CN105407785A - 机械手和机械系统 - Google Patents
机械手和机械系统 Download PDFInfo
- Publication number
- CN105407785A CN105407785A CN201480042173.8A CN201480042173A CN105407785A CN 105407785 A CN105407785 A CN 105407785A CN 201480042173 A CN201480042173 A CN 201480042173A CN 105407785 A CN105407785 A CN 105407785A
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- transfer line
- operating portion
- belt wheel
- fore side
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- 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
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35417—Handle, joystick connected to n+1 wires for n degrees of freedom
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45118—Endoscopic, laparoscopic manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49253—Position in space by controlling length of two, more cables, wires
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
- Signal Processing (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
提供机械手和机械手系统,迅速地去除动态的剩余部分,使可动部相对于操作部的操作迅速地进行动作。机械手(1)具有:操作部(2),其供操作者操作;可动部(3),其被操作部(2)操作;传递部(4),其连结操作部(2)和可动部(3)而将操作部(2)的驱动力传递给可动部(3);以及传递补偿部(6),其根据操作部(2)的操作来补偿在传递部(3)上产生的动态的剩余部分。
Description
技术领域
本发明涉及将操作部和可动部机械性连接的机械手和机械手系统。
背景技术
以往,公开了将贯穿插入在中空的轴内的线的一端卷绕于驱动带轮,将另一端卷绕于从动带轮而传递动力的机械手(专利文献1)。
关于专利文献1中记载的机械手,由于在卷绕在驱动带轮与从动带轮之间的线未以足够的张力被卷绕的情况下无法进行可靠的动力传递,因此调整线的张力而迅速且高精度地进行动力传递。
现有技术文献
专利文献
专利文献1:日本特开2009-201607号公报
发明内容
发明要解决的课题
图20是以往的机械手的一例的示意图。
如图20的(a)所示,中立状态的机械手110的卷绕于操作侧带轮122与可动侧带轮132之间的线140有时存在较小的松弛100。专利文献1中记载的机械手通过调整线的张力而预先去除这样的线的松弛。
与此相对,例如在未图示的操作者使手柄121从图20的(a)的中立状态向箭头A1方向旋转的情况下,相对于手柄121和操作侧带轮122向箭头A1方向的旋转,产生了线141的伸长和因线140与收纳线140的引导部件的接触引起的摩擦等,从而如图20的(b)所示,产生动态的松弛101。
然后,如图20的(b)至图20的(c)所示,在使手柄121向箭头A2方向反转的情况下,在将图20的(b)所示的线140的动态的松弛101去除之前,牵引力不被传递到可动侧带轮132,如图20的(c)所示那样即使操作手柄121,可动部件131也有可能不进行动作。
专利文献1中记载的机械手无法应对这样的动态的松弛。即使像专利文献1所记载的机械手那样预先去除线的松弛,这样的动态的松弛也会出现。并且,在假设以较强的张力预先去除线的松弛使得动态的松弛不产生的情况下,也有可能因线140与线引导部件的摩擦导致动态的松弛产生,而且有可能因施加到线上的力过强而导致线断裂。
本发明是鉴于上述课题而完成的,其目的在于提供迅速地去除动态的剩余部分而使可动部相对于操作部的操作迅速地进行动作的机械手和机械手系统。
用于解决课题的手段
本发明的一个实施方式的机械手的特征在于,其具有:操作部,其供操作者操作;可动部,其被所述操作部操作;传递部,其连结所述操作部和所述可动部而将所述操作部的驱动力传递给所述可动部;以及传递补偿部,其根据所述操作部的操作来补偿在所述传递部上产生的动态的剩余部分。
在本发明的一个实施方式的机械手中,所述传递部具有:操作侧带轮,其与所述操作部一同旋转;以及传递线,其至少一部分卷绕在所述操作侧带轮上,所述传递补偿部根据所述操作部的操作来补偿在所述传递线上产生的动态的松弛。
在本发明的一个实施方式的机械手中,所述传递补偿部具有:按压部件,其按压所述传递线;以及驱动部件,其根据所述操作部的操作来驱动所述按压部件。
在本发明的一个实施方式的机械手中,该机械手具有对从所述操作侧带轮向所述操作部输入的旋转进行减速的减速器。
在本发明的一个实施方式的机械手中,所述按压部件进行旋转移动。
在本发明的一个实施方式的机械手中,所述按压部件在直线上移动。
在本发明的一个实施方式的机械手中,设置有多个所述按压部件。
在本发明的一个实施方式的机械手中,所述机械手具有以夹着所述传递线被所述按压部件按压的位置的方式设置的引导辊。
在本发明的一个实施方式的机械手中,该机械手具有剩余吸收部,该剩余吸收部具有:空转轮,其与所述传递线抵接;弹性部件,其向所述传递线侧对所述空转轮施力;以及挡件,其相对于所述空转轮设置在所述弹性部件的相反侧,抑制所述空转轮的移动,该剩余吸收部根据所述操作部的操作来吸收在所述传递线上产生的动态的松弛。
在本发明的一个实施方式的机械手中,所述传递部具有与所述可动部一同旋转的可动侧带轮,所述传递线被分割为:卷绕在所述操作侧带轮上的操作侧传递线;以及卷绕在所述可动侧带轮上的可动侧传递线,该机械手具有剩余吸收部,该剩余吸收部具有:第一支承部件,其分别安装于所述操作侧传递线的一端和另一端;第二支承部件,其分别安装于所述可动侧传递线的一端和另一端;以及弹性部件,其一端分别支承于所述第一支承部件,另一端分别支承于所述第二支承部件,该剩余吸收部根据所述操作部的操作来吸收在所述传递线上产生的动态的松弛。
在本发明的一个实施方式的机械手中,所述第一支承部件分别具有:底部,其安装有所述操作侧传递线;筒部,其从所述底部竖立设置于与所述操作侧传递线相反的一侧且包围所述弹性部件;以及盖部,其相对于所述筒部设置于与所述底部相反的一侧且形成有供所述可动侧传递线贯通的孔,所述弹性部件的一端安装于所述第一支承部件的所述底部的与所述操作侧传递线相反的一侧,另一端安装于所述第二支承部件,所述第二支承部件被配置为比形成于所述盖部的孔大,在所述底部侧安装于所述弹性部件的另一端,在所述盖部侧安装于所述可动侧传递线,能够在所述第一支承部件内移动。
在本发明的一个实施方式的机械手中,所述传递补偿部具有对从所述操作部向所述操作侧带轮传递的力进行连接或切断的操作侧连接或切断部件,所述传递补偿部还具有在通过所述操作侧连接或切断部件切断所述操作部和所述操作侧带轮时使所述操作侧带轮旋转的驱动部件。
在本发明的一个实施方式的机械手中,所述传递补偿部具有对从所述驱动部件向所述操作侧带轮传递的力进行连接或切断的可动侧连接或切断部件,在对所述操作部进行操作时通过所述可动侧连接或切断部件切断所述驱动部件和所述操作侧带轮。
本发明的一个实施方式的机械手系统的特征在于,其具有:上述机械手;控制部,其对所述机械手进行控制;以及显示部,其对所述机械手所取得的图像进行显示,所述机械手包含观察光学系统、摄像元件以及照明光学系统,所述控制部使所述显示部显示所述内窥镜所取得的图像。
发明效果
根据本方式的机械手和机械手系统,能够去除动态的剩余部分,使可动部相对于操作部的操作迅速地进行动作。
附图说明
图1是示出本实施方式的机械手的一例的图。
图2是第一实施方式的机械手的第一例的示意图。
图3是第一实施方式的机械手的第一例的示意性的动作图。
图4是第一实施方式的机械手的第二例的示意图。
图5是第一实施方式的机械手的第三例的示意图。
图6是第一实施方式的机械手的第四例的示意图。
图7是第一实施方式的机械手的第五例的示意图。
图8是第一实施方式的机械手的第六例的示意图。
图9是第一实施方式的机械手的第六例的剩余吸收部的示意图。
图10是第二实施方式的机械手的第一例的示意图。
图11是第二实施方式的机械手的第一例的示意性的动作图。
图12是第二实施方式的机械手的第一例的示意性的动作图。
图13是第二实施方式的机械手的第一例的示意性的动作图。
图14是第二实施方式的机械手的第二例的示意图。
图15是第二实施方式的机械手的第二例的示意性的动作图。
图16是第二实施方式的机械手的第二例的示意性的动作图。
图17是第二实施方式的机械手的第二例的示意性的动作图。
图18是示出本实施方式的机械手系统的一例的图。
图19是本实施方式的机械手系统的一例的框图。
图20是以往的机械手的示意性的动作图。
具体实施方式
以下,对一个实施方式进行说明。
图1是示出本实施方式的机械手1的一例的图。
如图1所示,本实施方式的机械手1具有操作部2、可动部3、传递部4以及处置部5。操作部2和可动部3由传递部4机械性连接。当操作者对操作部2进行操作时,操作力经由传递部4传递到可动部3,可动部3能够进行动作。
操作部2由手柄21和第一编码器22构成。在本实施方式中,以棒状的部件示意性地表示手柄21,但也可以是多关节状的臂部、或适用于对设置于可动部3的处置器具等进行操作的形状例如像剪刀的把手那样的形状。第一编码器22构成取得手柄21的角度的角度取得部。
可动部3具有弯曲块31和前端硬质部32。可动部3的大致环状的多个弯曲块31沿轴向并排设置,且在前端设置有前端硬质部32。相邻的弯曲块31能够彼此相对转动。并且,与前端硬质部32相邻的弯曲块31也可以转动。在前端硬质部32上作为处置部5适当配设有内窥镜51等。
传递部4具有操作侧带轮41、传递线43、柔性部44以及转换部45。
操作侧带轮41与操作部2的手柄21连接,根据手柄21的操作进行旋转。传递线43具有第一传递线43a和第二传递线43b,各自的前端分别固定于前端硬质部32,另一端固定于手柄21,根据手柄21的操作使前端硬质部32移动,从而使可动部3能够进行动作。柔性部44覆盖传递线43的至少一部分,由能够弯曲的柔性的筒状的部件构成。转换部45设置在柔性部44的可动部3侧。转换部45以可动部3的多个弯曲块31中的一端的弯曲块31能够转动的方式进行安装。此外,传递部4也可以在可动部侧使用带轮。
处置部5具有内窥镜51和处置器具52,配设于前端硬质部32。内窥镜51具有观察光学系统和照明光学系统。
通过这样的构造,本实施方式的机械手1以如下的方式进行动作。首先,当操作者对操作部2的手柄21进行操作时,操作侧带轮41旋转,对一部分被卷绕在操作侧带轮41上的传递线43进行牵引,牵引前端硬质部32的一方,使另一方松弛。而且,通过牵引前端硬质部32,弯曲块31转动,可动部3弯曲。
图2是第一实施方式的机械手1的第一例的示意图。图3是第一实施方式的机械手1的第一例的示意性的动作图。
第一实施方式的第一例的机械手1具有操作部2、可动部3、传递部4以及传递补偿部6。操作部2、可动部3以及传递部4可以与图1中说明的结构相同。
传递补偿部6具有补偿电动机61、移动部件62以及按压部件63。补偿电动机61由电动机等致动器构成,使移动部件62和按压部件63移动。按压部件63由移动部件62支承,与移动部件62一同旋转并按压传递部4的传递线43。
第一实施方式的机械手1的第一例以如下的方式进行动作。
在未图示的操作者使手柄21从图2所示的中立状态如图3的(a)所示那样向箭头A1方向旋转的情况下,相对于手柄21和操作侧带轮41向箭头A1方向的旋转,如图3的(a)所示,产生作为动态的剩余部分的动态的松弛101。
然后,如图3的(a)至图3的(b)所示,在使手柄21从箭头A1方向向箭头A2方向反转的情况下,第一编码器22检测手柄21的反转。当第一编码器22检测出手柄21的反转时,驱动传递补偿部6的补偿电动机61,如图3的(b)所示,使按压部件63向箭头C1方向旋转。
如图3的(b)所示,按压部件63按压传递部4的第一传递线43a,由此图3的(a)所示的第一传递线43a的动态的松弛101被迅速地去除。当动态的松弛101被去除时,由手柄21的旋转产生的第一传递线43a的牵引力被迅速地传递到可动部3,可动部3向箭头B2方向旋转。
