CN109223164B - Flexible laparoscope capable of automatically tracking movement of surgical instrument - Google Patents
Flexible laparoscope capable of automatically tracking movement of surgical instrument Download PDFInfo
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- CN109223164B CN109223164B CN201811273729.0A CN201811273729A CN109223164B CN 109223164 B CN109223164 B CN 109223164B CN 201811273729 A CN201811273729 A CN 201811273729A CN 109223164 B CN109223164 B CN 109223164B
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- 238000005452 bending Methods 0.000 claims abstract description 164
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000005286 illumination Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000005491 wire drawing Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a flexible laparoscope capable of automatically tracking the movement of a surgical instrument, which comprises a traction reversing mechanism, a bending arm and a three-dimensional position tracker, wherein the traction reversing mechanism is connected with the bending arm; the positions and the relative position relation of the three receivers can be accurately detected through the analysis of the transmitter signals of the three-dimensional position tracker and the control computer, and the relative positions of the bending arms and the surgical instruments can be set according to the setting, so that the bending arms can be bent and moved under the setting condition when the surgical instruments move, the purpose of following the surgical instruments is achieved, and thus, a surgeon can freely control the end positions of the bending arms through the surgical instruments without matching of a lens holding surgeon, and the artificial medical accidents are eliminated.
Description
Technical Field
The invention relates to the field of laparoscopes, in particular to a flexible laparoscope capable of automatically tracking the movement of a surgical instrument.
Background
Because of the advantages of small trauma, short hospitalization time, quick recovery of patients and the like of the minimally invasive surgery, the minimally invasive surgery is continuously popularized and applied in China in recent years, the minimally invasive surgery usually needs to be operated by opening one to a plurality of small holes, and a laparoscope system is needed to solve the problems of image display, waste liquid suction, light source irradiation and the like during the surgery.
Multiple doctors and nurses are often required to perform the procedure simultaneously during the procedure. The device comprises a lens holding doctor, because the operation space and the operation visual field are limited, the position of the lens holding doctor needs to be adjusted at any time in the lens holding process, enough space is reserved for the operation doctor, and the operation doctor is not disturbed, so that the stability of the lens holding doctor for holding the lens is affected, the unstable condition of the lens holding is caused, and the stability of the lens holding is also very affected by the long-time lens holding because of fatigue.
In the operation process, the medical science needs to change and observe the operation position in time, needs to be matched with the lens holding doctor well, human errors easily occur at the moment, and the operation is caused to be problematic, and a technology capable of timely changing the photographing position of the laparoscope lens along with the operation of the operator is needed at present
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides the flexible laparoscope capable of automatically tracking the movement of the surgical instrument, the positions and the relative position relations of three receivers can be accurately detected through the analysis of the transmitter signals of the three-dimensional position tracker and the control computer, and the relative positions of the bending arms and the surgical instrument can be set according to the setting, so that the bending arms can be bent and moved under the setting condition when the surgical instrument moves, the purpose of following the surgical instrument is achieved, a doctor can freely control the end positions of the bending arms through the surgical instrument, the cooperation of a doctor is not needed, and the artificial medical accidents are eliminated.
The technical scheme adopted for solving the technical problems is as follows:
the flexible laparoscope capable of automatically tracking the movement of the surgical instrument comprises a traction reversing mechanism, a bending arm and a three-dimensional position tracker, wherein the traction reversing mechanism is connected with the bending arm, the three-dimensional position tracker is matched with the bending arm, the bending arm consists of a plurality of small bending arms, and the tail end of the bending arm is connected with an end head; the bending arms are divided into a plurality of small bending arms, and each small bending arm can be ensured to bend independently by matching with the action of the traction reversing mechanism, so that the bending arms are more flexible.
The bending arm comprises an arm section, the arm section comprises an arm section cylinder, an arm section universal ball and an arm section cone rod, the arm section cone rod is connected to the upper part of the arm section cylinder, the arm section universal ball is fixed to the top end of the arm section cone rod, a universal ball groove matched with the arm section universal ball is formed in the arm section cylinder, and an arm section cone groove matched with the arm section cone rod to move is formed in the lower part of the universal ball groove; the arm joint taper rod can also be a cylindrical rod, and the arm joint universal ball ensures that the arm joint can be freely reversed in the universal ball groove.
