JP6586444B2 - Robotic operating table and hybrid operating room system - Google Patents

Description

  The present invention relates to a robot operating table and a hybrid operating room system.

  2. Description of the Related Art Conventionally, a patient positioning assembly that moves a table on which a patient is placed by a robot arm and positions a patient with respect to a radiation source for treatment is known (see, for example, Patent Document 1).

  Conventionally, there has been a demand for an operating table that can easily move a table on which a patient is placed in an operating room while suppressing interference with peripheral devices. Therefore, it is conceivable to apply the patient positioning assembly of Patent Document 1 to an operating table in an operating room and move a table on which a patient is placed using a robot arm. Thereby, unlike the case where the operating table is moved using a caster, the table on which the patient is placed can be easily moved while suppressing interference with peripheral devices.

JP 2009-131718 A

  However, since the patient positioning assembly as in Patent Document 1 is intended to irradiate radiation for treatment, a plurality of workers work around the table on which the patient is placed for a long time. In general, a large robot arm is used. For this reason, when the robot arm of patent document 1 is applied to an operating table, the space around the operating table is narrowed, which hinders medical personnel when performing surgery. When a robot arm including a plurality of joints is miniaturized so as not to interfere with the operation, the joint size is also reduced, resulting in a disadvantage that joint resistance to load is reduced. In particular, when the table is moved in the vertical direction with a patient having a large weight placed thereon, the moment load applied to the vertical joint that moves the table up and down may increase. For this reason, there is a problem that it is difficult to downsize the robot arm so as not to obstruct the operation.

  The present invention relates to a robot operating table capable of reducing the size of an articulated robot arm while ensuring resistance to a load of a vertical joint of the articulated robot arm that moves a table on which a patient to be operated is placed. Is to provide.

A robot operating table according to a first aspect of the present invention includes a table for placing a patient, and an articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table, The articulated robot arm includes at least one vertical joint and at least one horizontal joint, and the horizontal joint is not disposed between the table and the vertical joint, but between the vertical joint and the base. The rotation axis of the vertical joint is arranged in the horizontal direction and in a direction that is always substantially parallel to the longitudinal direction of the table when viewed from above .

  In the robot operating table according to the first aspect of the present invention, as described above, the rotation axis of the vertical joint of the articulated robot arm is arranged in the horizontal direction and in a direction substantially parallel to the longitudinal direction of the table. Here, in order to prevent the articulated robot arm from interfering with the medical staff and other devices, the patient is placed from the support position when configured to support the vicinity of one end in the longitudinal direction of the table. As for the distance to the center of gravity of the table in the state, the distance in the longitudinal direction of the table is larger than the distance in the lateral direction of the table. As a result, the moment at the table support position of the articulated robot arm is greater in the moment around the rotational axis in the short direction of the table than the moment around the rotational axis in the longitudinal direction of the table. Thus, the moment load that supports the table in the direction of rotating the vertical joint by arranging the rotation axis of the vertical joint of the articulated robot arm in the horizontal direction and in a direction substantially parallel to the longitudinal direction of the table. Can be suppressed. In other words, since the moment load in the longitudinal direction of the table can be supported in the direction of the rotation axis of the vertical joint, it is not necessary to increase the output of the drive mechanism that drives the vertical joint. Further, it is not necessary to provide a large speed reducer in order to increase the output torque of the drive mechanism. As a result, an increase in the vertical joint can be suppressed. Accordingly, it is possible to reduce the size of the articulated robot arm while ensuring the resistance to the load on the vertical joint of the articulated robot arm that moves the table on which the patient to be operated is placed.

  In the robot operating table according to the first aspect, the articulated robot arm is preferably configured to support the vicinity of one end in the longitudinal direction of the table. With this configuration, a space can be secured below the table on the side opposite to the one end side of the table supported by the articulated robot arm, so a sufficient space is secured around the patient placement table. can do. Thereby, it can suppress that an articulated robot arm interferes with a medical worker and other devices.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm includes a plurality of vertical joints, and each of the rotation axes of the plurality of vertical joints is in the horizontal direction and the longitudinal direction of the table. Arranged in a substantially parallel direction. If comprised in this way, size reduction of a some vertical joint can be achieved, ensuring the tolerance with respect to the load of a some vertical joint.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm further includes a drive mechanism that drives a vertical joint, and the drive mechanism includes a motor and a speed reducer that decelerates and outputs the rotation of the motor. And the rotation axis of the vertical joint is arranged to coincide with the output rotation axis of the speed reducer. If comprised in this way, since the output torque of a motor can be increased with a reduction gear, it is not necessary to enlarge the output of a motor. Further, since the output rotation shaft of the speed reducer can be arranged in the horizontal direction and in a direction substantially parallel to the longitudinal direction of the table, it is possible to suppress an increase in moment load on the speed reducer.

  In the robot operating table according to the first aspect described above, preferably, the articulated robot arm further includes a drive mechanism that drives a vertical joint, and the drive mechanism decelerates and outputs the motor and rotation of the motor. And a second speed reducer that decelerates and outputs the rotation of the first speed reducer, and the rotation axis of the vertical joint is arranged to coincide with the output rotation axis of the second speed reducer. If comprised in this way, since it can decelerate in two steps with a 1st reduction gear and a 2nd reduction gear, the output torque of the motor of a vertical joint can be increased effectively. As a result, since the maximum output of the motor can be reduced, the motor of the vertical joint can be reduced.

  In the robot operating table according to the first aspect, the articulated robot arm preferably includes a horizontal articulated assembly having a plurality of horizontal joints and a vertical articulated assembly having a plurality of vertical joints. , One end is supported by the base, the other end supports one end of the vertical articulated assembly, and the other end of the vertical articulated assembly supports the table. With this configuration, the table is not rotated in the horizontal direction between the vertical articulated assembly and the table, so the relationship between the direction in which the rotation axis of the vertical joint extends and the longitudinal direction of the table The table can be moved vertically and horizontally while maintaining Further, the table can be easily moved to a desired horizontal position by a horizontal articulated assembly having a plurality of horizontal joints. Also, the vertical articulated assembly having a plurality of vertical joints allows the table to be easily moved to a desired vertical position. In addition, since a plurality of horizontal joints can be arranged together on the base side and a plurality of vertical joints can be arranged together on the table side, the horizontal movement can be achieved by driving the plurality of horizontal joints on the base side. The vertical movement can be performed by driving a plurality of vertical joints on the table side. This eliminates the need to drive the movement in the horizontal direction and the vertical direction while linking the horizontal joint and the vertical joint, respectively. Therefore, compared to the case where the vertical joint and the horizontal joint are arranged alternately, It is possible to prevent the drive control of the joint robot arm from becoming complicated.

  In this case, preferably the horizontal articulated assembly has three horizontal joints and the vertical articulated assembly has three vertical joints. With this configuration, considering the securing of the length when the horizontal articulated assembly is extended to the maximum, the distance between the joints can be reduced compared to the case where two or less horizontal joints are provided. Thus, when the horizontal articulated assembly is folded and contracted, it can be made more compact. Further, the apparatus configuration can be simplified as compared with the case where four or more horizontal joints are provided. In consideration of securing the length when the vertical articulated assembly is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less vertical joints are provided. Can be made more compact when folded and folded. Further, the apparatus configuration can be simplified as compared with the case where four or more vertical joints are provided.

