JP4460890B2 - 多自由度マニピュレータ - Google Patents
多自由度マニピュレータ Download PDFInfo
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- JP4460890B2 JP4460890B2 JP2003417123A JP2003417123A JP4460890B2 JP 4460890 B2 JP4460890 B2 JP 4460890B2 JP 2003417123 A JP2003417123 A JP 2003417123A JP 2003417123 A JP2003417123 A JP 2003417123A JP 4460890 B2 JP4460890 B2 JP 4460890B2
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- 230000007246 mechanism Effects 0.000 claims description 64
- 230000033001 locomotion Effects 0.000 claims description 46
- 238000001356 surgical procedure Methods 0.000 claims description 9
- 238000005452 bending Methods 0.000 description 33
- 230000000452 restraining effect Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 8
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000007912 intraperitoneal administration Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Description
大浦剛、外10名,「腹腔鏡下手術支援屈曲長鉗子マニピュレータの開発」,日本機会学会[No.01−4]ロボティクス・メカトロニクス講演会’01講演論文集,2A1−D8,2001 生田幸士、外3名,「遠隔腹腔手術用ハイパーフィンガーの研究」,日本機会学会[No.00−2]ロボティクス・メカトロニクス講演会’00講演論文集,2P1−13−019,2000 Jeff M. Wndlandt and S. Shankar Sastry, "DESIGN AND CONTROL OF A SIMPLIFIED STEWART PLATFORM FOR ENDOSCOPY", Proceedings of the 33rd Conference on Decision and Control Lake Buena Vista, FL - December 1994, pp. 357-362, 1994 Gary S. Guthart and J. Kenneth Salisbury, Jr., "The Intuitive(TM) Telesurgery System: Overview and Application", Proceedings of the 2000 IEEE International Conference on Robotics & Automation San Francisco, CA April 2000, pp. 618-621, 2000
ヤーは一方向(引き方向)にしか動力を伝達できないという欠点もある。
第3リンクとの直交についても、第3リンクを仮想的な線分に置き換えて考える。直線(線分)の直交とは、両直線(線分)が同一平面上において直角に交わることをいい、ねじれの位置関係にある場合は含まない。
図1は、本発明の一実施形態に係る多自由度マニピュレータを具備した屈曲鉗子システムを示している。
次に、図2〜図4を参照して、屈曲鉗子1の構成について詳しく説明する。図2は屈曲鉗子1の先端部分の斜視図であり、図3は上面図、図4は側面図である。
本実施形態では、アクチュエータ2から把持部11への動力伝達手段がすべてリンク機構によって構成されている。つまり、アクチュエータ2から入力軸12(12a,12b,12c)に入力された動力(往復運動)は、リンク機構によって、把持片11a,11bの開閉、第1軸15回りの回転、第2軸42回りの回転の各運動に変換されるのである。以下、リンク機構の具体的構成を詳しく説明する。
第1リンク機構5は、アーム部10側から順に、入力軸(第2リンク)12a、連結リンク(第3リンク)50a、拘束リンク(第1リンク)51a、連結リンク52aの4つのリンクから構成される。入力軸12aと連結リンク50aの間、連結リンク50aと拘束リンク51aの間はピンで連結されており、それらのピンは第2軸42と平行に設けられている。また、拘束リンク51aと連結リンク52aの間、さらに連結リンク52aと把持片11aのリンク部14aの間もピンで連結され、これらのピンは第1軸15と平行に設けられている。
少なく且つ安定したリンク運動を実現することができ、把持片11aを滑らかに回転させることが可能となる。
第3リンク機構7は、図7(a)に示すように、アーム部10側から順に、入力軸(第4リンク)12c、連結リンク(第6リンク)70、クランク(第5リンク)71の3つのリンクから構成される。ただし、本実施形態のクランク71は、第1支持体16のリンク部40に一体的に形成されたものである。このように形成したことで、クランク71は、第1支持体16に固定され、且つ、第2軸42回りに回転自在なリンクとなる。入力軸12cと連結リンク70の間、連結リンク70とクランク71の間はピンで連結されており、それらのピンは第2軸42と平行に設けられている。
2 アクチュエータ(駆動手段)
3 コントロール部
5 第1リンク機構
6 第2リンク機構
7 第3リンク機構
10 アーム部(第2支持体)
10a,10b,10c スライド孔
11 把持部
11a,11b 把持片
12 入力軸
12a,12b 入力軸(第2リンク)
12c 入力軸(第4リンク)
13a,13b 把持歯
14a,14b リンク部
15 第1軸
16 第1支持体
17 基底部
17a,17b スライド孔
18a,18b 側壁部
20 DCモータ
21 ボールネジ
40 リンク部
41 固定リンク
42 第2軸
50a,50b 連結リンク(第3リンク)
51a,51b 拘束リンク(第1リンク)
52a,52b 連結リンク
53,54 延長線
55 交点
70 連結リンク(第6リンク)
71 クランク(第5リンク)
Claims (4)
- 駆動手段によって駆動される手術用の多自由度マニピュレータであって、
一対の把持片と、
両把持片を回転自在に連結する第1軸と、
第1軸にほぼ直交する仮想平面上に存在する第2軸と、
駆動手段の動力を第1軸回りの一方の把持片の回転運動に変換する第1リンク機構と、
駆動手段の動力を第1軸回りの他方の把持片の回転運動に変換する第2リンク機構と、
駆動手段の動力を第2軸回りの両把持片の回転運動に変換する第3リンク機構と、
各把持片を第1軸で支持する第1支持体と、
第1支持体を第2軸で支持する第2支持体と、
を備え、
リンク機構は、複数の剛体のリンクを対偶で連結した機構であり、
第1及び第2リンク機構は、それぞれ、
第1支持体にスライド自在に支持される第1リンクと、
第2支持体にスライド自在に支持される第2リンクと、
第1リンクと第2リンクの間を連結する第3リンクと、