The arm section cylinder is provided with a stay wire hole matched with the traction reversing mechanism.
The traction reversing mechanism comprises a traction support, a traction hole matched with a bent arm for traction is formed in the traction support, a traction motor matched with the traction hole is arranged on the traction support, a traction wheel is arranged on the traction motor, and a universal ball groove and an arm joint cone groove matched with an arm joint are formed in the traction support. The universal ball groove and the arm joint cone groove in the traction support can be better connected with the bending arm, so that the smoothness of traction action is ensured.
The bending arm comprises a first bending arm and a second bending arm, the second bending arm is connected to the end part of the first bending arm, the end part of the second bending arm is connected with the end head, a plurality of first bending arm stay wires penetrate through the first bending arm, the first bending arm stay wires pass through arm joints of the first bending arm of stay Kong Chuanjie, and a stay wire motor matched with the first bending arm stay wires is arranged on the traction support;
a plurality of second bending arm stay wires penetrate through the second bending arms, the second bending arm stay wires pass through arm joints of the first bending arms and the second bending arms through stay wires Kong Chuanjie, and a stay wire motor matched with the second bending arm stay wires is arranged on the traction support.
When the bending arm is required to bend towards a certain direction and a certain angle is required to the lens on the end, a plurality of stay wire motors driving the first bending arm are controlled to act, the first bending arm is driven to bend, and then a plurality of stay wire motors driving the second bending arm are controlled to act, and the second bending arm is controlled to bend towards a certain direction with the end.
The four first bending arm stay wires are uniformly distributed on the first bending arm;
the number of the second bending arm stay wires is four, and the second bending arm stay wires and the first bending arm stay wires are uniformly distributed on the bending arms at intervals.
The first bending arm wire end is fixed on an arm section of the first bending arm end, and the second bending arm wire end is fixed on an arm section of the second bending arm end.
Under the drive of the wire drawing motor, the four wires are contracted and stretched to different degrees, so that the bending arms can bend towards any angle, and meanwhile, the second bending arms bend after the first bending arms are bent and shaped, so that the bending arms can rotate for finer angles.
The three-dimensional position tracker comprises a plurality of receivers which are cooperatively arranged on arm joints at the end parts of a plurality of small bending arms.
The three-dimensional position tracker comprises a transmitter, a first receiver, a second receiver and a surgical instrument receiver, wherein the first receiver is arranged on an arm joint at the end part of a first bending arm, the second receiver is arranged on the end head of a second bending arm, the surgical instrument receiver is arranged on a surgical instrument, and the transmitter is arranged on an operating table.
A three-dimensional position tracker is a device that detects in real time the position of a moving object relative to a fixed object in six degrees of freedom, i.e. in X, Y, Z coordinates, and the rotation about the X, Y, Z axis. Such a three-dimensional sensor is non-interfering with the object to be detected, i.e. should not affect the movement of the object to be detected, which is commonly referred to as: the non-contact sensor can accurately detect the positions and the relative position relations of the three receivers through the analysis of signals of the transmitter and the control computer, and can set the relative positions of the bending arm and the surgical instrument according to the setting, so that the bending arm can bend and move under the setting condition when the surgical instrument moves, the purpose of following the surgical instrument is achieved, a doctor can freely control the end position of the bending arm through the surgical instrument, the cooperation of a doctor holding a mirror is not needed, and the artificial medical accident is eliminated.
The end is provided with a laparoscope lens and an LED lamp for illumination, and the three-dimensional position tracker, the laparoscope lens and the traction reversing mechanism are electrically connected with the control computer.
The beneficial effects of the invention are as follows:
1. the bending arms are divided into a plurality of small bending arms, and each small bending arm can be ensured to bend independently by matching with the action of the traction reversing mechanism, so that the bending arms are more flexible.
2. The arm joint taper rod can also be a cylindrical rod, and the arm joint universal ball ensures that the arm joint can be freely reversed in the universal ball groove.
3. The universal ball groove and the arm joint cone groove in the traction support can be better connected with the bending arm, so that the smoothness of traction action is ensured.