  In the configuration in which the articulated robot arm includes a horizontal articulated assembly and a vertical articulated assembly, the articulated robot arm is preferably configured such that the articulated robot arm yaw-rotates the table about the vertical axis by at least one horizontal joint. It is configured. If comprised in this way, a table can be easily yaw-rotated to a desired position by one or more horizontal joints of an articulated robot arm.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm is configured to roll the table around the longitudinal axis by at least one vertical joint. If comprised in this way, a table can be easily roll-rotated to a desired rotation angle position by one or more vertical joints of an articulated robot arm.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm includes a pitch rotation mechanism that supports the table and rotates the table about the axis in the short direction, and the pitch rotation mechanism includes: The first ball screw arranged so that the axis extends in the vertical direction, the second ball screw arranged so that the axis extends in the vertical direction, and the first ball screw moved in the vertical direction by the first ball screw to support the table A support member and a second support member that is moved in the vertical direction by the second ball screw to support the table, and the first support member and the second support member have a predetermined distance in a direction parallel to the longitudinal direction of the table. Are arranged apart from each other. If comprised in this way, a 1st ball screw and a 2nd ball screw can be interlocked and driven, and a table can be easily pitch-rotated to a desired rotation angle position.

  In this case, preferably, the pitch rotation mechanism is arranged so as to extend in a direction parallel to the direction in which the first linear guide and the second ball screw extend in a direction parallel to the direction in which the first ball screw extends. A second linear guide, wherein the first support member is slidably attached to the first linear guide, and the second support member is slidably attached to the second linear guide. . According to this structure, the first support member can be linearly moved with high accuracy by the first linear guide, and the second support member can be linearly moved with high accuracy by the second linear guide. It is possible to move the pitch well.

  In the robot operating table according to the first aspect, preferably, the articulated robot arm includes a pitch rotation mechanism that supports the table and rotates the table about the axis in the short direction, and the pitch rotation mechanism includes: And a pitch rotation support member that supports one end of the table so as to be rotatable about a rotation axis of the pitch rotation. If comprised in this way, a pitch rotation mechanism can easily carry out pitch rotation movement of a table to a desired rotation angle position by a pitch rotation mechanism, supporting a table by a pitch rotation support member.

  In the configuration in which the articulated robot arm includes a pitch rotation mechanism, preferably, the articulated robot arm includes a horizontal articulated assembly having a plurality of horizontal joints and a vertical articulated assembly having a plurality of vertical joints, The horizontal articulated assembly has one end supported by the base, the other end supports one end of the vertical articulated assembly, and the pitch rotation mechanism is supported by the other end of the vertical articulated assembly. With this configuration, a plurality of horizontal joints can be arranged together on the base side, and a plurality of vertical joints can be arranged together on the table side. The movement in the vertical direction can be performed by driving a plurality of vertical joints on the table side. This eliminates the need to drive the movement in the horizontal direction and the vertical direction while linking the horizontal joint and the vertical joint, respectively. Therefore, compared to the case where the vertical joint and the horizontal joint are arranged alternately, It is possible to prevent the drive control of the joint robot arm from becoming complicated. Further, since the pitch rotation mechanism can be provided on the table side of the vertical articulated assembly, the table can be easily pitch-rotated by the pitch rotation mechanism independently of the vertical articulated assembly. .

  In the robot operating table according to the first aspect, preferably, the table includes an X-ray transmission part and a support part that supports the X-ray transmission part, and the other end of the articulated robot arm is in the vicinity of one end of the table. The support part is supported. If comprised in this way, if an articulated robot arm is arrange | positioned at the support part side and sufficient space is ensured under the X-ray transmission part, the apparatus for X-ray imaging will be provided under the X-ray transmission part. Therefore, X-ray imaging can be performed on a patient placed on the table.

  A hybrid operating room system according to a second aspect of the present invention includes a robot operating table according to the first aspect, an X-ray imaging apparatus that captures an X-ray projection image of a patient, and magnetic resonance that captures a magnetic resonance image of a patient. At least one of the imaging devices.

  In the hybrid operating room system according to the second aspect of the present invention, as described above, a sufficient space can be secured around the patient placement table of the robot operating table. The imaging device can be easily placed in the space around the table.

  ADVANTAGE OF THE INVENTION According to this invention, size reduction of a robot arm can be achieved, ensuring the tolerance with respect to the load of the vertical joint of the robot arm which moves the table in which the patient in whom surgery is performed is moved.

It is the figure which showed the outline of the hybrid operating room system provided with the robot operating table by 1st Embodiment. It is the top view which showed the robot operating table by 1st Embodiment. It is the schematic diagram which showed the drive mechanism of the articulated robot arm of the robot operating table by 1st Embodiment. It is a side view for demonstrating the maximum imaging | photography possible range of the robot operating table by 1st Embodiment. It is a side view for demonstrating the minimum imaging possible range of the robot operating table by 1st Embodiment. It is a front view for demonstrating roll rotation of the robot operating table by 1st Embodiment. It is the side view which showed the pitch rotation mechanism of the robot operating table by 1st Embodiment. It is a perspective view for demonstrating the pitch rotation of the robot operating table by 1st Embodiment. It is a side view for demonstrating the pitch rotation of the robot operating table by 1st Embodiment. It is the perspective view which showed the robot operating table by 2nd Embodiment. It is a figure for demonstrating the pitch rotation mechanism of the robot operating table by 2nd Embodiment. It is the top view which showed the robot operating table by 3rd Embodiment. It is the side view which showed the robot operating table by 3rd Embodiment. It is the schematic diagram which showed the drive mechanism of the articulated robot arm of the robot operating table by 3rd Embodiment. It is FIG. 1 for demonstrating the pitch rotation mechanism of the robot operating table by 3rd Embodiment. It is FIG. 2 for demonstrating the pitch rotation mechanism of the robot operating table by 3rd Embodiment.

  Hereinafter, embodiments will be described with reference to the drawings.

[First Embodiment]
(Configuration of robot operating table)
With reference to FIGS. 1-9, the outline | summary of the robot operating table 100 by 1st Embodiment is demonstrated.

  As shown in FIG. 1, the robot operating table 100 is provided in a hybrid operating room 200. The hybrid operating room 200 is provided with an X-ray imaging apparatus 300 that captures an X-ray projection image of the patient 10. The hybrid operating room system provided in the hybrid operating room 200 includes a robot operating table 100 and an X-ray imaging apparatus 300. The robot operating table 100 is used as an operating table used in, for example, surgery and internal medicine. The robot operating table 100 moves to a placement position for placing the patient 10 on the table 1, and with the patient 10 placed on the table 1, the anesthesia position, the surgical position, the examination position, the treatment position, and the X-ray imaging. It is possible to move the patient 10 to a position or the like. The robot operating table 100 can tilt the patient 10 while the patient 10 is placed on the table 1.

  The robot operating table 100 includes a table 1 for placing a patient, an articulated robot arm 2, and a control unit 3. The table 1 includes an X-ray transmission part 11 and a support part 12. The articulated robot arm 2 includes a base 21, a horizontal articulated assembly 22, a vertical articulated assembly 23, and a pitch rotation mechanism 24. The horizontal articulated assembly 22 includes horizontal joints 221, 222 and 223. The vertical articulated assembly 23 includes vertical joints 231, 232 and 233. The X-ray imaging apparatus 300 includes an X-ray irradiation unit 301, an X-ray detection unit 302, and a C arm 303.

  As shown in FIG. 1, the table 1 is formed in a substantially rectangular flat plate shape. Moreover, the upper surface of the table 1 is formed substantially flat. The table 1 has a longitudinal direction in the X direction and a short direction in the Y direction. The table 1 can be rotated about the axis in the vertical direction (Z direction). Here, the horizontal direction along the longitudinal direction of the table 1 is the X direction and the horizontal direction along the short direction of the table 1 is used. Let the direction be the Y direction. That is, the X direction and the Y direction indicate directions based on the table 1.

