JP5325621B2 - マニピュレータの関節の変位量検出機構 - Google Patents

マニピュレータの関節の変位量検出機構 Download PDF

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Publication number
JP5325621B2
JP5325621B2 JP2009069059A JP2009069059A JP5325621B2 JP 5325621 B2 JP5325621 B2 JP 5325621B2 JP 2009069059 A JP2009069059 A JP 2009069059A JP 2009069059 A JP2009069059 A JP 2009069059A JP 5325621 B2 JP5325621 B2 JP 5325621B2
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Japan
Prior art keywords
joint
power transmission
manipulator
displacement
unit
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JP2009069059A
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English (en)
Japanese (ja)
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JP2010220684A (ja
JP2010220684A5 (enExample
Inventor
雅敏 飯田
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Olympus Corp
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Olympus Corp
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Priority to JP2009069059A priority Critical 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
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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
    • A61B34/30—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
    • A61B34/70—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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (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)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
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 JP2010220684A5 (enExample) 2012-08-09
JP5325621B2 true JP5325621B2 (ja) 2013-10-23

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Family Applications (1)

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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

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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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Publication number Publication date
JP2010220684A (ja) 2010-10-07
US8647330B2 (en) 2014-02-11
US20100241135A1 (en) 2010-09-23

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