JP7225482B2 - 微細作業用マニピュレータ - Google Patents
微細作業用マニピュレータ Download PDFInfo
- Publication number
- JP7225482B2 JP7225482B2 JP2021523331A JP2021523331A JP7225482B2 JP 7225482 B2 JP7225482 B2 JP 7225482B2 JP 2021523331 A JP2021523331 A JP 2021523331A JP 2021523331 A JP2021523331 A JP 2021523331A JP 7225482 B2 JP7225482 B2 JP 7225482B2
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- end effector
- fine work
- hydraulic
- parallel
- 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.)
- Active
Links
- 239000012636 effector Substances 0.000 claims description 69
- 230000007246 mechanism Effects 0.000 claims description 61
- 230000033001 locomotion Effects 0.000 claims description 42
- 239000012530 fluid Substances 0.000 claims description 36
- 230000008859 change Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 description 15
- 238000001356 surgical procedure Methods 0.000 description 12
- 238000003384 imaging method Methods 0.000 description 6
- 238000002406 microsurgery Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000003749 cleanliness Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 229920002379 silicone rubber Polymers 0.000 description 3
- 239000004945 silicone rubber Substances 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 240000004050 Pentaglottis sempervirens Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000003872 anastomosis Effects 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 210000002751 lymph Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000002278 reconstructive surgery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 230000002792 vascular Effects 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
- A61B34/72—Micromanipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/32—Micromanipulators structurally combined with microscopes
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (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)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Claims (5)
- 人に代わって作業対象に対し微細作業に係る所定動作を実行する微細作業用マニピュレータにおいて、
前記作業対象の存在する空間における所定箇所に支持されるベースと、前記作業対象又は作業用器具を取り扱うエンドエフェクタと、前記ベースと前記エンドエフェクタとの間に並列に配置される複数のリンクとを有し、前記エンドエフェクタの位置及び向きを前記ベースに対し所定範囲内で可変とする、3以上の複数自由度のパラレルリンク機構を備え、
前記パラレルリンク機構は、前記ベースに支持された複数のリニアアクチュエータで前記リンク毎にその一端部を直線移動させて、前記各リンク他端部に連結した前記エンドエフェクタを動かすものとされ、
さらに、
前記エンドエフェクタと前記パラレルリンク機構との間に設けられ、前記エンドエフェクタを所定の回転軸周りに回動可能に支持する回動支持部と、
前記エンドエフェクタに前記回転軸周りの回動力を発生させる液圧駆動機構と
を有し、
前記液圧駆動機構に対し外部から作動液の液圧変化を与えて、前記エンドエフェクタを回動させる動きを生じさせ、
前記液圧駆動機構は、
前記回転軸を中心として円弧状に形成され、この回転軸周りに回動可能に支持されたたガイド部材と、
前記作動液の液圧変化に基づいて前記ガイド部材に前記回転軸周りの回動力を前記ガイド部材に付与する伸縮自在のダイヤフラムと
を有することを特徴とする微細作業用マニピュレータ。 - 前記ダイヤフラムは、前記ガイド部材が収容される円弧状の凹部と、前記作動液が収容され、前記作動液の液圧変化に基づいて前記凹部に収容された前記ガイド部材を前記回転軸周りに移動させるダイヤフラム本体とを有することを特徴とする請求項1記載の微細作業用マニピュレータ。
- 前記パラレルリンク機構が、前記リニアアクチュエータ及び前記リンクを6つ以上並列配置した、6自由度以上の機構とされることを特徴とする請求項1~2のいずれかに記載の微細作業用マニピュレータ。
- 前記リニアアクチュエータが、コイルを可動子の一部とすると共に、永久磁石を固定子の一部とする、コイル可動型のリニアモータとされ、
前記可動子が、前記ベースに対して直線移動可能に取り付けられた直動スライダと、当該直動スライダに一体に取り付けられた円筒状の前記コイルとを有し、当該コイルが、その軸方向を前記直動スライダの移動方向に平行する向きで配置され、
前記固定子が、前記コイルより短い円筒状の前記永久磁石を有し、当該永久磁石が、前記コイルと筒軸方向を一致させ、且つ前記コイルが前記永久磁石の筒内空間部分を移動可能に貫通する配置状態とされていることを特徴とする請求項1~3のいずれかに記載の微細作業用マニピュレータ。 - 前記リニアモータが、それぞれ前記可動子の移動方向を互いに平行としつつ、当該可動子の移動方向と平行となる所定の仮想中心線の周りに、前記永久磁石が最も前記仮想中心線に近い側となる配置で並べられていることを特徴とする請求項4記載の微細作業用マニピュレータ。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022189006A JP2023024476A (ja) | 2020-07-30 | 2022-11-28 | 微細作業用マニピュレータ |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/029243 WO2022024296A1 (ja) | 2020-07-30 | 2020-07-30 | 微細作業用マニピュレータ |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022189006A Division JP2023024476A (ja) | 2020-07-30 | 2022-11-28 | 微細作業用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2022024296A1 JPWO2022024296A1 (ja) | 2022-02-03 |
JP7225482B2 true JP7225482B2 (ja) | 2023-02-21 |
Family
ID=80037809
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021523331A Active JP7225482B2 (ja) | 2020-07-30 | 2020-07-30 | 微細作業用マニピュレータ |