  As shown in FIG. 1, a patient 10 is placed on the X-ray transmission part 11 of the table 1. The X-ray transmission part 11 is arranged in the X1 direction. The X-ray transmission part 11 is formed in a substantially rectangular shape. The X-ray transmission part 11 is formed of a material that easily transmits X-rays. The X-ray transmission part 11 is formed of, for example, a carbon material (graphite). The X-ray transmission part 11 is formed of, for example, carbon fiber reinforced plastic (CFRP). Thereby, it is possible to capture an X-ray image of the patient 10 while the patient 10 is placed on the X-ray transmission unit 11.

  The support portion 12 of the table 1 is connected to the articulated robot arm 2. The support portion 12 is disposed in the X2 direction. The support part 12 is formed in a substantially rectangular shape. The support part 12 supports the X-ray transmission part 11. The support part 12 is made of a material having a lower X-ray transmittance than the X-ray transmission part 11. The support part 12 is made of metal, for example. The support part 12 is made of, for example, an iron material or an aluminum material.

  The table 1 is configured to be moved by an articulated robot arm 2. Specifically, the table 1 is configured to be movable in the X direction in the horizontal direction, the Y direction in the horizontal direction orthogonal to the X direction, and the Z direction that is orthogonal to the X direction and the Y direction and is in the vertical direction. Yes. Further, the table 1 is configured to be rotatable (rollable) about the axis line in the X direction. The table 1 is configured to be rotatable (pitch) around an axis in the Y direction. The table 1 is configured to be rotatable (yaw) around an axis in the Z direction.

  The articulated robot arm 2 is configured to move the table 1. As shown in FIG. 1, the articulated robot arm 2 has one end supported by a base 21 fixed to the floor and the other end movably supporting the table 1. Specifically, the articulated robot arm 2 is supported by the base 21 so as to be rotatable about an axis in the vertical direction (Z direction). The articulated robot arm 2 is configured to support the vicinity of one end on the X2 direction side in the longitudinal direction (X direction) of the table 1. In other words, the other end of the articulated robot arm 2 supports the support portion 12 near one end of the table 1.

  The articulated robot arm 2 is configured to move the table 1 with seven degrees of freedom. Specifically, the multi-joint robot arm 2 is rotated by the horizontal multi-joint assembly 22 around the rotation axis A1 in the vertical direction, rotation around the rotation axis A2 in the vertical direction, and rotation in the vertical direction. 3 degrees of freedom of rotation about the axis A3. Further, the articulated robot arm 2 is rotated about the horizontal rotation axis B1, rotated about the horizontal rotation axis B2, and rotated about the horizontal rotation axis B3 by the vertical articulated assembly 23. 3 degrees of freedom of rotation. Further, the articulated robot arm 2 has one degree of freedom in which the table 1 is pitch-rotated (see FIGS. 8 and 9) by the pitch rotation mechanism 24 around the rotation axis in the short direction (Y direction). is doing.

  As shown in FIG. 1, the base 21 is embedded and fixed on the floor. The base 21 is provided in the vicinity of the approximate center of the moving range of the table 1 in plan view (viewed in the Z direction).

  As shown in FIGS. 1 and 2, the horizontal articulated assembly 22 is supported by the base 21 at one end. Further, the horizontal articulated assembly 22 supports one end of the vertical articulated assembly 23 at the other end. The horizontal joint 221 of the horizontal articulated assembly 22 is configured to rotate about the rotation axis A1 in the Z direction. The horizontal joint 222 of the horizontal multi-joint assembly 22 is configured to rotate about the rotation axis A2 in the Z direction. The horizontal joint 223 of the horizontal articulated assembly 22 is configured to rotate about the rotation axis A3 in the Z direction.

  As shown in FIGS. 1 and 2, the vertical articulated assembly 23 is supported by the horizontal articulated assembly 22 at one end. The vertical articulated assembly 23 supports the table 1 at the other end. Specifically, the other end of the vertical articulated assembly 23 supports the table 1 via the pitch rotation mechanism 24. The vertical joint 231 of the vertical articulated assembly 23 is configured to rotate about the rotation axis B1 in the X direction. The vertical joint 232 of the vertical multi-joint assembly 23 is configured to rotate about the rotation axis B2 in the X direction. The vertical joint 233 of the vertical multi-joint assembly 23 is configured to rotate about the rotation axis B3 in the X direction.

  The distance between adjacent joints has a length smaller than the length of the table 1 in the short direction (Y direction). That is, the interval between the rotation axis A1 and the rotation axis A2, the interval between the rotation axis A2 and the rotation axis A3, the interval between the rotation axis A3 and the rotation axis B1, and the rotation axis B1 and the rotation axis B2. And the interval between the rotation axis B2 and the rotation axis B3 have a length smaller than the length L3 of the table 1 in the short direction.

  As shown in FIG. 3, the horizontal joints 221 to 223 and the vertical joints 231 to 233 are configured to be driven by the drive mechanism 25, respectively. The drive mechanism 25 includes a motor 251, a speed reducer 252 that reduces and transmits the rotation of the motor 251, and an electromagnetic brake 253. The horizontal joints 221 to 223 and the vertical joints 231 to 233 are rotated about the rotation axis by driving of the motors 251. Further, the rotation axes of the horizontal joints 221 to 223 are arranged to coincide with the output rotation axis of the speed reducer 252. The rotation axes of the vertical joints 231 to 233 are arranged so as to coincide with the output rotation axis of the speed reducer 252.

  The motor 251 includes a servo motor. The motor 251 is configured to be driven under the control of the control unit 3. The speed reducer 252 is configured by a speed reducer such as a wave gear speed reducer or an eccentric oscillating planetary gear speed reducer. Thereby, the rotation of the motor 251 can be efficiently decelerated by the small speed reducer 252. The electromagnetic brake 253 is configured to brake the drive of the joint.

  Here, in the first embodiment, the rotation axis B <b> 1 of the vertical joint 231 is arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. Further, the rotation axis B <b> 2 of the vertical joint 232 is arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. The rotation axis B3 of the vertical joint 233 is disposed in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. That is, the rotation axes B1 to B3 of the plurality of vertical joints 231 to 233 of the vertical multi-joint assembly 23 are arranged in a horizontal direction and a direction (X direction) substantially parallel to the longitudinal direction of the table 1. Yes.

  The vertical articulated assembly 23 is configured not to rotate with respect to the rotation axis in the vertical direction (Z direction) with respect to the table 1. That is, the rotation axis of the vertical joints 231 to 233 of the vertical multi-joint assembly 23 and the horizontal direction along the longitudinal direction of the table 1 are always substantially parallel.

  As shown in FIG. 4, in the first embodiment, when the articulated robot arm 2 is arranged close to the X2 side of the table 1, the X-ray imaging apparatus 300 is a distance D1 in the X direction as the maximum imageable range. It is possible to take an image. That is, when the articulated robot arm 2 is arranged close to the X2 side of the table 1, a space of a distance D1 is secured below the table 1 in the X direction. The distance D1 is substantially equal to the length of the X-ray transmission part 11 in the X direction, for example. That is, in the robot operating table 100 according to the first embodiment, it is possible to image the substantially whole body of the patient 10 with the X-ray imaging apparatus 300.

  As shown in FIG. 5, in the first embodiment, when the articulated robot arm 2 is extended to the maximum in the horizontal X2 direction, the X-ray imaging apparatus 300 is the minimum imageable range by a distance D2 in the X direction. It is possible to take an image. That is, when the articulated robot arm 2 is extended to the maximum in the horizontal X2 direction, a space of a distance D2 is secured below the table 1 in the X direction. The distance D2 is, for example, not less than ½ of the length of the X-ray transmission part 11 in the X direction. That is, in the robot operating table 100 according to the first embodiment, at least half of the whole body of the patient 10 can be imaged by the X-ray imaging apparatus 300.

