JP4755047B2 - 作業機構及びマニピュレータ - Google Patents
作業機構及びマニピュレータ Download PDFInfo
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- JP4755047B2 JP4755047B2 JP2006215901A JP2006215901A JP4755047B2 JP 4755047 B2 JP4755047 B2 JP 4755047B2 JP 2006215901 A JP2006215901 A JP 2006215901A JP 2006215901 A JP2006215901 A JP 2006215901A JP 4755047 B2 JP4755047 B2 JP 4755047B2
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/062—Needle manipulators
-
- 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
- A61B34/30—Surgical robots
-
- 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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B34/72—Micromanipulators
-
- 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
- A61B34/74—Manipulators with manual electric input means
-
- 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
- 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
- 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
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2943—Toothed members, e.g. rack and pinion
-
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
50a〜50c…駆動プーリ 52、54、56、57…ワイヤ
100、100a、100b、300…ワイヤ受動部
102、302、402…駆動機構部
104、104a、304、404…エンドエフェクタ
114、126、130、316、318、600、602…歯車体
116、132、136、140、164、352、362、408、508、512、604、608…筒体
118、134、138、174、338、354、606、610…歯車
128、306…主軸部材
144…支持バー
168、170、172、324、326、364、410、412…フェイスギア
190、192、240、242…エンドエフェクタ部材
202、212、426、428…グリッパ
358…電極部材 374…電極
502、504…中間歯車体 510、514…中間歯車
Claims (8)
- 腹腔鏡下手術用のマニピュレータの先端部に設けられた作業機構であって、
ループ状の第1ワイヤと、
前記第1ワイヤが巻き付けられるとともに前記第1ワイヤの巻き付け部が部分的に固定され、且つ回転可能に設けられた第1筒体と、
前記第1ワイヤと平行で、前記第1筒体を挟むように延在するループ状の第2ワイヤと、
回転軸が前記第1筒体と平行となるように設けられ、前記第2ワイヤが巻き付けられる第2筒体と、
回転軸が前記第1筒体と平行に設けられる従動回転体と、
前記第1筒体の回転を前記従動回転体に伝達する回転伝達機構と、
前記従動回転体の回転に連動して動作する第1作用部と、
前記第2筒体の回転に連動して動作する第2作用部と、
を有することを特徴とする作業機構。 - 請求項1記載の作業機構において、
前記回転伝達機構は、歯車対であることを特徴とする作業機構。 - 請求項1又は2記載の作業機構において、
前記第2筒体の直径は、前記第1筒体の直径に対して前記第1ワイヤを2本加えた幅以上に設定されていることを特徴とする作業機構。 - 請求項1〜3のいずれか1項に記載の作業機構において、
前記第1ワイヤ及び前記従動回転体はそれぞれ複数設けられ、
前記第1筒体と前記第2筒体との間に配置された中間筒体と、
前記中間筒体の回転を前記従動回転体に伝達する第2回転伝達機構と、
を有し、
前記第1ワイヤのうち1本は前記中間筒体に巻き付けられていることを特徴とする作業機構。 - 請求項1〜3のいずれか1項に記載の作業機構において、
前記第1ワイヤ、前記第1筒体及び前記従動回転体はそれぞれ2つ設けられ、
2つの前記第1筒体は同軸上で逆向きに配置され、
2つの前記従動回転体は同軸上で逆向きに配置されていることを特徴とする作業機構。 - 請求項1〜5のいずれか1項に記載の作業機構において、
前記第2筒体と前記従動回転体は、同軸上に配置されていることを特徴とする作業機構。 - 請求項1〜6のいずれか1項に記載の作業機構において、
前記従動回転体に設けられた接続部駆動歯車と、
前記第2筒体から延在する支持バーと、
前記支持バーに接続されたエンドエフェクタと、
前記エンドエフェクタに設けられ、前記接続部駆動歯車に噛合する接続部従動歯車と、
を有し、
前記第1ワイヤの循環回転作用下に、前記第1筒体は、前記従動回転体、前記接続部駆動歯車及び接続部従動歯車を介して前記エンドエフェクタの少なくとも1つの関節を動作させ、
前記第2ワイヤの循環回転作用下に、前記第2筒体は、前記エンドエフェクタをヨー方向に揺動させることを特徴とする作業機構。 - 第1入力部及び第2入力部と、
前記第1入力部及び第2入力部の操作に基づいて回転する第1回転源及び第2回転源と、
後方部が前記第1回転源に巻き付けられ、前方部が第1筒体に複数回転巻き付けられるとともに巻き付け部が前記第1筒体に部分的に固定されたループ状の第1ワイヤと、
前記第1ワイヤと平行で、前記第1回転源の両側方を通り前方に延在し、後方部が前記第2回転源に巻き付けられ、前記第1筒体よりも前方の第2筒体に巻き付けられたループ状の第2ワイヤと、
前記第1筒体よりも前方で、回転軸が前記第1筒体と平行に設けられる従動回転体と、
前記第1筒体の回転を前記従動回転体に伝達する回転伝達機構と、
前記従動回転体の回転に連動して動作する第1作用部と、
前記第2筒体の回転に連動して動作する第2作用部と、
を有することを特徴とする腹腔鏡下手術用のマニピュレータ。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006215901A JP4755047B2 (ja) | 2006-08-08 | 2006-08-08 | 作業機構及びマニピュレータ |
