CN119235377B - A posture control device for an actuator - Google Patents

Abstract

A posture control device for an execution instrument is characterized by comprising an operation part, a switch part, a connecting part, a supporting part and a signal output part, wherein the operation part is in a long-length shape for being held by an operator, the switch part is provided with a plurality of switch components corresponding to a plurality of degrees of freedom, the connecting part is fixedly connected with at least one part of the operation part and the switch part, thereby connecting the operation part and the switch part, the supporting part supports the switch part, the signal output part outputs an electric signal generated by the switch part to a driving device for adjusting the execution instrument, and when the operator operates the operation part, the switch components corresponding to the operation of the operator in the switch part are triggered through the connecting part, so that electric signals for controlling the movement of the degrees of freedom corresponding to the switch components are generated, and further the driving device for the execution instrument is instructed to enable the execution instrument to perform the operation synchronous with the operation part.

Description

Posture control device of executive instrument

Technical Field

The present invention relates to an attitude control device for an actuator, and more particularly to an attitude control device for a surgical instrument in the medical field.

Background

In recent years, with the progress of medical technology, there has been an increasing number of cases in which doctors perform auxiliary operations using surgical instruments, or even operations using only surgical instruments. In surgery, a surgical instrument as an execution instrument is placed in a patient, and therefore, it is necessary to avoid shake or the like of the surgical instrument as much as possible in order to reduce the burden on the patient and the disturbance to the operator. For this reason, brackets are sometimes used to secure the surgical instrument, thereby ensuring that the position of the surgical instrument remains unchanged during the surgical procedure.

In addition, at the time of preoperative preparation, since the body type and posture of the patient are different, it is necessary to plan the position and posture of the surgical instrument in advance, and move the surgical instrument to a prescribed position in the patient and adjust the posture. In this case, since the surgical instrument is fixed to the bracket, it is difficult for the operator to freely adjust the position and posture of the surgical instrument like holding the surgical instrument, and therefore, it is necessary to adjust the bracket for fixing the surgical instrument by an adjusting mechanism separately provided, and thus, the position and posture of the surgical instrument are adjusted via the bracket. The adjustment mechanism is, for example, a driving unit provided on the carriage and corresponding to each of the plurality of degrees of freedom.

However, the adjustment mechanism for the bracket has a plurality of degrees of freedom, and the conventional single degree of freedom adjustment requires a large amount of adjustment time. This is because one motion of the surgical instrument (bracket) typically involves a linkage of multiple degrees of freedom, such as when adjusting the pitch angle of the surgical instrument, along with a change in the elevation of the surgical instrument, in addition to a change in the angle of the surgical instrument. Thus, a plurality of degrees of freedom need to be adjusted simultaneously to complete a certain action, and the requirement on an operator is high. Moreover, the operator may need to try several times to achieve the predetermined position and posture of the surgical instrument, which is cumbersome and severely burdensome to the patient.

On the other hand, in order to achieve adjustment of a plurality of degrees of freedom, a plurality of buttons or knobs need to be provided on the adjustment mechanism, and an operator takes much time to recognize the buttons or knobs corresponding to the respective degrees of freedom, which increases the operation time and also risks erroneous operation. Moreover, surgery generally requires a sterile environment, with the carrier as a non-sterile instrument, requiring an adjustment operation with a sterile drape covering, further increasing the difficulty of adjustment.

Disclosure of Invention

In order to solve the above-described problems, an object of the present invention is to provide an attitude control device for an actuator that can easily adjust the position and attitude of a surgical instrument without troublesome operations.

One aspect of the present invention is an attitude control apparatus for an implement for remotely controlling a motion of the implement, comprising:

an operation part configured in a longitudinal shape for an operator to hold;

A switch unit having a plurality of switch modules corresponding to the plurality of degrees of freedom, respectively;

a connection part fixedly connected to at least a part of the operation part and the switch part to connect the operation part and the switch part, and

A signal output unit for outputting the electric signal generated by the switch unit to a driving device for adjusting the implement,

When the operator operates the operation unit, a switch assembly corresponding to the operation of the operator in the switch unit is triggered via the connection unit in response to the operation of the operation unit, and an electric signal for controlling the movement of the switch assembly in the degree of freedom corresponding to the switch assembly is generated, thereby instructing a driving device of the execution instrument to cause the execution instrument to perform the operation in synchronization with the operation unit.

According to the invention, the position and the posture of the execution instrument can be remotely adjusted by the remote control type posture control device, so that the burden of an operator is greatly reduced, and the preoperative preparation efficiency is improved.

Preferably, the operation unit is configured to have a vertically long shape that is contoured for the actuator.

According to the present invention, the position and posture of the implement can be adjusted more intuitively by the profiling posture control device.

Preferably, any one of the plurality of switch modules is configured to include a contact member, and a holder,

A positive contact and a negative contact are provided on the contact piece,

The holding member holds the contact member in a position where it is not in contact with both the positive contact and the negative contact without an external force,

The contact member is movable and provided with a contact and is capable of bringing the contact into contact with the positive contact or the negative contact on the contact member against the holding member in the event of an external force, thereby triggering the switch assembly.

According to the invention, the multi-degree-of-freedom adjustment conforming to the intention of an operator can be realized by a simple and reliable mechanical structure.

Preferably, the plurality of switch modules of the switch unit are configured in a cascade structure such that the contact members of the switch module of the preceding stage double as the contact members of the switch module of the subsequent stage.

According to the present invention, the switch unit can be made more compact, and connection and force transmission between the plurality of switch modules can be achieved.

Preferably, when the operator operates the operation unit, the signal output unit outputs an electric signal of a first-triggered switch assembly among the plurality of switch assemblies to the driving device that adjusts the implement.

According to the invention, misoperation caused by irregular operation of an operator can be effectively avoided.

Preferably, the signal output unit outputs an electric signal of all of the plurality of switch modules to the actuator when the operator operates the operation unit.

According to the invention, the adjustment which better accords with the intention of an operator can be realized, and the adjustment efficiency is improved.

Preferably, when the operator operates the operation unit, the signal output unit outputs an electric signal of a switch module to be triggered among the plurality of switch modules to the actuator for a predetermined time.

According to the present invention, it is possible to avoid unrestricted movement of the implement, thereby avoiding injuries to the patient.

Preferably, the positive and negative contacts of any one of the plurality of switch assemblies correspond to opposite directions of movement in the degree of freedom controlled by that switch assembly, respectively.

According to the present invention, an operator can control the movement in each degree of freedom conveniently and intuitively.

Preferably, the switch unit includes 6 switch modules corresponding to 6 degrees of freedom.

Preferably, the operation unit further includes at least one switch module corresponding to a certain degree of freedom.

According to the present invention, the space of the posture adjustment device can be fully utilized.

Drawings

Fig. 1 is a perspective view showing a state in which an implement is mounted on a bracket.

Fig. 2 is a perspective view showing only a plurality of driving units in the cradle.

Fig. 3 is a perspective view showing the attitude control apparatus.

Fig. 4 is a diagram showing each switch assembly of the switch section of the attitude control apparatus.

Fig. 5 is a diagram showing details of the first switch assembly.

Fig. 6 is a diagram showing details of the second switch assembly.

Fig. 7 is a diagram showing details of the third switch assembly.

Fig. 8 is a diagram showing details of the fourth switch assembly.

Fig. 9 is a diagram showing details of the fifth switch assembly.

Fig. 10 is a diagram showing details of the sixth switch assembly.

Description of the drawings

1. Implement apparatus

2. Bracket

21 X-axis driving unit

22 Y-axis driving unit

23 Z-axis driving unit

24 Rz axis drive unit 25 Ry axis drive unit

26. Caster wheel

27 Signal input part

3. Posture control device

31. Operation part

311. Holding handle

32. Switch part

321. First switch assembly

322. Second switch assembly

323. Third switch assembly

324. Fourth switch assembly

325. Fifth switch assembly

326. Sixth switch assembly

321A,322a,323a,324a,325a contact member

321B,322b,323b,324b,325b contact member

Holding members 321c,322c,323c,324c,325c

321D,322d,323d,324d,325d guide

33. Connecting part

34. Bearing part

Detailed Description

Various exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the invention, its application, or uses. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It should be noted that the relative arrangement of parts and steps, numerical expressions and numerical values, etc. set forth in these embodiments are to be construed as illustrative only and not limiting unless otherwise indicated.

As used herein, the word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Parameters of, and interrelationships between, components, and control circuitry for, components, specific models of components, etc., which are not described in detail in this section, can be considered as techniques, methods, and apparatus known to one of ordinary skill in the relevant art, but are considered as part of the specification where appropriate.

Specific embodiments of the present invention are described below with reference to the drawings.

Implement and bracket the implement 1 and bracket 2 of the present invention are described with reference to fig. 1 and 2. Fig. 1 is a perspective view showing a state in which an implement 1 is mounted on a bracket 2. Fig. 2 is a perspective view showing only the driving units 21 to 25 in the carriage 2.

As shown in fig. 1, in the present invention, the execution device 1 is an ultrasonic probe inserted into the rectum of a patient when performing anorectal operation, as an example. The implement 1 of the present invention is not limited to this but may be other surgical instruments. The actuator 1 is formed in a vertically elongated shape, and is a surgical instrument that can be used independently of the carriage 2, and an operator can insert the actuator 1 into a patient by holding the actuator and adjust the position and posture thereof, or can be fixed to the carriage 2 as shown in fig. 1, and the position and posture of the actuator 1 can be adjusted by the movement of the carriage 2.

