JP2009297236A - 医療用器具保持アーム装置 - Google Patents
医療用器具保持アーム装置 Download PDFInfo
- Publication number
- JP2009297236A JP2009297236A JP2008154479A JP2008154479A JP2009297236A JP 2009297236 A JP2009297236 A JP 2009297236A JP 2008154479 A JP2008154479 A JP 2008154479A JP 2008154479 A JP2008154479 A JP 2008154479A JP 2009297236 A JP2009297236 A JP 2009297236A
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- JP
- Japan
- Prior art keywords
- medical instrument
- arm portion
- holding arm
- arm
- arm device
- 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
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- 0 **C(CCCN)C=C Chemical compound **C(CCCN)C=C 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/21—Flaccid drive element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
【解決手段】縦アーム部4の上下のタイミングプーリ5A、6A同士をタイミングベルト15により連結した構造のため、横アーム部5の回転角度範囲が大きくなり、横アーム部5の先端に保持する内視鏡20の位置や角度を大きく変えることができる。また、横アーム部5とカウンタウェイト6とは同じ角度回転するため、カウンタウェイト6による重量バランス状態は保たれる。タイミングベルト15を使用するため、保持アーム装置1全体の軽量化を図ることができる共に、操作音が小さく医療現場に適している。
【選択図】図1
Description
2 ベース部
3 支柱部
4 縦アーム部
5 横アーム部
5A タイミングプーリ(回動軸)
6 カウンタウェイト
6A タイミングプーリ(回動軸)
15 タイミングベルト(回転力伝達部材)
16、17 テンションローラ
20 内視鏡(医療用器具)
C クラッチ
Claims (4)
- フロア上に設置するベース部と、ベース部から垂直に立設した支柱部と、支柱部の上端に位置固定された回動軸に中間部分が回動自在に支持された縦アーム部と、縦アーム部の一端に回転中心が位置固定された第1回動軸に基端が回動自在に支持され且つ先端に医療用器具を保持可能な横アーム部と、縦アーム部の他端に回転中心が位置固定された第2回動軸に支持されたカウンタウェイトと、いずれかの回動軸を回転状態又は固定状態にするクラッチとを備えたものであり、
第2回動軸のまわりのカウンタウェイトのトルクと第1回動軸のまわりの横アーム部のトルクを相互に伝達するトルク伝達機構であって、第1回動軸および第2回動軸間にトルク伝達のためにループ状の回転力伝達部材が掛け回されたことを特徴とする医療用器具保持アーム装置。 - 回転力伝達部材がタイミングベルトであることを特徴とする請求項1記載の医療用器具保持アーム装置。
- 縦アーム部の内部に対向するタイミングベルト同士の距離を狭めて張力を付与する一対のテンションローラを設けたことを特徴とする請求項2記載の医療用器具保持アーム装置。
- 縦アーム部は回転力伝達部材を収納する中空構造を有するリンクケースであることを特徴とする請求項1記載の医療用器具保持アーム装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008154479A JP5135069B2 (ja) | 2008-06-12 | 2008-06-12 | 医療用器具保持アーム装置 |
US12/997,285 US8910537B2 (en) | 2008-06-12 | 2009-05-20 | Holding arm apparatus for medical tool |
PCT/JP2009/059244 WO2009150925A1 (ja) | 2008-06-12 | 2009-05-20 | 医療用器具保持アーム装置 |
DE112009001412.7T DE112009001412B4 (de) | 2008-06-12 | 2009-05-20 | Haltearmvorrichtung für medizinisches Werkzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008154479A JP5135069B2 (ja) | 2008-06-12 | 2008-06-12 | 医療用器具保持アーム装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009297236A true JP2009297236A (ja) | 2009-12-24 |
JP5135069B2 JP5135069B2 (ja) | 2013-01-30 |
Family
ID=41416636
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008154479A Active JP5135069B2 (ja) | 2008-06-12 | 2008-06-12 | 医療用器具保持アーム装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8910537B2 (ja) |
JP (1) | JP5135069B2 (ja) |
DE (1) | DE112009001412B4 (ja) |
