JP6157258B2 - マニピュレータ及びマニピュレータシステム - Google Patents
マニピュレータ及びマニピュレータシステム Download PDFInfo
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- JP6157258B2 JP6157258B2 JP2013155480A JP2013155480A JP6157258B2 JP 6157258 B2 JP6157258 B2 JP 6157258B2 JP 2013155480 A JP2013155480 A JP 2013155480A JP 2013155480 A JP2013155480 A JP 2013155480A JP 6157258 B2 JP6157258 B2 JP 6157258B2
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- manipulator
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- 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
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35417—Handle, joystick connected to n+1 wires for n degrees of freedom
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45118—Endoscopic, laparoscopic manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49253—Position in space by controlling length of two, more cables, wires
Description
2…操作部
21…ハンドル
22…第1エンコーダ(操作状態取得部)
23…トルク発生器
24…減速器
3…可動部
31…湾曲コマ
32…先端硬質部
33…可動ワイヤ
4…伝達部
41…操作側プーリ
42…可動側プーリ
43…伝達ワイヤ
44…軟性部
45…遷移部
46…ガイドローラ
5…処置部
51…内視鏡
52…処置具
6…伝達補償部
61…補償モータ(駆動部材)
62…移動部材
63…押圧部材
65…第1クラッチ(操作側断接部材)
66…補償モータ(駆動部材)
67…第2エンコーダ(駆動状態取得部)
68…第2クラッチ(駆動側断接部材)
7…余剰吸収部
71…アイドラプーリ
72…弾性部材
73…ストッパ
76…第1支持部材
77…弾性部材
78…第2支持部材
10…手術支援システム
91…制御部
92…表示部
Claims (11)
- 操作者が操作する操作部と、
前記操作部によって操作される可動部と、
前記操作部と前記可動部を連結して、前記操作部の駆動力を前記可動部に伝達する伝達部と、
前記操作部の操作に応じて前記伝達部に発生する動的な余剰部分を補償する伝達補償部と、
を備え、
前記伝達部は、
前記操作部と共に回転する操作側プーリと、
前記操作側プーリに少なくとも一部巻き掛けられる伝達ワイヤと、
を有し、
前記操作部は、
前記操作側プーリから入力される回転を減速する減速器と、
を有し、
前記伝達補償部は、
前記伝達ワイヤを押圧する押圧部材と、
前記操作部の操作に応じて前記押圧部材を駆動する駆動部材と、
を有し、
前記操作部の操作に応じて前記伝達ワイヤに発生する動的な弛みを補償する、
マニピュレータ。 - 前記押圧部材は、回転移動する
請求項1に記載のマニピュレータ。 - 前記押圧部材は、直線上を移動する
請求項1に記載のマニピュレータ。 - 前記押圧部材は、複数設けられる
請求項1乃至3のいずれか1項に記載のマニピュレータ。 - 前記伝達ワイヤが前記押圧部材によって押圧される位置を挟んで設置されるガイドローラを有する
請求項1乃至4のいずれか1項に記載のマニピュレータ。 - 前記伝達ワイヤに当接するアイドラプーリと、
前記アイドラプーリを前記伝達ワイヤ側に付勢する弾性部材と、
前記アイドラプーリに対して前記弾性部材の反対側に設置され、前記アイドラプーリの移動を抑制するストッパと、
を有し、
前記操作部の操作に応じて前記伝達ワイヤに発生する動的な弛みを吸収する余剰吸収部を備える
請求項5に記載のマニピュレータ。 - 前記伝達部は、前記可動部と共に回転する可動側プーリを有し、
前記伝達ワイヤは、
前記操作側プーリに巻き掛けられた操作側伝達ワイヤと、
前記可動側プーリに巻き掛けられた可動側伝達ワイヤと、
に分割され、
前記操作側伝達ワイヤの一端及び他端にそれぞれ取り付けられる第1支持部材と、
前記可動側伝達ワイヤの一端及び他端にそれぞれ取り付けられる第2支持部材と、
前記第1支持部材にそれぞれ一端を支持され、前記第2支持部材にそれぞれ他端を支持される弾性部材と、
を有し、
前記操作部の操作に応じて前記伝達ワイヤに発生する動的な弛みを吸収する余剰吸収部を備える
請求項5に記載のマニピュレータ。 - 前記第1支持部材は、それぞれ
前記操作側伝達ワイヤが取り付けられる底部と、
前記底部から前記操作側伝達ワイヤとは反対側に立設され前記弾性部材を囲む筒部と、
前記筒部に対して前記底部とは反対側に設けられ、前記可動側伝達ワイヤが貫通する孔が形成された蓋部と、
を有し、
前記弾性部材は、一端が前記第1支持部材の前記底部の前記操作側伝達ワイヤとは反対側に取り付けられ、他端が前記第2支持部材に取り付けられ、
前記第2支持部材は、前記蓋部に形成された孔よりも大きく、前記底部側で前記弾性部材の他端に取り付けられ、前記蓋部側で前記可動側伝達ワイヤに取り付けられ、前記第1支持部材内に移動可能に配置される
請求項7に記載のマニピュレータ。 - 前記伝達補償部は、前記操作部から前記操作側プーリに伝わる力を断接する操作側断接部材を有し、
前記伝達補償部は、さらに、前記操作側断接部材によって前記操作部と前記操作側プーリが切断されている時に前記操作側プーリを回転させる駆動部材を有する
請求項1に記載のマニピュレータ。 - 前記伝達補償部は、前記駆動部材から前記操作側プーリに伝わる力を断接する可動側断接部材を有し、前記操作部が操作される時に前記可動側断接部材によって前記駆動部材と前記操作側プーリが切断される
請求項9に記載のマニピュレータ。 - 請求項1乃至請求項10のいずれか1項に記載のマニピュレータと、
前記マニピュレータを制御する制御部と、