The carriage 2 includes a plurality of driving units 21 to 25 corresponding to the plurality of degrees of freedom, casters 26 supporting the plurality of driving units, and a signal input unit 27 receiving an electric signal from the attitude control device 3 described in detail later.

As an example, the carriage 2 has 6 degrees of freedom, and 6 driving units may be provided corresponding thereto. However, it should be understood that the number of the driving units is not limited in the present invention, and 1 to 6 driving units may be provided as needed. As an example, as shown in fig. 1 and 2, a total of 5 driving units 21 to 25 corresponding to 3 translational degrees of freedom and 2 rotational degrees of freedom are provided.

In the present invention, as shown in fig. 1 and 2, the vertical direction is taken as the Z-axis direction, the insertion direction of the actuator 1 into the patient is taken as the X-axis direction, and the directions perpendicular to the X-axis direction and the Z-axis direction are taken as the Y-axis directions.

The driving units 21 to 25 are described in detail below. The X-axis driving unit 21 is used to drive the implement 1 to perform an X-axis direction movement. Specifically, the X-axis drive unit 21 is capable of driving the implement 1 to perform translational movement in both directions toward the patient (positive direction) and away from the patient (negative direction). The Y-axis drive unit 22 is used to drive the implement 1 for translational movement in the Y-axis direction. Specifically, the Y-axis drive unit 22 is capable of driving the implement 1 to perform translational movements in two directions toward the right side of the operator (positive direction) and toward the left side of the operator (negative direction). The Z-axis driving unit 23 is used to drive the implement 1 to perform a movement in the Z-axis direction. Specifically, the Z-axis driving unit 23 can drive the actuator 1 to perform translational motions in two directions, i.e., vertically upward (positive direction) and vertically downward (negative direction).

The Rz axis drive unit 24 is used to drive the implement 1 for a rotational movement about the Z axis. Likewise, the Rz axis drive unit 24 is capable of rotational movement in both positive and negative directions. The Ry-axis drive unit 25 is used to drive the implement 1 for rotational movement about the Y-axis direction. Likewise, the Ry-axis drive unit 25 is capable of rotational movement in both positive and negative directions.

In the present invention, a total of 5 driving units 21 to 25 corresponding to 3 translational degrees of freedom and 2 rotational degrees of freedom are illustrated, but the present invention is not limited thereto, and Rx axis driving units may be added as needed or one of the driving units 21 to 25 may be omitted.

The driving units 21 to 25 are integrally formed in a stacked manner. That is, the X-axis driving unit 21, the Rz-axis driving unit 24, the Ry-axis driving unit 25, the Y-axis driving unit 22, and the Z-axis driving unit 23 are stacked in this order from top to bottom, and adjacent driving units are connected to each other. Of course, the order of arrangement and connection relation of the plurality of driving units 21 to 25 are not limited thereto, and may be flexibly set as needed.

The signal input unit 27 receives an electric signal from the attitude control device 3 described in detail later. The signal input unit 27 and the posture control device 3 may be connected by a wired connection or a wireless connection. Fig. 1 illustrates a wired connection system including an interface.

The casters 26 support the plurality of drive units 21 to 25, the signal input section 27, and the implement 1 fixed to the carriage 2, which are located above them. Instead of casters 26, stationary support members may be used. But in the case of casters 26, movement and storage of the carrier 2 in the surgical environment can be facilitated.

In the conventional art, in order to achieve adjustment in a plurality of degrees of freedom, a button or knob (not shown in fig. 1 and 2) for operating the driving units 21 to 25 needs to be provided on the bracket 2.

Next, the posture control device 3 according to the present invention will be described with reference to fig. 3 to 10. Fig. 3 and 4 are perspective views showing the attitude control device 3. Fig. 5 to 10 are views showing each of the switch modules in detail.

As shown in fig. 3, the attitude control device 3 of the present invention is provided remotely from the cradle 2, and establishes communication by wired or wireless means. For example, in a surgical environment where the carriage 2 and the implement 1 are arranged around the patient, the posture control device 3 may not need to be arranged around the patient, and it is preferable to keep a distance from the patient, both to help achieve a sterile surgical environment, and to allow the implement 1 adjustment to be performed in a more spacious environment, not limited to a narrow operating environment.

