JPH03121064A - Robot for operation - Google Patents

Robot for operation

Info

Publication number
JPH03121064A
JPH03121064A JP1257907A JP25790789A JPH03121064A JP H03121064 A JPH03121064 A JP H03121064A JP 1257907 A JP1257907 A JP 1257907A JP 25790789 A JP25790789 A JP 25790789A JP H03121064 A JPH03121064 A JP H03121064A
Authority
JP
Japan
Prior art keywords
link
axis
part
direction
mechanism
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.)
Pending
Application number
JP1257907A
Inventor
Hiroyasu Funakubo
Hiroyuki Koyama
Tateki Uchida
Original Assignee
Raifu Technol Kenkyusho
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Raifu Technol Kenkyusho filed Critical Raifu Technol Kenkyusho
Priority to JP1257907A priority Critical patent/JPH03121064A/en
Publication of JPH03121064A publication Critical patent/JPH03121064A/en
Application status is Pending legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02Instruments for taking cell samples or for biopsy
    • A61B10/0233Pointed or sharp biopsy instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02Instruments for taking cell samples or for biopsy
    • A61B2010/0208Biopsy devices with actuators, e.g. with triggered spring mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50Supports for surgical instruments, e.g. articulated arms

Abstract

PURPOSE: To automatically operate a biopsy needle, observing the CT image information, by installing a jig feeding mechanism for shifting a needle-shaped jig in the axial direction and an oscillation mechanism for turning the jig feeding mechanism installed at the top edge part of the following link of a link mechanism.
CONSTITUTION: A stick-in part 2 is shifted on a supposed spherical surface having a prescribed radius by a body part 1, and the axis direction of a biopsy needle is changed by the stick-in part 2, and further shifted in parallel to the axis direction. Accordingly, a link mechanism 16 is arranged on a turntable 13. Further, the link mechanism 16 is turned, together with the turntable 13, by a stepping motor 14, having a rotary shaft L as axis. Accordingly, the position of the top edge part of a link 165 can be controlled in the supposed spherical surface, having one point on the revolution axis L as center, by controlling each revolution quantity of the stepping motor 14 and a servomotor 18. The direction of the axis of the biopsy needle 3 can be directed in free direction within an angular range which is set, centering around the top edge part of the link 165 as an approximate center.
COPYRIGHT: (C)1991,JPO&Japio
JP1257907A 1989-10-04 1989-10-04 Robot for operation Pending JPH03121064A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1257907A JPH03121064A (en) 1989-10-04 1989-10-04 Robot for operation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1257907A JPH03121064A (en) 1989-10-04 1989-10-04 Robot for operation

Publications (1)

Publication Number Publication Date
JPH03121064A true JPH03121064A (en) 1991-05-23

Family

ID=17312849

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1257907A Pending JPH03121064A (en) 1989-10-04 1989-10-04 Robot for operation

Country Status (1)

Country Link
JP (1) JPH03121064A (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06261911A (en) * 1992-10-30 1994-09-20 Internatl Business Mach Corp <Ibm> Manipulator device
US5855553A (en) * 1995-02-16 1999-01-05 Hitchi, Ltd. Remote surgery support system and method thereof
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US6468226B1 (en) * 2000-11-22 2002-10-22 Mcintyre, Iv John J. Remote tissue biopsy apparatus and associated methods
EP1862124A3 (en) * 1995-06-07 2011-03-16 SRI International Surgical manipulator for a telerobotic system
JP2012139816A (en) * 2006-01-25 2012-07-26 Intuitive Surgical Inc Robotic arm with five-bar spherical linkage
JP2013135862A (en) * 1996-12-12 2013-07-11 Intuitive Surgical Inc Multi-component telepresence system and its method
US8840628B2 (en) 1995-06-07 2014-09-23 Intuitive Surgical Operations, Inc. Surgical manipulator for a telerobotic system
US8998930B2 (en) 2005-12-20 2015-04-07 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US8998799B2 (en) 1996-12-12 2015-04-07 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US9320568B2 (en) 1997-11-21 2016-04-26 Intuitive Surgical Operations, Inc. Sterile surgical drape
US9439732B2 (en) 1996-12-12 2016-09-13 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US9532849B2 (en) 1997-11-21 2017-01-03 Intuitive Surgical Operations, Inc. Surgical accessory clamp and system
US9795453B2 (en) 1996-12-12 2017-10-24 Intuitive Surgical Operations, Inc. Surgical robotic tools, data architecture, and use