4. Under the drive of the wire drawing motor, the four wires are contracted and stretched to different degrees, so that the bending arms can bend towards any angle, and meanwhile, the second bending arms bend after the first bending arms are bent and shaped, so that the bending arms can rotate for finer angles.
5. The positions and the relative position relation of the three receivers can be accurately detected through the analysis of the transmitter signals of the three-dimensional position tracker and the control computer, and the relative positions of the bending arms and the surgical instruments can be set according to the setting, so that the bending arms can be bent and moved under the setting condition when the surgical instruments move, the purpose of following the surgical instruments is achieved, and thus, a surgeon can freely control the end positions of the bending arms through the surgical instruments without matching of a lens holding surgeon, and the artificial medical accidents are eliminated.
Drawings
FIG. 1 is an assembled view of the present invention;
fig. 2 is a drawing of a pull reversing mechanism of the present invention;
FIG. 3 is a cross-sectional view of the pull reversing mechanism of the present invention;
FIG. 4 is a view of an arm segment of the present invention;
FIG. 5 is a cross-sectional view of an arm segment of the present invention;
FIG. 6 is an end view of the present invention;
FIG. 7 is a drawing showing the distribution of the pull wires of the present invention;
fig. 8 is a schematic view of the coordinates of the three-dimensional position tracker of the present invention.
In the figure: the device comprises a 1-traction reversing mechanism, a 2-bent arm, a 3-arm joint, a 4-end, a 5-three-dimensional position tracker, a 11-stay wire hole, a 12-universal ball groove, a 13-arm joint cone groove, a 14-stay wire motor, a 15-stay wire wheel, a 21-first bent arm stay wire, a 22-second bent arm stay wire, a 31-arm joint cylinder, a 32-arm joint universal ball, a 33-arm joint cone rod, a 41-laparoscope lens, a 51-emitter, a 52-first receiver, a 53-second receiver and a 54-surgical instrument receiver.
Detailed Description
For a better understanding of the present invention, specific embodiments of the present invention are explained in detail below with reference to the drawings.
The flexible laparoscope capable of automatically tracking the movement of surgical instruments comprises a traction reversing mechanism 1, a bending arm 2 and a three-dimensional position tracker 5, wherein the traction reversing mechanism 1 is connected with the bending arm 2, the three-dimensional position tracker 5 is matched with the bending arm 2, the bending arm 2 consists of a plurality of small bending arms, and the tail end of the bending arm 2 is connected with an end head 4; the bending arm 2 is divided into a plurality of small bending arms, and each small bending arm can be ensured to bend independently by matching with the action of the traction reversing mechanism 1, so that the greater flexibility of the bending arm 2 is realized.
The bending arm 2 comprises an arm section 3, the arm section 3 comprises an arm section cylinder 31, an arm section universal ball 32 and an arm section cone rod 33, the arm section cone rod 33 is connected to the upper part of the arm section cylinder 31, the arm section universal ball 32 is fixed to the top end of the arm section cone rod 33, a universal ball groove 12 matched with the arm section universal ball 32 is formed in the arm section cylinder 31, and an arm section cone groove 13 matched with the arm section cone rod 33 to move is formed in the lower part of the universal ball groove 12; the arm joint conical rod 33 can also be a cylindrical rod, and the arm joint universal ball 32 ensures that the arm joint 3 can be freely reversed in the universal ball groove 12.
The arm section cylinder 31 is provided with a wire drawing hole 11 matched with the traction reversing mechanism 1.
The traction reversing mechanism 1 comprises a traction support, a traction hole 11 matched with the bent arm 2 for traction is formed in the traction support, a traction motor 14 matched with the traction hole 11 is arranged on the traction support, a traction wheel 15 is arranged on the traction motor 14, the traction wheel 15 is used for winding a traction wire, and a universal ball groove 12 and an arm section cone groove 13 matched with the arm section 3 are formed in the traction support. The universal ball groove 12 and the arm joint cone groove 13 in the traction support can be better connected with the bending arm 2, so that the smoothness of traction action is ensured.
