JP2010220684A5 - - Google Patents

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Publication number
JP2010220684A5
JP2010220684A5 JP2009069059A JP2009069059A JP2010220684A5 JP 2010220684 A5 JP2010220684 A5 JP 2010220684A5 JP 2009069059 A JP2009069059 A JP 2009069059A JP 2009069059 A JP2009069059 A JP 2009069059A JP 2010220684 A5 JP2010220684 A5 JP 2010220684A5
Authority
JP
Japan
Prior art keywords
joint
unit
detecting
transmission unit
manipulator
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
Application number
JP2009069059A
Other languages
English (en)
Japanese (ja)
Other versions
JP5325621B2 (ja
JP2010220684A (ja
Filing date
Publication date
Application filed filed Critical
Priority to JP2009069059A priority Critical patent/JP5325621B2/ja
Priority claimed from JP2009069059A external-priority patent/JP5325621B2/ja
Priority to US12/726,671 priority patent/US8647330B2/en
Publication of JP2010220684A publication Critical patent/JP2010220684A/ja
Publication of JP2010220684A5 publication Critical patent/JP2010220684A5/ja
Application granted granted Critical
Publication of JP5325621B2 publication Critical patent/JP5325621B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2009069059A 2009-03-19 2009-03-19 マニピュレータの関節の変位量検出機構 Active JP5325621B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2009069059A JP5325621B2 (ja) 2009-03-19 2009-03-19 マニピュレータの関節の変位量検出機構
US12/726,671 US8647330B2 (en) 2009-03-19 2010-03-18 Manipulator joint displacement detection mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2009069059A JP5325621B2 (ja) 2009-03-19 2009-03-19 マニピュレータの関節の変位量検出機構

Publications (3)

Publication Number Publication Date
JP2010220684A JP2010220684A (ja) 2010-10-07
JP2010220684A5 true JP2010220684A5 (enExample) 2012-08-09
JP5325621B2 JP5325621B2 (ja) 2013-10-23

Family

ID=42738292

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2009069059A Active JP5325621B2 (ja) 2009-03-19 2009-03-19 マニピュレータの関節の変位量検出機構

Country Status (2)

Country Link
US (1) US8647330B2 (enExample)
JP (1) JP5325621B2 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6027770B2 (ja) 2011-06-30 2016-11-16 オリンパス株式会社 処置具、マニピュレータ、及び手術支援システム
CN202622816U (zh) * 2011-11-06 2012-12-26 赵德政 仿生伸缩组织
JP6075991B2 (ja) * 2012-07-31 2017-02-08 オリンパス株式会社 医療用マニピュレータおよび処置具交換方法
JP6329528B2 (ja) 2013-03-26 2018-05-23 オリンパス株式会社 処置具
JP6049585B2 (ja) * 2013-10-31 2016-12-21 オリンパス株式会社 術具
JP5980764B2 (ja) * 2013-11-29 2016-08-31 オリンパス株式会社 術具
JP6129087B2 (ja) * 2014-01-14 2017-05-17 オリンパス株式会社 関節機構、マニピュレータおよびマニピュレータシステム
ITUB20154977A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
CN105538337B (zh) * 2016-02-02 2017-06-06 哈尔滨工业大学 一种高精度钢丝绳垂直传动关节

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5339799A (en) * 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
US5807377A (en) * 1996-05-20 1998-09-15 Intuitive Surgical, Inc. Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
US7169141B2 (en) * 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
JP3549434B2 (ja) * 1999-03-31 2004-08-04 オリンパス株式会社 電動湾曲式内視鏡
DE60029234T2 (de) * 1999-05-10 2007-05-31 Hansen Medical, Inc., Mountain View Chirurgisches Instrument
JP2002264048A (ja) * 2001-03-08 2002-09-18 Hitachi Ltd 被牽引機構の位置決め制御装置
JP3792587B2 (ja) * 2002-03-13 2006-07-05 株式会社日立製作所 手術用マニピュレータ
US8375808B2 (en) * 2005-12-30 2013-02-19 Intuitive Surgical Operations, Inc. Force sensing for surgical instruments
WO2006136827A1 (en) * 2005-06-21 2006-12-28 Oliver Crispin Robotics Limited Robotic arm comprising a plurality of articulated elements and means for determining the shape of the arm
JP5011060B2 (ja) * 2007-10-22 2012-08-29 オリンパスメディカルシステムズ株式会社 医療装置

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