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06261911A (en) * 1992-10-30 1994-09-20 Internatl Business Mach Corp <Ibm> Manipulator device
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5855553A (en) * 1995-02-16 1999-01-05 Hitchi, Ltd. Remote surgery support system and method thereof
EP1862124A3 (en) * 1995-06-07 2011-03-16 SRI International Surgical manipulator for a telerobotic system
US8840628B2 (en) 1995-06-07 2014-09-23 Intuitive Surgical Operations, Inc. Surgical manipulator for a telerobotic system
US9439732B2 (en) 1996-12-12 2016-09-13 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US9795453B2 (en) 1996-12-12 2017-10-24 Intuitive Surgical Operations, Inc. Surgical robotic tools, data architecture, and use
US9724163B2 (en) 1996-12-12 2017-08-08 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
JP2013135862A (en) * 1996-12-12 2013-07-11 Intuitive Surgical Inc Multi-component telepresence system and its method
US8998799B2 (en) 1996-12-12 2015-04-07 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US9949802B2 (en) 1996-12-12 2018-04-24 Intuitive Surgical Operations, Inc. Multi-component telepresence system and method
US9320568B2 (en) 1997-11-21 2016-04-26 Intuitive Surgical Operations, Inc. Sterile surgical drape
US9532849B2 (en) 1997-11-21 2017-01-03 Intuitive Surgical Operations, Inc. Surgical accessory clamp and system
US6468226B1 (en) * 2000-11-22 2002-10-22 Mcintyre, Iv John J. Remote tissue biopsy apparatus and associated methods
US8998930B2 (en) 2005-12-20 2015-04-07 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
JP2012139816A (en) * 2006-01-25 2012-07-26 Intuitive Surgical Inc Robotic arm with five-bar spherical linkage

Similar Documents

Publication Publication Date Title
JPS5736473A (en) Rotating driving device
JPS58162708A (en) Valve timing control device for internal-combustion engine
JPH04354964A (en) Device for inclining rotary surface of propeller in toy using same propeller
JPS6273978A (en) Printing apparatus
JPH03269264A (en) Electric test probe with rotation control section for probe shaft
JPS59117922A (en) Spring coupler device
DE3783138D1 (en) Control device for a heizkoerperventil.
JPS57199207A (en) Driving device for rotation
JPH04198830A (en) Inclination measuring equipment of head lamp for automobile
JPH02121165A (en) Guide rail attachment structure
JPH0371867A (en) Rotary printing machine with device for engaging lacquering/rubber-covered cylinder with and disengaging it from impression cylinder and/or metering/ plate cylinder
JPS6125736A (en) Assembling apparatus for vehicle parts
JPH01269065A (en) Test probe
JPS60145428A (en) Drive mechanism of fuel control member for internal- combustion engine
EP0617417A3 (en) Apparatus for driving objective lens
JPH0312501A (en) Apparatus for measuring rotation angle
EP0078027A3 (en) A datum point locator
JPH0253557A (en) Method and device for working non-spherical body
JPS59101283A (en) Welding device
JPH01164819A (en) Joint for transmission of rotary torque from a first shaft to a second shaft
JPS61292734A (en) Method and device for control of screen
US20010046422A1 (en) Operating head for automatic machine tools
JPH04360077A (en) Rotary actuator for magnetic disk device
US4181283A (en) Rotary mount characterized by variable coning motion
JPS62130101A (en) Device for making phase of workpiece agree in machine tool having opposite main spindles