を備えることを特徴とする多自由度マニピュレータ。 - 第1リンク、第2リンク、及び、第3リンクが直線状に並んだ状態において、第2軸の軸線と第3リンクとが直交することを特徴とする請求項1記載の多自由度マニピュレータ。
- 把持片の回転範囲は予め定められており、
第1リンク、第2リンク、及び、第3リンクが直線状に並んだ状態を保ちつつスライドした場合に、上記回転範囲内では常に第2軸の軸線と第3リンクとが直交することを特徴とする請求項2記載の多自由度マニピュレータ。 - 第3リンク機構は、
第2支持体にスライド自在に支持される第4リンクと、
第1支持体に固定され、且つ、第2軸回りに回転自在な第5リンクと、
第4リンクと第5リンクの間を連結する第6リンクと、
を備えることを特徴とする請求項1〜3のうちいずれか1項記載の多自由度マニピュレータ。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003417123A JP4460890B2 (ja) | 2003-12-15 | 2003-12-15 | 多自由度マニピュレータ |
PCT/JP2004/018654 WO2005055840A1 (ja) | 2003-12-15 | 2004-12-14 | 多自由度マニピュレータ |
EP04807013.0A EP1695669B1 (en) | 2003-12-15 | 2004-12-14 | Manipulator with multiple degrees of freedom |
US10/582,885 US7819894B2 (en) | 2003-12-15 | 2004-12-14 | Manipulator with multiple degrees of freedom |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003417123A JP4460890B2 (ja) | 2003-12-15 | 2003-12-15 | 多自由度マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005169011A JP2005169011A (ja) | 2005-06-30 |
JP4460890B2 true JP4460890B2 (ja) | 2010-05-12 |
Family
ID=34675182
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003417123A Expired - Lifetime JP4460890B2 (ja) | 2003-12-15 | 2003-12-15 | 多自由度マニピュレータ |
Country Status (4)
Country | Link |
---|---|
US (1) | US7819894B2 (ja) |
EP (1) | EP1695669B1 (ja) |
JP (1) | JP4460890B2 (ja) |
WO (1) | WO2005055840A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20180067503A (ko) | 2015-10-02 | 2018-06-20 | 고쿠리쓰다이가쿠호진 규슈다이가쿠 | 매니퓰레이터 |
WO2018207799A1 (ja) | 2017-05-08 | 2018-11-15 | 国立大学法人九州大学 | マニピュレータ |
US11419778B2 (en) | 2016-06-07 | 2022-08-23 | Kyushu University, National University Corporation | Two-degree-of-freedom rotation mechanism using parallel springs |
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US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US11890012B2 (en) | 2004-07-28 | 2024-02-06 | Cilag Gmbh International | Staple cartridge comprising cartridge body and attached support |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US8991676B2 (en) | 2007-03-15 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Surgical staple having a slidable crown |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
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2003
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2004
- 2004-12-14 EP EP04807013.0A patent/EP1695669B1/en active Active
- 2004-12-14 US US10/582,885 patent/US7819894B2/en active Active
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Cited By (4)
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KR20180067503A (ko) | 2015-10-02 | 2018-06-20 | 고쿠리쓰다이가쿠호진 규슈다이가쿠 | 매니퓰레이터 |
US10813655B2 (en) | 2015-10-02 | 2020-10-27 | Kyushu University, National University Corporation | Manipulator |
US11419778B2 (en) | 2016-06-07 | 2022-08-23 | Kyushu University, National University Corporation | Two-degree-of-freedom rotation mechanism using parallel springs |
WO2018207799A1 (ja) | 2017-05-08 | 2018-11-15 | 国立大学法人九州大学 | マニピュレータ |
Also Published As
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EP1695669A4 (en) | 2013-04-03 |
WO2005055840A1 (ja) | 2005-06-23 |
EP1695669B1 (en) | 2017-09-13 |
US7819894B2 (en) | 2010-10-26 |
EP1695669A1 (en) | 2006-08-30 |
US20080039892A1 (en) | 2008-02-14 |
JP2005169011A (ja) | 2005-06-30 |
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