shown in the present specification, or other effects that can be grasped from the present specification, together with or in place of the above effects. May be played.

It is the perspective view which showed the assembly state of the rotation mechanism which concerns on 1st Embodiment of this indication book. It is the perspective view which showed the state before the assembly of the rotation mechanism shown in FIG. It is a flowchart figure explaining the rotation operation | movement clockwise of a rotation mechanism. It is explanatory drawing which showed the change of the positional relationship accompanying rotation of the rotation mechanism of each contact part of a movable part, an intermediate body, and a fixed part. It is typical sectional drawing which shows an example of the rotation mechanism which can detect a rotation angle. It is typical sectional drawing which shows the other example of the rotation mechanism which can detect a rotation angle. It is a flowchart explaining an example of the calculation operation | movement which calculates the rotation angle in the whole rotation mechanism. It is a perspective view showing the composition of the arm system concerning a 2nd embodiment of this indication. It is the perspective view which extracted and showed the rotation mechanism from the arm system shown in FIG. It is a perspective view which shows only a movable part and an intermediate body among the rotation mechanisms shown in FIG. It is a perspective view which shows only an intermediate body and a fixing | fixed part among the rotation mechanisms shown in FIG.

  Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

The description will be made in the following order.
1. 1. First embodiment 1.1. Outline of rotating mechanism 1.2. Configuration of rotating mechanism 1.3. 1. Detection of the rotation angle of the rotation mechanism Second embodiment 3. Summary

<1. First Embodiment>
(1.1. Outline of rotating mechanism)
First, an outline of a rotation mechanism to which the technology according to the present disclosure is applied will be described. The rotating mechanism can be used as a joint for connecting links in a multi-link structure provided in an arm system, an industrial arm device, or the like. For example, the rotation mechanism connects the links so that the connected links can rotate with each other.

  Here, in the turning mechanism provided in the multi-link structure, the turnable angular range is controlled.

  For example, in a freely rotatable turning mechanism, the turning angle of the turning mechanism can be controlled by signal processing by detecting the turning angle and electrically servo-controlling it. However, in such a control, in order to detect a rotation angle exceeding 360 degrees, it is necessary to detect the number of rotations due to the rotation, so that the control becomes complicated. In addition, when power is not supplied to the control device that performs servo control, the angle range in which the rotation mechanism can be rotated is not controlled, and there is a possibility that contact and interference between the links may occur.

  On the other hand, as another method that does not use electrical servo control, it is conceivable to physically control the angle range in which the rotation mechanism can be rotated by a mechanical structure such as a stopper. However, in such control, the rotation mechanism cannot be rotated in the angle range where the stopper exists, and thus it is difficult to rotate more than 360 degrees. Further, since it is necessary to reduce the thickness of the stopper in order to widen the angle range in which the turning mechanism can turn, it is difficult to widen the turning range while maintaining the strength of the turning mechanism.

  In particular, medical arm systems require more free and complex motion than industrial arm devices that require routine movement, so there was a strong demand to expand the range of rotation of the rotation mechanism. . In the medical arm system, depending on the dominant arm of the user (operator) or the surgical field to be treated, the orientation or arrangement of the multi-link structure constituting the medical arm system may be reversed. In order to cope with such a case, there has been a demand for a rotation mechanism having a wider angle range (specifically, 360 degrees or more).

  The technology according to the present disclosure has been conceived in view of the above circumstances. The technology according to the present disclosure, which will be described in detail below, enables rotation in a wider (specifically, 360 degrees or more) angular range while controlling the angular range that can be rotated by a mechanical structure. Provided are a rotation mechanism, and an arm system and a medical arm system including the rotation mechanism.

(1.2. Configuration of rotating mechanism)
First, the configuration of the rotation mechanism according to the first embodiment of the present disclosure will be described with reference to FIGS. 1 and 2. FIG. 1 is a perspective view showing an assembled state of the rotation mechanism 10 according to the present embodiment. FIG. 2 is a perspective view showing a state before the rotation mechanism 10 shown in FIG. 1 is assembled.

  As shown in FIGS. 1 and 2, the rotation mechanism 10 includes a movable unit 100 that can rotate, an intermediate body 110 that can rotate on the same rotation axis as the movable unit 100, and a circumferential direction so as not to rotate. It is comprised by stacking | fixing the fixing | fixed part 120 fixed to.