  As shown in FIG. 2, the multi-joint robot arm 2 is arranged so as to be hidden under the table 1 in plan view (viewed in the Z direction). For example, the articulated robot arm 2 is configured to be accommodated in an accommodation space that is a space below the table 1 when the table 1 is located at the surgical position. That is, the articulated robot arm 2 is folded when the table 1 is moved to a position where surgery or treatment is performed on the patient 10 placed on the table 1, and is viewed in plan view (as viewed in the Z direction). ), And is configured to be completely hidden below the table 1. Further, the articulated robot arm 2 in the folded posture has a length in a direction parallel to the longitudinal direction of the table 1 being ½ or less of the length in the longitudinal direction of the table 1.

  For example, the articulated robot arm 2 of the present embodiment can reduce the height of the table 1 to 500 mm. Thus, it is possible to cope with an operation performed while sitting on a chair. Further, the articulated robot arm 2 can raise the height of the table 1 to 1100 mm.

  In the first embodiment, the multi-joint robot arm 2 yaw-rotates the table 1 around the axis in the vertical direction (Z direction) by at least one horizontal joint (at least one of 221, 222, and 223). It is configured as follows. For example, the articulated robot arm 2 is configured to rotate the table 1 by yaw by the lowermost horizontal joint 221 or the uppermost horizontal joint 223. Alternatively, the articulated robot arm 2 is configured to drive a plurality of horizontal joints in conjunction with each other to rotate the table 1 in yaw.

  Further, as shown in FIG. 6, the multi-joint robot arm 2 rolls the table 1 around the axis in the longitudinal direction (X direction) by at least one vertical joint (at least one of 231 232 and 233). It is configured to move. For example, the multi-joint robot arm 2 is configured to roll the table 1 by the lowermost vertical joint 231 or the uppermost vertical joint 233. Alternatively, the articulated robot arm 2 is configured to rotate the table 1 by driving a plurality of vertical joints in conjunction with each other. The articulated robot arm 2 can rotate the roll in the range of the angle θ1 clockwise with respect to the horizontal direction when the table 1 is viewed in the X direction, and the range of the angle θ1 counterclockwise with respect to the horizontal direction. The roll can be rotated. For example, θ1 is 30 degrees.

  Further, as shown in FIGS. 8 and 9, the articulated robot arm 2 is configured so that the table 1 is pitch-rotated around the axis in the short direction (Y direction) by a pitch rotation mechanism 24. . As shown in FIG. 7, the pitch rotation mechanism 24 includes a first support member 241, a second support member 242, a first ball screw 243, a second ball screw 244, a first linear guide 245, and a second linear guide. And a guide 246. The first support member 241 includes a connecting portion 241a, a rotating shaft 241b, and a slider 241c. The second support member 242 includes connecting portions 242a and 242b, rotating shafts 242c and 242d, and a slider 242e. The first ball screw 243 is connected to the motor 243a via the speed reducer 243b. The second ball screw 244 is connected to the motor 244a via the speed reducer 244b.

  The pitch rotation mechanism 24 is supported at the other end of the vertical articulated assembly 23. The pitch rotation mechanism 24 is connected to the table 1 and supports the table 1 so that the pitch can be rotated. Specifically, the pitch rotation mechanism 24 supports the table 1 by the first support member 241 and the second support member 242 so that the pitch can be rotated. The first support member 241 and the second support member 242 are arranged at a predetermined distance along a direction (X direction) parallel to the longitudinal direction of the table 1. The first support member 241 is disposed on the X1 direction side. The second support member 242 is disposed on the X2 direction side. The pitch rotation mechanism 24 is disposed in the vicinity of one side of the table 1 in the short direction (Y direction). Specifically, the pitch rotation mechanism 24 is disposed near the end of the table 1 in the Y1 direction.

  The connecting portion 241a of the first support member 241 is fixed to the table 1 and is rotatably supported by a rotation shaft 241b. The first support member 241 is configured to be moved in the vertical direction (Z direction) by driving the first ball screw 243. The first support member 241 is attached to the first linear guide 245 so as to be slidable. Specifically, the movement of the first support member 241 in the vertical direction is guided by the slider 241 c fixed to the first support member 241 engaging the first linear guide 245.

  The connecting portion 242a of the second support member 242 is fixed to the table 1 and is rotatably supported by a rotation shaft 242c. The connecting portion 242b is rotatably attached to the rotation shafts 242c and 242d. The second support member 242 is configured to be moved in the vertical direction (Z direction) by driving the second ball screw 244. The second support member 242 is attached to the second linear guide 246 so as to be slidable. Specifically, the movement of the second support member 242 in the vertical direction is guided by the slider 242e fixed to the second support member 242 engaging the second linear guide 246.

  The first ball screw 243 is disposed such that the axis extends in the vertical direction (Z direction). The first ball screw 243 is engaged with the first support member 241. The first ball screw 243 is rotated by driving the motor 243a and moves the first support member 241 in the vertical direction.

  The second ball screw 244 is arranged such that the axis extends in the vertical direction (Z direction). The second ball screw 244 is engaged with the second support member 242. The second ball screw 244 is rotated by driving the motor 244a, and moves the second support member 242 in the vertical direction.

  The first linear guide 245 is disposed so as to extend in a direction substantially parallel to the direction in which the first ball screw 243 extends. That is, the first linear guide 245 is disposed so as to extend in the vertical direction (Z direction). The first linear guide 245 is configured to guide the movement of the first support member 241 in the vertical direction via the slider 241c.

  The second linear guide 246 is disposed so as to extend in a direction substantially parallel to the direction in which the second ball screw 244 extends. That is, the second linear guide 246 is disposed so as to extend in the vertical direction (Z direction). The second linear guide 246 is configured to guide the movement of the second support member 242 in the vertical direction via the slider 242e.

  When the first support member 241 is moved to a position lower than the second support member 242, the table 1 is pivoted so that the X1 side is lowered. On the other hand, when the first support member 241 is moved to a position higher than the second support member 242, the table 1 is pivoted so that the X1 side becomes higher. Further, when the first support member 241 and the second support member 242 are moved to the same height position, the table 1 becomes horizontal in pitch rotation.

  As shown in FIG. 9, the articulated robot arm 2 is capable of rotating in the range of an angle θ2 in the clockwise direction with respect to the horizontal direction when the table 1 is viewed in the Y direction, and is opposite to the horizontal direction. The pitch can be rotated clockwise in the range of angle θ2. For example, θ2 is 15 degrees.

  The control unit 3 is installed in the base 21 and is configured to control the movement of the table 1 by the articulated robot arm 2. Specifically, the control unit 3 is configured to move the table 1 by controlling the drive of the articulated robot arm 2 based on an operation by a medical worker (operator).

  The X-ray imaging apparatus 300 is configured to be able to capture an X-ray projection image of the patient 10 placed on the table 1. The X-ray irradiation unit 301 and the X-ray detection unit 302 are supported by a C arm 303. The X-ray irradiation unit 301 and the X-ray detection unit 302 are moved in accordance with the movement of the C-arm 303, and are arranged to face each other so as to sandwich the imaging position of the patient 10 during X-ray imaging. For example, one of the X-ray irradiation unit 301 and the X-ray detection unit 302 is disposed in a space above the table 1 and the other is disposed in a space below the table 1. Further, at the time of X-ray imaging, the C-arm 303 that supports the X-ray irradiation unit 301 and the X-ray detection unit 302 is also arranged in the space above and below the table 1.