The bending arm 2 comprises a first bending arm and a second bending arm, the second bending arm is connected to the end part of the first bending arm, the end part of the second bending arm is connected with the end head 4, a plurality of first bending arm stay wires 21 penetrate through the first bending arm, the first bending arm stay wires 21 are connected in series with the arm sections 3 of the first bending arm through stay wire holes 11, and a stay wire motor 14 matched with the first bending arm stay wires 21 is arranged on the traction support;
a plurality of second bending arm stay wires 22 penetrate through the second bending arms, the second bending arm stay wires 22 are connected with the arm sections 3 of the first bending arms and the second bending arms in series through the stay wire holes 11, and the stay wire motor 14 matched with the second bending arm stay wires 22 is arranged on the traction support.
When the bending arm 2 is required to bend in a certain direction and a certain angle is required to the laparoscopic lens 41 on the end head 4, the plurality of stay wire motors 14 driving the first bending arm are controlled to act, the first bending arm is driven to bend, and then the plurality of stay wire motors 14 driving the second bending arm are controlled to act, and the second bending arm is controlled to bend with the end head 4 in a certain direction.
The number of the first bending arm stay wires 21 is four, and the first bending arm stay wires 21 are uniformly distributed on the first bending arm;
the number of the second bending arm stay wires 22 is four, and the second bending arm stay wires 22 and the first bending arm stay wires are uniformly distributed on the bending arms at intervals.
The first bending arm stay 21 is fixed at its end to the arm segment 3 of the first bending arm end, and the second bending arm stay 22 is fixed at its end to the arm segment 3 of the second bending arm end.
The four stay wires are driven by the stay wire motor 14, so that the bending arms can bend towards any angle due to different degrees of contraction and extension, and meanwhile, the second bending arms bend after the bending of the first bending arms is finished and shaped, so that the second bending arms can rotate for finer angles.
The three-dimensional position tracker 5 comprises a plurality of receivers which are cooperatively arranged on the arm sections 3 at the end parts of a plurality of small bending arms.
The three-dimensional position tracker 5 comprises a transmitter 51, a first receiver 52, a second receiver 53 and a surgical instrument receiver 54, wherein the first receiver 52 is arranged on the arm section 3 at the end part of the first bending arm, the second receiver 53 is arranged on the end head 4 of the second bending arm, the surgical instrument receiver 54 is arranged on a surgical instrument, and the transmitter 51 is arranged on an operating table.
The three-dimensional position tracker 5 is a device that detects in real time the position of a moving object relative to a fixed object in six degrees of freedom, i.e. in X, Y, Z coordinates, and the rotation about the X, Y, Z axis. Such a three-dimensional sensor is non-interfering with the object to be detected, i.e. should not affect the movement of the object to be detected, which is commonly referred to as: the non-contact sensor can accurately detect the position and the relative position relation of the receiver through the analysis of the signals of the transmitter 51 and the control computer, and can set the relative position of the bending arm and the surgical instrument according to the setting, so that the bending arm can bend and move under the setting condition when the surgical instrument moves, the purpose of following the surgical instrument is achieved, a surgeon can freely control the end position of the bending arm 2 through the surgical instrument, the cooperation of a lens holding doctor is not needed, and the artificial medical accident is eliminated.