WO (1) | WO2009150925A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101363245B1 (ko) * | 2012-09-03 | 2014-02-12 | (주)한국랩 | 밸런싱 웨이트 조립체 및 이를 구비한 관절 암 |
US8910913B2 (en) | 2011-03-03 | 2014-12-16 | Olympus Medical Systems Corp. | Supporting apparatus used medical treatment |
CN106239493A (zh) * | 2016-10-08 | 2016-12-21 | 安徽理工大学 | 一种自紧式往复摆臂夹紧移动装置 |
US9681795B2 (en) | 2015-03-27 | 2017-06-20 | Olympus Corporation | Endoscope holding apparatus |
JP2019517860A (ja) * | 2016-05-26 | 2019-06-27 | コヴィディエン リミテッド パートナーシップ | ロボット外科手術アセンブリ |
JP2021122737A (ja) * | 2020-01-31 | 2021-08-30 | グローバス メディカル インコーポレイティッド | 患者安定化システム |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2496376A (en) * | 2011-11-02 | 2013-05-15 | Inst Medical Informatics | Audio visual camera support for operating theatre |
DE102011056086A1 (de) * | 2011-12-06 | 2013-06-06 | Leica Microsystems (Schweiz) Ag | Stativ zum Halten von mindestens einem medizinischen Gerät, insbesondere einem Mikroskop |
SG11201507613QA (en) * | 2013-03-15 | 2015-10-29 | Synaptive Medical Barbados Inc | Intelligent positioning system and methods therefore |
KR20160040005A (ko) * | 2014-10-02 | 2016-04-12 | 주식회사 고영테크놀러지 | 의료 기구용 스탠드 |
FR3036279B1 (fr) * | 2015-05-21 | 2017-06-23 | Medtech Sa | Robot d'assistance neurochirurgicale |
DE102015113467A1 (de) * | 2015-08-14 | 2017-02-16 | Sami Haddadin | Roboterarm und Roboterhandgelenk |
CN106078807B (zh) * | 2016-08-12 | 2020-11-24 | 珠海格力智能装备有限公司 | 负重组件及具有其的机器人 |
US10478257B2 (en) * | 2017-02-02 | 2019-11-19 | Ethicon Llc | Robotic surgical tool, system, and method |
US11672621B2 (en) * | 2017-07-27 | 2023-06-13 | Intuitive Surgical Operations, Inc. | Light displays in a medical device |
US11561359B2 (en) * | 2018-02-09 | 2023-01-24 | Carl Zeiss Meditec Ag | Balancing device for rotary apparatus |
US20210159004A1 (en) * | 2018-04-22 | 2021-05-27 | Genesis Robotics And Motion Technologies, LP | Magnetic assembly |
CN210384059U (zh) * | 2018-09-12 | 2020-04-24 | 苏州铸正机器人有限公司 | 辅助手术装置 |
TW202028091A (zh) * | 2019-01-22 | 2020-08-01 | 緯創資通股份有限公司 | 平衡機構與具有該平衡機構的移動醫療裝置 |
US20220113487A1 (en) * | 2020-10-09 | 2022-04-14 | Nikon Corporation | Balanced active stabilizers |
DE102022119958B3 (de) | 2022-08-09 | 2024-02-01 | Karl Storz Se & Co. Kg | Gelenkarretierung für Haltearme medizinischer Operationseinrichtungen |
CN116021551B (zh) * | 2023-03-31 | 2023-06-02 | 成都思越智能装备股份有限公司 | 一种连杆式机械臂 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0716239A (ja) * | 1993-06-21 | 1995-01-20 | Carl Zeiss:Fa | 平衡調整可能スタンド及びx−y摺動装置 |
JP2001300871A (ja) * | 2000-04-18 | 2001-10-30 | Kawasaki Heavy Ind Ltd | マスターアーム装置 |
JP2004154174A (ja) * | 2002-11-01 | 2004-06-03 | Mitaka Koki Co Ltd | 内視鏡用スタンド装置 |