此外,如图3的(c)所示,当使手柄21向箭头A2方向旋转时,在手柄21旋转的一侧第二传递线43b产生动态的松弛101。
然后,如图3的(c)至图3的(d)所示,在使手柄21从箭头A2方向向箭头A1方向反转时,第一编码器22检测手柄21的反转。当第一编码器22检测出手柄21的反转时,驱动传递补偿部6的补偿电动机61,如图3的(d)所示,使按压部件63向箭头C2方向旋转。
如图3的(d)所示,按压部件63按压传递部4的第二传递线43b,由此图3的(c)所示的第二传递线43b的动态的松弛101被迅速地去除。当动态的松弛101被去除时,由手柄21的旋转产生的第二传递线43b的牵引力被迅速地传递到可动部3,可动部3向箭头B1方向旋转。
这样,根据第一例的机械手1,能够迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而迅速地旋转。
图4是第一实施方式的机械手1的第二例的示意图。
在像图2所示的第一例那样的机械手1中,在传递补偿部6去除了动态的松弛101时因牵引传递线43而产生的微小的反作用有可能从传递线43传递到握住操作部2的手柄21的手。
因此,第一实施方式的第二例的机械手1将扭矩产生器23或者减速器24等应用于第一例的机械手1,由于其他的结构可以与图1中说明的结构相同,因此省略说明。
扭矩产生器23在去除了动态的松弛101时使来自传递线43的反作用不容易传递到手。例如,在使用电动机作为扭矩产生器23的情况下,如果传递线43的牵引力不使电动机旋转,则来自传递线43的反作用就不会传递到手。实际上,由于来自传递线43的反作用没有强到能够使电动机旋转的程度,因此反作用不会传递到握住手柄21的手。
并且,在使用电动机作为扭矩产生器23的情况下,能够通过驱动电动机使操作侧带轮41旋转以去除传递线43的松弛,或者使操作侧带轮41旋转以辅助手柄21的旋转的操作力。由于对手柄21的操作力进行辅助,因此能够轻松地进行操作。
减速器24对操作侧带轮41的旋转进行减速而传递给手柄21。因此,能够使手柄21的旋转相对于操作侧带轮41的旋转减少,因此传递线43的被去除了动态的松弛101时的移动几乎不会传递到手柄21。
图5是第一实施方式的机械手1的第三例的示意图。
图5所示的第三例的机械手1是对第一例的机械手1的传递补偿部6的一部分的结构进行了变更而得到的,由于其他结构可以与图1中说明的结构相同,因此省略说明。
第三例的传递补偿部6具有补偿电动机61、移动部件62以及按压部件63。补偿电动机61由电动机等致动器构成,使按压部件63移动。按压部件63由移动部件62支承,与移动部件62一同移动,并按压传递部4的传递线43。
第一实施方式的机械手1的第三例以如下的方式进行动作。
在未图示的操作者使手柄21从图5的(a)所示的中立状态向箭头A1方向旋转而成为图5的(b)的情况下,相对于手柄21和操作侧带轮41向箭头A1方向的旋转,如图5的(b)所示,产生动态的松弛101。
然后,如图5的(b)和图5的(c)所示,在使手柄21从箭头A1方向向箭头A2方向反转的情况下,第一编码器22检测手柄21的反转。当第一编码器22检测出手柄21的反转时,驱动传递补偿部6的补偿电动机61,如图5的(c)所示,使按压部件63向箭头C1方向移动。
在第三例的机械手1的情况下,如图5的(c)所示,按压部件63按压第一传递线43a,由此图5的(b)所示的第一传递线43a的动态的松弛101被迅速地去除。当动态的松弛101被去除时,由手柄21的旋转产生的第一传递线43a的牵引力被迅速地传递到可动部3,可动部3向箭头B2方向旋转。
这样,根据第三例的机械手1,能够迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而迅速地旋转。并且,与第一例的机械手1相比,在第三例的机械手1中,按压部件63按压到传递线43的移动距离较短,因此能够节省空间地设置。
图6是第一实施方式的机械手1的第四例的示意图。
图6所示的第四例的机械手1是对第一例的机械手1的传递部4的一部分和传递补偿部6的一部分的结构进行了变更而得到的,由于其他的结构可以与图1中说明的结构相同,因此省略说明。
第四例的传递补偿部6具有补偿电动机61、移动部件62以及按压部件63。按压部件63具有第一按压部件63a和第二按压部件63b。并且,第四例的传递部4除了第一例的传递部4的结构还具有引导辊46。
如图6的(a)所示,移动部件62分别在传递线43的外侧的对置的位置以中立状态支承第一按压部件63a和第二按压部件63b。第一按压部件63a和第二按压部件63b由向传递线43的外侧突出的移动部件62的两端部分支承,与移动部件62一同旋转,并按压传递部4的传递线43。第一按压部件63a和第二按压部件63b进行旋转而直到按压传递线43的移动距离被配置为比第一例至第三例的机械手1短。
引导辊46以夹着由第一按压部件63a和第二按压部件63b分别按压传递线43的位置的方式分别配置在传递线43的内侧。
第一实施方式的机械手1的第四例以如下的方式进行动作。
在未图示的操作者使手柄21从图6的(a)所示的中立状态向箭头A1方向旋转而成为图6的(b)的状态的情况下,如图6的(b)所示,产生动态的松弛101。
然后,如图6的(b)和图6的(c)所示,在使手柄21从箭头A1方向向箭头A2方向反转的情况下,第一编码器22检测手柄21的反转。当第一编码器22检测出手柄21的反转时,驱动传递补偿部6的补偿电动机61,如图6的(c)所示,使移动部件62和按压部件63向箭头C1方向旋转。
如图6的(c)所示,在引导辊46之间第一传递线43a被第一按压部件63a按压,由此图6的(b)所示的第一传递线43a的动态的松弛101被迅速地去除。当动态的松弛101被去除时,由手柄21的旋转产生的第一传递线43a的牵引力被迅速地传递到可动部3,可动部3向箭头B2方向旋转。
这样,根据第四例的机械手1,能够迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而迅速地旋转。并且,与第一例至第三例的机械手1相比,在第四例的机械手1中,由于能够将按压部件63按压到传递线43的移动距离设定得短,因此能够使可动部3相对于手柄21的旋转而更迅速地旋转。并且,由于按压由引导辊46引导的传递线43,因此按压部件63能够在准确的位置按压传递线43,能够减小传递线43受到的损伤。
图7是第一实施方式的机械手1的第五例的示意图。
图7所示的第五例的机械手1是对第四例的机械手1的传递部4的一部分进行变更并且附加了剩余吸收部7而得到的,由于其他的结构可以与图6中说明的第四例的结构相同,因此省略说明。
在第五例的传递部4中,将第四例的传递部4的引导辊46设为第一引导辊46a,以夹着传递线43与各第一引导辊46对置的方式在传递线43的外侧设置第二引导辊46b。
并且,剩余吸收部7具有空转轮71、弹性部件72以及挡件73。空转轮71在第一按压部件63a和第二按压部件63b的附近分别对应地配置一个。在第五例中,空转轮71配置在传递线43的内侧,由在向外侧按压传递线43的方向上施力的弹性部件72支承。设置挡件73是为了抑制空转轮71和传递线43被按压到初始位置的内侧而设置的。在第五例中,挡件73在图7的(a)所示的中立状态下在与空转轮71被弹性部件72施力的方向相反的位置抵接。即,空转轮71被配置为夹在传递线43与挡件73之间。
第一实施方式的机械手1的第五例以如下的方式进行动作。
在未图示的操作者使手柄21从图7的(a)所示的中立状态向箭头A1方向旋转而成为图7的(b)的状态的情况下,相对于手柄21和操作侧带轮41向箭头A1方向的旋转,如图7的(b)所示,产生动态的松弛101。但是,实际上当产生动态的松弛101时,由于几乎同时被弹性部件72吸收,因此观察不到图7的(b)所示的状态。
于是,第一传递线43a的牵引力变小,如图7的(c)所示,借助弹性部件72的作用力牵引空转轮71。其结果为,视觉上动态的松弛101被吸收。
然而,实际上当从图7的(c)所示的状态使手柄21向箭头A2方向旋转而不使传递补偿部6进行动作时,第一传递线43a的牵引力比弹性部件72的作用力大,仅通过由第一传递线43a牵引空转轮71并且弹性部件72伸长,第一传递线43a的牵引力不会传递到可动部3,可动部3不会旋转。
因此,如图7的(d)所示,使手柄21从箭头A1方向向箭头A2方向反转,在第一编码器22检测出手柄21的反转的情况下,驱动传递补偿部6的补偿电动机61,使按压部件63向箭头C1方向旋转。
在第五例的机械手1的情况下,如图7的(d)所示,按压部件63旋转,第一按压部件63a在引导辊46之间按压第一传递线43a。于是,第一传递线43a牵引空转轮71,从而空转轮71与挡件73抵接。因此,借助第一按压部件63a来按压传递线43,由此图7的(b)所示的传递线43的动态的松弛101被迅速地去除。
当动态的松弛101被去除时,借助由手柄21的旋转产生的第一传递线43a的牵引力使可动部3向箭头B2方向旋转。
这样,根据第五例的机械手1,能够迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而迅速地旋转。并且,与第一例至第三例的机械手1相比,在第五例的机械手1中,由于能够将按压部件63按压到传递线43的移动距离设定得短,因此能够使可动部3相对于手柄21的旋转而更迅速地旋转。
并且,由于弹性部件72暂时地吸收动态的松弛101,因此能够抑制传递线43因动态的松弛101而从中立状态的位置偏离较大。其结果为,由于按压部件63在适当的位置按压传递线43,因此能够减小传递线43受到的损伤。
图8是第一实施方式的机械手1的第六例的示意图。图9是第一实施方式的机械手1的第六例的剩余吸收部的示意图。
图8所示的第六例的机械手1在第四例的机械手1中附加了图9所示的剩余吸收部7,其他的结构可以与图6中说明的第四例的结构相同,因此省略说明。
剩余吸收部7具有第一支承部件76、弹性部件77以及第二支承部件78。第一支承部件76安装于卷绕在操作侧带轮41上的操作侧传递线43c的一端,支承弹性部件77的一端。第二支承部件78安装于卷绕在可动侧带轮42上的可动侧传递线43d的一端,支承弹性部件77的另一端。
并且,在操作侧传递线43c的另一端和可动侧传递线43d的另一端之间也设置有相同构造的剩余吸收部7。
第六例的机械手1的第一支承部件76由具有以下部件的箱形的壳体构成:底部76a,其安装有操作侧传递线43c;筒部76b,其从底部76a竖立设置于与操作侧传递线43c相反的一侧,包围弹性部件77;以及盖部76c,其相对于筒部76b设置于与底部76a相反的一侧,形成有供可动侧传递线43d贯通的孔。
弹性部件77的一端安装于第一支承部件76的底部76a的与操作侧传递线43c相反的一侧,另一端安装于第二支承部件78,由筒部76b包围。第二支承部件78被配置为:在底部76a侧安装于弹性部件77的另一端,在盖部76c侧安装于可动侧传递线43d,能够在第一支承部件76内移动。并且,第二支承部件78比形成于盖部76c的孔大,无法贯通该孔。
第一实施方式的机械手1的第六例以如下的方式进行动作。
在未图示的操作者使手柄21从图8的(a)所示的中立状态向箭头A1方向旋转而成为图8的(b)的状态的情况下,相对于手柄21和操作侧带轮41向箭头A1方向的旋转,如图8的(b)所示,产生动态的松弛101。但是,实际上当产生动态的松弛101时,几乎同时被弹性部件77吸收,因此观察不到图8的(b)所示的状态。
于是,传递线43的牵引力变小,如图8的(c)所示,借助弹性部件77的作用力来牵引第二支承部件78。其结果为,视觉上动态的松弛101被吸收。
然而,实际上当从图8的(c)所示的状态使手柄21向箭头A2方向旋转而不使传递补偿部6进行动作时,传递线43的牵引力比弹性部件77的作用力大,仅通过由可动侧传递线43d牵引第二支承部件78并且弹性部件77伸长,传递线43的牵引力不会传递到可动侧带轮42,可动部3不会旋转。
因此,如图8的(d)所示,使手柄21从箭头A1方向向箭头A2方向反转,在第一编码器22检测出手柄21的反转的情况下,驱动传递补偿部6的补偿电动机61,使按压部件63向箭头C1方向旋转。
在第六例的机械手1的情况下,如图8的(d)所示,按压部件63旋转,第一按压部件63a在引导辊46之间按压可动侧传递线43d。于是,可动侧传递线43d牵引第二支承部件78,第二支承部件78与第一支承部件76的盖部76c抵接。而且,第一支承部件76和第二支承部件78成为一体而与传递线43一同移动。因此,借助第一按压部件63a来按压传递线43,由此图8的(b)所示的传递线43的动态的松弛101被迅速地去除。
当动态的松弛101被去除时,借助由手柄21的旋转产生的传递线43的牵引力使可动部3向箭头B2方向旋转。
