JP5788029B2 - 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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- JP5788029B2 JP5788029B2 JP2014003213A JP2014003213A JP5788029B2 JP 5788029 B2 JP5788029 B2 JP 5788029B2 JP 2014003213 A JP2014003213 A JP 2014003213A JP 2014003213 A JP2014003213 A JP 2014003213A JP 5788029 B2 JP5788029 B2 JP 5788029B2
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- power transmission
- transmission member
- pulley
- driven pulley
- tension
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- 230000007246 mechanism Effects 0.000 claims description 70
- 230000005540 biological transmission Effects 0.000 claims description 45
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- 230000002093 peripheral effect Effects 0.000 description 6
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- 238000004804 winding Methods 0.000 description 6
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- 210000001015 abdomen Anatomy 0.000 description 4
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- 230000004048 modification Effects 0.000 description 4
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- 230000009471 action Effects 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002674 endoscopic surgery Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
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- 239000011347 resin Substances 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
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- BFKJFAAPBSQJPD-UHFFFAOYSA-N tetrafluoroethene Chemical group FC(F)=C(F)F BFKJFAAPBSQJPD-UHFFFAOYSA-N 0.000 description 1
Images
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- Manipulator (AREA)
Description
14…操作指令部 15…接続部
30、312…アクチュエータブロック 40a〜40c…モータ
48…連結シャフト 50a〜50c…駆動プーリ
54a〜54c…ワイヤ 57…従動プーリ
60…グリッパ 68、69、84、96…張力調整機構
70…アイドルプーリ 71a〜71b…板ばね
76…ばね 82、94…ねじ機構
86、98…ねじ部 88、89、97、99…ナット
300…医療用ロボットシステム
Claims (2)
- 中空のシャフトと、
前記シャフト内に挿通され、少なくとも一部に可撓性を有する動力伝達部材と、
前記シャフトの一端側に設けられ、前記動力伝達部材の一端側が巻き掛けられる駆動プーリを介して該動力伝達部材に駆動力を付与する駆動機構部と、
前記シャフトの他端側に設けられ、前記動力伝達部材の他端側が巻き掛けられる従動プーリを介して該動力伝達部材により動作される先端動作部と、
前記駆動プーリを回転自在に支持する支持ブロックと、
前記動力伝達部材を前記駆動プーリ及び前記従動プーリに固定する固定機構と、
前記駆動プーリと前記従動プーリとの間に巻き掛けられる前記動力伝達部材の張力を調整する張力調整機構と、を備え、
前記張力調整機構は、前記駆動プーリと前記従動プーリとの間に巻き掛けられた前記動力伝達部材の一部を押圧するアイドル回転体と、前記アイドル回転体を前記動力伝達部材に対して弾性的に押圧する弾性部材と、前記支持ブロックの内外方向に貫通形成されたねじ孔に螺着されるとともに前記弾性部材を基準として前記アイドル回転体とは反対側で前記弾性部材の弾発力を受ける基体とを有する、
ことを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記張力調整機構は、前記駆動プーリと前記従動プーリとに巻き掛けられた前記動力伝達部材によって形成されるリングの外側から内側に向けて、前記動力伝達部材を押圧する、
ことを特徴とする医療用マニピュレータ。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014003213A JP5788029B2 (ja) | 2014-01-10 | 2014-01-10 | 医療用マニピュレータ |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014003213A JP5788029B2 (ja) | 2014-01-10 | 2014-01-10 | 医療用マニピュレータ |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008045075A Division JP2009201607A (ja) | 2008-02-26 | 2008-02-26 | マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014159071A JP2014159071A (ja) | 2014-09-04 |
JP5788029B2 true JP5788029B2 (ja) | 2015-09-30 |
Family
ID=51611197
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014003213A Active JP5788029B2 (ja) | 2014-01-10 | 2014-01-10 | 医療用マニピュレータ |
Country Status (1)
Country | Link |
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JP (1) | JP5788029B2 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
JP6064100B1 (ja) * | 2015-02-25 | 2017-01-18 | オリンパス株式会社 | マニピュレータ及びマニピュレータシステム |
EP3326764A4 (en) | 2015-07-17 | 2019-03-13 | Olympus Corporation | MANIPULATOR |
WO2017013943A1 (ja) | 2015-07-17 | 2017-01-26 | オリンパス株式会社 | マニピュレータ |
CN113229942A (zh) | 2015-09-09 | 2021-08-10 | 奥瑞斯健康公司 | 手术器械装置操纵器 |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
JP6841469B2 (ja) * | 2016-03-14 | 2021-03-10 | 国立大学法人東京工業大学 | 自重補償用ワイヤを有する多関節マニピュレータ |
KR20230096148A (ko) * | 2016-08-31 | 2023-06-29 | 아우리스 헬스, 인코포레이티드 | 길이 보존 수술용 기구 |
US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
WO2019118336A1 (en) * | 2017-12-14 | 2019-06-20 | Intuitive Surgical Operations, Inc. | Medical tools having tension bands |
US10820947B2 (en) | 2018-09-28 | 2020-11-03 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
CN110380361A (zh) * | 2019-07-27 | 2019-10-25 | 烟台三新新能源科技有限公司 | 一种排线工业机器人 |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
CN114901188A (zh) | 2019-12-31 | 2022-08-12 | 奥瑞斯健康公司 | 动态滑轮系统 |
CN114901200A (zh) | 2019-12-31 | 2022-08-12 | 奥瑞斯健康公司 | 高级篮式驱动模式 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4309896B2 (ja) * | 2006-01-27 | 2009-08-05 | 株式会社東芝 | マニピュレーター |
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