The end 4 is provided with a laparoscope lens 41 and an LED lamp for illumination, and the three-dimensional position tracker 5, the laparoscope lens 41 and the traction reversing mechanism 1 are electrically connected with a control computer.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (3)
1. The flexible laparoscope capable of automatically tracking the movement of the surgical instrument is characterized by comprising a traction reversing mechanism, a bending arm and a three-dimensional position tracker, wherein the traction reversing mechanism is connected with the bending arm, the three-dimensional position tracker is matched with the bending arm, the bending arm consists of a plurality of small bending arms, and the tail end of the bending arm is connected with an end head;
the bending arm comprises an arm section, the arm section comprises an arm section cylinder, an arm section universal ball and an arm section cone rod, the arm section cone rod is connected to the upper part of the arm section cylinder, the arm section universal ball is fixed to the top end of the arm section cone rod, a universal ball groove matched with the arm section universal ball is formed in the arm section cylinder, and an arm section cone groove matched with the arm section cone rod to move is formed in the lower part of the universal ball groove;
the arm section cylinder is provided with a stay wire hole matched with a traction reversing mechanism;
the traction reversing mechanism comprises a traction support, a traction hole matched with a bent arm for traction is formed in the traction support, a traction motor matched with the traction hole is arranged on the traction support, a traction wheel is arranged on the traction motor, and a universal ball groove and an arm joint cone groove matched with an arm joint are formed in the traction support;
the bending arm comprises a first bending arm and a second bending arm, the second bending arm is connected to the end part of the first bending arm, the end part of the second bending arm is connected with the end head, a plurality of first bending arm stay wires penetrate through the first bending arm, the first bending arm stay wires pass through arm joints of the first bending arm of stay Kong Chuanjie, and a stay wire motor matched with the first bending arm stay wires is arranged on the traction support;
a plurality of second bending arm stay wires penetrate through the second bending arm, the second bending arm stay wires pass through arm joints of the first bending arm and the second bending arm through stay wires Kong Chuanjie, and a stay wire motor matched with the second bending arm stay wires is arranged on the traction support;
the four first bending arm stay wires are uniformly distributed on the first bending arm;
the four second bending arm stay wires are uniformly distributed on the bending arms at intervals with the first bending arm stay wires;
the first bending arm wire end is fixed on an arm section of the first bending arm end, and the second bending arm wire end is fixed on an arm section of the second bending arm end;
the three-dimensional position tracker comprises a plurality of receivers which are cooperatively arranged on arm joints at the end parts of a plurality of small bending arms.
2. The flexible laparoscope capable of automatically tracking movement of a surgical instrument according to claim 1, wherein said three-dimensional position tracker comprises a transmitter, a first receiver, a second receiver, and a surgical instrument receiver, said first receiver is mounted on an arm segment at the end of a first curved arm, said second receiver is mounted on the end of a second curved arm, said surgical instrument receiver is mounted on a surgical instrument, and said transmitter is mounted on an operating table.
3. The flexible laparoscope capable of automatically tracking the movement of a surgical instrument according to claim 2, wherein the end head is provided with a laparoscope lens and an LED lamp for illumination, and the three-dimensional position tracker, the laparoscope lens and the traction reversing mechanism are electrically connected with a control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811273729.0A CN109223164B (en) | 2018-10-29 | 2018-10-29 | Flexible laparoscope capable of automatically tracking movement of surgical instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811273729.0A CN109223164B (en) | 2018-10-29 | 2018-10-29 | Flexible laparoscope capable of automatically tracking movement of surgical instrument |
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| CN109223164A CN109223164A (en) | 2019-01-18 |
| CN109223164B true CN109223164B (en) | 2024-03-12 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| KR20230137126A (en) * | 2022-03-21 | 2023-10-04 | 재단법인 아산사회복지재단 | Multi joint flexible device |
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| CN102697552A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Executing instrument of flexible type endoscope system |
| DE102014107315A1 (en) * | 2014-05-23 | 2015-11-26 | Aesculap Ag | Medical instrumentation and method for operating a medical instrument |
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| CN206840081U (en) * | 2017-07-06 | 2018-01-05 | 哈尔滨工业大学深圳研究生院 | A kind of line drives flexible robot |
| CN107683120A (en) * | 2015-07-09 | 2018-02-09 | 川崎重工业株式会社 | Operation manipulator |
| CN209437365U (en) * | 2018-10-29 | 2019-09-27 | 山东省立医院 | It is a kind of to automatically track the mobile flexible abdominal cavity mirror of surgical instrument |
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2018
- 2018-10-29 CN CN201811273729.0A patent/CN109223164B/en active Active
Patent Citations (7)
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|---|---|---|---|---|
| CN102499731A (en) * | 2011-11-01 | 2012-06-20 | 西安交通大学 | All-dimensional automatic traction and support device of dragline type endoscopic surgical instrument |
| CN102697552A (en) * | 2012-04-24 | 2012-10-03 | 王东 | Executing instrument of flexible type endoscope system |
| DE102014107315A1 (en) * | 2014-05-23 | 2015-11-26 | Aesculap Ag | Medical instrumentation and method for operating a medical instrument |
| CN107683120A (en) * | 2015-07-09 | 2018-02-09 | 川崎重工业株式会社 | Operation manipulator |
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