JP4528136B2 - 手術装置 - Google Patents
手術装置 Download PDFInfo
- Publication number
- JP4528136B2 JP4528136B2 JP2005003296A JP2005003296A JP4528136B2 JP 4528136 B2 JP4528136 B2 JP 4528136B2 JP 2005003296 A JP2005003296 A JP 2005003296A JP 2005003296 A JP2005003296 A JP 2005003296A JP 4528136 B2 JP4528136 B2 JP 4528136B2
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- Prior art keywords
- gear
- surgical instrument
- shaft
- manipulator
- joint
- 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.)
- Expired - Fee Related
Links
- 230000033001 locomotion Effects 0.000 claims description 94
- 238000005096 rolling process Methods 0.000 claims description 25
- 238000005452 bending Methods 0.000 description 48
- 239000011347 resin Substances 0.000 description 20
- 229920005989 resin Polymers 0.000 description 20
- 239000003550 marker Substances 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 11
- 238000006243 chemical reaction Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 230000036544 posture Effects 0.000 description 7
- 125000006850 spacer group Chemical group 0.000 description 6
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000001225 therapeutic effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 238000007665 sagging Methods 0.000 description 3
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000000015 thermotherapy Methods 0.000 description 3
- 241000270295 Serpentes Species 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 208000005646 Pneumoperitoneum Diseases 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 229920002457 flexible plastic Polymers 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Description
医療用マニピュレータでは、マニピュレータの先端部に設ける術具が小型で複数の自由度を有することが求められている。特許文献3および特許文献4に記載のマニピュレータでは、1つの屈曲関節からそれに隣り合う先端部の関節に動力を伝達するときに、ワイヤにより屈曲関節から術具へ駆動力が伝達される。ワイヤが屈曲する関節内を経由して駆動力を伝達する場合は、ワイヤの疲労や摩耗によりワイヤが切れるおそれがある。術具のような径の細いワイヤを使用する関節機構では、頻繁なメンテナンスが必要となっている。
Claims (1)
- マニピュレータと、術具とを備えた手術装置において、
前記マニピュレータは前記術具を当該マニピュレータの術具軸に対して屈曲および直動可能に支持する関節部を有しており、
前記関節部は、
前記術具を前後可動に支持する直動ガイドを備える術具保持部材と、
前記術具軸と前記術具保持部材に各々第1のピンおよび第2のピンにより回転可能に接続されたプレートと、
前記第1のピンおよび前記第2のピンに各々回転可能に設けられ、互いに噛み合う第1の歯車および第2の歯車と、
前記術具軸と前記術具保持部材に各々設けられ、互いに転がり接触する第1の転がり部材および第2の転がり部材と、
前記第2の歯車と一体に回転するように設けられた第3の歯車と、
先端に前記術具が接続され、前記第3の歯車に噛み合う変形可能なラックと、
前記プレートを前記術具軸に対して回転させる第1のリンクと、
前記第1の歯車を前記術具軸に対して回転させる第2のリンクと、を備えた
ことを特徴とする手術装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005003296A JP4528136B2 (ja) | 2005-01-11 | 2005-01-11 | 手術装置 |
DE602005026770T DE602005026770D1 (de) | 2005-01-11 | 2005-08-31 | Apparat für chirurgische Operationen und Manipulator zur Verwendung darin |
EP05018888A EP1679046B1 (en) | 2005-01-11 | 2005-08-31 | Surgical operation apparatus and manipulator for use therein |
US11/214,877 US7955321B2 (en) | 2005-01-11 | 2005-08-31 | Surgical operation apparatus and manipulator for use therein |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005003296A JP4528136B2 (ja) | 2005-01-11 | 2005-01-11 | 手術装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006191939A JP2006191939A (ja) | 2006-07-27 |
