Passive joint device, cable guide, and power transmission mechanism

Abstract

A passive joint device, a cable guide, and a power transmission mechanism are provided. The passive joint device supports a rotation-side member so as to be rotatable in the vertical direction with respect to a fixed-side member about a horizontal axis, and is provided with: a cylindrical cam member, which is fixed to the fixed-side member, has a cylindrical surface about the horizontal axis, and has a pair of cam surfaces symmetrically arranged on the cylindrical surface by taking the horizontal axis as the center and obliquely formed along the horizontal axis; a pedestal having a pair of cam followers disposed inside a horizontal shaft fixed to the rotation-side member so as to be capable of sliding along the horizontal shaft, the cam followers being in surface contact with the pair of cams; and a spring which is disposed inside a horizontal shaft fixed to the rotation-side member and which biases the pedestal toward the fixed-side member along the horizontal shaft, wherein the pair of cam followers is brought into contact with the pair of cam surfaces by the force of the spring, and the pair of cam surfaces are pressed to apply an upward rotational force to the rotation-side member so as to reduce a downward rotational force of the rotation-side member generated by the weight applied to the rotation-side member.

Description

technical field [0001] The present invention relates to a passive joint device for connecting arms of a medical robot or the like. Background technique [0002] Laparoscopic surgery is usually performed by a doctor who cuts, resects, and sutures organs (hereinafter referred to as "operator"), a doctor who holds an endoscope (hereinafter referred to as "endoscope operator"), and Doctors (hereinafter referred to as "assistants") who perform traction of organs and maintain tension during incision, etc., do not use the surgeon's field of vision. In surgical support devices for laparoscopic surgery (also referred to as surgical support robots, etc.), there are more than one robot arm to control the posture of surgical tools such as forceps, endoscopes, and electric scalpels, thereby reducing surgical effort. device for the number of physicians required. [0003] Conventional surgical support devices used in laparoscopic surgery can be roughly classified into devices that perfor...

AI Technical Summary

Problems solved by technology

Therefore, as disclosed in Japanese Patent Application Laid-Open No. 2011-115906, a mechanism for self-weight compensation by springs has also been proposed, but in such a mechanism, the size of the joint portion becomes a problem.

[0006] Also, in the case of passive joints, power cannot be transmitted to the front side of the joint

Images