  In the present specification, the circumferential direction represents the circumferential direction of a circle around the rotation axis of the rotation mechanism 10 (more specifically, the movable unit 100), and the radial direction refers to the circle. Represents the radial direction.

  The movable part 100 includes a movable part main body 101 and a first contact part 103. The movable part 100 has a first contact part 103 in a part in the circumferential direction, and is a rotatable member.

  The first contact portion 103 is a convex portion protruding in the radial direction from the movable portion main body 101 in a part of the angular region in the circumferential direction so as to be in contact with the second contact portion 113 of the intermediate body 110 on the side surface. Provided. The movable part main body 101 is connected to a driving device such as a motor through the openings of the intermediate body 110 and the fixed part 120 formed in a ring shape, and functions as a rotating shaft of the movable part 100. The movable part main body 101 supplies power for rotation to the movable part 100.

  The intermediate body 110 includes an intermediate body main body 111, a second contact portion 113, and a third contact portion 115. The intermediate body 110 is a member that has the second contact portion 113 and the third contact portion 115 in a part in the circumferential direction, and is rotatable on the same rotation axis as the movable portion 100.

  The intermediate body 111 is provided in a ring shape having an opening at the center. The second contact portion 113 is provided so as to protrude from one main surface of the intermediate body 111. Specifically, the second contact portion 113 is provided as a convex portion on one main surface of the intermediate body 111 on the side where the first contact portion 103 is provided, and is movable. As the portion 100 rotates, it abuts against the side surface of the first abutting portion 103. On the other hand, the third contact portion 115 is provided so as to protrude from the other main surface of the intermediate body 111. Specifically, the third contact portion 115 is provided as a convex portion on a part of the circumferential direction on the other main surface of the intermediate body 111 on the side where the fourth contact portion 123 is provided. With the rotation of 110, the side surface of the fourth contact portion 123 comes into contact. Note that one main surface of the intermediate body 111 is a surface facing the other main surface of the intermediate body 110. For example, the second contact portion 113 and the third contact portion 115 may be provided at positions that are point-symmetric with respect to the rotation axis of the intermediate body 110.

  The fixing part 120 includes a fixing part main body 121 and a fourth contact part 123. The fixed portion 120 is a member that has a fourth contact portion 123 in a part in the circumferential direction and is fixed in the circumferential direction so as not to rotate.

  The fixing portion main body 121 is provided in a ring shape having an opening at the center. However, the fixed portion main body 121 is smaller than the intermediate body main body 111 and is provided in a ring shape with an outer diameter that does not contact the third contact portion 115. The fourth contact portion 123 is provided to protrude from the side surface in the circumferential direction of the fixed portion main body 121. Specifically, the fourth contact portion 123 is provided as a convex portion at a part of the side surface in the circumferential direction of the fixed portion main body 121 and contacts the side surface of the third contact portion 115 of the rotating intermediate body 110. It is provided to touch. As a result, the third contact portion 115 provided so as to protrude toward the fixed portion 120 does not contact the fixed portion main body 121 but only contacts the fourth contact portion 123 by the rotation of the intermediate body 110. become.

  Next, the rotation operation of the rotation mechanism 10 having the above structure will be described with reference to FIGS. Specifically, the case where the rotation mechanism 10 rotates clockwise from the state shown in FIG. 1 will be described. FIG. 3 is a flowchart for explaining a clockwise rotation operation of the rotation mechanism 10. FIG. 4 is an explanatory diagram showing a change in the positional relationship accompanying the rotation of the rotation mechanism 10 of each contact portion of the movable unit 100, the intermediate body 110, and the fixed unit 120. The counterclockwise rotation is substantially the same as the clockwise rotation except that the rotation direction is different, and thus the description thereof is omitted.