这样,根据第六例的机械手1,能够更迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而更迅速地旋转。并且,与第一例至第三例的机械手1相比,在第六例的机械手1中,能够将按压部件63按压到传递线43的移动距离设定得短,因此能够使可动部相对于手柄21的旋转而更迅速地旋转。
并且,由于弹性部件77暂时地吸收动态的松弛101,因此能够抑制传递线43因动态的松弛101而从中立状态的位置偏离较大。其结果为,由于按压部件63在准确的位置按压传递线43,因此能够减小传递线43从按压部件63受到的按压时的损伤。
而且,由于第一支承部件76和第二支承部件78成为一体而与传递线43一同移动,传递线43的轨道不发生改变,因此按压部件63在准确的位置按压传递线43,能够进一步减小传递线43从按压部件63受到的按压时的损伤。
图10是第二实施方式的机械手1的第一例的示意图。
图10所示的第二实施方式的第一例的机械手1是对第一实施方式的第一例的机械手1的操作部2和传递补偿部6的一部分的结构进行了变更而得到的,由于其他的结构可以与图1中说明的结构相同,因此省略说明。
图10所示的机械手1的操作部2具有手柄21、第一编码器22以及第一离合器65。并且,机械手1的传递补偿部6具有补偿电动机66和第二编码器67。
手柄21构成操作部件,第一编码器22构成操作状态取得部,第一离合器65构成操作侧连接或切断部件。并且,补偿电动机66构成驱动部件,第二编码器67构成驱动状态取得部。
此外,驱动部件不限于电动机,只要是输出驱动力的致动器即可。并且,操作状态取得部不限于编码器,只要是能够取得操作部2的旋转状态的装置即可。例如,也可以是角度传感器和角速度传感器。而且,也可以是能够取得操作侧带轮41的旋转角度的装置。同样,驱动状态取得部不限于编码器,只要是能够取得补偿电动机66的旋转状态的装置即可。例如,也可以是角度传感器和角速度传感器。
在第二实施方式中,手柄21示意性地由棒状的部件表示,但也可以是多关节状的臂部、或者适用于对设置于可动部3的处置器具等进行操作的形状例如像剪刀的把手那样的形状。第一编码器22检测手柄21的输入值。第一离合器65是设置在手柄21与操作侧带轮41之间的、对从手柄21向操作侧带轮41传递的力进行连接或切断的部件。
补偿电动机66使操作侧带轮41旋转而去除动态的松弛101。并且,也可以为了辅助手柄21的旋转而使操作侧带轮41旋转。第二编码器67检测补偿电动机66的旋转。第一离合器65是对从手柄21向操作侧带轮41传递的力进行连接或切断的部件。
第二实施方式的机械手1的第一例以如下的方式进行动作。
图11至图13是第二实施方式的机械手1的第一例的各动作图。此外,图11至图13的图中的箭头示意性地表现离合器的动作。
在未图示的操作者使手柄21从图10所示的中立状态向箭头A1方向旋转而成为图11所示的状态的情况下,相对于手柄21和操作侧带轮41向箭头A1方向的旋转,如图11所示,产生动态的松弛101。
接下来,如图11至图12所示,在使手柄21向箭头A2方向反转的情况下,第一编码器22检测手柄21的反转。当第一编码器22检测出手柄21的反转时,如图12所示那样沿图的箭头C1方向切断操作部2的第一离合器65,并且驱动补偿电动机66。当驱动补偿电动机66时,图11所示的传递线43的动态的松弛101被迅速地去除。此外,在图12所示的状态下,即使通过补偿电动机66使操作侧带轮41旋转,由于第一离合器65被切断,因此补偿电动机66的驱动力不会传递到手柄21。
然后,当动态的松弛101被去除时,如图13所示,沿箭头C2方向连接第一离合器65,借助由手柄21的旋转产生的传递线43的牵引力使可动部3向箭头B2方向旋转。此时,也可以驱动补偿电动机66而辅助手柄21的操作力。
这样,根据第二实施方式的第一例的机械手1,能够迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而迅速地旋转。
并且,由于第二实施方式的第一例的机械手1与第一实施方式的机械手1相比,无需设置按压传递线43的按压部件,因此能够节省空间地设置,并且传递线43不会受到损伤。而且,由于补偿电动机66辅助手柄21的操作力,因此能够轻松地进行操作。
图14是第二实施方式的机械手1的第二例的示意图。
图14所示的第二实施方式的第二例的机械手1是对第二实施方式的第一例的机械手1的传递补偿部6的一部分的结构进行了变更而得到的,由于其他的结构可以与图10中说明的结构相同,因此省略说明。
图14所示的机械手1的传递补偿部6具有第二离合器68。
第二离合器68是对从补偿电动机66向操作侧带轮41传递的力进行连接或切断的部件。
第二实施方式的机械手1的第二例以如下的方式进行动作。
在未图示的操作者使手柄21从图14所示的中立状态向箭头A1方向旋转而成为图15所示的状态的情况下,相对于手柄21和操作侧带轮41向箭头A1方向的旋转,如图15所示,产生动态的松弛101。
在该时刻,第二离合器68沿箭头D1方向被切断,操作侧带轮41仅通过手柄21的操作而旋转。
接下来,如图15至图16所示,在使手柄21向箭头A2方向反转的情况下,第一编码器22检测手柄21的反转。当第一编码器22检测出手柄21的反转时,如图16所示,沿箭头C1方向切断操作部2的第一离合器65,并且沿箭头D2方向连接传递补偿部6的第二离合器68而驱动补偿电动机66。当驱动补偿电动机66时,图15所示的传递线43的动态的松弛101被迅速地去除。此外,在图16所示的状态下,即使通过补偿电动机66使操作侧带轮41旋转,由于第一离合器65被切断,因此补偿电动机66的驱动力不会传递到手柄21。
然后,当动态的松弛101被去除时,如图17所示,沿箭头C2方向连接第一离合器65并且沿箭头D1方向切断第二离合器68,借助由手柄21的旋转产生的传递线43的牵引力使可动部3向箭头B2方向旋转。此时,也可以驱动补偿电动机66而辅助手柄21的操作力。
这样,根据第二实施方式的第二例的机械手1,能够迅速地去除传递线43的动态的松弛101,使可动部3相对于手柄21的旋转而迅速地旋转。
并且,第二实施方式的第二例的机械手1与第一实施方式的机械手1相比,由于无需设置按压传递线43的按压部件,因此能够节省空间地设置,并且传递线43不会受到损伤。
而且,第二实施方式的第二例的机械手1与第一例的机械手1相比,由于设置有能够连接或切断补偿电动机66和操作侧带轮41的第二离合器68,因此在操作手柄21时不会因补偿电动机66成为阻力而感觉沉重,能够轻松地操作手柄。
接着,作为应用了本实施方式的机械手1的机械手系统的一例,对手术辅助系统10进行说明。
图18示出应用了本实施方式的机械手1的手术辅助系统10。图19示出应用了本实施方式的机械手1的手术辅助系统10的系统结构图。
本实施方式的手术辅助系统10应用图1所示的机械手1。手术辅助系统10具有:机械手1,其具有由操作者O操作的操作部2、能够插入到手术台BD上的患者P的体内例如大肠等柔软的脏器内的图1所示的可动部3、将来自操作部2的输入传递给可动部3且一部分能够插入到脏器内的柔性的传递部4、以及设置在可动部3的前端的具有内窥镜等的图1所示的处置部5;控制部91,其对机械手1进行控制;以及显示部92,其显示由机械手1取得的图像。
如图18所示,操作部2具有安装于操作台的一对操作手柄和配置在地面上的脚踏开关等。操作部2也可以具有多关节构造。操作部2与传递部4和可动部3机械性连接,进行可动部3的弯曲操作。并且,从编码器等角度取得部取得所操作的操作部2的角度,控制部91根据所取得的信号经由驱动器91b使配设于可动部3的前端的处置器具52和传递补偿部6进行动作。
如图1所示,机械手1在可动部3的前端硬质部32具有内窥镜51和处置器具52等作为处置部5。内窥镜51具有用于取得体内的图像的观察光学系统、摄像元件51a以及照明光学系统等。经过观察光学系统而由摄像元件51a取得的图像被输出到控制部91内的图像处理部91a。由图像处理部91a处理后图像显示在显示部92上。而且,操作者O一边观察显示在显示部92上的图像一边操作机械手1。
根据这样的手术辅助系统10,能够对操作者需求的准确的图像进行显示。
根据本实施方式的机械手1,由于具有供操作者操作的操作部2、被操作部2操作的可动部3、连结操作部2和可动部3而将操作部2的驱动力传递给可动部3的传递部4、以及根据操作部2的操作来补偿在传递部4上产生的动态的剩余部分的传递补偿部6,因此能够迅速地去除动态的剩余部分,使可动部3相对于操作部2的操作而迅速地进行动作。
根据本实施方式的机械手1,由于传递部4具有与操作部2一同旋转的操作侧带轮41和至少一部分卷绕在操作侧带轮41上的传递线43,传递补偿部6根据操作部2的操作来补偿在传递线43上产生的动态的松弛,因此能够迅速地去除动态的松弛,使可动部3相对于操作部2的操作而迅速地进行动作。
根据本实施方式的机械手1,由于传递补偿部6具有按压传递线43的按压部件63和根据操作部2的操作来驱动按压部件63的驱动部件61,因此能够以简单的结构迅速地去除动态的松弛,使可动部3相对于操作部2的操作而迅速地进行动作。
根据本实施方式的机械手1,由于具有对从操作侧带轮41向操作部2输入的旋转进行减速的减速器24,因此能够减少由按压部件63施加到传递线43的反作用从操作侧带轮41传递到操作部2的情况。
根据本实施方式的机械手1,由于按压部件63旋转移动,因此能够以简单的结构使按压部件63向传递线43按压。
根据本实施方式的机械手1,由于按压部件63在直线上移动,因此能够减小按压部件63对传递线43造成的损伤,并且能够准确地使按压部件63按压传递线43。
根据本实施方式的机械手1,由于设置有多个按压部件63,因此能够缩短按压部件63按压到传递线43的距离,能够更迅速地去除动态的松弛,使可动部3相对于操作部2的操作而更迅速地进行动作。
根据本实施方式的机械手1,由于具有以夹着传递线43被按压部件63按压的位置的方式设置的引导辊46,因此能够使按压部件63在更准确的位置按压到传递线43。
根据本实施方式的机械手1,由于具有剩余吸收部7,该剩余吸收部7具有与传递线43抵接的空转轮71、向传递线43侧对空转轮71施力的弹性部件72、以及相对于空转轮71设置在弹性部件72的相反侧且抑制空转轮71的移动的挡件73,该剩余吸收部7根据操作部2的操作来吸收在传递线43上产生的动态的松弛,因此能够抑制传递线43因动态的松弛101而从中立状态的位置偏离较大。其结果为,由于按压部件63在准确的位置按压传递线43,因此能够减小传递线43从按压部件63受到的按压时的损伤。
根据本实施方式的机械手1,传递部4具有与可动部3一同旋转的可动侧带轮42,传递线43被分割成卷绕在操作侧带轮41上的操作侧传递线43c和卷绕在可动侧带轮42上的可动侧传递线43d,并且该机械手具备剩余吸收部7,该剩余吸收部7具有分别安装于操作侧传递线43c的一端和另一端的第一支承部件76、分别安装于可动侧传递线43d的一端和另一端的第二支承部件78、以及一端分别支承于第一支承部件76、另一端分别支承于第二支承部件78的弹性部件77,该剩余吸收部7根据操作部2的操作来吸收在传递线43上产生的动态的松弛,由于弹性部件77暂时吸收动态的松弛101,因此能够抑制传递线43因动态的松弛101而从中立状态的位置偏离较大。其结果为,由于按压部件63在准确的位置按压传递线43,因此能够减小传递线43从按压部件63受到的按压时的损伤。
根据本实施方式的机械手1,第一支承部件76具有分别安装有操作侧传递线43c的底部76a、从底部76a竖立设置于与操作侧传递线43c相反的一侧且包围弹性部件77的筒部76b、以及相对于筒部76b设置于与底部76a相反的一侧且形成有供可动侧传递线43d贯通的孔的盖部76c,弹性部件77的一端安装于第一支承部件76的底部76a的与操作侧传递线43c相反的一侧,另一端安装于第二支承部件78,第二支承部件78被配置为比形成于盖部76c的孔大,在底部76a侧安装于弹性部件77的另一端,在盖部76c侧安装于可动侧传递线43d,能够在第一支承部件76内移动,因此第一支承部件76和第二支承部件78成为一体而与传递线43一同移动,由于传递线43的轨道不改变,因此进一步使按压部件63在准确的位置按压传递线43,能够进一步减小传递线43从按压部件63受到的按压时的损伤。
根据本实施方式的机械手1,由于传递补偿部6具有对从操作部2向操作侧带轮41传递的力进行连接或切断的第一离合器65,传递补偿部6还具有在通过第一离合器65切断操作部2和操作侧带轮41时使操作侧带轮41旋转的驱动部件66,因此能够迅速地去除动态的松弛101,使可动部3相对于操作部2的操作而迅速地进行动作。并且,能够防止从操作侧带轮41向操作部2传递驱动部件66对操作侧带轮41的旋转。
根据本实施方式的机械手1,由于传递补偿部7具有对从驱动部件66向操作侧带轮41传递的力进行连接或切断的第二离合器68,在对操作部2进行操作时通过第二离合器68切断驱动部件66和操作侧带轮41,因此在操作手柄21时不会因补偿电动机66成为阻力而感觉沉重,能够轻松地操作手柄。