JP2005211667A (ja) * | 2004-01-29 | 2005-08-11 | Carl Zeiss Ag | 医療用光学器具のためのスタンド装置 |
JP2006102155A (ja) * | 2004-10-05 | 2006-04-20 | Mitaka Koki Co Ltd | 手術顕微鏡用スタンド装置 |
JP2008086711A (ja) * | 2006-10-05 | 2008-04-17 | Mitaka Koki Co Ltd | 医療用スタンド装置のためのトルク伝達機構 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE29505345U1 (de) | 1995-03-31 | 1995-05-18 | Festo Kg | Abtriebsglied eines Linearantriebes |
JP2001300883A (ja) * | 2000-04-20 | 2001-10-30 | Kawasaki Heavy Ind Ltd | ロボット |
JP2002165804A (ja) | 2000-09-22 | 2002-06-11 | Mitaka Koki Co Ltd | 医療用スタンド装置 |
DE20114343U1 (de) | 2000-09-30 | 2001-11-29 | Zeiss Carl | Stativ |
US6601468B2 (en) * | 2000-10-24 | 2003-08-05 | Innovative Robotic Solutions | Drive system for multiple axis robot arm |
KR101687627B1 (ko) * | 2010-01-12 | 2016-12-21 | 삼성전자주식회사 | 관절구동장치 및 이를 가지는 로봇 |
-
2008
- 2008-06-12 JP JP2008154479A patent/JP5135069B2/ja active Active
-
2009
- 2009-05-20 US US12/997,285 patent/US8910537B2/en not_active Expired - Fee Related
- 2009-05-20 WO PCT/JP2009/059244 patent/WO2009150925A1/ja active Application Filing
- 2009-05-20 DE DE112009001412.7T patent/DE112009001412B4/de not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0716239A (ja) * | 1993-06-21 | 1995-01-20 | Carl Zeiss:Fa | 平衡調整可能スタンド及びx−y摺動装置 |
JP2001300871A (ja) * | 2000-04-18 | 2001-10-30 | Kawasaki Heavy Ind Ltd | マスターアーム装置 |
JP2004154174A (ja) * | 2002-11-01 | 2004-06-03 | Mitaka Koki Co Ltd | 内視鏡用スタンド装置 |
JP2005211667A (ja) * | 2004-01-29 | 2005-08-11 | Carl Zeiss Ag | 医療用光学器具のためのスタンド装置 |
JP2006102155A (ja) * | 2004-10-05 | 2006-04-20 | Mitaka Koki Co Ltd | 手術顕微鏡用スタンド装置 |
JP2008086711A (ja) * | 2006-10-05 | 2008-04-17 | Mitaka Koki Co Ltd | 医療用スタンド装置のためのトルク伝達機構 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8910913B2 (en) | 2011-03-03 | 2014-12-16 | Olympus Medical Systems Corp. | Supporting apparatus used medical treatment |
KR101363245B1 (ko) * | 2012-09-03 | 2014-02-12 | (주)한국랩 | 밸런싱 웨이트 조립체 및 이를 구비한 관절 암 |
US9681795B2 (en) | 2015-03-27 | 2017-06-20 | Olympus Corporation | Endoscope holding apparatus |
JP2019517860A (ja) * | 2016-05-26 | 2019-06-27 | コヴィディエン リミテッド パートナーシップ | ロボット外科手術アセンブリ |
CN106239493A (zh) * | 2016-10-08 | 2016-12-21 | 安徽理工大学 | 一种自紧式往复摆臂夹紧移动装置 |
JP2021122737A (ja) * | 2020-01-31 | 2021-08-30 | グローバス メディカル インコーポレイティッド | 患者安定化システム |
JP7168703B2 (ja) | 2020-01-31 | 2022-11-09 | グローバス メディカル インコーポレイティッド | 患者安定化システム |
Also Published As
Publication number | Publication date |
---|---|
JP5135069B2 (ja) | 2013-01-30 |
DE112009001412T5 (de) | 2011-04-14 |
US8910537B2 (en) | 2014-12-16 |
WO2009150925A1 (ja) | 2009-12-17 |
US20110162476A1 (en) | 2011-07-07 |
DE112009001412B4 (de) | 2018-09-13 |
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