JP6270957B1 - Robotic operating table - Google Patents

Abstract

An object of the present invention is to prevent interference between a robot arm that operates when moving a table and medical personnel around the table. An object is a robot operating table 1 having a table 8 for placing a patient and a robot arm 2 having one end supported by a base 3 fixed to a floor FL and the other end supporting a table 8. . One end of the robot arm 2 is supported by the base 3 so as to rotate about the vertical axis Ax1. The robot arm 2 is configured to support the table 8 and move the table linearly along the horizontal plane in order to move the table 8 along the horizontal plane with translational degrees of freedom and the wrist assembly 6 that moves the table in at least two degrees of freedom. A linear movement assembly 5. [Selection] Figure 1

Description

  The present invention relates to a robot operating table including a robot arm that moves a table on which a placement object is placed.

  In the hybrid operating room, improvement in surgical results has been recognized by imaging with a fluoroscopic imaging apparatus before and during surgery. For example, an operating table 2 disclosed in Patent Document 1 is provided with casters 6. A medical worker pushes and moves the operating table 2 in anesthesia introduction, surgery, X-ray fluoroscopy, and the like.

  However, in this operating table, it is necessary to move the operating table with great care to the patient's condition and safety while paying attention to interference with various peripheral devices used for surgery and piping and cables of various peripheral devices. There is. In addition, there may be a human error that forgets to apply a brake that prevents the operating table from moving after movement.

  In this regard, Patent Document 2 and Patent Document 3 describe a technique related to a therapeutic radiation treatment system in which a table on which a patient is placed is moved by a robot arm. If this technique is applied to an operating table, the above-mentioned problems that occur when moving the operating table can be solved.

JP 2013-126454 A Special table 2008-539963 gazette JP 2009-131718 A

  However, in the techniques disclosed in Patent Document 2 and Patent Document 3, since the robot arm for moving the table is large, the space around the operating table is narrowed, which hinders medical personnel during surgery. In addition, the robot arm has a large operating range. For example, when the table is moved straight from the folded state of the arm, the arm is large and protrudes from the side of the table, causing interference with the medical staff.

  The present invention is for solving the above-described problems, and the object of the present invention is to reduce the size of the robot arm. Further, when the table is moved straight horizontally, the robot arm protrudes greatly from the side of the table. It is providing the robot operating table which can prevent that.

A robot operating table according to an aspect of the present invention for achieving the above object includes a table for placing a patient, a robot arm having one end supported by a base fixed to a floor and the other end supporting the table. The one end of the robot arm is supported by the base so as to rotate about a vertical axis, the robot arm supports the table, and the table is supported by at least two tables. A wrist assembly that moves in degrees of freedom; and a linear movement assembly configured to move linearly along a horizontal plane to move the table along a horizontal plane in translational degrees of freedom , the robot arm comprising: , when the table is located at the first position, especially to take a first position which is accommodated in the accommodating space is a space under the table To.

  According to this configuration, the patient placed on the table can be moved to a desired position by appropriately operating the linear movement assembly and the wrist assembly. This eliminates the need to manually move the operating table provided with casters as in the prior art.Therefore, there are problems such as tangling of peripheral equipment cables accompanying the movement of the operating table and forgetting to apply the operating table brake. It will be resolved. In other words, according to this configuration, the patient placed on the table can be safely moved to a desired position.

  Moreover, according to this configuration, the patient can be moved linearly in the horizontal direction by the linear movement assembly. According to this configuration, when the table on which the patient is placed is moved to a position away from the base, the robot arm positioned below the table greatly protrudes in a direction perpendicular to the moving direction of the table. There is nothing. According to this configuration, it is possible to reduce the size of the robot arm compared to the robot arm that linearly moves the table in the horizontal direction using a plurality of rotation axes.

  Therefore, according to this configuration, it is possible to prevent interference between the robot arm that operates when the table is moved and the medical staff around the table.

  Further, according to this configuration, the position and posture of the patient placed on the table can be adjusted not only by the linear movement assembly but also by the wrist assembly. Thereby, the position and posture of the patient to be processed by the medical staff, or the position and posture of the patient with respect to the inspection apparatus can be adjusted appropriately.

  ADVANTAGE OF THE INVENTION According to this invention, a robot arm can be reduced in size and interference between the robot arm which operate | moves when moving a table, and the medical worker around a table can be prevented.

It is a side view which shows typically the robot operating table which concerns on a 1st structural example. It is the schematic diagram which looked at the base side movable part, the 1st slide part, and the 1st linear motion mechanism from the bottom face side (floor side). FIG. 3A is a schematic view of one side in the width direction of the first slide part (the side on which the third motor, the speed reducer, etc. are provided) viewed from the inside of the first slide part. B) is a schematic view of the other side in the width direction of the first slide part (the side on which the third motor, the speed reducer, etc. are not provided) viewed from the inside of the first slide part. FIG. 4A is a side view of the state when the robot arm is in the first posture, and FIG. 4A shows a state where the table is located at the lowest position, and FIG. It is a figure which shows the state which has raised the table a little upwards from the lowest position. It is the model which looked at the operating room where the robot operating table was installed from the upper direction, Comprising: It is a figure which shows a mode that the table in which the patient was mounted is located in the operation position. It is the model which looked at the operating room where the robot operating table was installed from the upper direction, Comprising: It is a figure which shows a mode in the middle of the table moving from the operation position to the test | inspection position. It is the model which looked at the operating room where the robot operating table was installed from the upper direction, Comprising: It is a figure which shows the state which the patient reached | attained the test position. FIG. 8A is a side view of the robot operating table according to the second configuration example, and FIG. 8A shows a state where the table is slightly higher than the lowest position, and FIG. 8B shows the table at the lowest position. It is a figure which shows a certain state. It is a perspective view which expands and shows a part of robot operating table shown to FIG. 8 (A) and (B). It is a side view of the robot operating table which concerns on a 3rd structural example. It is a side view of the robot operating table which concerns on a 4th structural example. It is a perspective view which expands and shows a part of robot operating table shown in FIG. It is a side view of the robot operating table which concerns on a 5th structural example. FIG. 14 is a perspective view schematically showing the parallel link mechanism shown in FIG. 13. It is a schematic diagram which shows the structure of the parallel link mechanism which concerns on the other structural example.

  In the medical field, attempts are being made to improve the medical field for efficient, highly accurate treatment, inspection, and measurement while maintaining safety in various situations. In the present invention, it is proposed to promote these by introducing into a medical site a robot operating table in which a patient mounting table is supported by a robot arm having multiple degrees of freedom.

  The robot operation table according to the present configuration example and the second to fifth configuration examples described below is a hybrid operation in which, for example, X-ray imaging by an X-ray fluoroscopic imaging apparatus and surgery according to the imaging result are performed in the same room. When performing, the function can be fully exhibited. Hereinafter, an example in which the robot bed is used in the hybrid operation as described above will be described.

(First configuration example)
FIG. 1 is a side view of a robot operating table 1 according to a first configuration example of the present invention. The robot operating table 1 includes a robot arm 2, a base 3, and a table 8. In the robot operating table 1, one end of a robot arm 2 having multiple degrees of freedom (in the case of the first configuration example, 6 degrees of freedom) is rotatably supported around a vertical axis with respect to the base 3, while the robot A table 8 on which the patient P is placed is supported at the other end of the arm 2. As the table 8 used in the first configuration example, for example, a table having a length dimension of 2100 mm and a width dimension of 500 mm is used as an example. The degree of freedom of the robot arm in this configuration example and each configuration example described below includes the degree of freedom of rotation between the robot arm and the base.

  In the following, the roll axis is an axis extending in a direction parallel to the longitudinal direction of the table 8, the pitch axis is an axis extending in a direction parallel to the width direction of the table 8, and the yaw axis is both the roll axis and the pitch axis. Is defined as an axis orthogonal to

  The base 3 is a base part fixed to the floor FL. A control device 7 to be described later in detail is provided inside the base 3. The base 3 may be embedded in the floor.

  The robot arm 2 includes a base side movable portion 9, a linear movement assembly 5, and a wrist assembly 6.

The base side movable part 9 is rotatable around the first axis Ax _{1 with} respect to the base 3. 1 and 2, the base side movable portion 9 includes a substrate portion 9a formed in a disc shape when viewed from the vertical direction, and a pair of guided portions 9b fixed to the upper surface of the substrate portion 9a. have. The base side movable unit 9 is rotationally driven in the D1 direction with respect to the base 3 by a first motor 9c included in the robot arm 2.

[Configuration of linear moving assembly]
FIG. 2 is a schematic view of the first slide portion 10 and the first linear motion mechanism 11 of the linear movement assembly 5 as viewed from the bottom surface side (floor side). FIG. 3A is a schematic view of the first slide portion 10 viewed from one side in the width direction of the first slide portion 10 (the side on which the third motor 22 and the speed reducer 23 are provided) from the inside of the first slide portion 10. FIG. 3B is a schematic view of the other side in the width direction of the first slide portion 10 (the side where the third motor 22, the speed reducer 23, etc. are not provided) from the inside of the first slide portion 10. It is. In FIG. 2, the base side movable portion 9 is illustrated by a two-dot chain line. Moreover, in FIG. 3 (A) and FIG. 3 (B), the 2nd slide part 20 is illustrated with the dashed-two dotted line.

Linear movement assembly 5 so as to be rotatable first shaft Ax ₁ around vertically extending (D1 direction), is supported on the base 3 via a base-side movable portion 9. The linear movement assembly 5 is provided with the 1st slide part 10, the 1st linear motion mechanism 11, the 2nd slide part 20, and the 2nd linear motion mechanism 21 with reference to FIG.2 and FIG.3. The 1st slide part 10 is formed in the rectangular-shaped substantially box shape opened upwards.

  The first slide part 10 is provided so as to extend in the horizontal direction, and the lower part is supported by the base side movable part 9. The first slide part 10 is slidable along the longitudinal direction (D2 direction) of the slide part 10 with respect to the base side movable part 9. The first slide portion 10 slides between a state where the substrate portion 9a is located on one end side (the right end side in FIG. 1) of the slide portion 10 and a state located near the longitudinal center portion of the slide portion 10. .

  Referring to FIG. 2, the first linear motion mechanism 11 includes a second motor 12, a speed reducer 13, a screw shaft 14, a pair of bearings 15, a nut portion 16, and a pair of rails 17. ing. In the first linear motion mechanism 11, the rotational force of the output shaft of the second motor 12 is decelerated by the speed reducer 13 and then transmitted to the screw shaft 14. Then, the guided portion 9 b formed integrally with the nut portion 16 slides along the longitudinal direction of the rail 17 by a ball screw mechanism including the screw shaft 14 and the nut portion 16. Since the guided portion 9b is fixed to the substrate portion 9a, the first slide portion 10 is arranged along the longitudinal direction of the rail 17 with respect to the substrate portion 9a together with the second motor 12, the speed reducer 13, the bearing 15, and the like. Move the slide.

  Referring to FIG. 3A, the second linear motion mechanism 21 has a third motor 22, a speed reducer 23, a screw shaft 24, and a pair of bearings inside one side wall of the first slide portion 10. 25, a nut portion 26, a guided portion 27a, and a rail 28a. Moreover, the 2nd linear motion mechanism 21 has the to-be-guided part 27b and the rail 28b inside the other side wall of the 1st slide part 10 with reference to FIG. 3 (B). In the second linear motion mechanism 21, the rotational force of the output shaft of the third motor 22 is transmitted to the screw shaft 24 after being decelerated by the speed reducer 23. Then, the guided portion 27a to which the nut portion 26 is fixed slides along the rail 28a by a ball screw mechanism including the screw shaft 24 and the nut portion 26. Thereby, the second slide part 20 supported by the guided part 27a slides along the longitudinal direction of the first slide part 10 (along the D3 direction). The second slide portion 20 is also supported by a guided portion 27b that is slidable along a rail 28b provided in parallel with the rail 28a. Accordingly, the second slide portion 20 is supported by the pair of rails 28a and 28b via the pair of guided portions 27a and 27b, and slides along the pair of rails 28a and 28b.

[List assembly configuration]
Referring to FIG. 1, the wrist assembly 6 includes a linear movement assembly side movable portion 30, a fifth motor 31, a roll movable portion 32, a sixth motor 33, a pitch movable portion 34, and a seventh motor 35. It has.

The linear movement assembly side movable part 30 is a movable part provided on the most linear movement assembly 5 side in the wrist assembly 6. The linear movement assembly side movable part 30 is connected to the second slide part 20 via the first joint 36 and extends in a direction parallel to the horizontal plane and perpendicular to the longitudinal direction of the first slide part 10. it is rotatable on the second shaft Ax ₂ around (D4 direction) as the horizontal axis. That is, the wrist assembly 6 is connected to the linear movement assembly 5 via the first joint 36. The linear movement assembly side movable part 30 is rotationally driven around the second axis Ax ₂ by a fourth motor 37 provided corresponding to the first joint 36.

Roll movable portion 32 is rotated is connected via a second joint 38 to the linear movement assembly movable portion 30, the third axis Ax ₃ around which extend in a direction perpendicular to the second axis Ax ₂ (D5 direction) Is possible. The roll movable part 32 is rotationally driven around the third axis Ax ₃ by a fifth motor 31 provided corresponding to the second joint 38. Thus, the roll movable part 32 is rotationally driven, whereby the table 8 can be moved around the roll axis (roll operation).

Pitch movable unit 34 is connected to the roll moving unit 32 via a third joint 39 is rotatable with the fourth axis Ax ₄ around which extends in a direction perpendicular to the third axis Ax ₃ (D6 direction). The pitch movable part 34 is rotationally driven around the fourth axis Ax ₄ by a sixth motor 33 provided corresponding to the third joint 39. Thus, the pitch movable part 34 is rotationally driven, whereby the table 8 can be moved around the pitch axis (pitch operation).

The seventh motor 35 is provided between the pitch movable portion 34 and the portion of the table 8 on one end side in the longitudinal direction. The table 8 is rotationally driven by the seventh motor 35 about the fifth axis Ax ₅ extending in the direction orthogonal to the fourth axis Ax ₄ . Thereby, the table 8 can be moved around the yaw axis (yaw operation).

  As described above, the robot arm 2 includes the joint that can rotate or slide in the directions D1 to D7. However, since the D2 direction and the D3 direction are sliding movements on the same straight line, the robot arm 2 has 6 degrees of freedom (5 rotational degrees of freedom and 1 linear degree of freedom). The wrist assembly 6 included in the robot arm 2 can rotate the table 8 in the D5 direction (roll direction), the D6 direction (pitch direction), and the D7 direction (yaw direction). That is, the wrist assembly 6 has three degrees of freedom.

[Configuration of each motor]
Each of the motors 9c, 12, 22, 31, 33, 35, and 37 included in the robot operating table 1 according to the first configuration example includes a non-excited electromagnetic brake and a servomotor having a position detector. . According to each motor, the robot arm 2 is moved to a desired position and posture by operating the electromagnetic brake after the position detector detects that each movable part driven by each motor has reached a predetermined position and posture. Can be maintained. In addition, each motor used for the robot operating table according to the present configuration example and the second to fifth configuration examples described below operates each movable portion via a speed reducer.

  For example, a servo motor is used as the electric motor, but the electric motor is not limited to this, and other electric motors may be used. As the position detector, for example, an encoder that detects the rotation angle and direction of the motor is used. However, the position detector is not limited to this, and a resolver, a potentiometer, or the like may be used. The electromagnetic brake is preferably a non-excitation operation type electromagnetic brake, but is not limited thereto, and an excitation operation type electromagnetic brake may be used.

  If the robot operating table 1 configured as described above is used, the patient P placed on the table 8 can be moved between desired positions. Specifically, for example, as an example, it is possible to move between an examination position where examination of the patient P placed on the table 8 is performed and an operation position where the doctor performs an operation on the patient P. . By moving the patient P in the operating room using the robot operating table 1 in this manner, for example, the table can be smoothly moved without giving a large vibration to the patient as compared with the case where the patient is moved by a table with casters. In addition to being able to move, it is possible to avoid entanglement with cords attached to many medical devices existing on the floor of the medical room and tubes attached to medical equipment and rattling of the table by straddling them, Safety and movement efficiency can be improved.

[Operation of robot operating table]
4 (A) and 4 (B) are views of the state when the robot arm 2 is in the first posture as viewed from the side, and FIG. 4 (A) shows that the table 8 is at the lowest position ( FIG. 4B is a diagram showing a state where the table is raised upward from the lowest position (a state where the table is located at the raised position). The lowest position is the lowest position among the height positions with reference to the floor FL that the table 8 can take.

  4A and 4B, when the robot arm 2 is in the first posture, the robot arm 2 is accommodated in the accommodation space S that is a space under the table 8. The In other words, when the robot arm 2 is in the first posture, the robot arm 2 is hidden from view by the table 8 when viewed from above. In this state, the table 8 is located at the first position. That is, the first position is a position when the robot arm 2 is hidden from view by the table 8 when viewed from above. The first position includes any position between the lowest position (lowering position) and the raised position where the table 8 is raised from the lowest position. In the robot operating table 1, the table 8 is raised to the lowest position by appropriately driving each movable part (the second slide part 20, the linear movement assembly side movable part 30, etc.) while the table 8 is positioned at the first position. Can move up and down between positions. And each movable part (the 1st slide part 10, the 2nd slide part 20, the linear movement assembly side movable part 30 grade | etc.,) Of the robot arm 2 rotates or slides, and at least one part of the robot arm 2 is accommodation space S. The table 8 moves from the first position to the second position by taking the second posture that protrudes horizontally from the first position. In a state where the robot arm 2 is located at the second position, the robot arm 2 is exposed from the table 8 when viewed from above. In other words, the second position is a position when at least a part of the robot arm 2 protrudes from the table 8 and is exposed when viewed from above.

  The operation of moving the table 8 supported by the robot arm 2 according to this embodiment between a plurality of positions will be described with reference to FIGS.

  5 to 7 are schematic views of the operating room in which the robot operating table 1 is installed as viewed from above. FIG. 5 shows the table 8 on which the patient P is placed at the first position. FIG. 6 is a view showing a state in which the table 8 is moving from the first position to the second position (examination position), and FIG. 7 shows a state in which the patient has reached the inspection position. Figure. Note that the position of the table 8 in FIG. 5 may also be an operation position, and each movable portion moves in the reverse direction from the inspection position in FIG. 7 to the position in FIG. 5 to return to the original first position (operation position). In this surgical position, the doctor can perform treatment by judging the test result immediately after the test. 5 to 7 schematically show an X-ray imaging apparatus used for an angio inspection as the inspection apparatus A.

  The movement of the table 8 between the positions by the robot arm 2 can be performed by, for example, giving a command to move the table 8 in a predetermined direction to the control device 7 by an operating device and moving each movable part of the robot arm 2. it can. Specifically, the robot arm 2 moves the table 8 only while the user gives a movement command to the control device 7 using the operating device. Further, if each position such as the operation position and the examination position is stored in the control device 7 in advance, for example, when the user gives a movement command to the control device using the operation device, the position can be moved to the target position. Since the unit operates, the table 8 can be smoothly moved to the target position. Furthermore, if the target position and some positions on the route to be moved are designated, for example, when the user gives a movement command to the control device 7 using the operating device, the target position is automatically traced along the desired route. Can be reached. In order to record each position, the robot arm 2 may be directly memorized by moving the robot arm 2 to a target position by the operating device, or designated by inputting x, y, z coordinates. Also good.

  The robot operating table 1 according to the first configuration example can take the first posture and the second posture described above. In the robot operating table 1, the table 8 can be moved from the surgical position to the examination position by changing the posture of the robot arm 2 from the first posture to the second posture.

  Referring to FIG. 5, when robot operating table 1 is in the operating position (that is, in the first posture), the dimensions of robot arm 2 in the direction parallel to the width direction of table 8 are shown. W2 is not more than the width dimension W8 of the table 8 (W2 ≦ W8), and the dimension L2 of the robot arm 2 in the direction parallel to the length direction of the table 8 is not more than the length dimension L8 of the table 8 ( L2 ≦ L8).

  Referring to FIG. 5, the robot operating table 1 is the operating room in which the robot operating table 1 is installed in a state where the table 8 is located at the operating position (that is, in the state where the first posture is taken). ), The robot arm 2 is housed in the housing space S, which is the space under the table 8. Thereby, when performing an operation on the patient P after the examination, the robot arm 2 is housed under the table 8, so that the medical worker T surrounding the table 8 performs work near the table 8. The robot arm 2 does not get in the way. That is, it is possible to prevent interference between the medical worker T and the robot arm 2 in a state where the medical worker T needs to treat the patient. Moreover, since the table 8 can be moved to the inspection position away from the operation position by the robot arm 2, the robot operating table 1 can be installed at a position away from the inspection apparatus A, and the inspection apparatus A can be used during the operation. Can be prevented from interfering with the medical staff T.

  On the other hand, when the patient P placed on the table 8 is moved to the examination position, each movable part of the robot arm 2 is appropriately driven, and the patient P is transported to the examination position. Specifically, referring to FIG. 5 to FIG. 7, in the robot arm 2 in the first posture, the base side movable unit 9 is placed on the base 3 so that the head of the patient P faces the inspection apparatus A. The first slide portion 10 and the second slide portion 20 slide to the inspection apparatus A side so that the patient P is rotated toward the inspection apparatus A and conveyed to the inspection apparatus A side. Thereby, the patient P can be conveyed to the test | inspection apparatus A through the state shown in FIG. 6 (refer FIG. 7).

  In addition, when conveying the patient P to the test | inspection apparatus A, as mentioned above, the 1st slide part 10 and the 2nd slide part 20 slide to the test | inspection apparatus A side. Specifically, the first slide unit 10 slides along the longitudinal direction of the first slide unit 10 with respect to the base side movable unit 9, and the second slide unit 20 moves with respect to the first slide unit 10. Then, it slides along the longitudinal direction of the first slide part 10. That is, in the robot operating table according to the first configuration example, when the patient P is transported to the inspection apparatus A, the robot arm 2 positioned below the table 8 moves in a direction perpendicular to the moving direction of the table 8 ( In the case of the example shown in FIGS. 5 to 7, it does not protrude significantly in the width direction of the table 8. Thereby, interference with the medical worker T and the robot arm 2 which are located in the table 8 periphery at the time of patient conveyance to the test | inspection apparatus A can be prevented.

  When it is desired to finely adjust the position of the patient P conveyed to the examination position with respect to the examination apparatus A, each movable part (the linear movement assembly side movable part 30, the roll movable part 32, and the pitch movable part) included in the wrist assembly 6 is provided. The portion 34 and the like may be driven as appropriate. Thereby, the height of the table 8 and the inclination to the roll direction, the pitch direction, and the yaw direction can be adjusted. At that time, the patient P can be more accurately aligned with the inspection apparatus A by operating the linear movement assembly 5 as well.

  And in the hybrid surgery performed using the robot operating table 1, after the examination of the patient P, the table 8 is moved to the surgical position again, so that the surgery is performed on the patient P in the same operating room based on the examination result. It can be performed. Specifically, in the robot arm 2 in a state where the table 8 is transported to the inspection position, the table 8 can be returned to the surgical position by appropriately driving each movable part of the robot arm 2. Thus, when the table 8 is located at the operation position, the robot arm 2 is housed in the housing space S under the table 8. That is, the robot arm 2 does not protrude from the accommodation space S under the table 8 to the outside in the horizontal direction, and the robot arm 2 does not get in the way when the doctor performs an operation on the patient P. Therefore, at this operation position, the doctor can perform an operation on the patient P in a natural posture.

  By the way, in the operation, the doctor may be operated on the patient in a standing position (in a standing position), or in a long-time operation, the patient is sitting in a chair (in a sitting position). Surgery may be performed. In the robot operating table 1 according to this configuration example, the height position of the table 8 is set to the raised position and the lowest position according to the height of the doctor and the posture at the time of the doctor's operation by appropriately driving each movable part at the operation position. Can be arbitrarily adjusted between. Thereby, according to this structural example, a user-friendly robot operating table can be provided.

  In the robot operating table 1 according to this configuration example, the robot arm 2 is positioned below the table 8 regardless of the height position of the table 8 at the operation position (any position between the lowest position and the raised position described above). It will be in the state accommodated in the accommodation space S. In other words, according to the robot operating table 1, the robot is operated regardless of the height position of the table 8 in the state where it is moved up and down to an appropriate height position according to the posture of the doctor (standing posture, sitting posture) at the time of surgery. The arm 2 can be accommodated in the accommodation space S under the table 8.

  Note that the height position of the table 8 of the first configuration example is preferably included in the range of 450 mm to 600 mm, and more preferably in the range of 500 mm to 600 mm, in the lowest position. This height is a height at which it is easy to perform a treatment such as surgery on the patient while the operator is sitting. Moreover, it is preferable that the height position of the table 8 is included in the range of 1000 mm to 1500 mm in the most raised state. The height of 1000 mm exemplified here is a height required when examining a patient with a general examination apparatus. The movable range in the horizontal direction of the table 8 (movable range in the longitudinal direction of the table 8) is preferably 1000 to 2500 mm. The table 8 is movable in any in-plane direction on the horizontal plane around the vertical axis around which the base side movable portion 9 rotates.

[effect]
As described above, according to the robot operating table 1 according to the first configuration example, the patient P placed on the table 8 is moved to a desired position by appropriately operating the linear movement assembly 5 and the wrist assembly 6. Can be moved. This eliminates the need to manually move the operating table provided with casters as in the prior art.Therefore, there are problems such as tangling of peripheral equipment cables accompanying the movement of the operating table and forgetting to apply the operating table brake. It will be resolved. That is, according to this configuration, the patient P placed on the table 8 can be safely moved to a desired position.

  Moreover, according to the robot operating table 1, the patient P can be moved linearly in the horizontal direction by the linear movement assembly 5. According to the robot operating table 1, when the table 8 on which the patient P is placed is moved to a position away from the base 3, the robot arm 2 positioned below the table 8 is perpendicular to the moving direction of the table 8. It does not protrude greatly in any direction.

  Therefore, according to the robot operating table 1, it is possible to prevent interference between the robot arm 2 that operates when the table 8 is moved and the medical staff T around the table 8.

  Further, according to the robot operating table 1, the position and posture of the patient P placed on the table 8 can be adjusted not only by the linear movement assembly 5 but also by the wrist assembly 6 having three degrees of freedom. Thereby, the position and posture of the patient P to be processed by the medical staff T or the position and posture of the patient P with respect to the inspection apparatus A can be appropriately adjusted.

In the robot operating table 1, the linear movement assembly 5 supports the wrist assembly 6 so as to rotate about the horizontal axis (about the second axis Ax ₂ with reference to FIG. 1). According to this configuration, the height position of the table 8 can be appropriately adjusted by rotating the wrist assembly 6 around the horizontal axis.

  In the robot operating table 1, the position and posture of the table 8 can be freely adjusted by the robot arm 2 having six degrees of freedom.

  Further, in the robot operating table 1, when the table 8 is located at the operation position, the robot arm 2 is accommodated in the accommodating space S under the table 8, so that the robot arm 2 does not get in the way. Thereby, the doctor as the medical worker T can perform an operation on the patient P in a natural posture while approaching the table 8.

  Further, in the robot operating table 1, in the state where the robot arm 2 is in the first posture, the dimension of the robot arm 2 in the direction parallel to the width direction of the table is equal to or smaller than the width dimension of the table. The dimension of the robot arm 2 in the direction parallel to the length direction is not more than the length dimension of the table. Thereby, the robot arm 2 can be reliably accommodated in the accommodation space S which is a space under the table 8.

  In the robot operating table 1, the movable arm (first slide unit 10, second slide unit 20, etc.) is moved so that the posture of the robot arm 2 changes from the first posture to the second posture. 8 can be appropriately moved to the inspection position away from the base 3.

  Further, like the robot operating table 1, by providing two slide portions (the first slide portion 10 and the second slide portion 20), the table 8 can be moved far away while suppressing an increase in the size of the robot arm 2. It is possible to provide a robot operating table that can perform such operations.

  Further, according to the robot operating table 1, the table 8 can be moved around the roll axis, the pitch axis, and the yaw axis by the wrist assembly 6 (because the roll operation, pitch operation, and yaw operation can be performed). The patient P can be moved freely and moved to a desired posture.

  Further, according to the robot operating table 1, the robot arm 2 is configured to cause the table 8 to perform a roll operation, a pitch operation, and a yaw operation, so that the posture of the patient P can be freely adjusted.

(Modification of the first configuration example)
(1) Although the 1st linear motion mechanism 11 and the 2nd linear motion mechanism 21 of the robot operating table 1 which concern on a 1st structural example are comprised using what is called a ball screw structure, not only this but 1st Any configuration may be used as long as the slide portion 10 and the second slide portion 20 are slidable. For example, as an example, a rack and pinion structure may be employed as the linear motion mechanism described above.

  (2) Although the robot operating table 1 according to the first configuration example has been described by taking the robot operating table 1 having 6 degrees of freedom as an example, the robot operating table 1 is not limited to this, and the robot operating table 1 has 5 degrees of freedom. There may be seven or more.

  (3) In this configuration example, the example in which one end portion of the table 8 in the longitudinal direction is supported by the robot arm 2 has been described. If it carries out like this, since the table 8 can be moved to a farther position, the movable range of the table 8 can be expanded. However, the configuration is not limited to this, and the central portion of the table 8 in the longitudinal direction may be supported by the robot arm 2. Thereby, the support strength of the table 8 by the robot arm can be increased.

(Second configuration example)
FIG. 8 is a side view of the robot operating table 1a according to the second configuration example of the present invention, and FIG. 8A is a diagram showing a state in which the table 8 is slightly higher than the lowest position. (B) is a figure which shows the state which has the table 8 in the lowest position. FIG. 9 is an enlarged perspective view showing a part of the robot operating table 1a shown in FIGS. 8A and 8B (specifically, a parallel link mechanism 45 to be described later and its vicinity). FIG. The robot operating table 1a includes a robot arm 2a, a base 3, and a table 8. In the robot operating table 1a, one end of a robot arm 2a having multiple degrees of freedom (in the case of the second configuration example, 7 degrees of freedom) is rotatably supported around a vertical axis with respect to the base 3, while the robot The patient placing table 8 is supported at the other end of the arm 2a . Since the configuration of the base 3 is the same as the configuration of the base 3 in the first configuration example, description thereof is omitted.

  The robot arm 2a includes a base-side movable unit 41, a linear movement assembly 5a, a parallel link mechanism 45, and a wrist assembly 6a.

The base side movable part 41 is a part formed so as to extend in the horizontal direction, and the lower part on one end side in the longitudinal direction can rotate around the first axis Ax ₁ (in the D1 direction) with respect to the base 3. As shown, the base 3 is connected. The base-side movable part 41 has an opening 41a that opens toward the outside at a portion on the other end side in the longitudinal direction.

[Configuration of linear moving assembly]
Linear movement assembly 5a, as in the first configuration example, so as to be rotatable first shaft Ax ₁ around which extends vertically, is supported on the base 3 via a base-side movable portion 41. Linear movement assembly 5a is provided between the base 3 and the base-side movable portion 41, the first motor 40 included in the robot arm 2, it is driven to rotate the first shaft Ax ₁ around. Referring to FIG. 8, the linear movement assembly 5 includes a slide portion 42 and a linear motion mechanism 43 having a second motor 43a and the like.

  The slide portion 42 is a portion that is formed in the shape of an elongated bar in the horizontal direction, and a portion on one end side is accommodated in the base side movable portion 41 so that the longitudinal direction thereof is along the longitudinal direction of the base side movable portion 41. ing. The other end portion of the slide portion 42 can be advanced outward from the opening 41 a of the base side movable portion 41 and can be retracted into the base side movable portion 41. That is, the slide part 42 is provided so as to be slidable along the longitudinal direction of the base side movable part 41. The slide part 42 is slid by a linear motion mechanism 43 provided between the slide part 42 and the base side movable part 41. The linear motion mechanism 43 may be any mechanism as long as it can slide the slide portion 42 with respect to the base side movable portion 41. As the linear motion mechanism 43, for example, a ball screw mechanism or a rack and pinion mechanism can be used as an example.

[Configuration of parallel link mechanism]
The parallel link mechanism 45 is a link mechanism that connects the linear movement assembly 5a and the wrist assembly 6a. The parallel link mechanism 45 has four link members 46, two first connecting shafts 47a, and two second connecting shafts 47b with reference to FIG.

  Each link member 46 is linearly formed. Each link member 46 has the same length. In each link member 46, one end side portion (lower portion) is rotatably connected to the slide portion 42 via the first connecting shaft 47a, while the other end side portion (upper portion). ) Is rotatably connected to the linear moving assembly side movable portion 52 via the second connecting shaft 47b. Two of the four link members are provided on one side in the width direction of the table 8, and the remaining two are provided on the other side in the width direction of the table 8. The four link members 46 include two upper link members 48 provided on the upper side and two lower link members 49 provided on the lower side.

  The first connecting shaft 47 a is a shaft-like portion that rotatably connects the lower end portion of each link member 46 to the tip portion of the slide portion 42. Each first connecting shaft 47 a extends along the width direction of the table 8 in a state where each link member 46 is connected to the slide portion 42.

  The second connecting shaft 47b is a shaft-like portion that rotatably connects the upper end portion of each link member 46 to the linear movement assembly side movable portion 52 of the wrist assembly 6a. Each second connecting shaft 47 b extends along the width direction of the table 8 in a state where each link member 46 is connected to the linear moving assembly side movable portion 52.

  In the parallel link mechanism 45, referring to FIG. 9, two link members 46 provided on one side in the width direction of the table 8 and two link members provided on the other side in the width direction of the table 8. The distance d45 between the base 46 and the movable portion 41 is larger than the width d41 of the base side movable portion 41 (the dimension in the direction parallel to the width direction of the table 8). Thereby, since interference with the link member 46 and the base side movable part 41 can be prevented, it becomes possible to lower the table 8 to a low position (refer FIG. 8 (B)).

The parallel link mechanism 45 is driven by the third motor 51. Specifically, the third motor 51 is provided, for example, at a position corresponding to the first connecting shaft 47a that connects the lower link member 49 to the slide portion 42, and the lower link member 49 is connected to the first connecting shaft 47a. of (the D3 direction) to the central axis Ax ₂ around driving and rotating. As a result, the lower link member 49 swings about the first connecting shaft 47a, so that the wrist assembly 6a connected to the upper end portion of the lower link member 49 moves up and down. As the lower link member 49 is driven to rotate by the third motor 51, the upper link member 48 operates in conjunction with the lower link member 49. Accordingly, the wrist assembly 6a can be firmly supported from the lower side by the four link members 46.

[List assembly configuration]
The wrist assembly 6a includes a linear movement assembly side movable portion 52, a fourth motor 53, a yaw movable portion 54, a fifth motor 55, a pitch movable portion 56, a sixth motor 57, a roll movable portion 58, And a table slide mechanism 63.

  The linear movement assembly side movable part 52 is a movable part provided on the most linear movement assembly 5 side in the wrist assembly 6a. The linear movement assembly side movable part 52 is provided so as to extend in a direction along the longitudinal direction of the table 8 and is supported by the parallel link mechanism 45 so as to maintain a posture parallel to the horizontal plane. The linear moving assembly side movable portion 52 moves in the vertical direction while swinging by the parallel link mechanism 45 that rotates in the direction D3.

Yaw movable unit 54 is connected to a linear translation assembly side movable portion 52 via a first joint 59, (in the direction D4) third axially Ax ₃ around vertically extending rotatable. The yaw movable portion 54 is rotationally driven around the third axis Ax ₃ by a fourth motor 53 provided corresponding to the first joint 59. The table 8 can be moved around the yaw axis by rotating the yaw movable portion 54 in this manner.

The pitch movable part 56 is connected to the yaw movable part 54 via the second joint 61 and is rotatable about the fourth axis Ax ₄ (in the direction D5) extending in the direction orthogonal to the third axis Ax _3. . The pitch movable portion 56 is rotationally driven around the fourth axis Ax ₄ by a fifth motor 55 provided corresponding to the second joint 61. Thus, the pitch movable part 56 is rotationally driven, whereby the table 8 can be moved around the pitch axis.

The roll movable portion 58 is connected to the pitch movable portion 56 via the third joint 62 and is rotatable about the fifth axis Ax ₅ extending in the longitudinal direction of the table 8 (in the D6 direction). The roll movable portion 58 is rotationally driven around the fifth axis Ax ₅ by a sixth motor 57 provided corresponding to the third joint 62. By rotating the roll movable portion 58 in this way, the table 8 can be moved around the roll axis.

[Configuration of table slide mechanism]
The table slide mechanism 63 is a mechanism for sliding the table 8 along the longitudinal direction of the table 8 (along the direction D7) with respect to the roll movable portion 58. That is, the table slide mechanism 63 can move the table 8 with one linear degree of freedom. The table slide mechanism 63 is configured using a motor 63a and the like. As the table slide mechanism 63, for example, a ball screw mechanism or a rack and pinion mechanism is adopted. The table 8 is supported by the table slide mechanism 63 so as to be slidable.

  Note that the configuration of each motor in the second configuration example is the same as that in the first configuration example, and a description thereof will be omitted. Also in this configuration example, as in the case of the first configuration example, each motor operates each movable part via a speed reducer.

  As described above, since the robot arm 2a includes the joint that can rotate or slide in the directions D1 to D7, the robot arm 2a has 7 degrees of freedom (5 rotational degrees of freedom and 2 linear degrees of freedom). Referring to FIG. 8, the wrist assembly 6a can rotate the table 8 in the D4 direction (yaw direction), the D5 direction (pitch direction), the D6 direction (roll direction), and can slide in the D7 direction. is there. That is, the wrist assembly 6a has four degrees of freedom.

  If the robot operating table 1a configured as described above is used, the table can be accurately moved to a predetermined target position as in the case of the first configuration example described above. Efficiency can be improved remarkably, and safety and movement efficiency can be improved.

[Operation of robot operating table]
Even with the robot arm 2a according to this configuration example, the table can be moved between a plurality of positions by a free route within the movable range, and therefore the table is described with reference to the first configuration example in FIGS. Can be moved to the inspection device or the like along the same locus. Specifically, the table 8 is moved from the operation position to the examination position by changing the robot arm 2a accommodated in the accommodation space S under the table 8 and taking the first attitude to the second attitude. Can do. Alternatively, the table 8 can be moved from the examination position to the surgical position by changing the robot arm 2a taking the second posture to the first posture.

[effect]
As described above, according to the robot operating table 1a according to the second configuration example, as in the case of the first configuration example, the robot arm 2a that operates when moving the table 8 and the medical staff around the table 8 Interference with T can be prevented.

(Modification of the second configuration example)
In the second configuration example, referring to FIG. 8, the movable portion (yaw movable portion 54) provided on the linear movement assembly side movable portion 52 side in the wrist assembly 6a is rotated in the yaw direction (D4 direction). However, the present invention is not limited to this. Specifically, for example, as an example, a motor is provided between the movable part (roll movable part 58) provided on the table 8 side in the wrist assembly 6a and the table slide mechanism 63, and the table 8 is moved in the yaw direction by this motor. It may be rotated.

(Third configuration example)
FIG. 10 is a side view of a robot operating table 1b according to a third configuration example of the present invention. The robot operating table 1b includes a robot arm 2b, a base 3, and a table 8. In the robot operating table 1b, one end of a robot arm 2b having multiple degrees of freedom (in the case of the third configuration example, 7 degrees of freedom) is rotatably supported around a vertical axis with respect to the base 3, while the robot At the other end of the arm 2, a table 8 for patient placement is supported. Since the configuration of the base 3 is the same as the configuration of the base 3 in the first configuration example, description thereof is omitted.

  The robot arm 2b includes a base side movable portion 41, a linear movement assembly 5a, and a wrist assembly 6b. Among these, since the structure of the base side movable part 41 and the linear movement assembly 5a is the same as the base side movable part 41 and the linear movement assembly 5a of a 2nd structural example, description is abbreviate | omitted.

[List assembly configuration]
Referring to FIG. 10, the wrist assembly 6b includes a linear movement assembly side movable portion 65, a fourth motor 66, a roll movable portion 67, a fifth motor 68, a pitch movable portion 69, and a sixth motor 70. The table slide mechanism 63 is provided. Among these, the configuration of the table slide mechanism 63 is the same as the configuration of the table slide mechanism 63 of the second configuration example, and the description thereof is omitted.

The linear movement assembly side movable part 65 is a movable part provided on the most linear movement assembly 5a side in the wrist assembly 6b. Linear movement assembly movable unit 65 is connected to the slide portion 42 through the first joint 72, second shaft Ax ₂ around which a direction along the horizontal plane extending in a direction perpendicular to the longitudinal direction of the slide portion 42 (In the direction D3). That is, the wrist assembly 6b is connected to the linear movement assembly 5a via the first joint 72. The linear movement assembly side movable portion 65 is rotationally driven around the second axis Ax ₂ by a third motor 73 provided corresponding to the first joint 72.

Roll moving unit 67 via a second joint 74 is connected to a linear translation assembly movable portion 65, rotatable third shaft Ax ₃ around which extend in a direction perpendicular to the second axis Ax ₂ (D4 direction) It is. The roll movable portion 67 is rotationally driven around the third axis Ax ₃ by a fourth motor 66 provided corresponding to the second joint 74. Thus, the roll movable part 67 is rotationally driven, whereby the table 8 can be moved around the roll axis.

Pitch movable unit 69, be coupled to the roll moving unit 67 via a third joint 75, (in the direction D5) 4 in the axial Ax ₄ around which extends in a direction perpendicular to the third axis Ax ₃ is rotatable . The pitch movable portion 69 is rotationally driven around the fourth axis Ax ₄ by a fifth motor 68 provided corresponding to the third joint 75. Thus, the pitch movable part 69 is rotationally driven, whereby the table 8 can be moved around the pitch axis.

The sixth motor 70 is provided between the pitch movable portion 69 and a portion on one end side in the longitudinal direction of the table slide mechanism 63. The table 8 is rotationally driven by the sixth motor 70 about the fifth axis Ax ₅ extending in the direction perpendicular to the fourth axis Ax ₄ . Thereby, the table 8 can be moved around the yaw axis.

  Note that the configuration of each motor in the third configuration example is the same as that in the first configuration example, and a description thereof will be omitted. Also in this configuration example, as in the case of the first configuration example, each motor operates each movable part via a speed reducer.

As described above, since the robot arm 2b includes the joint that can rotate or slide in the directions D1 to D7, the robot arm 2b has 7 degrees of freedom (5 rotational degrees of freedom and 2 linear degrees of freedom). Referring to FIG. 10, the wrist assembly 6b can rotate the table 8 in the D4 direction (roll direction), D5 direction (pitch direction), D6 direction (yaw direction), and can slide in the D7 direction. is there. That is, the wrist assembly 6b has four degrees of freedom.

  If the robot operating table 1b configured as described above is used, the table can be accurately moved to a predetermined target position as in the case of the first and second configuration examples described above. And the efficiency of treatment can be remarkably improved, and safety and movement efficiency can be improved.

[Operation of robot operating table]
Even with the robot arm 2b according to the present configuration example, the table can be moved between a plurality of positions along a free route within the movable range, and therefore the table is described with reference to the first configuration example in FIGS. Can be moved to the inspection device or the like along the same locus. Specifically, the table 8 is moved from the operation position to the examination position by changing the robot arm 2b accommodated in the accommodation space S under the table 8 to the second attitude. Can do. Alternatively, the table 8 can be moved from the examination position to the surgical position by changing the robot arm 2b taking the second attitude to the first attitude.

[effect]
As described above, according to the robot operating table 1b according to the third configuration example, the robot arm 2b that operates when moving the table 8 and the periphery of the table 8 are the same as in the first and second configuration examples. Interference with the medical staff T can be prevented.

(Fourth configuration example)
FIG. 11 is a side view of a robot operating table 1c according to a fourth configuration example of the present invention. FIG. 12 is an enlarged perspective view showing a part of the robot operating table 1c shown in FIG. 11 (specifically, a parallel link mechanism 45a described later in detail and its vicinity). The robot operating table 1c includes a robot arm 2c, a base 3, and a table 8. In the robot operating table 1c, one end of a robot arm 2c having multiple degrees of freedom (in the case of the fourth configuration example, 7 degrees of freedom) is rotatably supported around a vertical axis with respect to the base 3, while the robot At the other end of the arm 2, a table 8 for patient placement is supported. Since the configuration of the base 3 is the same as the configuration of the base 3 in the first configuration example, description thereof is omitted.

  The robot arm 2c includes a base-side movable part 41, a linear movement assembly 5a, a parallel link mechanism 45a, and a wrist assembly 6c. Among these, since the structure of the base side movable part 41 and the linear movement assembly 5a is the same as the structure of the base side movable part 41 and the linear movement assembly 5a of a 2nd structural example, description is abbreviate | omitted.

[Configuration of parallel link mechanism]
The parallel link mechanism 45a is a link mechanism that connects the linear movement assembly 5a and the wrist assembly 6c. As shown in FIG. 12, the parallel link mechanism 45 a includes four link members 76, two first connection shafts 77, and two second connection shafts 78.

  Each link member 76 is formed linearly. Each link member 46 has the same length. In each link member 76, a portion on one end side (portion on the slide portion 42 side) is rotatably connected to the slide portion 42 via a first connecting shaft 77, while a portion on the other end side (straight line) The portion on the moving assembly side movable portion 81 side) is rotatably connected to the linear moving assembly side movable portion 81 via the second connecting shaft 78. Two of the four link members 76 are provided on one side in the width direction of the table 8, and the remaining two are provided on the other side in the width direction of the table 8. The four link members 76 are composed of two upper link members 76a provided on the upper side and two lower link members 76b provided on the lower side.

  The parallel link mechanism 45a is driven by the third motor 79. Specifically, the third motor 79 is provided, for example, at a position corresponding to one of the two connecting shafts 77 provided in the vertical direction, and one (upper side in FIG. 11) link member 76. Is driven to rotate about the central axis Ax2 of the connecting shaft 77 (in the direction D3). As a result, the upper link member 76 swings about the connecting shaft 77, so that the wrist assembly 6c moves up and down. As the upper link member 76 is driven to rotate by the third motor 79, the lower link member 76 operates in conjunction with the upper link member 76.

[List assembly configuration]
The wrist assembly 6c includes a linear movement assembly side movable portion 81, a fourth motor 82, a roll movable portion 83, a fifth motor 84, a pitch movable portion 85, a sixth motor 86, and a table slide mechanism 63. ing. Since the configuration of the table slide mechanism 63 is the same as that of the table slide mechanism 63 of the second and third configuration examples, the description thereof is omitted.

  The linear movement assembly side movable part 81 is a movable part provided on the most linear movement assembly 5a side in the wrist assembly 6c. The linear moving assembly-side movable unit 81 is supported by the parallel link mechanism 45a so as to maintain a posture parallel to the horizontal plane. The linear movement assembly side movable part 81 moves up and down as the parallel link mechanism 45a rotates in the direction D3.

Roll movable portion 83, be coupled to linear translation assembly side movable portion 81 via a first joint 87, (in the direction D4) third axially Ax ₃ around vertically extending rotatable. The roll movable portion 83 is rotationally driven around the third axis Ax ₃ by a fourth motor 82 provided corresponding to the first joint 87. In FIG. 11, the table 8 is rotated in the roll direction by rotating the roll movable unit 83 in the D4 direction in a state where the pitch movable unit 85 described later in detail is rotated in the D5 direction and the table 8 is tilted in the pitch direction. It becomes possible to rotate to.

Pitch movable portion 85, be coupled to the roll moving unit 83 via a second joint 88, (in the direction D5) 4 in the axial Ax ₄ around which extends in a direction perpendicular to the third axis Ax ₃ is rotatable . The pitch movable portion 85 is rotationally driven around the fourth axis Ax ₄ by a fifth motor 84 provided corresponding to the second joint 88. Thus, the pitch movable part 85 is rotationally driven, whereby the table 8 can be moved around the pitch axis.

The sixth motor 86 is provided between the pitch movable portion 85 and a portion on one end side in the longitudinal direction of the table slide mechanism 63. The table 8 is rotationally driven by the sixth motor 86 about the fifth axis Ax ₅ extending in the direction orthogonal to the fourth axis Ax ₄ . Thereby, the table 8 can be moved around the yaw axis.

  Note that the configuration of each motor in the fourth configuration example is the same as that in the first configuration example, and a description thereof will be omitted. Also in this configuration example, as in the case of the first configuration example, each motor operates each movable part via a speed reducer.

  As described above, since the robot arm 2c includes the joint that can rotate or slide in the directions D1 to D7, the robot arm 2c has 7 degrees of freedom (5 rotational degrees of freedom and 2 linear degrees of freedom). The wrist assembly 6c can rotate the table 8 in the roll direction, the pitch direction, and the yaw direction, and can slide in the D7 direction. That is, the wrist assembly 6c has four degrees of freedom.

  If the robot operating table 1c configured as described above is used, the table can be accurately moved to a predetermined target position as in the case of the first to third configuration examples described above. And the efficiency of treatment can be remarkably improved, and safety and movement efficiency can be improved.

[Operation of robot operating table]
Even with the robot arm 2c according to the present configuration example, the table can be moved between a plurality of positions by a free route within the movable range, and therefore the table is described in the first configuration example with reference to FIGS. Can be moved to the inspection device or the like along the same locus. Specifically, the table 8 is moved from the operation position to the examination position by changing the robot arm 2c accommodated in the accommodation space S under the table 8 and taking the first attitude to the second attitude. Can do. Alternatively, the table 8 can be moved from the examination position to the surgical position by changing the robot arm 2c taking the second posture to the first posture.

[effect]
As described above, according to the robot operating table 1c according to the fourth configuration example, the robot arm 2c that operates when moving the table 8 and the periphery of the table 8 are the same as in the first to third configuration examples. Interference with the medical staff T can be prevented.

(Fifth configuration example)
FIG. 13 is a side view of a robot operating table 1d according to a fifth configuration example of the present invention. The robot operating table 1d includes a robot arm 2d, a base 3, and a table 8. In the robot operating table 1d, one end of a robot arm 2d having multiple degrees of freedom is supported so as to be rotatable about a vertical axis with respect to the base 3, while the other end of the robot arm 2 is a table for placing a patient. 8 is supported. Since the configuration of the base 3 is the same as the configuration of the base 3 in the first configuration example, description thereof is omitted.

  The robot arm 2d includes a base-side movable unit 41, a linear movement assembly 5a, a parallel link mechanism 45a, and a wrist assembly 6d. The robot operating table 1d according to the fifth configuration example is different in the configuration of the wrist assembly from the robot operating table 1c according to the fourth configuration example. Hereinafter, the configuration of the wrist assembly 6d will be mainly described, and description of other configurations will be omitted.

[List assembly configuration]
The wrist assembly 6d includes a linear movement assembly side movable portion 81, a fourth motor 89, a parallel link mechanism 90, and a table slide mechanism 63. Among these, the configurations of the linearly movable assembly-side movable unit 81 and the table slide mechanism 63 are the same as those in the fourth configuration example, and thus description thereof is omitted.

The fourth motor 89 is provided between the upper portion of the linear movement assembly side movable portion 81 and a parallel link mechanism 90 described later in detail. The fourth motor 89, the parallel linkage 90, (in the direction D4) third axially Ax ₃ around extending in the vertical axis direction is rotated. Thereby, the table 8 can be moved around the yaw axis.

  FIG. 14 is a perspective view schematically showing the parallel link mechanism 90. The parallel link mechanism 90 of this configuration example is a so-called Stewart platform type parallel link mechanism 90. The parallel link mechanism 90 includes a base 91, a movable plate 92, and six cylinders 93. In FIG. 13, only three cylinders 93 are shown in order to avoid complicated drawing.

The base part 91 is formed in a flat plate shape. The above-described fourth motor 89 is provided between the base portion 91 and the linear movement assembly side movable portion 81. Base portion 91, the fourth motor 89, (direction D4) third axially Ax ₃ about is rotationally driven.

  The movable plate 92 is formed in a flat plate shape like the base portion 91. The movable plate 92 supports the back side of the table 8 via the table slide mechanism 63.

  Each cylinder 93 includes a cylindrical portion 94 formed in a cylindrical shape, a base portion side rod 96 that connects the bottom portion 94a of the cylindrical portion 94 to the base portion 91 via a universal joint 95, and a portion on one end side of the cylinder 93. And an advancing / retracting rod 98 fixed to the movable plate 92 via a universal joint 97 while being accommodated in the portion 94. As the cylinder 93, any type of cylinder such as an electric cylinder, an air cylinder, and a hydraulic cylinder may be used.

  In the parallel link mechanism 90, the amount of protrusion of the advance / retreat rod 98 with respect to the cylindrical portion 94 is adjusted in accordance with a command from the control device 7. Thereby, the attitude | position of the movable plate 92 with respect to the base part 91 (namely, attitude | position of the table 8) can be adjusted. The parallel link mechanism 90 of this configuration example is a Stewart platform type parallel link mechanism. That is, in the parallel link mechanism 90, the movable plate 92, that is, the table 8 can be moved at least in the roll direction (D5 direction) and the pitch direction (D6 direction) by appropriately adjusting the protruding amount of the advance / retreat rod 98. it can. In other words, according to the parallel link mechanism 90, the table 8 can be rolled and pitched.

  Note that the configuration of each motor in the fifth configuration example is the same as that in the first configuration example, and a description thereof will be omitted. Also in this configuration example, as in the case of the first configuration example, each motor operates each movable part via a speed reducer.

As described above, the robot arm 2d is movable in the directions D1 to D7. Further, referring to FIG. 13, the wrist assembly 6d can move the table 8 in at least the D4 direction (roll direction), the D5 direction (pitch direction), the D6 direction (yaw direction), and can slide in the D7 direction. It is. That is, the wrist assembly 6d has 4 degrees of freedom.

  If the robot operating table 1d configured as described above is used, the table can be accurately moved to a predetermined target position as in the case of the first to fourth configuration examples described above. And the efficiency of treatment can be remarkably improved, and safety and movement efficiency can be improved.

[Operation of robot operating table]
Even with the robot arm 2d according to the present configuration example, the table can be moved between a plurality of positions by a free route within the movable range, and therefore, the table is described in the first configuration example with reference to FIGS. Can be moved to the inspection device or the like along the same locus. Specifically, the table 8 is moved from the operation position to the examination position by changing the robot arm 2d accommodated in the accommodation space S under the table 8 and taking the first attitude to the second attitude. Can do. Alternatively, the table 8 can be moved from the examination position to the surgical position by changing the robot arm 2d taking the second posture to the first posture.

[effect]
As described above, according to the robot operation table 1d according to the fifth configuration example, as in the first to fourth configuration examples, the robot arm 2d that operates when the table 8 is moved and the periphery of the table 8 are arranged. Interference with the medical staff T can be prevented.

  Further, according to the robot operating table 1d, as described above, the Stewart platform type parallel link mechanism 90 is employed in the wrist assembly 6d. The parallel link mechanism 90 is an excellent mechanism in terms of rigidity. Therefore, according to the robot operation table 1d according to the fifth configuration example, it is possible to provide a robot operation table that hardly gives vibration to the patient P during movement or operation.

[Features and modifications common to each configuration example]
Hereinafter, additional features and modifications that can be applied to all the first to fifth configuration examples will be described.

  (1) Each motor of each configuration example described above preferably includes a position detector and an electromagnetic brake, but is not limited to this, and an electric motor without them may be used. In this case, the position detector and the electromagnetic brake can be provided outside the electric motor. Moreover, in each structural example mentioned above, although the electric motor was illustrated as a drive source which drives each movable part, not only this but actuators other than an electric motor may be used.

  (2) In the first configuration example, the robot operating table 1 having no table slide mechanism is illustrated, and in the second to fifth configuration examples, the robot operating tables 1a to 1d having the table slide mechanism are illustrated. Not limited to this, the presence or absence of the table slide mechanism 63 in each configuration example may be either. However, by providing the table slide mechanism 63 in each configuration example, the movable range of the table 8 in the horizontal direction can be expanded. Moreover, although the example of using a servo motor for the table slide mechanism 63 has been described in the configuration example described above, the present invention is not limited to this, and a table slide mechanism that can be manually slid may be employed.

  (3) The degrees of freedom of the robot arms 2 to 2d may be other than those exemplified in the respective configuration examples.

  (4) In the first and third configuration examples described above, the linear movement assembly and the wrist assembly have been described with reference to an example in which the linear movement assembly and the wrist assembly are connected by a joint that is rotatable with respect to a shaft extending in the horizontal direction. Not limited to. For example, the linear movement assembly supports a movable member that is rotatable about a vertically extending axis, and the movable member is adapted to support the wrist assembly through a joint that is rotatable about a horizontally extending axis. It may be.

  (5) The wrist assembly included in each of the configuration examples described above has three rotational degrees of freedom: a rotational degree of freedom in the roll direction, a rotational degree of freedom in the pitch direction, and a rotational degree of freedom in the yaw direction. However, it is not limited to this. The degree of freedom of the wrist assembly may be three degrees of freedom including two of the rotational degrees of freedom of roll, pitch, and yaw and one linear degree of freedom.

  (6) In the robot operating table according to the second, fourth, and fifth configuration examples, the parallel link mechanisms 45 and 45a having the four link members 46 and 76 have been described as examples, but the present invention is not limited thereto. Instead, a parallel link mechanism having two link members may be configured. In the parallel link mechanism having two link members, for example, the two link members 46 and 46 provided on one side in the table width direction in FIG. 9 are replaced with one link member 46a. 9, two link members 46, 46 provided on the other side in the table width direction are replaced with one link member 46a (see FIG. 15). In the parallel link mechanism 45b, one end portion of each link member 46a is rotatably connected to the slide portion 42 via the first connection shaft 47c, while the other end portion of each link member 46a is the second connection shaft 47d. It is connected to the movable part 52 on the linear movement assembly side. The link member 46a is rotationally driven in the D3 direction by a motor 50a provided at a position corresponding to the first connecting shaft 47c. The linear movement assembly side movable part 52 is rotationally driven in the direction D4 by a motor 50b provided at a position corresponding to the second connecting shaft 47d.

(7) The degree of freedom of the list assembly included in each configuration example described above is not limited to the number exemplified in each configuration example, and may be at least two or more. Specifically, for example, as an example, the wrist assembly has two degrees of freedom so as to perform a roll motion and a pitch motion, and the yaw motion is performed by a portion other than the wrist assembly in the robot arm. Also good.
(8) In each configuration example described above, the movement of the table between the surgical position and the examination position has been described, but the present invention is not limited to this. For example, when performing catheter treatment, the table of the robot operating table of each configuration example may be moved between the treatment position and the examination position. In this case, in the treatment position, the robot arm takes the first posture and is accommodated in the accommodation space that is the space under the table, so that it does not interfere with the medical staff who performs the treatment.

[Application to other treatments]
The robot operating tables shown in the first to fifth configuration examples include not only a hybrid operating room in which an X-ray imaging apparatus used for angio examination is introduced but also a magnetic resonance tomography apparatus (MRI). It can also be applied to hybrid operating rooms.

1, 1a to 1d Robot operating table 2, 2a to 2d Robot arm 3 Base 5, 5a Linear movement assembly 6, 6a to 6d Wrist assembly 8 Table

Claims (13)

A robot operating table comprising a table for placing a patient and a robot arm having one end supported by a base fixed to the floor and the other end supporting the table,
The one end of the robot arm is supported by the base so as to rotate around a vertical axis,
The robot arm is
A wrist assembly that supports the table and moves the table in at least two degrees of freedom;
A linear movement assembly configured to move linearly along the horizontal plane to move the table along the horizontal plane with translational degrees of freedom;
Equipped with a,
The robot operating table according to claim 1, wherein when the table is located at a first position, the robot arm takes a first posture housed in a housing space that is a space under the table. The robot operating table according to claim 1,
The linear movement assembly supports the wrist assembly for rotation about a horizontal axis;
The robot operating table, wherein the robot arm moves the table with at least six degrees of freedom. The robot operating table according to claim 1,
The robot arm has at least two link members, and one end of each link member is rotatably supported by the linear movement assembly via a first connecting shaft extending in a horizontal direction, The robot operating table further comprises: a parallel link mechanism that rotatably supports the wrist assembly via a second connecting shaft extending in the horizontal direction at each other end of the robot. In the robot operating table according to any one of claims 1 to 3 ,
When the robot arm is in the first posture, the dimension in a direction parallel to the width direction of the table is equal to or less than the width dimension of the table, and the dimension in a direction parallel to the length direction of the table is A robot operating table characterized by being less than the length of the table. In the robot operating table according to any one of claims 1 to 4 ,
The robot arm moves the table to a second position away from the first position by taking a second posture in which at least part of the robot arm protrudes horizontally from within the accommodation space. Robotic operating table. In the robot operating table according to any one of claims 1 to 5 ,
The robot arm further includes a base-side movable portion supported by the base so as to rotate about a vertical axis,
The linear movement assembly is
A slide portion that is supported by the base-side movable portion so as to slide and move in a direction along a horizontal plane, and that supports the wrist assembly;
A robot operating table characterized by comprising: In the robot operating table according to any one of claims 1 to 5 ,
The robot arm further includes a base-side movable portion supported by the base so as to rotate about a vertical axis,
The linear movement assembly is
A first slide part supported by the base side movable part so as to slide in a direction along a horizontal plane;
A second slide part supported by the first slide part so as to slide in the same direction as the first slide part slides, and supporting the wrist assembly;
A robot operating table characterized by comprising: In the robot operating table according to any one of claims 1 to 7 ,
2. The robot operating table according to claim 1, wherein the wrist assembly includes a table slide mechanism that moves the table with linear degrees of freedom while supporting the table. In the robot operating table according to any one of claims 1 to 8 ,
The robot operating table, wherein the wrist assembly is configured to cause the table to perform a roll operation, a pitch operation, and a yaw operation. In the robot operating table according to any one of claims 1 to 8 ,
The wrist assembly further includes a Stewart platform type parallel link mechanism for causing the table to roll and pitch.
The robot operating table is characterized in that the parallel link mechanism is supported so as to be rotatable around a yaw axis. The robot operating table according to any one of claims 1 to 10 ,
The robot operating table, wherein the robot arm is configured to cause the table to perform a roll operation, a pitch operation, and a yaw operation. A robot operating table comprising a table for placing a patient and a robot arm having one end supported by a base fixed to the floor and the other end supporting the table,
The one end of the robot arm is supported by the base so as to rotate around a vertical axis,
The robot arm is
A wrist assembly that supports the table and moves the table in at least two degrees of freedom;
A linear movement assembly configured to move linearly along the horizontal plane to move the table along the horizontal plane with translational degrees of freedom;
At least two link members, and one end of each of the link members is rotatably supported by the linear movement assembly via a first connecting shaft extending in a horizontal direction, and the other end of each of the link members A parallel link mechanism for rotatably supporting the wrist assembly via a second connecting shaft extending in a horizontal direction;
A robot operating table characterized by comprising: A robot operating table comprising a table for placing a patient and a robot arm having one end supported by a base fixed to the floor and the other end supporting the table,
The one end of the robot arm is supported by the base so as to rotate around a vertical axis,
The robot arm is
A wrist assembly that supports the table and moves the table in at least two degrees of freedom;
A linear movement assembly configured to move linearly along the horizontal plane to move the table along the horizontal plane with translational degrees of freedom;
With
The wrist assembly includes a Stewart platform type parallel link mechanism for causing the table to roll and pitch.
The robot operating table is characterized in that the parallel link mechanism is supported so as to be rotatable around a yaw axis.

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