根据本实施方式的机械手系统10,由于具有机械手1、对机械手1进行控制的控制部91、以及对机械手1所取得的图像进行显示的显示部92,机械手1包含观察光学系统、摄像元件以及具有照明光学系统的内窥镜51,控制部91在显示部92上显示内窥镜51所述取得的图像,因此能够迅速地去除动态的剩余部分,使可动部3相对于操作部2的操作而迅速地进行动作,能够对操作者需求的准确的图像进行显示。
此外,本发明不限于本实施方式。即,虽然在实施方式的说明时,为了进行例示而包含了很多特定的详细的内容,但只要是本领域的技术人员就能够理解即使在这些详细的内容上实施各种变形或变更也不会超过本发明的范围。因此,本发明的例示的实施方式是以相对于权利要求所限定的发明不会失去一般性并且没有任何限定的方式进行描述的。
标号说明
1:机械手;2:操作部;21:手柄;22:第一编码器(操作状态取得部);23:扭矩产生器;24:减速器;3:可动部;31:弯曲块;32:前端硬质部;33:可动线;4:传递部;41:操作侧带轮;42:可动侧带轮;43:传递线;44:柔性部;45:转换部;46:引导辊;5:处置部;51:内窥镜;52:处置器具;6:传递补偿部;61:补偿电动机(驱动部件);62:移动部件;63:按压部件;65:第一离合器(操作侧连接或切断部件);66:补偿电动机(驱动部件);67:第二编码器(驱动状态取得部);68:第二离合器(驱动侧连接或切断部件);7:剩余吸收部;71:空转轮;72:弹性部件;73:挡件;76:第一支承部件;77:弹性部件;78:第二支承部件;10:手术辅助系统;91:控制部;92:显示部。
Claims (14)
1.一种机械手,其特征在于,该机械手具有:
操作部,其供操作者操作;
可动部,其被所述操作部操作;
传递部,其连结所述操作部和所述可动部而将所述操作部的驱动力传递给所述可动部;以及
传递补偿部,其根据所述操作部的操作来补偿在所述传递部上产生的动态的剩余部分。
2.根据权利要求1所述的机械手,其中,
所述传递部具有:
操作侧带轮,其与所述操作部一同旋转;以及
传递线,其至少一部分卷绕在所述操作侧带轮上,
所述传递补偿部根据所述操作部的操作来补偿在所述传递线上产生的动态的松弛。
3.根据权利要求2所述的机械手,其中,
所述传递补偿部具有:
按压部件,其按压所述传递线;以及
驱动部件,其根据所述操作部的操作来驱动所述按压部件。
4.根据权利要求3所述的机械手,其中,
该机械手具有对从所述操作侧带轮向所述操作部输入的旋转进行减速的减速器。
5.根据权利要求4所述的机械手,其中,
所述按压部件进行旋转移动。
6.根据权利要求4所述的机械手,其中,
所述按压部件在直线上移动。
7.根据权利要求4至6中的任意一项所述的机械手,其中,
所述机械手设置有多个所述按压部件。
8.根据权利要求4至7中的任意一项所述的机械手,其中,
所述机械手具有以夹着所述传递线被所述按压部件按压的位置的方式设置的引导辊。
9.根据权利要求8所述的机械手,其中,
该机械手具有剩余吸收部,该剩余吸收部具有:
空转轮,其与所述传递线抵接;
弹性部件,其向所述传递线侧对所述空转轮施力;以及
挡件,其相对于所述空转轮设置在所述弹性部件的相反侧,抑制所述空转轮的移动,
该剩余吸收部根据所述操作部的操作来吸收在所述传递线上产生的动态的松弛。
10.根据权利要求8所述的机械手,其中,
所述传递部具有与所述可动部一同旋转的可动侧带轮,
所述传递线被分割为:
卷绕在所述操作侧带轮上的操作侧传递线;以及
卷绕在所述可动侧带轮上的可动侧传递线,
该机械手具有剩余吸收部,该剩余吸收部具有:
第一支承部件,其分别安装于所述操作侧传递线的一端和另一端;
第二支承部件,其分别安装于所述可动侧传递线的一端和另一端;以及
弹性部件,其一端分别支承于所述第一支承部件,另一端分别支承于所述第二支承部件,
该剩余吸收部根据所述操作部的操作来吸收在所述传递线上产生的动态的松弛。
11.根据权利要求10所述的机械手,其中,
所述第一支承部件分别具有:
底部,其安装有所述操作侧传递线;
筒部,其从所述底部竖立设置于与所述操作侧传递线相反的一侧且包围所述弹性部件;以及
盖部,其相对于所述筒部设置于与所述底部相反的一侧且形成有供所述可动侧传递线贯通的孔,
所述弹性部件的一端安装于所述第一支承部件的所述底部的与所述操作侧传递线相反的一侧,另一端安装于所述第二支承部件,
所述第二支承部件被配置为比形成于所述盖部的孔大,在所述底部侧安装于所述弹性部件的另一端,在所述盖部侧安装于所述可动侧传递线,能够在所述第一支承部件内移动。
12.根据权利要求2所述的机械手,其中,
所述传递补偿部具有对从所述操作部向所述操作侧带轮传递的力进行连接或切断的操作侧连接或切断部件,
所述传递补偿部还具有在通过所述操作侧连接或切断部件切断所述操作部和所述操作侧带轮时使所述操作侧带轮旋转的驱动部件。
13.根据权利要求12所述的机械手,其中,
所述传递补偿部具有对从所述驱动部件向所述操作侧带轮传递的力进行连接或切断的可动侧连接或切断部件,在对所述操作部进行操作时通过所述可动侧连接或切断部件切断所述驱动部件和所述操作侧带轮。
14.一种机械手系统,其特征在于,该机械手系统具有:
权利要求1至13中的任意一项所述的机械手;
控制部,其对所述机械手进行控制;以及
显示部,其对所述机械手所取得的图像进行显示,
所述机械手包含观察光学系统、摄像元件以及照明光学系统,
所述控制部使所述显示部显示所述内窥镜所取得的图像。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013155480A JP6157258B2 (ja) | 2013-07-26 | 2013-07-26 | マニピュレータ及びマニピュレータシステム |
JP2013-155480 | 2013-07-26 | ||
PCT/JP2014/067792 WO2015012081A1 (ja) | 2013-07-26 | 2014-07-03 | マニピュレータ及びマニピュレータシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105407785A true CN105407785A (zh) | 2016-03-16 |
CN105407785B CN105407785B (zh) | 2019-02-19 |
Family
ID=52393131
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201480042173.8A Active CN105407785B (zh) | 2013-07-26 | 2014-07-03 | 机械手和机械系统 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10085624B2 (zh) |
EP (1) | EP3025635A4 (zh) |
JP (1) | JP6157258B2 (zh) |
CN (1) | CN105407785B (zh) |
WO (1) | WO2015012081A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107320195A (zh) * | 2017-08-18 | 2017-11-07 | 深圳先进技术研究院 | 一种串联型微创手术用主操作手 |
CN108904897A (zh) * | 2018-07-05 | 2018-11-30 | 苏州中科先进技术研究院有限公司 | 一种调向机构、吸引器以及调向机构的应用 |
WO2019218157A1 (zh) * | 2018-05-15 | 2019-11-21 | 深圳市亚泰光电技术有限公司 | 内窥镜转向调节方法及内窥镜 |
Families Citing this family (423)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | Surgical stapling instrument incorporating a two-piece E-beam firing mechanism |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US8991676B2 (en) | 2007-03-15 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Surgical staple having a slidable crown |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US8365976B2 (en) | 2006-09-29 | 2013-02-05 | Ethicon Endo-Surgery, Inc. | Surgical staples having dissolvable, bioabsorbable or biofragmentable portions and stapling instruments for deploying the same |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US7753904B2 (en) | 2006-01-31 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Endoscopic surgical instrument with a handle that can articulate with respect to the shaft |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
US10568652B2 (en) | 2006-09-29 | 2020-02-25 | Ethicon Llc | Surgical staples having attached drivers of different heights and stapling instruments for deploying the same |
US11980366B2 (en) | 2006-10-03 | 2024-05-14 | Cilag Gmbh International | Surgical instrument |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
US8632535B2 (en) | 2007-01-10 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Interlock and surgical instrument including same |
US8540128B2 (en) | 2007-01-11 | 2013-09-24 | Ethicon Endo-Surgery, Inc. | Surgical stapling device with a curved end effector |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8893946B2 (en) | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US11849941B2 (en) | 2007-06-29 | 2023-12-26 | Cilag Gmbh International | Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
RU2493788C2 (ru) | 2008-02-14 | 2013-09-27 | Этикон Эндо-Серджери, Инк. | Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды |
US11986183B2 (en) | 2008-02-14 | 2024-05-21 | Cilag Gmbh International | Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
US20130153641A1 (en) | 2008-02-15 | 2013-06-20 | Ethicon Endo-Surgery, Inc. | Releasable layer of material and surgical end effector having the same |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
US8444036B2 (en) | 2009-02-06 | 2013-05-21 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector |
RU2525225C2 (ru) | 2009-02-06 | 2014-08-10 | Этикон Эндо-Серджери, Инк. | Усовершенствование приводного хирургического сшивающего инструмента |
US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US8777004B2 (en) | 2010-09-30 | 2014-07-15 | Ethicon Endo-Surgery, Inc. | Compressible staple cartridge comprising alignment members |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
US9241714B2 (en) | 2011-04-29 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator and method for making the same |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US9282962B2 (en) | 2010-09-30 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Adhesive film laminate |
US9517063B2 (en) | 2012-03-28 | 2016-12-13 | Ethicon Endo-Surgery, Llc | Movable member for use with a tissue thickness compensator |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US11925354B2 (en) | 2010-09-30 | 2024-03-12 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
JP6026509B2 (ja) | 2011-04-29 | 2016-11-16 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | ステープルカートリッジ自体の圧縮可能部分内に配置されたステープルを含むステープルカートリッジ |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
US9044230B2 (en) | 2012-02-13 | 2015-06-02 | Ethicon Endo-Surgery, Inc. | Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status |
CN104321024B (zh) | 2012-03-28 | 2017-05-24 | 伊西康内外科公司 | 包括多个层的组织厚度补偿件 |
MX353040B (es) | 2012-03-28 | 2017-12-18 | Ethicon Endo Surgery Inc | Unidad retenedora que incluye un compensador de grosor de tejido. |
JP6105041B2 (ja) | 2012-03-28 | 2017-03-29 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 低圧環境を画定するカプセルを含む組織厚コンペンセーター |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US9649111B2 (en) | 2012-06-28 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Replaceable clip cartridge for a clip applier |
BR112014032740A2 (pt) | 2012-06-28 | 2020-02-27 | Ethicon Endo Surgery Inc | bloqueio de cartucho de clipes vazio |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
BR112014032776B1 (pt) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
US20140005678A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Rotary drive arrangements for surgical instruments |
US11202631B2 (en) | 2012-06-28 | 2021-12-21 | Cilag Gmbh International | Stapling assembly comprising a firing lockout |
JP6345707B2 (ja) | 2013-03-01 | 2018-06-20 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | ソフトストップを備えた外科用器具 |
JP6382235B2 (ja) | 2013-03-01 | 2018-08-29 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 信号通信用の導電路を備えた関節運動可能な外科用器具 |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9687230B2 (en) | 2013-03-14 | 2017-06-27 | Ethicon Llc | Articulatable surgical instrument comprising a firing drive |
US9814460B2 (en) | 2013-04-16 | 2017-11-14 | Ethicon Llc | Modular motor driven surgical instruments with status indication arrangements |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
DE102013012802A1 (de) * | 2013-08-01 | 2015-02-05 | Kuka Laboratories Gmbh | Chirurgisches Instrument |
MX369362B (es) | 2013-08-23 | 2019-11-06 | Ethicon Endo Surgery Llc | Dispositivos de retraccion de miembros de disparo para instrumentos quirurgicos electricos. |
US9987006B2 (en) | 2013-08-23 | 2018-06-05 | Ethicon Llc | Shroud retention arrangement for sterilizable surgical instruments |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
CN106232029B (zh) | 2014-02-24 | 2019-04-12 | 伊西康内外科有限责任公司 | 包括击发构件锁定件的紧固系统 |
KR102541266B1 (ko) * | 2014-03-17 | 2023-06-13 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 툴 포즈를 유지하는 시스템 및 방법 |
US9820738B2 (en) | 2014-03-26 | 2017-11-21 | Ethicon Llc | Surgical instrument comprising interactive systems |
US9826977B2 (en) | 2014-03-26 | 2017-11-28 | Ethicon Llc | Sterilization verification circuit |
US9743929B2 (en) | 2014-03-26 | 2017-08-29 | Ethicon Llc | Modular powered surgical instrument with detachable shaft assemblies |
BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
US20150297222A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
CN106456176B (zh) | 2014-04-16 | 2019-06-28 | 伊西康内外科有限责任公司 | 包括具有不同构型的延伸部的紧固件仓 |
US10542988B2 (en) | 2014-04-16 | 2020-01-28 | Ethicon Llc | End effector comprising an anvil including projections extending therefrom |
US10206677B2 (en) | 2014-09-26 | 2019-02-19 | Ethicon Llc | Surgical staple and driver arrangements for staple cartridges |
BR112016023807B1 (pt) | 2014-04-16 | 2022-07-12 | Ethicon Endo-Surgery, Llc | Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico |
CN106456158B (zh) | 2014-04-16 | 2019-02-05 | 伊西康内外科有限责任公司 | 包括非一致紧固件的紧固件仓 |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
US10016199B2 (en) | 2014-09-05 | 2018-07-10 | Ethicon Llc | Polarity of hall magnet to identify cartridge type |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
CN107427300B (zh) | 2014-09-26 | 2020-12-04 | 伊西康有限责任公司 | 外科缝合支撑物和辅助材料 |
US10076325B2 (en) | 2014-10-13 | 2018-09-18 | Ethicon Llc | Surgical stapling apparatus comprising a tissue stop |
US9924944B2 (en) | 2014-10-16 | 2018-03-27 | Ethicon Llc | Staple cartridge comprising an adjunct material |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US9943309B2 (en) | 2014-12-18 | 2018-04-17 | Ethicon Llc | Surgical instruments with articulatable end effectors and movable firing beam support arrangements |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