By remotely providing the attitude control means 3, the operator can operate in a comfortable position. As described above, in the conventional technique, in order to achieve adjustment of a plurality of degrees of freedom, it is necessary to provide a button or knob for operating the driving units 21 to 25 on the bracket 2, and the bracket 2 is usually provided below the operating table, and the operator needs to operate the instrument 1 in a low position in a stooped posture while visually performing the operation, which increases the difficulty of the operation and is liable to cause fatigue of the operator. In contrast, the posture control device 3 of the present invention can be provided at a proper height and at a distance from the operator's body with respect to the bracket 2, thereby improving the convenience of operation.

The posture control device 3 is preferably configured to profile the actuator 1. For example, in the case where the actuator 1 is an ultrasonic probe inserted into the rectum of a patient, the posture control device 3 is also configured to be long, similar to the long configuration of the actuator 1. Although the specific case will be described later, the operation of the posture control device 3 by the operator is linked with the operation of the carriage 2. That is, the posture control device 3 of the present invention controls the operation of the plurality of degrees of freedom of the bracket 2 by performing a more intuitive posture operation of the posture control device 3, instead of controlling the operation of the plurality of degrees of freedom of the bracket 2 by buttons or knobs corresponding to the plurality of degrees of freedom, respectively, as in the related art.

In this way, when the posture control device 3 and the operation of the carriage 2 are linked and the posture control device 3 is configured to perform the profile modeling of the instrument 1, the operator can more intuitively operate the carriage 2. That is, by making the motion of the posture control device 3 coincide with or be similar to the motion of the execution instrument 1, the operator omits the process of recognizing the button or knob, and the sense of manipulation of the posture control device 3 is similar to the sense of manipulation of the direct manipulation execution instrument 1, so that the burden on the operator can be reduced, and the sense of deviation of the operator in different operation modes can be avoided, so that the two modes of indirect manipulation and direct manipulation realized by the posture control device 3 can be switched without any obstacle under the necessary circumstances.

The attitude control device 3 is described in detail below. As shown in fig. 3, the posture control device 3 includes an operation unit 31, a switch unit 32, a connection unit 33, a receiver 34, and a signal output unit not shown.

As described above, the operation unit 31 has a vertically long structure for profiling the actuator 1. The operator can perform a movement of up to 6 degrees of freedom such as a forward/backward translational movement in the X-axis direction, a left/right translational movement in the Y-axis direction, an up/down translational movement in the Z-axis direction, a pitching movement around the Y-axis direction, a twisting movement around the X-axis direction, and a swaying movement around the Z-axis direction by gripping the grip 311 of the operation unit 31. Simultaneously with the movement of the operation unit 31, the implement 1 also performs movement of up to 6 degrees of freedom, such as forward and backward translational movement in the X-axis direction, left and right translational movement in the Y-axis direction, up and down translational movement in the Z-axis direction, pitching movement around the Y-axis direction, twisting movement around the X-axis direction, and swaying movement around the Z-axis direction, in synchronization or approximately synchronization.

The specific shape, the grip portion, and the like of the operation portion 31 may be flexibly set according to actual circumstances, as long as the operation portion 31 can be gripped for movement in a plurality of degrees of freedom.

The switch portion 32 is a member that provides triggering in a plurality of degrees of freedom. In the present invention, by providing a corresponding switch module for each degree of freedom, when the operator operates the operation unit 31 in a certain degree of freedom, the switch unit 32 can perform a corresponding trigger, and send an electric signal to the bracket 2 through the signal output unit, thereby instructing the bracket 2 to perform the operation in the degree of freedom in synchronization or near synchronization.

The connection portion 33 connects the operation portion 31 and the switch portion 32, and transmits an operation of the operation portion 31 by an operator to the switch portion 32 via the connection portion 33. The connection portion 33 is fixedly connected to the operation portion 31 and fixedly connected to at least a part of the switch portion 32. The specific form of the connection portion 33 is not limited, and one form is illustrated in fig. 3. That is, the connection portion 33 is formed in a U shape and is fixedly connected to the operation portion 31 so as to lift both ends of the operation portion 31. In this way, the stress between the connecting portion 33 and the operating portion 31 is more balanced, and the handle-like shape is formed together with the operating portion 31, which is convenient for the operator to hold and act. Of course, the connecting portion 33 may be provided so as to be fixed to the central portion of the operation portion 31 or so as to be fixed to one end of the operation portion 31 in a cantilever manner, as required.

The connection portion 33 is fixedly connected to at least a part of the switch portion 32. Although details will be described later, the switch unit 32 is a cascade structure formed by connecting a plurality of switch modules, and the connection unit 33 is fixedly connected to the uppermost switch module among the plurality of switch modules of the switch unit 32, that is, the operation of the operation unit 31 can be transmitted to the switch unit 32.

The support portion 34 is configured as a base of the attitude control device 3, and supports the upper switch portion 32, the connection portion 33, the operation portion 31, and a signal output portion not shown. In use, the support 34 is secured to a table top or the like, the position of which remains unchanged during operation.

