JP5364255B2 - 医療用マニピュレータ - Google Patents
医療用マニピュレータ Download PDFInfo
- Publication number
- JP5364255B2 JP5364255B2 JP2007283313A JP2007283313A JP5364255B2 JP 5364255 B2 JP5364255 B2 JP 5364255B2 JP 2007283313 A JP2007283313 A JP 2007283313A JP 2007283313 A JP2007283313 A JP 2007283313A JP 5364255 B2 JP5364255 B2 JP 5364255B2
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- pulley
- distal end
- passive
- end effector
- wire
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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
- 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
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- 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
- 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
-
- 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
- A61B2034/742—Joysticks
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- 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)
- Surgical Instruments (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Description
14、180、1012、1012a〜1012f…先端動作部
16、1014…操作部 18…伝達部材
22、1202、1212、1302…グリッパ
30…湾曲部 35…着脱部
62…ハンドル部 88…回転操作機構
90…回転用駆動源 130…屈曲操作機構
138…傾斜板 140、142…屈曲用駆動源
1032…トリガレバー 1040〜1042…モータ
1048…連結シャフト
1052、1054、1056…ワイヤ
1140、1140a、1140b…アイドルプーリ
1142、1142a、1142b…ガイドプーリ
1156、1156a、1156b…受動プーリ
1252、1252a、1252b…受動ワイヤ
Claims (4)
- 開閉動作可能なエンドエフェクタを含む先端動作部と、
前記先端動作部を操作する操作部と、
前記操作部から延出するとともに前記先端動作部と前記操作部とを連結し、使用時に少なくとも一部が生体内に挿入される連結部と、
前記先端動作部の姿勢を変える姿勢変更機構と、
を備え、
前記エンドエフェクタの開閉動作は、前記操作部を操作者が操作することにより伝達部材である可撓性部材を含むエンドエフェクタ駆動機構を介して機械的に操作される一方、
前記姿勢変更機構の動作は、前記操作部を操作者が操作することにより作動するアクチュエータを介して操作され、
前記姿勢変更機構は、
前記エンドエフェクタの開閉軸よりも基端側の関節部で前記連結部の一部を屈曲させる屈曲機構と、
前記屈曲機構による屈曲箇所よりも先端側で前記先端動作部を前記連結部に対して軸周りに回転させる回転機構と、
を備え、
前記回転機構は、前記屈曲機構により前記先端動作部が前記連結部の軸方向と非平行に屈曲された状態で、前記先端動作部を前記屈曲した軸周りに回転可能に構成されており、
前記エンドエフェクタ駆動機構は、
進退する駆動部材と、
前記駆動部材に一部が接続された環状の前記可撓性部材と、
前記駆動部材より先端側で且つ前記関節部より基端側に設けられたアイドルプーリと、
前記先端動作部に、当該先端動作部の延在方向に進退可能に設けられた受動プーリと、
前記アイドルプーリと前記受動プーリとの間にある前記関節部に設けられたガイドプーリと、を含み、
前記エンドエフェクタは、前記受動プーリの進退動作に連動して開閉動作するものであり、
前記可撓性部材は、前記アイドルプーリの両側方を通り、前記受動プーリに巻き掛けられ、前記アイドルプーリと前記ガイドプーリとの間で交差しており、
前記アイドルプーリは、互いに逆方向に回転可能な第1層アイドルプーリと第2層アイドルプーリとが同軸上に並列して構成されており、
前記ガイドプーリは、互いに逆方向に回転可能な第1層ガイドプーリと第2層ガイドプーリとが同軸上に並列して構成されており、
前記可撓性部材における交差する一方部分は、前記第1層アイドルプーリと前記第1層ガイドプーリの外周面に接し、
前記可撓性部材における交差する他方部分は、前記第2層アイドルプーリと前記第2層ガイドプーリの外周面に接することを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記連結部は、前記操作部に対して着脱自在に構成されていることを特徴とする医療用マニピュレータ。 - 請求項1又は2に記載の医療用マニピュレータにおいて、
前記操作部は、操作者により回動されることで前記伝達部材を進退させるハンドル部を備えることを特徴とする医療用マニピュレータ。 - 請求項1〜3のいずれか1項に記載の医療用マニピュレータにおいて、
前記屈曲機構の前記アクチュエータは、操作部が操作されることにより前記連結部内を挿通する線材を進退させることを特徴とする医療用マニピュレータ。
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007283313A JP5364255B2 (ja) | 2007-10-31 | 2007-10-31 | 医療用マニピュレータ |
US11/939,287 US9662131B2 (en) | 2007-10-31 | 2007-11-13 | Manipulator for medical use |
RU2010121772/14A RU2445933C2 (ru) | 2007-10-31 | 2008-06-16 | Медицинский манипулятор |
PCT/JP2008/061374 WO2009057347A1 (en) | 2007-10-31 | 2008-06-16 | Medical manipulator |
CN200880110972.9A CN101820824B (zh) | 2007-10-31 | 2008-06-16 | 医疗操纵器 |
EP08777494.9A EP2211733B1 (en) | 2007-10-31 | 2008-06-16 | Medical manipulator |
CA2703920A CA2703920C (en) | 2007-10-31 | 2008-06-16 | Medical manipulator |
BRPI0818311A BRPI0818311A2 (pt) | 2007-10-31 | 2008-06-16 | manipulador médico |
KR1020107009484A KR101509275B1 (ko) | 2007-10-31 | 2008-06-16 | 의료용 머니퓰레이터 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007283313A JP5364255B2 (ja) | 2007-10-31 | 2007-10-31 | 医療用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009106606A JP2009106606A (ja) | 2009-05-21 |
JP5364255B2 true JP5364255B2 (ja) | 2013-12-11 |
Family
ID=39711103
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007283313A Active JP5364255B2 (ja) | 2007-10-31 | 2007-10-31 | 医療用マニピュレータ |
Country Status (9)
Country | Link |
---|---|
US (1) | US9662131B2 (ja) |
EP (1) | EP2211733B1 (ja) |
JP (1) | JP5364255B2 (ja) |
KR (1) | KR101509275B1 (ja) |
CN (1) | CN101820824B (ja) |
BR (1) | BRPI0818311A2 (ja) |
CA (1) | CA2703920C (ja) |
RU (1) | RU2445933C2 (ja) |
WO (1) | WO2009057347A1 (ja) |
Families Citing this family (749)
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WO2009057347A1 (en) | 2009-05-07 |
JP2009106606A (ja) | 2009-05-21 |
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CA2703920A1 (en) | 2009-05-07 |
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