  As shown in FIGS. 3 and 4, first, the movable unit 100 rotates clockwise about the movable unit main body 101 as a rotation axis (S101). The intermediate body 110 does not rotate until the first contact portion 103 contacts the second contact portion 113. In addition, since the fixing | fixed part 120 is being fixed to the circumferential direction, it does not rotate. Thereafter, the first contact portion 103 of the movable portion 100 contacts the second contact portion 113 of the intermediate body 110 by the rotation of the movable portion 100 (S103). Since the intermediate body 110 can be rotated about the same rotation axis as that of the movable portion 100, the intermediate body 110 is rotated by the rotation of the movable portion 100 after the second contact portion 113 contacts the first contact portion 103. Along with the movement, it rotates clockwise together with the movable part 100 (S105). Thereafter, the third contact portion 115 of the intermediate body 110 contacts the fourth contact portion 123 of the fixed portion 120 by the rotation of the intermediate body 110 (S107). At this time, the first contact portion 103 and the second contact portion 113 contact each other in the clockwise direction, and the third contact portion 115 and the fourth contact portion 123 contact each other. Since the fixing portion 120 is fixed in the circumferential direction so as not to rotate, the rotation mechanism 10 stops rotating clockwise.

  Therefore, the angle range in which the entire rotation mechanism 10 according to this embodiment can be rotated is the sum of the angle range in which the movable unit 100 can rotate and the angle range in which the intermediate body 110 can rotate. . According to this, the rotation mechanism 10 according to the present embodiment can set a rotatable angle range to 360 degrees or more.

  Specifically, the angle range in which the rotation mechanism 10 can rotate is 720 degrees, and the first contact portion 103, the second contact portion 113, the third contact portion 115, and the fourth contact portion 123 are rotated. It is obtained by subtracting the angle corresponding to the thickness in the circumferential direction. Therefore, even if the rotation mechanism 10 realizes a rotation range of 360 degrees or more, the mechanical structure (the first contact portion 103, the second contact portion 113, the third contact portion) controls the rotation range. It is possible to give the portion 115 and the fourth contact portion 123) a thickness that can ensure sufficient strength.

  According to the rotation mechanism 10 according to the present embodiment, in the arm system, the user can move the multi-link structure of the arm system more freely, so that the user's work efficiency can be improved. In addition, according to the rotation mechanism 10 according to the present embodiment, even in the arm system, even if the rotatable range of the rotation mechanism 10 is arranged symmetrically to correspond to the left and right dominant arms of the user. Each rotatable range can be 180 degrees or more. According to such an arm system, the same workability can be maintained even when the orientation or arrangement of the multi-link structure is reversed.

(1.3. Detection of rotation angle of rotation mechanism)
Next, a configuration for detecting the rotation angle of the rotation mechanism 10 according to the present embodiment will be described with reference to FIGS. The rotation mechanism 10 according to this embodiment can calculate an absolute rotation angle of the entire rotation mechanism 10 by including a detection unit described below.

  FIG. 5 is a schematic cross-sectional view showing an example of a turning mechanism 10A capable of detecting a turning angle, and FIG. 6 is a schematic view showing another example of a turning mechanism 10B capable of detecting a turning angle. FIG. In FIGS. 5 and 6, for ease of viewing, the movable unit 100, the intermediate body 110, and the fixed unit 120 are illustrated with a space therebetween.

  As shown in FIG. 5, the rotation mechanism 10 </ b> A capable of detecting the rotation angle further includes a detection unit 140 that detects the rotation state of each of the movable unit 100 and the intermediate body 110 in the fixed unit 120.

  Specifically, the detection unit 140 is an angle sensor that detects the rotation angles of the movable unit 100 and the intermediate body 110. For example, the detection unit 140 is provided in the fixed unit 120 fixed in the circumferential direction so as not to rotate. However, the detection part 140 should just be provided in the appropriate position of the fixing | fixed part 120 according to the detection method of each rotation angle of the movable part 100 and the intermediate body 110. FIG. In the detection unit 140, one angle sensor may detect the rotation angles of the movable unit 100 and the intermediate body 110, and a plurality of angle sensors respectively detect the rotation angles of the movable unit 100 and the intermediate body 110. It may be detected.

  The detection unit 140 may be any known angle sensor. For example, the detection unit 140 may be a conductive encoder, an optical encoder, a magnetic encoder, and a capacitance. An angle sensor that can measure the rotational angle or rotational displacement of a target, such as a capacitive encoder, can be used.

  Alternatively, as illustrated in FIG. 6, the rotation mechanism 10 </ b> B capable of detecting the rotation angle includes a first detection unit 141 and a first detection unit that detect a rotation state of each of the movable unit 100 and the intermediate body 110. 2 detector 143 is further provided.