US11/832,872 US8137339B2 (en) | 2006-08-08 | 2007-08-02 | Working mechanism and manipulator |
DE602007007694T DE602007007694D1 (de) | 2006-08-08 | 2007-08-07 | Arbeitsmechanismus und Manipulator |
EP07113917A EP1886630B1 (en) | 2006-08-08 | 2007-08-07 | Working mechanism and manipulator |
AT07113917T ATE473689T1 (de) | 2006-08-08 | 2007-08-07 | Arbeitsmechanismus und manipulator |
CN200710140279A CN100594007C (zh) | 2006-08-08 | 2007-08-08 | 作业机构及操纵装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006215901A JP4755047B2 (ja) | 2006-08-08 | 2006-08-08 | 作業機構及びマニピュレータ |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2008036793A JP2008036793A (ja) | 2008-02-21 |
JP2008036793A5 JP2008036793A5 (ja) | 2009-07-30 |
JP4755047B2 true JP4755047B2 (ja) | 2011-08-24 |
Family
ID=38819846
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006215901A Active JP4755047B2 (ja) | 2006-08-08 | 2006-08-08 | 作業機構及びマニピュレータ |
Country Status (6)
Country | Link |
---|---|
US (1) | US8137339B2 (ja) |
EP (1) | EP1886630B1 (ja) |
JP (1) | JP4755047B2 (ja) |
CN (1) | CN100594007C (ja) |
AT (1) | ATE473689T1 (ja) |
DE (1) | DE602007007694D1 (ja) |
Families Citing this family (593)
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JP2000000789A (ja) * | 1999-06-04 | 2000-01-07 | Yamaha Motor Co Ltd | スカラ型ロボット |
JP3613551B2 (ja) * | 2000-03-31 | 2005-01-26 | 株式会社東芝 | 医療用マニピュレータ |
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JP4014792B2 (ja) * | 2000-09-29 | 2007-11-28 | 株式会社東芝 | マニピュレータ |
US6695774B2 (en) * | 2001-01-19 | 2004-02-24 | Endactive, Inc. | Apparatus and method for controlling endoscopic instruments |
JP2002263116A (ja) * | 2001-03-13 | 2002-09-17 | Hitachi Ltd | 治療用マニピュレータ及びそれを用いた治療用システム |
JP3631450B2 (ja) * | 2001-08-22 | 2005-03-23 | 株式会社東芝 | マニピュレータ |
US6676684B1 (en) * | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
JP3944108B2 (ja) | 2003-03-31 | 2007-07-11 | 株式会社東芝 | 医療用マニピュレータの動力伝達機構およびマニピュレータ |
JP4528136B2 (ja) | 2005-01-11 | 2010-08-18 | 株式会社日立製作所 | 手術装置 |
EP1707153B1 (en) | 2005-03-29 | 2012-02-01 | Kabushiki Kaisha Toshiba | Manipulator |
-
2006
- 2006-08-08 JP JP2006215901A patent/JP4755047B2/ja active Active
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2007
- 2007-08-02 US US11/832,872 patent/US8137339B2/en active Active
- 2007-08-07 EP EP07113917A patent/EP1886630B1/en active Active
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- 2007-08-07 DE DE602007007694T patent/DE602007007694D1/de active Active
- 2007-08-08 CN CN200710140279A patent/CN100594007C/zh active Active
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US8137339B2 (en) | 2012-03-20 |
US20080039255A1 (en) | 2008-02-14 |
ATE473689T1 (de) | 2010-07-15 |
CN100594007C (zh) | 2010-03-17 |
EP1886630A3 (en) | 2008-03-12 |
EP1886630B1 (en) | 2010-07-14 |
JP2008036793A (ja) | 2008-02-21 |
DE602007007694D1 (de) | 2010-08-26 |
CN101120888A (zh) | 2008-02-13 |
EP1886630A2 (en) | 2008-02-13 |
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