  As shown in FIG. 1, the X-ray irradiation unit 301 is disposed so as to face the X-ray detection unit 302. The X-ray irradiation unit 301 is configured to be able to emit X-rays toward the X-ray detection unit 302. The X-ray detection unit 302 is configured to detect the X-rays emitted by the X-ray irradiation unit 301. The X-ray detection unit 302 includes a flat panel detector (FPD). The X-ray detection unit 302 is configured to capture an X-ray image based on the detected X-ray. Specifically, the X-ray detection unit 302 converts the detected X-rays into electric signals and transmits them to an image processing unit (not shown).

  The C-arm 303 has an X-ray irradiation unit 301 connected to one end and an X-ray detection unit 302 connected to the other end. The C arm 303 has a substantially C shape. Thereby, it is possible to support the X-ray irradiation unit 301 and the X-ray detection unit 302 by wrapping around so as not to interfere with the table 1 or the patient 10 during X-ray imaging. The C arm 303 is configured to be movable relative to the table 1. Specifically, the C-arm 303 is arranged in a horizontal direction and a vertical direction so that the X-ray irradiation unit 301 and the X-ray detection unit 302 are arranged at desired positions with respect to the patient 10 placed on the table 1. It is configured to be movable and rotatable about a horizontal rotation axis and a vertical rotation axis. The C arm 303 is moved by a drive unit (not shown) based on an operation by a medical worker (operator). The C-arm 303 is configured to be movable manually by a medical worker (operator).

(Effect of 1st Embodiment)
In the first embodiment, the following effects can be obtained.

  In the first embodiment, as described above, the rotation axes of the vertical joints 231, 232, and 233 of the multi-joint robot arm 2 are in the horizontal direction (X direction) substantially parallel to the longitudinal direction of the table 1. To place. Here, in order to prevent the articulated robot arm 2 from interfering with the medical staff and other devices, it is configured to support the vicinity of one end in the longitudinal direction of the table 1. As for the distance to the center of gravity of the table 1 in a state where the table 1 is placed, the distance in the longitudinal direction (X direction) of the table 1 is larger than the distance in the short direction (Y direction) of the table 1. As a result, the moment at the support position of the table 1 of the articulated robot arm 2 is greater in the moment around the rotational axis in the short direction of the table 1 than in the moment around the rotational axis in the longitudinal direction of the table 1. growing. Thus, the vertical joints 231, 232 and 233 of the articulated robot arm 2 are arranged in the horizontal direction and in a direction substantially parallel to the longitudinal direction of the table 1, thereby It is possible to suppress an increase in the moment load that supports the table 1 in the direction in which the 233 is rotated. In other words, the moment load in the longitudinal direction of the table 1 can be supported in the direction of the rotation axis of the vertical joints 231, 232 and 233, so that the output of the drive mechanism 25 that drives the vertical joints 231, 232 and 233 is increased. There is no need. Further, in order to increase the output torque of the drive mechanism 25, it is not necessary to provide a large speed reducer. As a result, it is possible to suppress the vertical joints 231, 232 and 233 from becoming large. Accordingly, the articulated robot arm 2 can be reduced in size while ensuring resistance to the loads of the vertical joints 231, 232 and 233 of the articulated robot arm 2 that moves the table 1 on which the patient 10 to be operated is placed. Can be planned.

  In the first embodiment, as described above, the articulated robot arm 2 is configured to support the vicinity of one end in the longitudinal direction (X direction) of the table 1. As a result, a space can be secured below the table 1 on the side opposite to the one end side of the table 1 supported by the articulated robot arm 2, so that a sufficient space is secured around the table 1 for patient placement. can do. As a result, it is possible to suppress the articulated robot arm 2 from interfering with the medical staff and other devices.

  In the first embodiment, as described above, the rotation axis of each of the plurality of vertical joints 231, 232 and 233 is in the horizontal direction (X direction) substantially parallel to the longitudinal direction of the table 1. To place. Thereby, size reduction of the some vertical joints 231, 232, and 233 can be achieved, ensuring the tolerance with respect to the load of the some vertical joints 231, 232, and 233.

  In the first embodiment, as described above, the drive mechanism 25 that drives the vertical joints 231, 232, and 233 is provided with the motor 251 and the speed reducer 252 that decelerates and outputs the rotation of the motor 251. The rotation axes of the joints 231, 232 and 233 are arranged so as to coincide with the output rotation axis of the speed reducer 252. Thereby, since the output torque of the motor 251 can be increased by the reduction gear 252, it is not necessary to increase the output of the motor 251. Further, since the output rotation shaft of the speed reducer 252 can be arranged in the horizontal direction and in a direction substantially parallel to the longitudinal direction of the table 1, it is possible to suppress an increase in moment load on the speed reducer 252. it can.

  In the first embodiment, as described above, the articulated robot arm 2 includes the horizontal articulated assembly 22 having the plurality of horizontal joints 221, 222, and 223 and the vertical having the plurality of vertical joints 231, 232, and 233. The multi-joint assembly 23 is provided, and the horizontal multi-joint assembly 22 has one end supported by the base 21 and the other end supporting one end of the vertical multi-joint assembly 23. The other end of the vertical multi-joint assembly 23 is a table. 1 is configured to be supported. Thereby, since the table 1 is not rotated in the horizontal direction between the vertical articulated assembly 23 and the table 1, the direction in which the rotation axes of the vertical joints 231, 232 and 233 extend and the table 1 The table 1 can be moved in the vertical direction and the horizontal direction while maintaining the relationship with the longitudinal direction. Further, the horizontal articulated assembly 22 having a plurality of horizontal joints 221, 222, and 223 can easily move the table 1 to a desired horizontal position. The vertical articulated assembly 23 having a plurality of vertical joints 231, 232 and 233 can easily move the table 1 to a desired vertical position. In addition, a plurality of horizontal joints 221, 222, and 223 can be collectively arranged on the base 21 side, and a plurality of vertical joints 231, 232, and 233 can be collectively arranged on the table 1 side. Is performed by driving a plurality of horizontal joints 221, 222, and 223 on the base 21 side, and vertical movement can be performed by driving a plurality of vertical joints 231, 232, and 233 on the table 1 side. This eliminates the need to drive the horizontal and vertical movements while linking the horizontal joints 221, 222, and 223 and the vertical joints 231, 232, and 233, respectively. Compared with the case where the joints 221, 222, and 223 are alternately arranged, it is possible to prevent the drive control of the articulated robot arm 2 from becoming complicated.

  In the first embodiment, as described above, the horizontal articulated assembly 22 is provided with the three horizontal joints 221, 222, and 223, and the vertical articulated assembly 23 is provided with the three vertical joints 231, 232, and 233. Thus, considering the securing of the length when the horizontal multi-joint assembly 22 is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less horizontal joints are provided. When the horizontal articulated assembly 22 is folded and contracted, it can be made more compact. Further, the apparatus configuration can be simplified as compared with the case where four or more horizontal joints are provided. Considering securing the length when the vertical articulated assembly 23 is extended to the maximum, the distance between the joints can be reduced as compared with the case where two or less vertical joints are provided. When the assembly 23 is folded and contracted, it can be made more compact. Further, the apparatus configuration can be simplified as compared with the case where four or more vertical joints are provided.

  Further, in the first embodiment, as described above, the articulated robot arm 2 is moved by the at least one horizontal joint (at least one of 221, 222, and 223) and the table 1 is moved in the vertical direction (Z direction). It is configured to rotate around the yaw. Accordingly, the table 1 can be easily yaw-rotated to a desired position by one or more horizontal joints (at least one of 221, 222, and 223) of the multi-joint robot arm 2.

