JP2010201005A - 医療用マニピュレータ - Google Patents
医療用マニピュレータ Download PDFInfo
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- JP2010201005A JP2010201005A JP2009050474A JP2009050474A JP2010201005A JP 2010201005 A JP2010201005 A JP 2010201005A JP 2009050474 A JP2009050474 A JP 2009050474A JP 2009050474 A JP2009050474 A JP 2009050474A JP 2010201005 A JP2010201005 A JP 2010201005A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
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- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
【解決手段】マニピュレータ10は、体腔内に挿入されて3軸の動作をする先端動作部12と、体外に設けられ、先端動作部12を駆動する円柱形状のモータ100及び102と、モータ100及び102が設けられている部分と先端動作部12とを連結する連結シャフト18と、基端側に人手によって把持されるグリップハンドル26を有する。モータ100及び102と連結シャフト18は、軸が平行に設けられている。側面視で、モータ100及び102とグリップハンドル26は、連結シャフト18の軸を基準として反対側に配置され、モータ100及び102は奥行きのZ方向に並列している。モータ100、102及びグリップハンドル26は、連結シャフト18の基端部よりもさらに基端側に配置されている。
【選択図】図2
Description
14…操作部 16、1016…作業部
18…連結シャフト 24、24a〜24c…複合入力部
26…グリップハンドル 28…ブリッジ
28b…トリガ軸 30、30a…アクチュエータブロック
32…プーリボックス 34…筒部
36…トリガレバー 50…ベースブロック
52…ハウジング 54、54a〜54d…回転操作部
56…傾動操作部 58a〜58c…スイッチ操作子
62…スイッチ基板 64a〜64g…タクトスイッチ
70、74…軸 76…傾動板
100、102…モータ 100a、102a…減速機
100b、102b…出力軸 104…アクチュエータブラケット
106…ギア機構部 108…第1プレート
110…第2プレート 112…第3プレート
114…第4プレート 116a、116b…駆動シャフト
118a、118b、120a、120b…駆動傘歯車
150…ボックス本体 152…空洞部
154…シャフト支持部 160a、160b…ワイヤガイド部
186、188…円筒アイドラ 192a、192b…ロッド
212…荷重リミッタ 1052、1054…ワイヤ
1100…ワイヤ受動部 1102…複合機構部
1152…伝達部材 1252a、1252b…受動ワイヤ
1300、1300a…エンドエフェクタ
1320a…第1エンドエフェクタ駆動機構
1320b…第2エンドエフェクタ駆動機構
Claims (12)
- 体腔内に挿入されて2軸以上の動作をする先端動作部と、
体外に設けられ、前記先端動作部の少なくとも一部を駆動する2以上の円柱形状のモータと、
前記モータが設けられている部分と前記先端動作部とを連結する連結シャフトと、
を有し、
2以上の前記モータの全てと前記連結シャフトは、軸が平行に設けられていることを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
基端側に人手によって把持されるグリップハンドルを有し、
側面視で、前記モータと前記グリップハンドルは、前記連結シャフトの軸を基準として反対側に配置され、2以上の前記モータの全ては奥行き方向に並列していることを特徴とする医療用マニピュレータ。 - 請求項2記載の医療用マニピュレータにおいて、
前記モータ及び前記グリップハンドルは、前記連結シャフトの基端部よりもさらに基端側に配置されていることを特徴とする医療用マニピュレータ。 - 請求項1〜3のいずれか1項に記載の医療用マニピュレータにおいて、
前記モータ毎に設けられ、中心軸が前記モータの並列方向及び前記モータの軸方向に直交する方向を指向し、前記モータの軸方向延長上に配置されて、前記モータから駆動傘歯車及び従動傘歯車を介して回転駆動される回転体と、
前記回転体に一部が巻き掛けられ、前記連結シャフトを通り、前記先端動作部に動力を伝達する2つの可撓性部材と、
2つの前記可撓性部材を前記連結シャフトの基端側開口部に案内するガイド部と、
を有することを特徴とする医療用マニピュレータ。 - 請求項4記載の医療用マニピュレータにおいて、
2組の前記モータ及び前記回転体は、前記連結シャフトを基準として対称位置に設けられていることを特徴とする医療用マニピュレータ。 - 請求項5記載の医療用マニピュレータにおいて、
前記ガイド部は前記回転体と軸が平行なプーリであることを特徴とする医療用マニピュレータ。 - 請求項6記載の医療用マニピュレータにおいて、
前記可撓性部材は往路線と復路線とを含み、