Next, the structure of the switch unit 32 will be described in detail with reference to fig. 4 to 9. The switch section 32 includes a first switch block 321 for triggering movement in the Z-axis translational direction, a second switch block 322 for triggering movement in the Y-axis rotational direction, a third switch block 323 for triggering movement in the X-axis translational direction, a fourth switch block 324 for triggering movement in the Y-axis translational direction, and a fifth switch block 325 for triggering movement in the Z-axis rotational direction.

In the present embodiment, the sixth switch unit 326 for triggering the movement in the X-axis rotation direction is not provided in the switch portion 32, but is constituted by a contact member provided in the operation portion and a contact member provided in the connection portion 33. This is to make the switch unit 32 more compact and to fully utilize the space of each component. Of course, the sixth switching unit 326 may be provided in the switching unit 32.

In addition, each of the plurality of switch assemblies 321-326 includes a contact member, and a holder member. The contact piece is provided with a positive contact and a negative contact, the retainer keeps the contact piece at a position which is not contacted with the positive contact and the negative contact under the condition that the contact piece is not subjected to external force, the contact piece is provided with a contact and is movable, and the contact can be contacted with the positive contact or the negative contact on the contact piece against the retainer under the condition that the contact piece is subjected to external force, so that the switch assembly is triggered.

The switch elements 321 to 326 are described in detail below with reference to fig. 5 to 10.

Fig. 5 is a side view of the first switch assembly 321 viewed from the Y-axis direction. As shown in fig. 5, in the present embodiment, the first switch assembly 321 is used to trigger the movement along the Z-axis translational direction, which corresponds to the switch assembly that controls the up-and-down movement of the implement 1. The first switch assembly 321 includes a contact member 321a, a contact member 321b, a holder 321c, and a guide member 321d.

The contact member 321a is provided with a conductive contact made of, for example, metal. The contact 321b is provided with a pair of contacts made of metal, that is, a positive contact and a negative contact, for example. When the operator pulls the grip handle 311 upward in the Z-axis direction to translate the contact member 321a upward, and further, when the contact on the contact member 321a comes into contact with the positive contact of the contact member 321b, the first switch assembly 321 is triggered, and a signal output unit, not shown, of the attitude control device 3 outputs a forward signal to the carriage 2, instructing the carriage 2 to perform a translational movement upward in the Z-axis direction. When the operator presses the grip handle 311 downward in the Z-axis direction to translate the contact member 321a downward, and the contact on the contact member 321a contacts the negative contact of the contact member 321b, the first switch assembly 321 is triggered, and a signal output unit, not shown, of the attitude control device 3 outputs a negative signal to the carriage 2, instructing the carriage 2 to perform a translational movement downward in the Z-axis direction.

The holder 321c is composed of a spring-like potential member, and when the switch unit 32 is not subjected to an external force, the contact 321a is held at a position where it is not in contact with both the positive contact and the negative contact of the contact 321b by the holder 321 c. Since the contacts of the contact member 321a and the positive and negative contacts of the contact member 321b are both made of metal, when contact occurs, the circuit is completed, that is, the first switch assembly 321 is triggered, and thus a trigger signal of a corresponding degree of freedom is generated. When no contact occurs, the circuit is open, i.e. the first switching component 321 is not triggered, and thus no signal is generated.

The guide 321d provides support for the contact 321a and functions as a guide rail for the contact 321 a. As the contact 321a translates up and down along the Z-axis, it translates up and down along the guide 321d extending therethrough.

Next, fig. 6 is a side view of the second switch assembly 322 viewed from the Y-axis direction. As shown in fig. 6, in the present embodiment, the second switch assembly 322 is used to trigger the movement in the rotation direction around the Y axis, which corresponds to the switch assembly controlling the pitching movement of the implement 1. The second switch assembly 322 includes a contact member 322a, a contact member 322b, a retaining member 322c, and a guide member 322d.

The contact piece 322a is provided with a conductive contact made of, for example, metal. The contact piece 322b is provided with a pair of contacts made of metal, that is, a positive contact and a negative contact, for example. When the operator lifts the grip handle 311 to bring the tip thereof into contact with the positive contact of the contact piece 322b, the second switch unit 322 is triggered, and a signal output unit, not shown, of the attitude control device 3 outputs a positive signal to the bracket 2, instructing the bracket 2 to perform a pitching motion for lifting the tip thereof. When the operator moves the grip handle 311 to sink the front end and further contacts the contact pieces 322a and 322b, the second switch unit 322 is triggered, and a signal output unit, not shown, of the attitude control device 3 outputs a negative signal to the bracket 2, instructing the bracket 2 to perform a pitching motion with the front end sinking.

The holder 322c is formed of a spring-like potential member, and when the switch portion 32 is not subjected to an external force, the contact piece 322a is held at a position where it is not in contact with both the positive contact and the negative contact of the contact piece 322b by the holder 322 c. Since the contacts of the contact piece 322a and the positive and negative contacts of the contact piece 322b are both made of metal, when contact occurs, the circuit is completed, i.e., the second switch assembly 322 is triggered, thus generating a trigger signal of a corresponding degree of freedom. When no contact occurs, the circuit is open, i.e. the second switching assembly 322 is not triggered, and thus no signal is generated.

In the second switch assembly 322, the guide 322d is the rotation axis of the contact piece 322 a.

It should be noted that the contact piece 321b of the first switch assembly 321 and the contact piece 322a of the second switch assembly 322 are the same component. That is, the contact piece 321b of the first switch assembly 321 doubles as the contact piece 322a of the second switch assembly 322, on which both the positive and negative contacts of the contact piece 321b of the first switch assembly 321 and the contacts of the contact piece 322a of the second switch assembly 322 are provided. Thereby, the structure of the switch portion 32 can be made more compact, and the contact piece 321b (contact piece 322 a) serves as a connecting piece of the first switch assembly 321 and the second switch assembly 322. By this connection, the first switch module 321 and the second switch module 322 can be connected, and the force generated when the operator operates the operation unit 31 can be transmitted from the first switch module 321 to the second switch module 322.

Further, the first switching assembly 321 is a first stage switching assembly in the switching section 32, and the second switching assembly 322 is a second stage switching assembly in the switching section 32. The first switching assembly 321 is a switching assembly of a previous stage of the second switching assembly 322, and the second switching assembly 322 is a switching assembly of a subsequent stage of the first switching assembly 321.

Next, fig. 7 is a plan view of the third switching assembly 323 viewed along the Z-axis direction. As shown in fig. 7, in the present embodiment, the third switch assembly 323 is used to trigger the movement along the X-axis translation direction, and corresponds to a switch assembly that controls the forward and backward translation of the implement 1. The third switching assembly 323 includes a contact member 323a, a contact member 323b, a holding member 323c, and a guide member 323d.

The contact piece 323a is provided with a conductive contact made of, for example, metal. The contact 323b is provided with a pair of contacts made of metal, that is, a positive contact and a negative contact, for example. When the operator pushes the grip handle 311 forward toward the patient and the contact on the contact piece 323a comes into contact with the positive contact of the contact piece 323b, the third switch unit 323 is triggered, and a signal output unit, not shown, of the posture control device 3 outputs a forward signal to the carriage 2, instructing the carriage 2 to perform a translational movement forward toward the patient. When the operator pulls the grip 311 in a direction away from the patient, and the contact on the contact piece 323a comes into contact with the negative contact of the contact piece 323b, the third switch unit 323 is triggered, and a signal output unit, not shown, of the posture control device 3 outputs a negative signal to the carriage 2, instructing the carriage 2 to perform a translational movement of moving backward in a direction away from the patient.

The holder 323c is formed of a spring-like potential member, and when the switch unit 32 is not subjected to an external force, the contact 323a is held at a position where it is not in contact with both the positive contact and the negative contact of the contact 323b by the holder 323 c. Since the contacts of the contact piece 323a and the positive and negative contacts of the contact piece 323b are both made of metal, when contact occurs, the circuit is completed, that is, the third switch assembly 323 is triggered, so that a trigger signal of a corresponding degree of freedom is generated. When no contact occurs, the circuit is open, i.e. the third switching assembly 323 is not triggered, and thus no signal is generated.

Likewise, the contact piece 322b of the second switch assembly 322 and the contact piece 323a of the third switch assembly 323 are the same component. That is, the contact piece 322b of the second switch assembly 322 doubles as the contact piece 323a of the third switch assembly 323, on which both the positive and negative contacts of the contact piece 322b of the second switch assembly 322 and the contacts of the contact piece 323a of the third switch assembly 323 are provided. Thereby, the contact piece 322b (contact piece 323 a) can and is utilized as a connection piece for the second and third switch assemblies 322, 323. By this connection, the connection between the second switch module 322 and the third switch module 323 is achieved, and the force generated when the operator operates the operation unit 31 can be transmitted from the second switch module 322 to the third switch module 323.

Likewise, the second switching assembly 322 is a switching assembly of a previous stage of the third switching assembly 323, and the third switching assembly 323 is a switching assembly of a subsequent stage of the second switching assembly 322.

Next, fig. 8 is a top view of the fourth switch assembly 324 viewed along the Z-axis direction. As shown in fig. 8, in the present embodiment, the fourth switch assembly 324 is used to trigger the movement along the Y-axis translation direction, which corresponds to the switch assembly controlling the left-right translation of the implement 1. The fourth switch assembly 324 includes a contact member 324a, a contact member 324b, a holder 324c, and a guide member 324d.