RU2703684C2 (ru) | 2014-12-18 | 2019-10-21 | ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи | Хирургический инструмент с упором, который выполнен с возможностью избирательного перемещения относительно кассеты со скобами вокруг дискретной неподвижной оси |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9844374B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10321907B2 (en) | 2015-02-27 | 2019-06-18 | Ethicon Llc | System for monitoring whether a surgical instrument needs to be serviced |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US10052044B2 (en) | 2015-03-06 | 2018-08-21 | Ethicon Llc | Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
JP2020121162A (ja) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価 |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
JP2018515299A (ja) * | 2015-04-03 | 2018-06-14 | ザ リージェンツ オブ ザ ユニヴァシティ オブ ミシガン | ケーブル駆動伝動の為の張力管理装置 |
JP6427673B2 (ja) * | 2015-07-17 | 2018-11-21 | オリンパス株式会社 | マニピュレータ |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | Ethicon Llc | Implantable layers for a surgical instrument |
US10327769B2 (en) | 2015-09-23 | 2019-06-25 | Ethicon Llc | Surgical stapler having motor control based on a drive system component |
US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US10524788B2 (en) | 2015-09-30 | 2020-01-07 | Ethicon Llc | Compressible adjunct with attachment regions |
US10285699B2 (en) | 2015-09-30 | 2019-05-14 | Ethicon Llc | Compressible adjunct |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
CN108472025A (zh) | 2015-10-05 | 2018-08-31 | 弗莱克斯德克斯公司 | 具有平滑铰接的多簇接头的医疗装置 |
US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
US20180193608A1 (en) * | 2016-01-15 | 2018-07-12 | Cook Medical Technologies Llc | Modular medical guide wire assembly |
US10434288B2 (en) * | 2016-01-15 | 2019-10-08 | Cook Medical Technologies Llc | Locking medical guide wire |
JP6911054B2 (ja) | 2016-02-09 | 2021-07-28 | エシコン エルエルシーEthicon LLC | 非対称の関節構成を備えた外科用器具 |
US10653413B2 (en) | 2016-02-09 | 2020-05-19 | Ethicon Llc | Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US10258331B2 (en) | 2016-02-12 | 2019-04-16 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10617413B2 (en) | 2016-04-01 | 2020-04-14 | Ethicon Llc | Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts |
US10413297B2 (en) | 2016-04-01 | 2019-09-17 | Ethicon Llc | Surgical stapling system configured to apply annular rows of staples having different heights |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US10426469B2 (en) | 2016-04-18 | 2019-10-01 | Ethicon Llc | Surgical instrument comprising a primary firing lockout and a secondary firing lockout |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US10682192B2 (en) * | 2016-09-30 | 2020-06-16 | Intuitive Surgical Operations, Inc. | Variable-length guide apparatus for delivery of a flexible instrument and methods of use |
CN110099619B (zh) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | 用于外科端部执行器和可替换工具组件的闭锁装置 |
JP7010956B2 (ja) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | 組織をステープル留めする方法 |
CN110114014B (zh) | 2016-12-21 | 2022-08-09 | 爱惜康有限责任公司 | 包括端部执行器闭锁件和击发组件闭锁件的外科器械系统 |
US20180168577A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Axially movable closure system arrangements for applying closure motions to jaws of surgical instruments |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
US10893864B2 (en) | 2016-12-21 | 2021-01-19 | Ethicon | Staple cartridges and arrangements of staples and staple cavities therein |
US10835245B2 (en) | 2016-12-21 | 2020-11-17 | Ethicon Llc | Method for attaching a shaft assembly to a surgical instrument and, alternatively, to a surgical robot |
US11419606B2 (en) | 2016-12-21 | 2022-08-23 | Cilag Gmbh International | Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems |
US10758230B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument with primary and safety processors |
US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
JP2020501779A (ja) | 2016-12-21 | 2020-01-23 | エシコン エルエルシーEthicon LLC | 外科用ステープル留めシステム |
US10617414B2 (en) | 2016-12-21 | 2020-04-14 | Ethicon Llc | Closure member arrangements for surgical instruments |
US20180168615A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US10639035B2 (en) | 2016-12-21 | 2020-05-05 | Ethicon Llc | Surgical stapling instruments and replaceable tool assemblies thereof |
US10667809B2 (en) | 2016-12-21 | 2020-06-02 | Ethicon Llc | Staple cartridge and staple cartridge channel comprising windows defined therein |
US10588630B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical tool assemblies with closure stroke reduction features |
US10779823B2 (en) | 2016-12-21 | 2020-09-22 | Ethicon Llc | Firing member pin angle |
US10888322B2 (en) | 2016-12-21 | 2021-01-12 | Ethicon Llc | Surgical instrument comprising a cutting member |
JP6653044B2 (ja) | 2017-03-24 | 2020-02-26 | 株式会社メディカロイド | 手術器具および手術システム |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument |
US10390841B2 (en) | 2017-06-20 | 2019-08-27 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
US11090046B2 (en) | 2017-06-20 | 2021-08-17 | Cilag Gmbh International | Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument |
US11071554B2 (en) | 2017-06-20 | 2021-07-27 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements |
US10327767B2 (en) | 2017-06-20 | 2019-06-25 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
US10888321B2 (en) | 2017-06-20 | 2021-01-12 | Ethicon Llc | Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
US10307170B2 (en) | 2017-06-20 | 2019-06-04 | Ethicon Llc | Method for closed loop control of motor velocity of a surgical stapling and cutting instrument |
US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