  In the first embodiment, as described above, the multi-joint robot arm 2 is connected to the table 1 in the longitudinal direction (X direction) by at least one vertical joint (at least one of 231, 232 and 233). It is configured to roll around. Accordingly, the table 1 can be easily rotated and moved to a desired rotation angle position by one or more vertical joints (at least one of 231, 232 and 233) of the multi-joint robot arm 2.

  In the first embodiment, as described above, the articulated robot arm 2 is provided with the pitch rotation mechanism 24 that supports the table 1 and rotates the table 1 about the axis in the short direction (Y direction). Provide. Further, the pitch rotation mechanism 24 includes a first ball screw 243 arranged so that its axis extends in the vertical direction, a second ball screw 244 arranged so that its axis extends in the vertical direction, and a first ball screw 243. A first support member 241 that is moved in the vertical direction (Z direction) and supports the table 1 and a second support member 242 that is moved in the vertical direction (Z direction) by the second ball screw 244 to support the table 1 are provided. Then, the first support member 241 and the second support member 242 are arranged at a predetermined distance in a direction (X direction) parallel to the longitudinal direction of the table 1. Thereby, the table 1 can be easily pitch-rotated to a desired rotation angle position by driving the first ball screw 243 and the second ball screw 244 in conjunction with each other.

  In the first embodiment, as described above, the pitch rotation mechanism 24 includes the first linear guide 245 and the second ball screw 244 arranged so as to extend in a direction parallel to the direction in which the first ball screw 243 extends. A second linear guide 246 disposed so as to extend in a direction parallel to the extending direction, the first support member 241 is slidably attached to the first linear guide 245, and the second support member 242 is 2 Attached to the linear guide 246 so as to be slidable. Accordingly, the first support member 241 can be linearly moved with high accuracy by the first linear guide 245, and the second support member 242 can be linearly moved with high accuracy by the second linear guide 246. The pitch can be moved with high accuracy.

  In the first embodiment, as described above, the horizontal articulated assembly 22 has one end supported by the base 21, and the other end supported one end of the vertical articulated assembly 23. The vertical articulated assembly 23 is configured to be supported at the other end. As a result, a plurality of horizontal joints 221, 222, and 223 can be arranged together on the base 21 side, and a plurality of vertical joints 231, 232, and 233 can be arranged together on the table 1 side. Is performed by driving a plurality of horizontal joints 221, 222, and 223 on the base 21 side, and movement in the vertical direction can be performed by driving a plurality of vertical joints on the table 1 side. This eliminates the need to drive the horizontal and vertical movements while linking the horizontal joints 221, 222 and 223 and the vertical joints 231, 232 and 233, respectively. Compared with the case where it arrange | positions, it can suppress that the drive control of the articulated robot arm 2 becomes complicated. Further, since the pitch rotation mechanism 24 can be provided on the table 1 side of the vertical articulated assembly 23, the table 1 can be easily rotated by the pitch rotation mechanism 24 independently of the vertical articulated assembly 23. It can be moved.

  In the first embodiment, as described above, the table 1 is provided with the X-ray transmission part 11 and the support part 12 that supports the X-ray transmission part 11, and the other end of the articulated robot arm 2 is the table. 1 is configured to support the support portion 12 in the vicinity of one end. Thus, if the articulated robot arm 2 is arranged on the support unit 12 side and a sufficient space is secured below the X-ray transmission unit 11, the X-ray imaging apparatus 300 is placed below the X-ray transmission unit 11. Therefore, X-ray imaging can be performed on the patient 10 placed on the table 1.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. 10 and FIG. In the second embodiment, unlike the first embodiment in which the articulated robot arm includes a pitch rotation mechanism having a first support member and a second support member, the articulated robot arm has a pitch rotation support member. An example of a configuration including a pitch rotation mechanism will be described. In addition, the same code | symbol is attached | subjected to the location similar to 1st Embodiment.

(Configuration of robot operating table)
As shown in FIG. 10, the robot operating table 400 includes a table 1 for placing a patient, an articulated robot arm 2a, and a control unit 3. The articulated robot arm 2 a includes a base 21, a horizontal articulated assembly 22, a vertical articulated assembly 23, and a pitch rotation mechanism 26. The horizontal articulated assembly 22 includes horizontal joints 221, 222 and 223. The vertical articulated assembly 23 includes vertical joints 231, 232 and 233. The pitch rotation mechanism 26 includes a pitch rotation support member 261.

  Here, in the second embodiment, the rotation axis B <b> 1 of the vertical joint 231 is arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. Further, the rotation axis B <b> 2 of the vertical joint 232 is arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. The rotation axis B3 of the vertical joint 233 is disposed in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. That is, the rotation axes B1 to B3 of the plurality of vertical joints 231 to 233 of the vertical multi-joint assembly 23 are arranged in a horizontal direction and a direction (X direction) substantially parallel to the longitudinal direction of the table 1. Yes.

  In the second embodiment, the articulated robot arm 2 is configured to rotate the table 1 about the axis in the short direction (Y direction) by the pitch rotation mechanism 26. The pitch rotation mechanism 26 is supported by the vertical articulated assembly 23. The pitch rotation mechanism 26 supports the table 1. Specifically, the pitch rotation mechanism 26 supports the vicinity of the end portion of the table 1 on the X2 direction side.

  A pitch rotation support member 261 of the pitch rotation mechanism 26 supports one end of the table 1 so as to be rotatable around a rotation axis of pitch rotation. The pitch rotation mechanism 26 includes a first pitch rotation support member 261a and a second pitch rotation support member 261b.

  The first pitch rotation support member 261 a supports one end of the table 1 so as to be rotatable about a rotation axis C <b> 1 parallel to the short direction of the table 1. The first pitch rotation support member 261a is provided with a motor, a speed reducer that decelerates and transmits the rotation of the motor, and an electromagnetic brake in order to pitch rotate the table 1. The second pitch rotation support member 261 b supports the first pitch rotation support member 261 a so as to be rotatable about a rotation axis C <b> 2 parallel to the short direction of the table 1. The second pitch rotation support member 261b is provided with a motor, a speed reducer that decelerates and transmits the rotation of the motor, and an electromagnetic brake for rotating the first pitch rotation support member 261a. Yes.

  As shown in FIG. 11, the pitch rotation mechanism 26 moves the first pitch rotation support member 261a and the second pitch rotation support member 261b in conjunction with each other, thereby moving the table 1 downward in the vertical direction (Z2). Direction).

  In addition, the other structure of 2nd Embodiment is the same as that of the said 1st Embodiment.

(Effect of 2nd Embodiment)
In the second embodiment, the following effects can be obtained.

  As described above, in the second embodiment, similarly to the first embodiment, the rotation axes of the vertical joints 231, 232 and 233 of the articulated robot arm 2 a are set in the horizontal direction and the longitudinal direction of the table 1. It arrange | positions in a substantially parallel direction (X direction). As a result, the articulated robot arm 2a can be reduced in size while ensuring resistance to the loads of the vertical joints 231, 232 and 233 of the articulated robot arm 2a for moving the table 1 on which the patient 10 to be operated is placed. Can be planned.

  In the second embodiment, as described above, the articulated robot arm 2a is provided with the pitch rotation mechanism 26 that supports the table 1 and rotates the table 1 about the axis in the short direction (Y direction). The pitch rotation mechanism 26 is provided with a pitch rotation support member 261 that supports one end of the table 1 so as to be rotatable about a rotation axis of the pitch rotation. As a result, while the table 1 is supported by the pitch rotation support member 261, the table 1 can be easily pitch-turned to a desired rotation angle position by the pitch rotation mechanism 26.