JP4528136B2 true JP4528136B2 (ja) | 2010-08-18 |
Family
ID=36241023
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005003296A Expired - Fee Related JP4528136B2 (ja) | 2005-01-11 | 2005-01-11 | 手術装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7955321B2 (ja) |
EP (1) | EP1679046B1 (ja) |
JP (1) | JP4528136B2 (ja) |
DE (1) | DE602005026770D1 (ja) |
Families Citing this family (59)
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KR101477121B1 (ko) * | 2006-06-13 | 2014-12-29 | 인튜어티브 서지컬 인코포레이티드 | 미소절개 수술 시스템 |
JP4755047B2 (ja) * | 2006-08-08 | 2011-08-24 | テルモ株式会社 | 作業機構及びマニピュレータ |
JP5041361B2 (ja) * | 2007-06-18 | 2012-10-03 | 株式会社日立製作所 | マニピュレータおよびこれを用いたマニピュレータ装置 |
JP5085234B2 (ja) * | 2007-08-28 | 2012-11-28 | オリンパスメディカルシステムズ株式会社 | 医療手技装置 |
KR100975047B1 (ko) * | 2008-02-15 | 2010-08-11 | (주)미래컴퍼니 | 수술용 인스트루먼트의 커플링 구조 |
KR101016102B1 (ko) * | 2008-05-30 | 2011-02-17 | 정창욱 | 최소 침습 수술 도구 |
KR100999466B1 (ko) * | 2008-08-12 | 2010-12-09 | 정창욱 | 최소 침습 수술 도구 및 그 사용 방법 |
KR101056232B1 (ko) * | 2008-09-12 | 2011-08-11 | 정창욱 | 최소 침습 수술 도구 및 그 사용 방법 |
KR101029997B1 (ko) * | 2009-06-05 | 2011-04-20 | 주식회사 이턴 | 수술용 인스트루먼트 |
WO2010140844A2 (ko) * | 2009-06-05 | 2010-12-09 | 주식회사 이턴 | 수술용 인스트루먼트 |
KR101609281B1 (ko) | 2009-10-01 | 2016-04-05 | 마코 서지컬 코포레이션 | 도구, 다기능 도구용 부품들의 키트 및 다기능 도구용 로봇 시스템 |
JP4862105B2 (ja) * | 2009-12-10 | 2012-01-25 | オリンパスメディカルシステムズ株式会社 | 医療用マニピュレータ |
KR101109197B1 (ko) * | 2009-12-17 | 2012-01-30 | 국립암센터 | 바늘 투입장치 |
EP2428336A1 (en) | 2010-09-10 | 2012-03-14 | Kabushiki Kaisha Yaskawa Denki | Hand and robot |
JP5617512B2 (ja) * | 2010-10-13 | 2014-11-05 | 株式会社安川電機 | ハンド及びロボット |
JP5835906B2 (ja) * | 2010-09-30 | 2015-12-24 | オリンパス株式会社 | 屈曲関節機構並びにその屈曲関節機構を有する術具及びその屈曲関節機構を有するマニピュレータ |
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JP6005950B2 (ja) | 2011-08-04 | 2016-10-12 | オリンパス株式会社 | 手術支援装置及びその制御方法 |
JP5936914B2 (ja) | 2011-08-04 | 2016-06-22 | オリンパス株式会社 | 操作入力装置およびこれを備えるマニピュレータシステム |
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2005
- 2005-01-11 JP JP2005003296A patent/JP4528136B2/ja not_active Expired - Fee Related
- 2005-08-31 US US11/214,877 patent/US7955321B2/en active Active
- 2005-08-31 DE DE602005026770T patent/DE602005026770D1/de active Active
- 2005-08-31 EP EP05018888A patent/EP1679046B1/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001277157A (ja) * | 2000-03-31 | 2001-10-09 | Toshiba Corp | 医療用マニピュレータ |
JP2002102248A (ja) * | 2000-09-29 | 2002-04-09 | Toshiba Corp | マニピュレータ |
JP2002263109A (ja) * | 2001-03-12 | 2002-09-17 | Olympus Optical Co Ltd | 外科用処置具 |
Also Published As
Publication number | Publication date |
---|---|
EP1679046A3 (en) | 2006-10-11 |
DE602005026770D1 (de) | 2011-04-21 |
US20060155262A1 (en) | 2006-07-13 |
EP1679046B1 (en) | 2011-03-09 |
EP1679046A2 (en) | 2006-07-12 |
JP2006191939A (ja) | 2006-07-27 |
US7955321B2 (en) | 2011-06-07 |
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