前記プーリは、前記往路線及び復路線に対応し、独立に回転可能な2層構造であることを特徴とする医療用マニピュレータ。 - 請求項4〜7のいずれか1項に記載の医療用マニピュレータにおいて、
前記回転体は、前記従動傘歯車が設けられる箇所を挟んで一対の軸支部材により回転自在に軸支され、
前記モータは、一対の前記軸支部材を接続するモータ板に固定され、
前記モータの出力軸は、前記モータ板に設けられた孔から突出して前記駆動傘歯車を介して前記従動傘歯車に接続されていることを特徴とする医療用マニピュレータ。 - 請求項8記載の医療用マニピュレータにおいて、
2つの前記回転体の間に、一対の前記軸支部材及び前記モータ板とをそれぞれを接続する補強板が設けられていることを特徴とする医療用マニピュレータ。 - 請求項4〜9のいずれか1項に記載の医療用マニピュレータにおいて、
前記回転体で前記可撓性部材が巻き掛けられる部分及び前記ガイド部は、前記連結シャフトの基端部が開口するボックスの空洞部内に設けられ、
前記回転体は、前記空洞部に対して回転可能に気密シールされていることを特徴とする医療用マニピュレータ。 - 請求項1〜10のいずれか1項に記載の医療用マニピュレータにおいて、
前記先端動作部は、手技を行うエンドエフェクタ軸、及び該エンドエフェクタ軸の向きを変える1以上の姿勢軸を含み、
前記姿勢軸は、前記モータにより駆動され、
前記エンドエフェクタ軸は、所定の入力部の人手による操作を機械的に伝達する操作伝達部を介して駆動されることを特徴とする医療用マニピュレータ。 - 請求項11記載の医療用マニピュレータにおいて、
前記操作伝達部は、前記連結シャフト内から基端側に突出して前記入力部に接続され、該連結シャフトの延在方向に進退するロッドを含み、
前記ロッドは、前記連結シャフト及び該連結シャフトが連通している空間部に対して、進退可能に気密シールされていることを特徴とする医療用マニピュレータ。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2009050474A JP5431749B2 (ja) | 2009-03-04 | 2009-03-04 | 医療用マニピュレータ |
US12/717,665 US8500721B2 (en) | 2009-03-04 | 2010-03-04 | Medical manipulator |
US13/922,896 US9532794B2 (en) | 2009-03-04 | 2013-06-20 | Medical manipulator |
Applications Claiming Priority (1)
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JP2009050474A JP5431749B2 (ja) | 2009-03-04 | 2009-03-04 | 医療用マニピュレータ |
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JP2010201005A true JP2010201005A (ja) | 2010-09-16 |
JP5431749B2 JP5431749B2 (ja) | 2014-03-05 |
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JP2009050474A Active JP5431749B2 (ja) | 2009-03-04 | 2009-03-04 | 医療用マニピュレータ |
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JP (1) | JP5431749B2 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015042234A (ja) * | 2013-08-26 | 2015-03-05 | オリンパス株式会社 | 医療用マニピュレータ |
JP2015080848A (ja) * | 2013-10-22 | 2015-04-27 | オリンパス株式会社 | マニピュレータシステムの制御方法およびマニピュレータシステム |
JP2015521087A (ja) * | 2012-06-01 | 2015-07-27 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 手術システム用の器具運搬アセンブリ |
JPWO2018066599A1 (ja) * | 2016-10-05 | 2018-10-04 | オリンパス株式会社 | 挿入機器 |
US10561471B2 (en) | 2015-02-05 | 2020-02-18 | Olympus Corporation | Manipulator |
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JP5431749B2 (ja) | 2014-03-05 |
US20100228283A1 (en) | 2010-09-09 |
US8500721B2 (en) | 2013-08-06 |
US9532794B2 (en) | 2017-01-03 |
US20130282051A1 (en) | 2013-10-24 |
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