  Specifically, the first detection unit 141 is an angle sensor that detects the rotation angle of the movable unit 100, and the second detection unit 143 includes in which angle range the rotation angle of the intermediate body 110 is included. Is a switch that outputs. For example, the first detection unit 141 and the second detection unit 143 are respectively provided in the fixed unit 120 fixed in the circumferential direction so as not to rotate. The 1st detection part 141 and the 2nd detection part 143 may be provided in the same position, and may be provided in a different position. That is, the 1st detection part 141 and the 2nd detection part 143 should just be provided in the appropriate position of the fixing | fixed part 120 according to each detection method.

  The first detector 141 may be any known angle sensor that can measure the target rotation angle or the amount of rotation displacement. For example, the first detection unit 141 may be a conductive encoder, an optical type, or the like. ) Angle sensors such as encoders, magnetic encoders, and capacitive encoders can be used.

  As the second detection unit 143, any switch can be used as long as it is on / off controlled by the presence or absence of an object or position displacement. For example, a conductive switch, an optical switch, a magnetic switch, etc. Switches such as a magnetic switch, a capacitive switch, and a mechanical switch can be used. In addition, a sensor that can detect which angle range the rotation angle of the intermediate body 110 is included in (except for a sensor that can output the rotation angle of the intermediate body 110 with a specific numerical value) is also the second detection unit. 143.

  Next, with reference to FIG. 7, based on the information detected by the detection unit 140 (or the first detection unit 141 and the second detection unit 143), an arithmetic operation for calculating the rotation angle of the entire rotation mechanism 10A. Will be described. FIG. 7 is a flowchart for explaining an example of a calculation operation for calculating the rotation angle of the entire rotation mechanism 10A.

  The calculation operation for calculating the rotation angle of the entire rotation mechanism 10A based on the information detected by the detection unit 140 or the like includes, for example, an arithmetic processing unit such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). It can be executed by a calculation unit (not shown). The calculation unit may further include various memory devices such as a ROM (Read Only Memory) and a RAM (Random Access Memory).

  As shown in FIG. 7, first, the detection unit 140 detects the rotation angle of the movable unit 100 and the rotation angle of the intermediate body 110 (S201). Subsequently, an angle range including the rotation angle of the entire rotation mechanism 10A is determined based on the rotation angle of the movable unit 100 and the rotation angle of the intermediate body 110 (S203). Thereafter, the rotation angle of the entire rotation mechanism 10A is calculated by calculating the rotation angle of the movable unit 100 based on the determined angle range (S205).

  In the rotation mechanism 10B shown in FIG. 6, since the second detection unit 143 detects which angle range the rotation angle of the intermediate body 110 is included in, the operations of S203 and S205 are performed. The rotation angle of the entire rotation mechanism 10B can be calculated.

  Furthermore, with a specific example, a method for calculating the rotation angle of the entire rotation mechanism 10A based on information detected by the detection unit 140 (or the first detection unit 141 and the second detection unit 143) will be described. . However, the following angles are assumed to indicate absolute angles with respect to a predetermined reference direction.

  Specifically, the rotation angle of the movable unit 100 detected by the detection unit 140 is X degrees, and the rotation angle of the intermediate body 110 detected by the detection unit 140 is Z degrees. Further, it is assumed that the rotation angle at which the movable unit 100 contacts the intermediate body 110 is Y degrees, and the rotation angle at which the intermediate body 110 contacts the fixed section 120 is U degrees. At this time, when the relational expression of each of the above parameters satisfies the following expression 1 or 2, the rotation angle of the entire rotation mechanism 10A is in the first half of the angle range that can be rotated by the entire rotation mechanism 10A. It can be determined that it is included.

X + n × 360−Z = Y Formula 1
Z = U ... Formula 2

  On the other hand, when the relational expression of each parameter satisfies the following expression 3 or 4, the rotation angle of the entire rotation mechanism 10A is included in the latter half of the angle range that can be rotated by the entire rotation mechanism 10A. Can be determined.

Z−X = U−Y Equation 3
Z = 0 Formula 4

  Specifically, for example, the angle range in which the entire rotation mechanism 10A can be rotated is 0 to 500 degrees, Y and U are 250 degrees, X is 50 degrees, and Z is 160 degrees. Suppose that In this case, since each of the above parameters satisfies the above Equation 1, the rotation angle of the entire rotation mechanism 10A is included in the range of 250 to 500 degrees in the latter half of the rotatable angle range. Can be judged. Therefore, the rotation mechanism 10A can calculate that the rotation angle of the entire rotation mechanism 10A is 410 degrees obtained by adding 360 degrees (one turn) to X degrees.

  For example, the angle range in which the entire rotation mechanism 10A can be rotated is 0 to 450 degrees, Y is 200 degrees, U is 250 degrees, X is 50 degrees, and Z is 210 degrees. And In this case, since each of the above parameters satisfies the above Equation 1, the rotation angle of the entire rotation mechanism 10A is included in the range of 225 degrees to 450 degrees in the latter half of the rotatable angle range. Can be judged. Therefore, the rotation mechanism 10A can calculate that the rotation angle of the entire rotation mechanism 10A is 410 degrees obtained by adding 360 degrees (one turn) to X degrees.

  For example, the angle range in which the entire rotation mechanism 10A can be rotated is 0 to 450 degrees, Y is 200 degrees, U is 250 degrees, X is 50 degrees, and Z is 250 degrees. And In this case, since each of the above parameters satisfies the above Equation 2, the rotation angle of the entire rotation mechanism 10A is included in the range of 225 degrees to 450 degrees in the latter half of the rotatable angle range. Can be judged. Therefore, the rotation mechanism 10A can calculate that the rotation angle of the entire rotation mechanism 10A is 410 degrees obtained by adding 360 degrees (one turn) to X degrees.

  For example, the angle range in which the entire rotation mechanism 10A can be rotated is 0 degree to 450 degrees, Y is 200 degrees, U is 250 degrees, X is 50 degrees, and Z is 100 degrees. And In this case, since each of the above parameters satisfies the above Equation 3, the rotation angle of the entire rotation mechanism 10A is included in the range of 0 to 225 degrees in the first half of the rotatable angle range. Can be judged. Therefore, the rotation mechanism 10A can calculate that the rotation angle of the entire rotation mechanism 10A is 50 degrees, which is the same as X degrees.

  For example, the angle range in which the entire rotation mechanism 10A can be rotated is 0 to 450 degrees, Y is 200 degrees, U is 250 degrees, X is 50 degrees, and Z is 0 degrees. And In this case, since each of the above parameters satisfies the above equation 4, the rotation angle of the entire rotation mechanism 10A is included in the range of 0 to 225 degrees in the first half of the rotatable angle range. Can be judged. Therefore, the rotation mechanism 10A can calculate that the rotation angle of the entire rotation mechanism 10A is 50 degrees, which is the same as X degrees.

<2. Second Embodiment>
Subsequently, the configuration of the arm system according to the second embodiment of the present disclosure will be described with reference to FIGS. 8 to 11. FIG. 8 is a perspective view showing a configuration of the arm system 1 according to the present embodiment.

  As shown in FIG. 8, the arm system 1 includes a base unit 200, a multi-link structure 210, and a functional unit 230.

  The base unit 200 is a base that supports the entire arm system 1.

  The multi-link structure 210 is composed of a plurality of links and a plurality of joints connecting the plurality of links to each other, and a functional unit at one end thereof

  Specifically, the links 211, 212, 213, 214, 215, and 216 are rod-shaped members that extend in one direction. One end of the link 211 is connected to the base part 200 by the joint 220, and the other end of the link 211 is connected to one end of the link 212 by the joint 221. The other end of the link 212 is connected to one end of the link 213 by the joint 222, and the other end of the link 213 is connected to one end of the link 214 by the joint 223. The other end of the link 214 is connected to one end of the link 215 by the rotation mechanism 30, and the other end of the link 215 is connected to one end of the link 216 by the joint 225. Thus, the multi-link structure 210 is formed as an arm shape extending from the base portion 200 by connecting a plurality of link ends to each other by a plurality of joints.

  The functional unit 230 is connected to the link 216 at the tip of the multi-link structure 210. The functional unit 230 is controlled in position, posture, and the like by controlling the driving of the multi-link structure 210. The functional unit 230 may be, for example, various medical instruments, or an imaging device that images a surgical field that is a treatment site of a patient. According to the arm system 1 according to the present embodiment, it is possible to support medical treatment such as treatment.

  For example, as various medical instruments, surgical instruments such as scalpels, scissors and forceps, endoscopes, and microscopes can be exemplified. More specifically, as various medical instruments, for example, a cylindrical opening instrument called a trocar used in endoscopic surgery, an endoscope barrel, an insufflation tube, an energy treatment instrument, forceps, an insulator, and A retractor etc. can be illustrated. The energy treatment tool is a treatment tool that performs tissue incision and peeling, blood vessel sealing, or the like by high-frequency current or ultrasonic vibration.

  Here, the rotation mechanism 30 may be the rotation mechanism 10 according to the first embodiment of the present disclosure. The arm system 1 can perform more free driving by applying the rotation mechanism 10 according to the first embodiment of the present disclosure to at least one of the joints.

  Next, the configuration of the rotation mechanism 30 will be described with reference to FIGS. FIG. 9 is a perspective view showing the rotation mechanism 30 extracted from the arm system shown in FIG. 10 is a perspective view showing only the movable part 300 and the intermediate body 310 in the rotating mechanism 30 shown in FIG. 9, and FIG. 11 is an intermediate body 310 and the fixing part 320 in the rotating mechanism 30 shown in FIG. It is a perspective view which shows only.

  As shown in FIG. 9, the rotation mechanism 30 is configured by stacking a movable part 300, an intermediate body 310, and a fixed part 320. Similar to the first embodiment, the movable part 300 is provided so as to be rotatable about a rotation axis extending in the stacking direction of the intermediate body 310 and the fixed part 320. The intermediate body 310 is provided so as to be rotatable around the same rotation axis as that of the movable portion 300, and the fixed portion 320 is provided fixed in the circumferential direction so as not to rotate.

  Specifically, as shown in FIG. 10, the movable part 300 includes a movable part main body 301 and a first contact part 303. The movable part main body 301 is provided through each opening of the intermediate body 310 and the fixed part 320 formed in a ring shape, and functions as a rotating shaft of the movable part 300. The first contact portion 303 is provided as a convex portion on the surface of the movable portion main body 301 that is in contact with the intermediate body 310. As shown in FIG. 10, a plurality of the first contact portions 303 may be provided, but it is sufficient that at least one first contact portion 303 is provided.

  As shown in FIGS. 10 and 11, the intermediate body 310 includes an intermediate body 311, a second contact portion 313, and a third contact portion 315. The intermediate body 311 is provided in a ring shape having an opening in the center, and the movable part body 301 penetrates through the opening in the center. The second contact portion 313 is provided in the intermediate body 311 as an opening having a shape along a trajectory along which the first contact portion 303 moves as the movable portion 300 rotates. The third contact portion 315 is provided as a convex portion on the main surface of the intermediate body 311 in contact with the fixed portion 320.

  The first contact portion 303 and the second contact portion 313 come into contact with each other in the radial direction when the movable portion 300 rotates with respect to the intermediate body 310. Thereby, the intermediate body 310 can rotate together with the rotation of the movable portion 300 after the first contact portion 303 and the second contact portion 313 contact each other.

  As shown in FIG. 11, the fixing portion 320 includes a fixing portion main body 321 and a fourth contact portion 323. The fixed portion main body 321 is provided in a ring shape having an opening in the center, and the movable portion main body 301 penetrates through the opening in the center. The fourth abutting portion 323 is provided on the same circumference as the third abutting portion 315 as a convex portion protruding from the side surface in the circumferential direction in the opening of the fixed portion main body 321.

  Since the third abutting portion 315 and the fourth abutting portion 323 are provided on the same circumference, the third abutting portion 315 and the fourth abutting portion 323 have a mutual diameter due to the rotation of the intermediate body 310. Directional side abuts. Thereby, the intermediate body 310 stops rotating by the third contact portion 315 and the fourth contact portion 323 being in contact with each other.

  The turning mechanism 30 according to the second embodiment configured as described above can perform the same turning operation as the turning mechanism 10 according to the first embodiment.

  Specifically, first, the movable unit 300 rotates about the movable unit main body 301 as a rotation axis, so that the first contact unit 303 contacts the inner surface of the opening of the second contact unit 313. Since the intermediate body 310 is rotatable with the same rotation axis as the movable part 300, after the first contact part 303 contacts the inner surface of the opening of the second contact part 313, the intermediate body 310 is As the movable part 300 rotates, it rotates together with the movable part 300. Thereafter, the third contact portion 315 of the intermediate body 310 contacts the side surface of the fourth contact portion 323 of the fixing portion 320 by the rotation of the intermediate body 310. Since the fixing portion 320 is fixed in the circumferential direction so as not to rotate, the rotation mechanism 30 thereby stops the rotation.

  Therefore, even in the arm system 1 and the rotation mechanism 30 according to the second embodiment, the angle range in which the rotation is possible is 360 degrees or more, similarly to the rotation mechanism 10 according to the first embodiment. Is possible. Therefore, since the arm system 1 and the rotation mechanism 30 according to the second embodiment can widen the angle range in which the arm system 1 and the rotation mechanism 30 can rotate, convenience is improved by improving the work efficiency of the user (practitioner). Can be improved.

<3. Summary>
As described above, the rotation mechanism according to an embodiment of the present disclosure controls a wider angle range (specifically, 360 degrees or more) while controlling a range of angles that can be rotated by a mechanical structure. Can be rotated. Therefore, according to the rotation mechanism according to an embodiment of the present disclosure, the arm system 1 can be driven more freely, so that the work efficiency and convenience of the user (practitioner) can be improved.

  Moreover, according to the rotation mechanism which concerns on one Embodiment of this indication, the rotation in a wider angle range is attained, maintaining the intensity | strength of the mechanical structure which controls the angle range which can be rotated. Furthermore, according to the rotation mechanism according to an embodiment of the present disclosure, it is possible to rotate in a wider (specifically, 360 degrees or more) angular range, and absolute even in an angular range of 360 degrees or more. It is possible to detect the rotation angle.

  The rotation mechanism according to an embodiment of the present disclosure can be applied to, for example, a medical arm system. However, the technology according to the present disclosure is not limited to this, and can be applied to an industrial arm device such as a vertical articulated arm or a horizontal articulated arm. For example, the rotation mechanism according to each embodiment of the present disclosure can also be applied to an arm device for pick-and-place use in which members having arbitrary shapes arranged separately are taken out and then arranged regularly. .

  The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that it belongs to the technical scope of the present disclosure.

  Further, the effects described in the present specification are merely illustrative or exemplary and are not limited. That is, the technology according to the present disclosure can exhibit other effects that are apparent to those skilled in the art from the description of the present specification in addition to or instead of the above effects.

The following configurations also belong to the technical scope of the present disclosure.
(1)
Multiple joints,
A plurality of links connected by the plurality of joints;
With
At least one of the plurality of joints is
A movable part having a first abutting part in a part of the circumferential direction and rotatable;
The second abutting portion that abuts on the first abutting portion with the rotation of the movable portion, and the other surface facing the one surface on which the second abutting portion is provided are provided in a part in the circumferential direction. An intermediate body that has a third contact portion and is rotatable coaxially with the movable portion;
A fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate body rotates;
An arm system that is a rotation mechanism comprising:
(2)
The said rotation mechanism is an arm system as described in said (1) further provided with the detection part which detects the rotation condition of each of the said movable part and the said intermediate body.
(3)
The arm system according to (2), further including a calculation unit that calculates a rotation angle of the entire rotation mechanism based on the detected rotation states of the movable unit and the intermediate body.
(4)
The arm system according to (3), wherein a rotation angle of the entire rotation mechanism is 360 degrees or more.
(5)
The said detection part is an arm system as described in any one of said (2)-(4) containing the angle sensor which detects each rotation angle of the said movable part and the said intermediate body.
(6)
The detection unit according to any one of (2) to (4), including an angle sensor that detects a rotation angle of the movable unit and a switch that switches an output based on the rotation angle of the intermediate body. Arm system.
(7)
The arm system according to any one of (1) to (6), wherein the rotation mechanism is configured by stacking the fixed portion, the intermediate body, and the movable portion.
(8)
The intermediate body and the fixing portion have a ring shape,
The said movable part is an arm system as described in said (7) which has the rotating shaft which penetrates the said ring-shaped opening, and the said 1st contact part which protruded to radial direction.
(9)
The arm system according to (8), wherein the second contact portion and the third contact portion are convex portions protruding in the axial direction of the rotation shaft.
(10)
The arm system according to (9), wherein the fourth contact portion is a convex portion protruding in a radial direction.
(11)
The plurality of joints and the plurality of links constitute a multi-link structure,
The arm system according to any one of (1) to (10), wherein a tip of the multi-link structure is provided so as to hold a functional unit.
(12)
The arm system according to (11), further including the functional unit.
(13)
Multiple joints,
A plurality of links connected by the plurality of joints;
With
At least one of the plurality of joints is
A movable part having a first abutting part in a part of the circumferential direction and rotatable;
The second abutting portion that abuts on the first abutting portion with the rotation of the movable portion, and the other surface facing the one surface on which the second abutting portion is provided are provided in a part in the circumferential direction. An intermediate body that has a third contact portion and is rotatable coaxially with the movable portion;
A fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate body rotates;
A medical arm system, which is a rotation mechanism comprising:
(14)
A movable part having a first abutting part in a part of the circumferential direction and rotatable;
The second abutting portion that abuts on the first abutting portion with the rotation of the movable portion, and the other surface facing the one surface on which the second abutting portion is provided are provided in a part in the circumferential direction. An intermediate body that has a third contact portion and is rotatable coaxially with the movable portion;
A fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate body rotates;
A rotation mechanism comprising:

DESCRIPTION OF SYMBOLS 1 Arm system 10, 10A, 10B, 30 Rotation mechanism 100 Movable part 101 Movable part main body 103 1st contact part 110 Intermediate body 111 Intermediate body main body 113 2nd contact part 115 3rd contact part 120 Fixed part 121 Fixed Part main body 123 fourth contact part 140 detection part 141 first detection part 143 second detection part 200 base part 210 multi-link structure 230 functional unit

Claims (14)

Multiple joints,
A plurality of links connected by the plurality of joints;
With
At least one of the plurality of joints is
A movable part having a first abutting part in a part of the circumferential direction and rotatable;
The second abutting portion that abuts on the first abutting portion with the rotation of the movable portion, and the other surface facing the one surface on which the second abutting portion is provided are provided in a part in the circumferential direction. An intermediate body that has a third contact portion and is rotatable coaxially with the movable portion;
A fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate body rotates;
An arm system that is a rotation mechanism comprising:   The arm system according to claim 1, wherein the rotation mechanism further includes a detection unit that detects a rotation state of each of the movable unit and the intermediate body.   The arm system according to claim 2, further comprising a calculation unit that calculates a rotation angle of the entire rotation mechanism based on the detected rotation states of the movable unit and the intermediate body.   The arm system according to claim 3, wherein a rotation angle of the entire rotation mechanism is 360 degrees or more.   The arm system according to claim 2, wherein the detection unit includes an angle sensor that detects a rotation angle of each of the movable unit and the intermediate body.   The arm system according to claim 2, wherein the detection unit includes an angle sensor that detects a rotation angle of the movable unit and a switch that switches an output based on the rotation angle of the intermediate body.   The arm system according to claim 1, wherein the rotation mechanism is configured by stacking the fixed portion, the intermediate body, and the movable portion. The intermediate body and the fixing portion have a ring shape,
The arm system according to claim 7, wherein the movable portion includes a rotation shaft that penetrates the ring-shaped opening and the first contact portion that protrudes in a radial direction.   The arm system according to claim 8, wherein the second contact portion and the third contact portion are convex portions protruding in an axial direction of the rotation shaft.   The arm system according to claim 9, wherein the fourth contact portion is a convex portion protruding in a radial direction. The plurality of joints and the plurality of links constitute a multi-link structure,
The arm system according to claim 1, wherein a tip of the multi-link structure is provided so as to hold a functional unit.   The arm system according to claim 11, further comprising the functional unit. Multiple joints,
A plurality of links connected by the plurality of joints;
With
At least one of the plurality of joints is
A movable part having a first abutting part in a part of the circumferential direction and rotatable;
The second abutting portion that abuts on the first abutting portion with the rotation of the movable portion, and the other surface facing the one surface on which the second abutting portion is provided are provided in a part in the circumferential direction. An intermediate body that has a third contact portion and is rotatable coaxially with the movable portion;
A fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate body rotates;
A medical arm system, which is a rotation mechanism comprising: A movable part having a first abutting part in a part of the circumferential direction and rotatable;
The second abutting portion that abuts on the first abutting portion with the rotation of the movable portion, and the other surface facing the one surface on which the second abutting portion is provided are provided in a part in the circumferential direction. An intermediate body that has a third contact portion and is rotatable coaxially with the movable portion;
A fixed portion fixed in the circumferential direction having a fourth contact portion that contacts the third contact portion as the intermediate body rotates;
A rotation mechanism comprising:

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