  In the second embodiment, as described above, the pitch rotation support member 261 of the pitch rotation mechanism 26 is capable of rotating one end of the table 1 around a rotation axis parallel to the lateral direction of the table 1. A first pitch rotation support member 261a to be supported, and a second pitch rotation support member 261b to support the first pitch rotation support member 261a so as to be rotatable about a rotation axis parallel to the short direction of the table 1. Configure to include. Accordingly, the table 1 can be rotated in two stages, ie, the pitch rotation by the first pitch rotation support member 261a and the pitch rotation by the second pitch rotation support member 261b. The pivotable angle can be easily increased.

  The remaining effects of the second embodiment are similar to those of the aforementioned first embodiment.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIGS. In the third embodiment, unlike the first embodiment in which the articulated robot arm includes a pitch rotation mechanism having a first support member and a second support member, the articulated robot arm has a link rotation having a link mechanism. An example of a configuration including a mechanism will be described. In addition, the same code | symbol is attached | subjected to the location similar to 1st Embodiment.

(Configuration of robot operating table)
As shown in FIG. 12, the robot operating table 500 includes a table 1 for placing a patient, an articulated robot arm 510, and a control unit 3 (see FIG. 13). The articulated robot arm 510 includes a base 511, a horizontal articulated assembly including horizontal joints 512, 513 and 514, a vertical articulated assembly including vertical joints 515, 516 and 517, and a pitch rotation mechanism 518. Yes.

  The articulated robot arm 510 is configured to move the table 1 with seven degrees of freedom. Specifically, the multi-joint robot arm 510 is rotated about the vertical rotation axis E1, rotated about the vertical rotation axis E2, and the vertical rotation axis by the horizontal multi-joint assembly. It has 3 degrees of freedom of rotation around E3. Further, the multi-joint robot arm 510 is rotated about the horizontal rotation axis F1, rotated about the horizontal rotation axis F2, and rotated about the horizontal rotation axis F3 by the vertical articulated assembly. It has 3 degrees of freedom of rotation. Further, the articulated robot arm 510 has one degree of freedom in which the pitch rotation mechanism 518 pitch-rotates the table 1 about the rotation axis in the short direction (Y direction) (see FIG. 13). .

  Here, in the third embodiment, the rotation axis F <b> 1 of the vertical joint 515 is arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. Further, the rotation axis F <b> 2 of the vertical joint 516 is arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. Further, the rotation axis F3 of the vertical joint 517 is disposed in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. That is, the rotation axes F1 to F3 of the plurality of vertical joints 515 to 517 of the vertical multi-joint assembly are arranged in the horizontal direction and in a direction (X direction) substantially parallel to the longitudinal direction of the table 1. .

  In the third embodiment, the articulated robot arm 510 is configured to pitch-pitch the table 1 about the axis in the short direction (Y direction) by the pitch rotation mechanism 518. The pitch rotation mechanism 518 is supported by a vertical articulated assembly. The pitch rotation mechanism 518 supports the table 1. Specifically, the pitch rotation mechanism 518 supports the vicinity of the end of the table 1 on the X2 direction side.

  As shown in FIG. 14, the horizontal joints 512 to 514, the vertical joints 515 to 517, and the pitch rotation mechanism 518 are each configured to be driven by the drive mechanism 27. The drive mechanism 27 includes a motor 271, a first reducer 272 that decelerates and outputs the rotation of the motor 271, and a second reducer 275 that decelerates and outputs the rotation of the first reducer 272. Further, the drive mechanism 27 includes a gear portion 273 and an electromagnetic brake 274.

  The motor 271 includes an encoder 271a and a built-in electromagnetic brake 271b. An electromagnetic brake 274 is attached to the rotation shaft of the second reduction gear 275. The electromagnetic brakes 271b and 274 are configured to brake the joint. The encoder 271 a is configured to detect the drive amount of the motor 271 and transmit the detection result to the control unit 3. The rotation axes of the horizontal joints 512 to 514 are arranged so as to coincide with the output rotation axis of the second speed reducer 275. The rotation axes of the vertical joints 515 to 517 are arranged so as to coincide with the output rotation axis of the second speed reducer 275.

  The motor 271 includes a servo motor. The motor 271 is configured to be driven under the control of the control unit 3. The first speed reducer 272 and the second speed reducer 275 are configured by a speed reducer such as a wave gear speed reducer or an eccentric oscillating planetary gear speed reducer. The horizontal joints 512 to 514 may include one speed reducer as shown in FIG.

  As shown in FIG. 15, the pitch rotation mechanism 518 supports one end of the table 1 so as to be rotatable about a rotation axis of pitch rotation. Further, the pitch rotation mechanism 518 includes a link mechanism having a rotation unit 521, a pivot 522, a link 523, a pivot 524, a slider 525, and a rail 526. As shown in FIGS. 15 and 16, the pitch rotation mechanism 518 can rotate the pitch within a range of an angle θ3 with respect to the horizontal direction when the table 1 is viewed in the Y direction.

  The rotation unit 521 is connected to the output rotation shaft of the second speed reducer 275 of the drive mechanism 27 and is configured to rotate about the rotation axis. A link 523 is connected to the rotating portion 521 via a pivot 522. The pivot 522 is connected to the rotation unit 521 at a predetermined interval from the rotation center line of the rotation unit 521. In other words, the pivot 522 moves along the circumferential direction of the pivot 521 as the pivot 521 rotates.

  Further, a slider 525 is connected to the link 523 on the table 1 side via a pivot 524. The slider 525 is configured to be movable in the horizontal direction along the rail 526. The link 523 is connected to the table 1 so as to support one end of the table 1. That is, the table 1 is configured to be pitch-turned when the link 523 is inclined with respect to the horizontal direction.

  As shown in FIG. 16, when the rotating portion 521 rotates clockwise, the pivot 522 is rotated, and the end portion on the pivot 522 side of the link 523 moves downward. As a result, the slider 525 connected to the pivot 524 is moved to the table 1 side, and the end of the link 523 on the table 1 side is moved upward. As a result, as shown in FIG. 16, the table 1 connected to the link 523 is pitch-turned clockwise. Similarly, when the rotating portion 521 rotates counterclockwise, the table 1 is rotated counterclockwise by pitch.

  The remaining configuration of the third embodiment is similar to that of the aforementioned first embodiment.

(Effect of the third embodiment)
In the third embodiment, the following effects can be obtained.

  As described above, in the third embodiment, as in the first embodiment, the rotation axes of the vertical joints 515, 516, and 517 of the articulated robot arm 510 are set in the horizontal direction and the longitudinal direction of the table 1. It arrange | positions in a substantially parallel direction (X direction). Accordingly, the articulated robot arm 510 can be reduced in size while ensuring resistance to the loads of the vertical joints 515, 516 and 517 of the articulated robot arm 510 that moves the table 1 on which the patient 10 to be operated is placed. Can be planned.

  In the third embodiment, as described above, the motor 271, the first speed reducer 272 that decelerates and outputs the rotation of the motor 271, and the rotation of the first speed reducer 272 are decelerated to the drive mechanism 27. A second speed reducer 275 for output is provided, and the rotation axes of the vertical joints 515, 516 and 517 are arranged so as to coincide with the output rotation axis of the second speed reducer 275. As a result, the first reduction gear 272 and the second reduction gear 275 can reduce the speed in two stages, so that the output torque of the motor 271 of the vertical joints 515, 516 and 517 can be effectively increased. As a result, since the maximum output of the motor 271 can be reduced, the motor 271 of the vertical joints 515, 516 and 517 can be reduced.