JP2022189006A Pending JP2023024476A (ja) | 2020-07-30 | 2022-11-28 | 微細作業用マニピュレータ |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022189006A Pending JP2023024476A (ja) | 2020-07-30 | 2022-11-28 | 微細作業用マニピュレータ |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230355340A1 (ja) |
EP (1) | EP4190267A4 (ja) |
JP (2) | JP7225482B2 (ja) |
WO (1) | WO2022024296A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112370164B (zh) * | 2020-11-03 | 2022-08-26 | 上海大学 | 一种空间混联骨盆骨折复位机器人 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120095596A1 (en) | 2010-10-14 | 2012-04-19 | Special Applications Technology, Inc. | Modular apparatuses |
JP2015150425A (ja) | 2014-02-18 | 2015-08-24 | 三星電子株式会社Samsung Electronics Co.,Ltd. | 手術ロボット用マスター装置及びその制御方法 |
WO2017078022A1 (ja) | 2015-11-05 | 2017-05-11 | 国立大学法人九州大学 | 微細作業支援システム及び微細作業用マニピュレータ |
US20180238883A1 (en) | 2017-01-31 | 2018-08-23 | Transenterix Surgical, Inc. | Fluid actuation of instruments through a sterile barrier |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0712232A (ja) * | 1993-06-25 | 1995-01-17 | N Ii:Kk | 円弧状シリンダの製造方法 |
-
2020
- 2020-07-30 US US18/018,744 patent/US20230355340A1/en active Pending
- 2020-07-30 WO PCT/JP2020/029243 patent/WO2022024296A1/ja unknown
- 2020-07-30 EP EP20947001.2A patent/EP4190267A4/en active Pending
- 2020-07-30 JP JP2021523331A patent/JP7225482B2/ja active Active
-
2022
- 2022-11-28 JP JP2022189006A patent/JP2023024476A/ja active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120095596A1 (en) | 2010-10-14 | 2012-04-19 | Special Applications Technology, Inc. | Modular apparatuses |
JP2015150425A (ja) | 2014-02-18 | 2015-08-24 | 三星電子株式会社Samsung Electronics Co.,Ltd. | 手術ロボット用マスター装置及びその制御方法 |
WO2017078022A1 (ja) | 2015-11-05 | 2017-05-11 | 国立大学法人九州大学 | 微細作業支援システム及び微細作業用マニピュレータ |
US20180238883A1 (en) | 2017-01-31 | 2018-08-23 | Transenterix Surgical, Inc. | Fluid actuation of instruments through a sterile barrier |
Also Published As
Publication number | Publication date |
---|---|
EP4190267A4 (en) | 2024-05-01 |
US20230355340A1 (en) | 2023-11-09 |
JPWO2022024296A1 (ja) | 2022-02-03 |
JP2023024476A (ja) | 2023-02-16 |
WO2022024296A1 (ja) | 2022-02-03 |
EP4190267A1 (en) | 2023-06-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6680862B2 (ja) | 外科用アーム | |
JP6751943B2 (ja) | アーム装置 | |
JP6942360B2 (ja) | ロボット手術用の外科器具及びロボット外科手術アセンブリ | |
US20210282793A1 (en) | Rotary input for lever actuation | |
US11497567B2 (en) | Jointed control platform | |
KR101540285B1 (ko) | 로봇 수술 기구용 살균 드레이프 인터페이스 | |
KR20180067521A (ko) | 재구성 가능한 엔드 이펙터 구조 | |
US11110594B2 (en) | Fine work assistance system and fine work manipulator | |
US11517383B2 (en) | Computer-assisted tele-operated surgery systems and methods | |
CN113180836B (zh) | 输入装置、主操作设备及手术机器人 | |
KR20210070914A (ko) | 수동 관절 장치, 케이블 가이드, 동력 전달 기구 | |
JP2023024476A (ja) | 微細作業用マニピュレータ | |
CN116098713A (zh) | 主手手腕、主操作设备及手术机器人 | |
US11369447B2 (en) | Surgical system and support device | |
Hatzfeld et al. | A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects | |
Ortmaier et al. | Design requirements for a new robot for minimally invasive surgery | |
JP2018111142A (ja) | アーム装置 | |
WO2023021541A1 (ja) | 微細作業用装置 | |
US20230093215A1 (en) | Computer-assisted tele-operated surgery systems and methods | |
JP2023008313A (ja) | 手術システム、表示方法およびプログラム | |
JP2023008647A (ja) | 手術システム、表示方法およびプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210427 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220705 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220902 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20221004 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20221014 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20221125 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221128 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20221125 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230111 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7225482 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |