Medical manipulator

Claim 2

1 . A medical manipulator comprising: a first input unit that is operated by hands; a shaft that extends from a body in which the first input unit is provided; a tip operating unit that is provided at a tip of the shaft and includes an end effector to which an operation of the first input unit is mechanically transmitted and in which the operation is performed; and a detection mechanism that detects an operation state of the first input unit.

Claim 3

2 . The medical manipulator according to claim 1 , wherein the detection mechanism detects that the first input unit reaches a predetermined position.

Claim 4

3 . The medical manipulator according to claim 2 , wherein the tip operating unit includes a posture change mechanism that changes a posture of the end effector with respect to the shaft.

Claim 5

4 . The medical manipulator according to claim 3 , further comprises: an operating unit that includes a second input unit that is operated by hands, a grip handle that is gripped by hands, and a drive source that drives the posture change mechanism based on an operation of the second input unit; a working unit that includes the tip operating unit, the shaft, and the first input unit, which is attachable and detachable from the operating unit; a driving force of the drive source is mechanically transmitted to the posture change mechanism in a state where the working unit is mounted on the operating unit, which changes a posture of the end effector; the detection mechanism includes a protrusion piece for detection that is provided in the first input unit and a detecting unit that is provided in the operating unit; and the detecting unit detects the protrusion piece for detection in the state where the working unit is mounted on the operating unit, and detects that the first input unit reaches the predetermined position.

Claim 6

5 . The medical manipulator according to claim 1 , wherein the detection mechanism detects that the first input unit reaches a predetermined position at each of a plurality of predetermined positions in a movable range of the first input unit.

Claim 7

6 . The medical manipulator according to claim 1 , wherein the tip operating unit includes a conversion mechanism that converts an operation based on the operation of the first input unit to an operation of the end effector.

Claim 8

7 . The medical manipulator according to claim 6 , wherein the posture change mechanism comprises: a main shaft member in which a first rotation body that is rotated by a first actuator via a first transmitting member inserted into the shaft is provided and which can rotate about a tilt shaft which is non-parallel to an axial line of the shaft, a second rotation body that is rotated by a second actuator via a second transmitting member inserted into the shaft, and a third rotation body that is driven by the second rotation body and is supported to the main shaft member to rotate about the roll axis in an extension direction of the end effector; the main shaft member driven by the first transmitting member rotates about the tilt shaft performing a tilting operation of the end effector; and the second rotation body driven by the second transmitting member rotates the third rotation body about the roll axis performing a roll operation of the end effector.

Claim 9

8 . The medical manipulator according to claim 7 , further comprises: a controller that controls the first actuator and the second actuator, and the controller controls the first actuator to suppress the generation of the tilting operation due to the roll operation according to an operation state of the first input unit based on a detection result from the detection mechanism.

Claim 10

9 . The medical manipulator according to claim 8 , wherein the end effector is configured of an opening and closing mechanism.

Claim 11

10 . The medical manipulator according to claim 9 , wherein the controller performs the control for the roll operation when the first input unit is positioned at the end of a movable range, and a compensation control corresponding to the increase of the rotation resistance of the third rotation body is performed with respect to the first actuator to suppress the generation of the tilting operation.

Claim 12

11 . A medical manipulator comprising: a trigger lever that is operated by hands; a shaft that extends from a body in which the trigger lever unit is provided; a tip operating unit that is provided at a tip of the shaft and includes an end effector to which an operation of the trigger lever is mechanically transmitted and in which the operation is performed; and a detection mechanism that detects an operation state of the trigger lever.

Claim 13

11 . A medical manipulator comprising: a trigger lever that is operated by hands; a shaft that extends from a body in which the trigger lever unit is provided; a tip operating unit that is provided at a tip of the shaft and includes an end effector to which an operation of the trigger lever is mechanically transmitted and in which the operation is performed; and a detection mechanism that detects an operation state of the trigger lever.

Claim 14

12 . The medical manipulator according to claim 11 , wherein the detection mechanism detects that the trigger lever reaches a predetermined position.

Claim 15

13 . The medical manipulator according to claim 12 , wherein the tip operating unit includes a posture change mechanism that changes a posture of the end effector with respect to the shaft.

Claim 16

14 . The medical manipulator according to claim 13 , further comprises: an operating unit that includes a second input unit that is operated by hands, a grip handle that is gripped by hands, and a drive source that drives the posture change mechanism based on an operation of the second input unit; a working unit that includes the tip operating unit, the shaft, and the trigger lever, which is attachable and detachable from the operating unit; a driving force of the drive source is mechanically transmitted to the posture change mechanism in a state where the working unit is mounted on the operating unit, which changes a posture of the end effector; the detection mechanism includes a protrusion piece for detection that is provided in the trigger lever and a detecting unit that is provided in the operating unit; and the detecting unit detects the protrusion piece for detection in the state where the working unit is mounted on the operating unit, and detects that the trigger lever reaches the predetermined position.

Claim 17

15 . A medical manipulator comprising: a first input unit that is operated by hands; a shaft that extends from a body in which the first input unit is provided; a tip operating unit that is provided at a tip of the shaft and includes an end effector to which an operation of the first input unit is mechanically transmitted and in which the operation is performed; and a detection mechanism that detects a position in an operation direction of the first input unit.

Claim 18

15 . A medical manipulator comprising: a first input unit that is operated by hands; a shaft that extends from a body in which the first input unit is provided; a tip operating unit that is provided at a tip of the shaft and includes an end effector to which an operation of the first input unit is mechanically transmitted and in which the operation is performed; and a detection mechanism that detects a position in an operation direction of the first input unit.

Claim 19

16 . The medical manipulator according to claim 15 , wherein the tip operating unit includes a posture change mechanism that changes a posture of the end effector with respect to the shaft.

Claim 20

17 . The medical manipulator according to claim 16 , further comprises: an operating unit that includes a second input unit that is operated by hands, a grip handle that is gripped by hands, and a drive source that drives the posture change mechanism based on an operation of the second input unit; a working unit that includes the tip operating unit, the shaft, and the first input unit and can be attached to and detached from the operating unit; and a driving force of the drive source is mechanically transmitted to the posture change mechanism in a state where the working unit is mounted on the operating unit, which changes a posture of the end effector.

Claim 21

18 . The medical manipulator according to claim 17 , wherein the detection mechanism comprises: a drive element that is operated along with the first input unit; a driven element that is provided in the operating unit and operates in conjunction with the drive element in the state where the working unit is mounted on the operating unit; and a detecting unit that detects a position of an operation direction of the driven element.

Claim 22

19 . The medical manipulator according to claim 18 , wherein the first input unit is a trigger lever that is operated to rotate.

Claim 23

20 . The medical manipulator according to claim 19 , wherein the drive element is a first gear portion that includes teeth which extend in a circumferential direction around a rotation axial center of the trigger lever; the driven element is a second gear portion that is rotatably provided in the operating unit and meshes with the first gear portion in the state where the working unit is mounted on the operating unit; the detecting unit is a rotation detector that detects a rotation angle of the second gear portion; and wherein a rotation axial center of the trigger lever and a rotation axial center of the second gear portion are positioned to be off-set from each other in an extension direction of the shaft in the state where the working unit is mounted on the operating unit.