前記マニピュレータにより取得された画像を表示する表示部と、
を備え、
前記マニピュレータは、観察光学系、撮像素子及び照明光学系を有する内視鏡を含み、
前記制御部は、前記内視鏡により取得された画像を前記表示部に表示する
ことを特徴とするマニピュレータシステム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013155480A JP6157258B2 (ja) | 2013-07-26 | 2013-07-26 | マニピュレータ及びマニピュレータシステム |
EP14830091.6A EP3025635A4 (en) | 2013-07-26 | 2014-07-03 | Manipulator and manipulator system |
CN201480042173.8A CN105407785B (zh) | 2013-07-26 | 2014-07-03 | 机械手和机械系统 |
PCT/JP2014/067792 WO2015012081A1 (ja) | 2013-07-26 | 2014-07-03 | マニピュレータ及びマニピュレータシステム |
US15/006,422 US10085624B2 (en) | 2013-07-26 | 2016-01-26 | Manipulator and manipulator system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013155480A JP6157258B2 (ja) | 2013-07-26 | 2013-07-26 | マニピュレータ及びマニピュレータシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015024007A JP2015024007A (ja) | 2015-02-05 |
JP6157258B2 true JP6157258B2 (ja) | 2017-07-05 |
Family
ID=52393131
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013155480A Active JP6157258B2 (ja) | 2013-07-26 | 2013-07-26 | マニピュレータ及びマニピュレータシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US10085624B2 (ja) |
EP (1) | EP3025635A4 (ja) |
JP (1) | JP6157258B2 (ja) |
CN (1) | CN105407785B (ja) |
WO (1) | WO2015012081A1 (ja) |
Families Citing this family (416)
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JP3109814B2 (ja) * | 1990-04-09 | 2000-11-20 | 旭光学工業株式会社 | 内視鏡 |
JP3330999B2 (ja) * | 1992-10-29 | 2002-10-07 | オリンパス光学工業株式会社 | 内視鏡装置 |
US6013024A (en) * | 1997-01-20 | 2000-01-11 | Suzuki Motor Corporation | Hybrid operation system |
JPH10217167A (ja) * | 1997-02-03 | 1998-08-18 | Hitachi Ltd | スカラ形ロボット |
JP4436479B2 (ja) * | 1999-04-23 | 2010-03-24 | オリンパス株式会社 | 内視鏡、及びアングルワイヤの駆動方法 |
JP2005013320A (ja) * | 2003-06-24 | 2005-01-20 | Olympus Corp | 内視鏡 |
US7134993B2 (en) * | 2004-01-29 | 2006-11-14 | Ge Inspection Technologies, Lp | Method and apparatus for improving the operation of a remote viewing device by changing the calibration settings of its articulation servos |
JP2008142199A (ja) * | 2006-12-07 | 2008-06-26 | Olympus Corp | 内視鏡および内視鏡の湾曲操作装置 |
JP2009090087A (ja) | 2007-09-19 | 2009-04-30 | Fujifilm Corp | 内視鏡 |
JP2009201607A (ja) | 2008-02-26 | 2009-09-10 | Terumo Corp | マニピュレータ |
JP2011143029A (ja) * | 2010-01-13 | 2011-07-28 | Olympus Corp | 内視鏡湾曲操作装置 |
JP4914953B2 (ja) * | 2010-03-02 | 2012-04-11 | オリンパスメディカルシステムズ株式会社 | 医療システム及び制御方法 |
JP2011177383A (ja) * | 2010-03-02 | 2011-09-15 | Fujifilm Corp | 内視鏡の操作ワイヤ連結装置及び内視鏡 |
EP2517613B1 (en) * | 2010-03-17 | 2016-10-19 | Olympus Corporation | Endoscope system |
WO2012153646A1 (ja) * | 2011-05-12 | 2012-11-15 | オリンパスメディカルシステムズ株式会社 | 医療用制御装置 |
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CN105407785A (zh) | 2016-03-16 |
EP3025635A1 (en) | 2016-06-01 |
CN105407785B (zh) | 2019-02-19 |
EP3025635A4 (en) | 2017-04-12 |
JP2015024007A (ja) | 2015-02-05 |
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