The remaining effects of the third embodiment are similar to those of the aforementioned first embodiment.
(Modification)
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the first to third embodiments, an example of a hybrid operating room system in which an X-ray imaging apparatus is provided in the hybrid operating room together with a robot operating table is shown, but the present invention is not limited to this. In the present invention, a magnetic resonance imaging apparatus for capturing a magnetic resonance image of a patient together with a robot operating table may be provided in the hybrid operating room. In the hybrid operating room, both the X-ray imaging apparatus and the magnetic resonance imaging apparatus may be provided together with the robot operating table.

  Moreover, although the said 1st-3rd embodiment showed the example of the structure by which one X-ray imaging device was provided in the hybrid operating room, this invention is not limited to this. In the present invention, a plurality of X-ray imaging apparatuses may be provided in the hybrid operating room.

  Moreover, in the said 1st-3rd embodiment, although the example of the structure in which a horizontal articulated assembly has three horizontal joints was shown, this invention is not limited to this. In the present invention, the horizontal articulated assembly may have two or less horizontal joints, and may have four or more horizontal joints.

  Moreover, in the said 1st-3rd embodiment, although the example of the structure in which a vertical articulated assembly has three vertical joints was shown, this invention is not limited to this. In the present invention, the vertical articulated assembly may have two or less vertical joints, and may have four or more vertical joints.

  In the first and second embodiments, the horizontal joint and the vertical joint each have a servo motor, a speed reducer, and an electromagnetic brake. However, the present invention is not limited thereto. Not limited. In the present invention, each joint includes a servo motor with a built-in first electromagnetic brake, a first reduction gear, a second reduction gear, and a second electromagnetic brake attached to the rotation shaft of the second reduction gear. You may have. Then, the horizontal joint and the vertical joint are rotated about the rotation axis by the drive of each servo motor. With such a configuration, the driving torque of each joint can be increased, and the safety of each joint can be improved.

  Further, the horizontal joint may be driven via one speed reducer, and the vertical joint may be driven via a plurality of speed reducers.

  Moreover, in the said 1st-3rd embodiment, although the articulated robot arm showed the example of a structure which has 7 degrees of freedom, this invention is not limited to this. In the present invention, the robot arm may have a degree of freedom of 6 or less, or may have a degree of freedom of 8 or more.

  In the first to third embodiments, the example of the C-arm type X-ray imaging apparatus in which the X-ray irradiation unit and the X-ray detection unit are supported by the C arm has been described. Not limited. In the present invention, the X-ray imaging apparatus may be supported by arranging, for example, an X-ray irradiation unit and an X-ray detection unit facing each other in the vertical direction.

  1: Table 2, 2a, 510: Articulated robot arm, 11: X-ray transmission part, 12: Support part, 21, 511: Base, 22: Horizontal articulated assembly, 23: Vertical articulated assembly, 24, 26 518: Pitch rotation mechanism, 25, 27: Drive mechanism, 100, 400, 500: Robot operating table, 200: Hybrid operating room, 221, 222, 223, 512, 513, 514: Horizontal joint, 231, 232, 233, 515, 516, 517: vertical joint, 241: first support member, 242: second support member, 243: first ball screw, 244: second ball screw, 245: first linear guide, 246: second linear guide 251, 271: motor, 252: speed reducer, 261: pitch rotation support member, 261 a: first pitch rotation support member, 261 b: second Pitch rotation support member, 272: first reduction gear, 275: second reduction gear 300: X-ray imaging apparatus

Claims (15)

A table for patient placement;
An articulated robot arm having one end supported by a base fixed to the floor and the other end supporting the table;
The articulated robot arm includes at least one vertical joint and at least one horizontal joint, and the horizontal joint is not disposed between the table and the vertical joint; Arranged between the base and
The robot operating table in which the rotation axis of the vertical joint is disposed in a horizontal direction and in a direction that is always substantially parallel to the longitudinal direction of the table when viewed from above .   The robot operating table according to claim 1, wherein the articulated robot arm is configured to support a vicinity of one end of the table in a longitudinal direction. The articulated robot arm includes a plurality of the vertical joints,
3. The robot operating table according to claim 1, wherein a rotation axis of each of the plurality of vertical joints is arranged in a horizontal direction and in a direction substantially parallel to a longitudinal direction of the table. The articulated robot arm further includes a drive mechanism for driving the vertical joint,
The drive mechanism includes a motor and a speed reducer that decelerates and outputs the rotation of the motor,
The robot operating table according to any one of claims 1 to 3, wherein the rotation axis of the vertical joint is arranged to coincide with an output rotation axis of the speed reducer. The articulated robot arm further includes a drive mechanism for driving the vertical joint,
The drive mechanism includes a motor, a first reducer that decelerates and outputs the rotation of the motor, and a second reducer that decelerates and outputs the rotation of the first reducer,
The robot operating table according to any one of claims 1 to 3, wherein the rotation axis of the vertical joint is arranged to coincide with an output rotation axis of the second reduction gear. The articulated robot arm includes a horizontal articulated assembly having a plurality of said horizontal joints, and a vertical articulated assembly having a plurality of said vertical joint,
The horizontal articulated assembly has one end supported by the base and the other end supported one end of the vertical articulated assembly;
The robot operating table according to claim 1, wherein the other end of the vertical articulated assembly supports the table.   The robotic operating table of claim 6, wherein the horizontal articulated assembly has three horizontal joints and the vertical articulated assembly has three vertical joints.   The robot operating table according to claim 6 or 7, wherein the articulated robot arm is configured to yaw-rotate the table about a vertical axis by at least one horizontal joint.   The robotic operation according to any one of claims 1 to 8, wherein the articulated robot arm is configured to roll the table about a longitudinal axis by at least one of the vertical joints. Stand. The articulated robot arm includes a pitch rotation mechanism that supports the table and rotates the table about a short axis.
The pitch rotating mechanism is moved in the vertical direction by the first ball screw arranged so that the axis extends in the vertical direction, the second ball screw arranged so that the axis extends in the vertical direction, and the first ball screw. And a first support member that supports the table, and a second support member that is moved in the vertical direction by the second ball screw and supports the table,
The robot operating table according to any one of claims 1 to 9, wherein the first support member and the second support member are arranged at a predetermined distance in a direction parallel to a longitudinal direction of the table. . The pitch rotation mechanism includes a first linear guide arranged to extend in a direction parallel to a direction in which the first ball screw extends, and a first linear guide arranged to extend in a direction parallel to the direction in which the second ball screw extends. 2 linear guides,
The first support member is slidably attached to the first linear guide,
The robot operating table according to claim 10, wherein the second support member is slidably attached to the second linear guide. The articulated robot arm includes a pitch rotation mechanism that supports the table and rotates the table about a short axis.
The robot operation according to claim 1, wherein the pitch rotation mechanism includes a pitch rotation support member that supports one end of the table so as to be rotatable about a rotation axis of pitch rotation. Stand. The articulated robot arm includes a horizontal articulated assembly having a plurality of said horizontal joints, and a vertical articulated assembly having a plurality of said vertical joint,
The horizontal articulated assembly has one end supported by the base and the other end supported one end of the vertical articulated assembly;
The robot operating table according to claim 10, wherein the pitch rotation mechanism is supported by the other end of the vertical articulated assembly. The table includes an X-ray transmission part and a support part that supports the X-ray transmission part,
The robot operating table according to claim 1, wherein the other end of the articulated robot arm supports the support portion in the vicinity of one end of the table.   The robot operating table according to claim 1, at least one of an X-ray imaging apparatus that captures an X-ray projection image of a patient, and a magnetic resonance imaging apparatus that captures a magnetic resonance image of a patient. And a hybrid operating room system.

Images