CN112566759A - 弯曲结构体及使用了该弯曲结构体的关节功能部 - Google Patents

弯曲结构体及使用了该弯曲结构体的关节功能部 Download PDF

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Publication number
CN112566759A
CN112566759A CN201980052744.9A CN201980052744A CN112566759A CN 112566759 A CN112566759 A CN 112566759A CN 201980052744 A CN201980052744 A CN 201980052744A CN 112566759 A CN112566759 A CN 112566759A
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CN
China
Prior art keywords
coil portion
outer coil
coil
bending
axial direction
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.)
Pending
Application number
CN201980052744.9A
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English (en)
Chinese (zh)
Inventor
平田贵史
黑川真平
保户田裕树
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Japan Clockwork Co ltd
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Japan Clockwork Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Japan Clockwork Co ltd filed Critical Japan Clockwork Co ltd
Publication of CN112566759A publication Critical patent/CN112566759A/zh
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—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
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
    • F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
    • F16F3/04—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs
    • F16F3/06—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs of which some are placed around others in such a way that they damp each other by mutual friction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2905—Details of shaft flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2918—Handles transmission of forces to actuating rod or piston flexible handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
    • A61B2017/292—Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • General Engineering & Computer Science (AREA)
  • Ophthalmology & Optometry (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
CN201980052744.9A 2018-08-14 2019-08-02 弯曲结构体及使用了该弯曲结构体的关节功能部 Pending CN112566759A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2018-152642 2018-08-14
JP2018152642 2018-08-14
JP2019017778A JP7491503B2 (ja) 2018-08-14 2019-02-04 手術支援ロボット用インスツルメント
JP2019-017778 2019-02-04
PCT/JP2019/030599 WO2020036085A1 (ja) 2018-08-14 2019-08-02 屈曲構造体及びこれを用いた関節機能部

Publications (1)

Publication Number Publication Date
CN112566759A true CN112566759A (zh) 2021-03-26

Family

ID=69620872

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201980053995.9A Pending CN112654475A (zh) 2018-08-14 2019-08-02 手术辅助机器人用器械
CN201980052744.9A Pending CN112566759A (zh) 2018-08-14 2019-08-02 弯曲结构体及使用了该弯曲结构体的关节功能部

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201980053995.9A Pending CN112654475A (zh) 2018-08-14 2019-08-02 手术辅助机器人用器械

Country Status (6)

Country Link
US (2) US12262905B2 (enExample)
EP (2) EP3838517A4 (enExample)
JP (5) JP7491503B2 (enExample)
CN (2) CN112654475A (enExample)
TW (1) TWI720570B (enExample)
WO (1) WO2020036085A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI868959B (zh) * 2022-10-03 2025-01-01 日商日本發條股份有限公司 彎曲結構體及其半成品

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6913775B1 (ja) 2020-02-13 2021-08-04 日本発條株式会社 屈曲構造体及び関節機能部
JP7538692B2 (ja) * 2020-10-30 2024-08-22 日本発條株式会社 屈曲操作機構
JP7587962B2 (ja) * 2020-10-30 2024-11-21 日本発條株式会社 屈曲構造体
CN112809656B (zh) * 2021-02-08 2022-02-18 清华大学 柔性驱动结构、柔性驱动器及驱动系统
JP7506620B2 (ja) 2021-02-25 2024-06-26 日本発條株式会社 屈曲構造体及び通電デバイス
JP7657094B2 (ja) * 2021-04-30 2025-04-04 日本発條株式会社 屈曲構造体
JP7761415B2 (ja) * 2021-07-27 2025-10-28 日本発條株式会社 屈曲構造体
JP7701848B2 (ja) * 2021-09-29 2025-07-02 日本発條株式会社 屈曲構造体
JP7741706B2 (ja) * 2021-11-26 2025-09-18 日本発條株式会社 屈曲構造体及びその半製品
CN114701583B (zh) * 2022-04-18 2023-02-24 东北大学秦皇岛分校 一种绳驱柔性双关节仿生蟹及控制方法
CN115005993B (zh) * 2022-05-31 2023-09-22 四川省肿瘤医院 一种弯曲机构及应用该机构的手术机械臂
WO2024089878A1 (ja) * 2022-10-28 2024-05-02 日本発條株式会社 屈曲構造体
TWI846113B (zh) * 2022-10-28 2024-06-21 日商日本發條股份有限公司 彎曲結構體

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US5405073A (en) * 1993-12-06 1995-04-11 Ethicon, Inc. Flexible support shaft assembly
JPH07265323A (ja) * 1993-12-06 1995-10-17 Ethicon Inc 手術用留め具及びステープル装置
US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
JP2009240774A (ja) * 2008-03-28 2009-10-22 Olympus Medical Systems Corp 内視鏡用処置具
US20110144656A1 (en) * 2001-02-15 2011-06-16 Hansen Medical, Inc. Robotically controlled medical instrument
US20110152880A1 (en) * 2009-12-23 2011-06-23 Hansen Medical, Inc. Flexible and steerable elongate instruments with torsion control

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DE822044C (de) * 1949-12-23 1951-11-22 Trippel Hanns Biegsame Welle fuer die Drehmoment-UEbertragung, insbesondere in Kraftfahrzeugen
US5405073A (en) * 1993-12-06 1995-04-11 Ethicon, Inc. Flexible support shaft assembly
JPH07265323A (ja) * 1993-12-06 1995-10-17 Ethicon Inc 手術用留め具及びステープル装置
US20020087048A1 (en) * 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US20110144656A1 (en) * 2001-02-15 2011-06-16 Hansen Medical, Inc. Robotically controlled medical instrument
JP2009240774A (ja) * 2008-03-28 2009-10-22 Olympus Medical Systems Corp 内視鏡用処置具
US20110152880A1 (en) * 2009-12-23 2011-06-23 Hansen Medical, Inc. Flexible and steerable elongate instruments with torsion control

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI868959B (zh) * 2022-10-03 2025-01-01 日商日本發條股份有限公司 彎曲結構體及其半成品

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JP7472374B2 (ja) 2024-04-22
EP3838518A1 (en) 2021-06-23
EP3838518A4 (en) 2022-08-10
US20210307773A1 (en) 2021-10-07
EP3838517A4 (en) 2022-09-14
JP2022125093A (ja) 2022-08-26
JP2020026021A (ja) 2020-02-20
JP7373613B2 (ja) 2023-11-02
TW202009117A (zh) 2020-03-01
JP7096179B2 (ja) 2022-07-05
JP2020026019A (ja) 2020-02-20
WO2020036085A1 (ja) 2020-02-20
JP7491503B2 (ja) 2024-05-28
CN112654475A (zh) 2021-04-13
TWI720570B (zh) 2021-03-01
JP2024086847A (ja) 2024-06-28
EP3838517A1 (en) 2021-06-23
US20230001590A1 (en) 2023-01-05
US12262905B2 (en) 2025-04-01
JP7765537B2 (ja) 2025-11-06
JP2023153901A (ja) 2023-10-18

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