US10813639B2 (en) | 2017-06-20 | 2020-10-27 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions |
US11517325B2 (en) | 2017-06-20 | 2022-12-06 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
US10779820B2 (en) | 2017-06-20 | 2020-09-22 | Ethicon Llc | Systems and methods for controlling motor speed according to user input for a surgical instrument |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
US10980537B2 (en) | 2017-06-20 | 2021-04-20 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations |
US11382638B2 (en) | 2017-06-20 | 2022-07-12 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
US11653914B2 (en) | 2017-06-20 | 2023-05-23 | Cilag Gmbh International | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
US11090049B2 (en) | 2017-06-27 | 2021-08-17 | Cilag Gmbh International | Staple forming pocket arrangements |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US10772629B2 (en) | 2017-06-27 | 2020-09-15 | Ethicon Llc | Surgical anvil arrangements |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
EP4070740A1 (en) | 2017-06-28 | 2022-10-12 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
US11000279B2 (en) | 2017-06-28 | 2021-05-11 | Ethicon Llc | Surgical instrument comprising an articulation system ratio |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
US10588633B2 (en) | 2017-06-28 | 2020-03-17 | Ethicon Llc | Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing |
US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument |
US10398434B2 (en) | 2017-06-29 | 2019-09-03 | Ethicon Llc | Closed loop velocity control of closure member for robotic surgical instrument |
US10898183B2 (en) | 2017-06-29 | 2021-01-26 | Ethicon Llc | Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing |
US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11974742B2 (en) | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection of a surgical instrument |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for a surgical instrument |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
US10765429B2 (en) | 2017-09-29 | 2020-09-08 | Ethicon Llc | Systems and methods for providing alerts according to the operational state of a surgical instrument |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10779825B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments |
US11006955B2 (en) | 2017-12-15 | 2021-05-18 | Ethicon Llc | End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US10828033B2 (en) | 2017-12-15 | 2020-11-10 | Ethicon Llc | Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use with electromechanical surgical instruments |
US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument |
US10966718B2 (en) | 2017-12-15 | 2021-04-06 | Ethicon Llc | Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
US11197670B2 (en) | 2017-12-15 | 2021-12-14 | Cilag Gmbh International | Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US10835330B2 (en) | 2017-12-19 | 2020-11-17 | Ethicon Llc | Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
US11020112B2 (en) | 2017-12-19 | 2021-06-01 | Ethicon Llc | Surgical tools configured for interchangeable use with different controller interfaces |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
US11337691B2 (en) | 2017-12-21 | 2022-05-24 | Cilag Gmbh International | Surgical instrument configured to determine firing path |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11076853B2 (en) | 2017-12-21 | 2021-08-03 | Cilag Gmbh International | Systems and methods of displaying a knife position during transection for a surgical instrument |
WO2019152727A1 (en) | 2018-02-02 | 2019-08-08 | Kalera Medical, Inc. | Devices and methods for minimally invasive kidney stone removal by combined aspiration and irrigation |
JP7171214B2 (ja) * | 2018-04-02 | 2022-11-15 | キヤノン株式会社 | 連続体ロボット制御装置、連続体ロボット制御方法及びプログラム |
US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
US11083458B2 (en) | 2018-08-20 | 2021-08-10 | Cilag Gmbh International | Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
US10842492B2 (en) | 2018-08-20 | 2020-11-24 | Ethicon Llc | Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US11707819B2 (en) | 2018-10-15 | 2023-07-25 | General Electric Company | Selectively flexible extension tool |
US20200114528A1 (en) * | 2018-10-15 | 2020-04-16 | General Electric Company | Selectively Flexible Extension Tool |
US11702955B2 (en) | 2019-01-14 | 2023-07-18 | General Electric Company | Component repair system and method |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
US11147553B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US12004740B2 (en) | 2019-06-28 | 2024-06-11 | Cilag Gmbh International | Surgical stapling system having an information decryption protocol |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11350938B2 (en) | 2019-06-28 | 2022-06-07 | Cilag Gmbh International | Surgical instrument comprising an aligned rfid sensor |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11576672B2 (en) | 2019-12-19 | 2023-02-14 | Cilag Gmbh International | Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11692650B2 (en) | 2020-01-23 | 2023-07-04 | General Electric Company | Selectively flexible extension tool |
US11752622B2 (en) | 2020-01-23 | 2023-09-12 | General Electric Company | Extension tool having a plurality of links |
US11613003B2 (en) | 2020-01-24 | 2023-03-28 | General Electric Company | Line assembly for an extension tool having a plurality of links |
US11371437B2 (en) | 2020-03-10 | 2022-06-28 | Oliver Crispin Robotics Limited | Insertion tool |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