The contact piece 324a is provided with a conductive contact made of, for example, metal. The contact member 324b is provided with a pair of contacts made of metal, that is, a positive contact and a negative contact, for example. When the operator pushes the grip handle 311 toward the left in fig. 8 and the contact on the contact piece 324a is in contact with the positive contact of the contact piece 324b, the fourth switch assembly 324 is triggered, and a signal output part, not shown, of the posture control device 3 outputs a positive signal to the carriage 2, instructing the carriage 2 to perform a translational movement toward the left of the patient. When the operator pushes the grip handle 311 toward the right in fig. 8, and the contact on the contact piece 324a is in contact with the negative contact of the contact piece 324b, the fourth switch assembly 324 is triggered, and the signal output part, not shown, of the posture control device 3 outputs a negative signal to the cradle 2, instructing the cradle 2 to perform a translational movement toward the right of the patient.

The holder 324c is formed of a spring-like potential member, and when the switch portion 32 is not subjected to an external force, the contact member 324a is held at a position where it is not in contact with both the positive contact and the negative contact of the contact member 324b by the holder 324 c. Since the contacts of the contact element 324a and the positive and negative contacts of the contact element 324b are both made of metal, when contact occurs, the circuit is completed, i.e. the fourth switch assembly 324 is triggered, so that a trigger signal of the corresponding degree of freedom is generated. When no contact occurs, the circuit is open, i.e., the fourth switching component 324 is not triggered, and therefore no signal is generated.

Likewise, the contact piece 323b of the third switching assembly 323 and the contact piece 324a of the fourth switching assembly 324 are the same component. That is, the contact piece 323b of the third switching assembly 323 doubles as the contact piece 324a of the fourth switching assembly 324, on which both the positive and negative contacts of the contact piece 323b of the third switching assembly 323 and the contacts of the contact piece 324a of the fourth switching assembly 324 are provided.

Likewise, the third switching component 323 is a switching component of a previous stage of the fourth switching component 324, and the fourth switching component 324 is a switching component of a subsequent stage of the third switching component 323.

Next, fig. 9 is a top view of the fifth switch assembly 325 viewed along the Z-axis direction. As shown in fig. 9, in the present embodiment, the fifth switch assembly 325 is used to trigger the movement in the rotation direction around the Z axis, which corresponds to the switch assembly that controls the swing of the implement 1. The fifth switch assembly 325 includes a contact member 325a, a contact member 325b, a holder 325c, and a guide member 325d.

The contact piece 325a is provided with a conductive contact made of, for example, metal. The contact member 325b is provided with a pair of contacts made of metal, that is, a positive contact and a negative contact, for example. When the operator twists the grip handle 311 around the Z axis and the contact on the contact piece 325a comes into contact with the positive contact or the negative contact of the contact piece 325b, the fifth switch unit 325 is triggered, and the signal output unit, not shown, of the attitude control device 3 outputs a positive signal or a negative signal to the carriage 2, instructing the carriage 2 to perform a rotational movement around the Z axis.

The holder 325c is made of a spring-like potential member, and when the switch unit 32 is not subjected to an external force, the contact 325a is held at a position where it is not in contact with both the positive contact and the negative contact of the contact 325b by the holder 325 c. Since both the positive and negative contacts of the contact member 325a and the contact member 325b are made of metal, when contact occurs, the circuit is completed, i.e., the fifth switch assembly 325 is triggered, thus generating a trigger signal of a corresponding degree of freedom. When no contact occurs, the circuit is open, i.e., the fifth switch assembly 325 is not activated, and therefore no signal is generated.

Likewise, the contact member 324b of the fourth switch assembly 324 and the contact member 325a of the fifth switch assembly 325 are the same component. That is, the contact piece 324b of the fourth switch assembly 324 doubles as the contact piece 325a of the fifth switch assembly 325, on which both the positive and negative contacts of the contact piece 324b of the fourth switch assembly 324 and the contacts of the contact piece 325a of the fifth switch assembly 325 are provided.

Likewise, the fourth switching assembly 324 is a switching assembly of a previous stage of the fifth switching assembly 325, and the fifth switching assembly 325 is a switching assembly of a subsequent stage of the fourth switching assembly 324.

Next, fig. 10 is a view of the sixth switch assembly 326 viewed along the X-axis direction. The sixth switching element 326 has substantially the same structure as the first through fifth switching elements 321 through 325. The difference is that a sixth switch assembly 326 for triggering movement in the X-axis rotation direction is provided to the operation portion 31 in order to save space. In addition, by such an arrangement, the rotational movement in the X-axis direction, i.e., twisting, is also easier to handle.

In summary, the plurality of switch modules 321 to 325 of the switch unit 32 are stacked in order from top to bottom along the Z-axis, and the contact members of the switch module of the previous stage are used as the contact members of the switch module of the subsequent stage. Thereby, the structure can be made more compact, and the connection and the force transmission between the multi-stage switch assemblies are realized.

Preferably, when any one of the plurality of switch elements 321 to 326 is activated, the signal output unit outputs an activation signal to the cradle 2 for a predetermined time. That is, when any one of the plurality of switch elements 321 to 326 is triggered, the trigger signal is not always issued, but only for a predetermined time. This is because the continued action may cause the movement of the implement 1 to be of an unexpected magnitude, thereby causing injury to the patient. The operator can gradually adjust the position and posture of the implement 1 through a plurality of operations.

Further, it is preferable that when the operator operates the operation unit 31, the switch modules of a plurality of dimensions may be simultaneously activated because the posture is not necessarily standard. In this case, it is preferable to output only the electric signal of the first-triggered switch assembly to the bracket 2, because the electric signal of the first-triggered switch assembly generally represents the most dominant operation intention of the operator. Further, the electrical signals of all the switch modules to be triggered may be output to the bracket 2 so that the operation of the actuator 1 and the operation of the operation unit 31 may be more matched. When the triggered and transmitted electrical signal contains a composite signal of a plurality of degrees of freedom, the control unit of the execution instrument 1 analyzes the composite signal and decomposes it into control signals of the respective degrees of freedom executable by the execution unit, in this way, it is possible to analyze and transmit signals synchronously realizing the complex operation intention of the operator.

Furthermore, as described above, at least 2 contacts indicating movement in different directions are provided in each switch assembly. Contacts indicating more directions may also be provided as desired.

According to the invention, the operator can more intuitively adjust the position and the posture of the execution instrument 1 through the profiling remote control device, so that the preoperative preparation efficiency is greatly improved, and the burden of the operator is reduced.

The embodiments of the present invention are described above, but are not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims (8)

1. An attitude control apparatus of an implement for remotely controlling a motion of the implement, comprising:

an operation part configured in a longitudinal shape for an operator to hold;

A switch unit having a plurality of switch modules corresponding to the plurality of degrees of freedom, respectively;

a connection part fixedly connected to at least a part of the operation part and the switch part to connect the operation part and the switch part, and

A signal output unit for outputting the electric signal generated by the switch unit to a driving device for adjusting the implement,

When an operator operates the operation unit, a switch assembly corresponding to the operation of the operator in the switch unit is triggered via the connection unit in response to the operation of the operation unit, an electric signal for controlling the movement of the switch assembly in the degree of freedom is generated, and the driving device of the execution instrument is instructed to cause the execution instrument to perform the operation in synchronization with the operation unit,

Any one of the plurality of switch assemblies is configured to include a contact member, and a holder,

A positive contact and a negative contact are provided on the contact piece,

The holding member holds the contact member in a position where it is not in contact with both the positive contact and the negative contact without an external force,

The contact piece is movable and provided with a contact and is capable of bringing the contact into contact with the positive contact or the negative contact on the contact piece against the holding piece under the condition of external force, thereby triggering the switch assembly,

The plurality of switch modules of the switch unit are stacked in order, and are configured in a cascade structure such that the contact members of the switch module of the preceding stage double as the contact members of the switch module of the subsequent stage.

2. The attitude control apparatus for an actuator according to claim 1, wherein,

The operation unit is configured to have a vertically long shape that is contoured for the implement.

3. The attitude control apparatus for an actuator according to claim 1 or 2, wherein,

When an operator operates the operation portion, the signal output portion outputs an electric signal of a switch assembly that is triggered first among the plurality of switch assemblies to the driving device that adjusts the implement.

4. The attitude control apparatus for an actuator according to claim 1 or 2, wherein,

When an operator operates the operation unit, the signal output unit outputs electrical signals of all of the plurality of switch modules to the implement.

5. The attitude control apparatus for an actuator according to claim 1 or 2, wherein,

When an operator operates the operation unit, the signal output unit outputs an electric signal of a switch module to be activated among the plurality of switch modules to the actuator for a predetermined time.

6. The attitude control apparatus for an actuator according to claim 1, wherein,

The positive and negative contacts of any one of the plurality of switch assemblies correspond to opposite directions of movement in the degrees of freedom controlled by the switch assembly, respectively.

7. The attitude control apparatus for an actuator according to claim 1 or 2, wherein,

The switch unit includes 6 switch modules corresponding to 6 degrees of freedom.

8. The attitude control apparatus for an actuator according to claim 1 or 2, wherein,

At least one switch assembly corresponding to a certain degree of freedom is further arranged on the operation part.