IL297954A (en) | 2020-06-02 | 2023-01-01 | Flexdex Inc | Tool and assembly for surgery |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
US11638582B2 (en) * | 2020-07-28 | 2023-05-02 | Cilag Gmbh International | Surgical instruments with torsion spine drive arrangements |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11617577B2 (en) | 2020-10-29 | 2023-04-04 | Cilag Gmbh International | Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11737751B2 (en) | 2020-12-02 | 2023-08-29 | Cilag Gmbh International | Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11980362B2 (en) | 2021-02-26 | 2024-05-14 | Cilag Gmbh International | Surgical instrument system comprising a power transfer coil |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11786243B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Firing members having flexible portions for adapting to a load during a surgical firing stroke |
US11944336B2 (en) | 2021-03-24 | 2024-04-02 | Cilag Gmbh International | Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11654547B2 (en) | 2021-03-31 | 2023-05-23 | General Electric Company | Extension tool |
US11998201B2 (en) | 2021-05-28 | 2024-06-04 | Cilag CmbH International | Stapling instrument comprising a firing lockout |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
US11957337B2 (en) | 2021-10-18 | 2024-04-16 | Cilag Gmbh International | Surgical stapling assembly with offset ramped drive surfaces |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03292928A (ja) * | 1990-04-09 | 1991-12-24 | Asahi Optical Co Ltd | 内視鏡 |
JPH10217167A (ja) * | 1997-02-03 | 1998-08-18 | Hitachi Ltd | スカラ形ロボット |
JP2000300511A (ja) * | 1999-04-23 | 2000-10-31 | Olympus Optical Co Ltd | 内視鏡 |
JP2005013320A (ja) * | 2003-06-24 | 2005-01-20 | Olympus Corp | 内視鏡 |
US20050168571A1 (en) * | 2004-01-29 | 2005-08-04 | Everest Vit, Inc. | Method and apparatus for improving the operation of a remote viewing device |
JP2009201607A (ja) * | 2008-02-26 | 2009-09-10 | Terumo Corp | マニピュレータ |
WO2011108161A1 (ja) * | 2010-03-02 | 2011-09-09 | オリンパスメディカルシステムズ株式会社 | 医療システム及び制御方法 |
CN102188220A (zh) * | 2010-03-02 | 2011-09-21 | 富士胶片株式会社 | 操作线束连结装置及内窥镜 |
CN102711582A (zh) * | 2010-01-13 | 2012-10-03 | 奥林巴斯株式会社 | 内窥镜弯曲装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5613455B2 (zh) * | 1973-07-06 | 1981-03-28 | ||
JP3330999B2 (ja) * | 1992-10-29 | 2002-10-07 | オリンパス光学工業株式会社 | 内視鏡装置 |
US6013024A (en) * | 1997-01-20 | 2000-01-11 | Suzuki Motor Corporation | Hybrid operation system |
JP2008142199A (ja) * | 2006-12-07 | 2008-06-26 | Olympus Corp | 内視鏡および内視鏡の湾曲操作装置 |
JP2009090087A (ja) | 2007-09-19 | 2009-04-30 | Fujifilm Corp | 内視鏡 |
JP5048158B2 (ja) | 2010-03-17 | 2012-10-17 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
JP5193401B2 (ja) * | 2011-05-12 | 2013-05-08 | オリンパスメディカルシステムズ株式会社 | 医療用制御装置 |
-
2013
- 2013-07-26 JP JP2013155480A patent/JP6157258B2/ja active Active
-
2014
- 2014-07-03 EP EP14830091.6A patent/EP3025635A4/en not_active Withdrawn
- 2014-07-03 WO PCT/JP2014/067792 patent/WO2015012081A1/ja active Application Filing
- 2014-07-03 CN CN201480042173.8A patent/CN105407785B/zh active Active
-
2016
- 2016-01-26 US US15/006,422 patent/US10085624B2/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03292928A (ja) * | 1990-04-09 | 1991-12-24 | Asahi Optical Co Ltd | 内視鏡 |
JPH10217167A (ja) * | 1997-02-03 | 1998-08-18 | Hitachi Ltd | スカラ形ロボット |
JP2000300511A (ja) * | 1999-04-23 | 2000-10-31 | Olympus Optical Co Ltd | 内視鏡 |
JP2005013320A (ja) * | 2003-06-24 | 2005-01-20 | Olympus Corp | 内視鏡 |
US20050168571A1 (en) * | 2004-01-29 | 2005-08-04 | Everest Vit, Inc. | Method and apparatus for improving the operation of a remote viewing device |
JP2009201607A (ja) * | 2008-02-26 | 2009-09-10 | Terumo Corp | マニピュレータ |
CN102711582A (zh) * | 2010-01-13 | 2012-10-03 | 奥林巴斯株式会社 | 内窥镜弯曲装置 |
WO2011108161A1 (ja) * | 2010-03-02 | 2011-09-09 | オリンパスメディカルシステムズ株式会社 | 医療システム及び制御方法 |
CN102188220A (zh) * | 2010-03-02 | 2011-09-21 | 富士胶片株式会社 | 操作线束连结装置及内窥镜 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107320195A (zh) * | 2017-08-18 | 2017-11-07 | 深圳先进技术研究院 | 一种串联型微创手术用主操作手 |
WO2019218157A1 (zh) * | 2018-05-15 | 2019-11-21 | 深圳市亚泰光电技术有限公司 | 内窥镜转向调节方法及内窥镜 |
CN108904897A (zh) * | 2018-07-05 | 2018-11-30 | 苏州中科先进技术研究院有限公司 | 一种调向机构、吸引器以及调向机构的应用 |
CN108904897B (zh) * | 2018-07-05 | 2021-02-12 | 苏州中科先进技术研究院有限公司 | 一种调向机构、吸引器以及调向机构的应用 |
Also Published As
Publication number | Publication date |
---|---|
WO2015012081A1 (ja) | 2015-01-29 |
US20160135663A1 (en) | 2016-05-19 |
JP6157258B2 (ja) | 2017-07-05 |
EP3025635A4 (en) | 2017-04-12 |
CN105407785B (zh) | 2019-02-19 |
EP3025635A1 (en) | 2016-06-01 |
JP2015024007A (ja) | 2015-02-05 |
US10085624B2 (en) | 2018-10-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105407785A (zh) | 机械手和机械系统 | |
US11198226B2 (en) | Surgical robot | |
US10271913B2 (en) | Surgical tool | |
US10213094B2 (en) | Slack correction mechanism, manipulator, and manipulator system | |
JP6153484B2 (ja) | ワイヤ駆動装置およびマニピュレータ | |
CN104955375B (zh) | 操纵器 | |
CN107708597B (zh) | 手术用机器人 | |
CN107073723A (zh) | 机械手和机械手系统 | |
JP6116427B2 (ja) | マニピュレータ及びマニピュレータシステム | |
CN105636545B (zh) | 手术器具 | |
EP2977150B1 (en) | Manipulator | |
US11147643B2 (en) | Manipulator | |
WO2015012066A1 (ja) | マニピュレータおよびマニピュレータシステム | |
CN106794048A (zh) | 操作输入装置和医疗用机械手系统 | |
US10660660B2 (en) | Detector-equipped treatment tool | |
US20230398327A1 (en) | Feeding device for tubular component |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |