WO2005055850A1 - 屈曲動作部材、多節スライダ・リンク機構、アクチュエータおよびマニピュレータ - Google Patents
屈曲動作部材、多節スライダ・リンク機構、アクチュエータおよびマニピュレータ Download PDFInfo
- Publication number
- WO2005055850A1 WO2005055850A1 PCT/JP2004/018598 JP2004018598W WO2005055850A1 WO 2005055850 A1 WO2005055850 A1 WO 2005055850A1 JP 2004018598 W JP2004018598 W JP 2004018598W WO 2005055850 A1 WO2005055850 A1 WO 2005055850A1
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- WO
- WIPO (PCT)
- Prior art keywords
- joint
- driving force
- bending
- bending operation
- movable means
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
Definitions
- the present invention relates to a bending motion member, a multi-joint slider 'link mechanism, an actuator, and a manipulator, and more particularly, to a manipulator used when performing an operation by inserting it into a space having a pressure higher than the atmospheric pressure. It is suitable.
- the present invention is applied to a manipulator having a multi-joint slider 'link mechanism having a plurality of joints and in which a bending operation of a rear end side is started after a bending operation of a distal joint of two adjacent joints is completed. It is suitable.
- it is suitable to be applied to manipulators used for medical treatment such as minimally invasive surgery.
- Minimally invasive surgery which has the advantage of reducing the damage to the patient while working hard, has various problems in order to achieve low invasiveness.
- the problem is mainly due to the low degree of freedom of surgical instruments used for surgery, such as laparoscopes and long forceps.
- FIG. 6 shows the multi-joint slider-link mechanism of this forceps manipulator.
- the bending mechanism force of one degree of freedom of the slider's link mechanism is rotatable to ⁇ 45 degrees with three frames 101, 102, 103. It is composed of two-pin rotating shafts 104, 105 (two-pin joints), drive link sections 106, 107, 108, and constraint link sections 109, 110.
- the constraint link nodes 109 and 110 are link nodes for restricting the operation so that the second frame starts rotating after the front frame 101 rotates ⁇ 45 degrees. .
- a bending space (for example, a wedge-shaped portion) is required in the bent portion of the adjacent frame.
- the driving force in order to move this frame, the driving force must be transmitted to the movable part at the tip.
- a link member such as the driving link section 108 is required as shown in FIG. Further, a tube having a hollow portion is required for connecting and linking the link member to the movable portion to hold and store the distal end portion.
- the present inventor has paid attention to the structural restrictions of these manipulators, and has found that gas in a space having a pressure higher than the atmospheric pressure leaks outside through the bent portion of the frame and the hollow portion of the tube. Recall that it is one of the causes of air leakage in the abdominal cavity.
- an object of the present invention is to introduce the distal end portion of the bending operation member ⁇ manipulator into a space higher in pressure than the surrounding pressure, the gas inside the high pressure region is bent by the bending operation member ⁇ manipulator.
- An object of the present invention is to provide a bending motion member and a manipulator that can maintain pressure in a high-pressure space by preventing leakage to the outside through a movable means.
- the multi-joint slider 'link mechanism includes three frames 101, 102, 103 whose ends are cut at a predetermined angle, and these frames 101, 102, 103. It is configured to have two connected joints.
- the first joint portion 201 performs a bending operation, and after the bending operation of the first joint portion 201 ends, the second joint 202 The bending operation is performed. That is, the bending operation of the second joint portion 202 is configured not to be started until the bending operation of the first joint portion 201 is completed.
- the frame 101, 102, 103 itself is subjected to the action of its own weight and the external force of that force, so that the first joint 201 is bent before the end of the bending operation.
- the joint 202 may bend or bend slightly in the opposite direction to the original bending direction of the second joint 202.
- This angle is larger than the angle ⁇ ⁇ ⁇ ⁇ at the time.
- a second object of the present invention is to suppress the occurrence of a pulling force and a galling phenomenon (a galling phenomenon) in a second joint, which is a joint on the rear end side of two adjacent joints.
- Multi-joint slider 'A multi-joint slider' link that can smoothly and stably operate a device having a link mechanism by preventing unexpected stopping of the bending operation and smoothing the operation of the mechanism
- An object of the present invention is to provide a mechanism, a bending operation member, and a manipulator.
- the conventional manipulator has the following problems.
- a third object of the present invention is to efficiently and flexibly replace a bending operation member, and to use the bending operation member for cleaning or sterilization when the bending operation member is used for an operation such as surgery.
- An object of the present invention is to provide a bending operation member, an actuator, and a manipulator which can simplify the operation.
- the first invention of the present invention provides:
- a movable means configured such that a tip side portion is bendable
- Driving force transmitting means configured to be able to transmit driving force to the movable means
- a member passing means connected to the movable means and having a hollow portion in which the driving force transmitting means is housed;
- a pair of forceps members in which at least one forceps member is rotatable is provided at the tip of the movable means, and the driving force transmitted by the driving force transmitting means is provided.
- a pair of forceps members are configured to be able to grip a solid object according to the force.
- the second invention of the present invention is:
- a movable means configured such that a tip side portion is bendable
- a driving force generating means configured to generate a driving force for operating the movable means, a driving force transmitting means configured to transmit the driving force generated by the driving force generating means to the movable means,
- a member passing means connected to the movable means and having a hollow portion in which the driving force transmitting means is housed;
- a pair of forceps members typically, a pair of forceps members, at least one of which is configured to be rotatable, is provided at the tip of the movable means, and the pair of forceps members is generated by the driving force generation means.
- the driving force is transmitted by the driving force transmitting means, the solid object can be gripped by the pair of forceps members.
- the airtight member is configured to be in sliding contact with the driving force transmitting means.
- the movable means is configured to have a plurality of joints, and two adjacent joints among the plurality of joints have a distal end. After the bending of the joint on the side is completed, the joint on the rear end side is configured to start the bending operation.
- a third invention of the present invention provides:
- a movable means having a plurality of joints and configured to be bendable
- the first joint on the front end side and the second joint on the rear end side are configured to bendable to the same side with respect to each other.
- a multi-joint slider 'link mechanism configured to start bending motion at two joints,
- the magnitude of the moment required to start the bending motion of the second joint is larger than the magnitude of the moment required for the bending motion of the first joint
- the fourth invention of the present invention is:
- a movable means configured to bendable with a plurality of joints at a distal end portion; and a driving force transmitting means configured to be capable of transmitting a driving force to the movable means; Adjacent to each other, bendable to the same side
- the first joint on the side and the second joint on the rear end side are configured to start the bending operation on the second joint after the end of the bending operation on the first joint,
- the magnitude of the moment required to start the bending motion of the second joint is larger than the magnitude of the moment required for the bending motion of the first joint
- the fifth invention of the present invention is:
- a movable means having a plurality of joints at a distal end side and configured to be bendable; a driving force generating means configured to generate a driving force for operating the movable means; and a driving force generating means.
- Driving power transmission means configured to be able to transmit the generated driving force to the movable means
- the first joint on the front end side and the second joint on the rear end side are configured to bendable to the same side with respect to each other. It is configured so that the bending motion at the two joints starts,
- the magnitude of the moment required to start the bending motion of the second joint is larger than the magnitude of the moment required to flex the first joint
- the second joint has a rotation axis perpendicular to the bending direction of the bending motion, and the second joint has a common rotation axis.
- a first skeleton member and a second skeleton member wherein the first skeleton member has a first joint, the second skeleton member has a second joint, The second joint and the second joint are connected with a common rotation axis, and along the rotation axis between the first joint and the second joint with the bending operation of the second joint. Is configured to increase the force generated in the direction.
- the contact surface of the first joint portion with the second joint portion and the first joint portion of the second joint portion are different from each other.
- the contact surface is a forward tapered surface having a shape that the contact surfaces follow each other in an unbent state.
- a moment is applied in a direction in which the second joint returns to a non-bent state in accordance with the bending operation of the second joint. It is configured as follows. [0043] In these third to fifth inventions, typically, a pair of forceps members in which at least one forceps member is rotatable is provided at the tip of the movable means. The generated driving force is transmitted by the driving force transmitting means, so that the solid object can be gripped by the pair of forceps members.
- the sixth invention of the present invention provides:
- a movable means configured such that a tip side portion is bendable
- a driving force transmitting means configured to transmit the driving force to the movable means, the driving force transmitting means being detachable from an actuator having a driving force generating means for generating the driving force, and It is configured to be able to transmit the driving force to the movable means
- the movable means has a plurality of joints, and the plurality of joints are configured to be able to bend to the same side with each other, and the first end on the adjacent distal end side.
- the joint section and the second joint section on the rear end side are configured so that the bending operation of the second joint section starts after the bending operation of the first joint section ends.
- the driving force transmitting means is constituted by at least one link member
- the first connecting portion is constituted by one end of the link member on the detachable side
- the connecting portion is configured to be connectable to the driving force generating means.
- the first connecting portion has a convex portion
- the convex portion has a fitting hole formed therein
- the first connecting portion has a convex portion with respect to a driving force transmitting direction in the actuator. It is configured to be able to fit into a fitting hole in the second connecting portion, which has an elastic body force that urges in a substantially vertical direction.
- the seventh invention of the present invention provides:
- It has a driving force generating means configured to generate a driving force for operating the movable means, and is configured to be detachable from a bending operation member having a movable means at a distal end portion.
- the driving force generating means has a second connecting portion, and
- the second connecting portion of the power generating means is configured to be connectable to the first connecting portion of the driving force transmitting means for transmitting the driving force to the movable means in the bending operation member.
- the elastic body having the fitting hole formed therein that urges the actuator in a direction substantially perpendicular to the transmission direction of the second connecting portion force driving force in the actuator.
- the second connecting portion of the actuator is substantially linearly driven by the driving force generating means with respect to the first connecting portion of the bending motion member having the fitting hole having a convex portion capable of being fitted into the fitting hole.
- the elastic body is configured to be able to fit into the convex part while generating an urging force on the convex part.
- the eighth invention of the present invention provides:
- a movable member having an end portion configured to be bendable; a bending member having a driving force transmitting unit configured to transmit a driving force applied to the movable unit from the outside; and a driving force for operating the movable unit.
- An actuator having driving force generating means configured to generate
- the bending operation member and the actuator are configured to be detachable, and the second connecting portion of the driving force generating means and the first connecting portion of the driving force transmitting means are configured to be connectable.
- the connecting operation of the driving force generating means and the driving force transmitting means is performed, and The connection between the driving force generating means and the driving force transmitting means is separated by the separating operation of the bending operation member and the actuator.
- an elastic body having a fitting hole formed therein that urges the actuator in a direction substantially perpendicular to the transmission direction of the second connecting portion force driving force in the actuator is provided.
- a first connecting portion of the bending operation member has a convex portion that can be fitted into the fitting hole, and the second connecting portion of the actuator moves substantially linearly by the driving force generating means;
- the driving force transmitting means and the driving force generating means are connected to each other by being fitted to the convex portion while generating an urging force.
- the manipulator is placed in a substantially closed space where the pressure is higher than the outside air pressure.
- the gas inside the sealed area can be reduced and prevented from leaking to the outside, so that the air inside the sealed area can be pressurized again or sealed. The ability to reduce the complexity of continuing to supply gas to the inside of the area is possible.
- the manipulator according to the second aspect of the present invention in a minimally invasive surgical operation, even when the operation is performed by setting the inside of the patient's abdominal cavity or the like to a pressure higher than the atmospheric pressure, the patient's abdominal cavity Since the air inside can be prevented from leaking to the outside, it is possible to facilitate the minimally invasive operation by the operator while maintaining safety.
- the multi-joint slider 'link mechanism according to the third invention, the bending operation member according to the fourth invention, and the manipulator according to the fifth invention are configured to bend in the same direction.
- the two adjacent joints on the rear end side of the joint prevents the occurrence of pulling force and the occurrence of a galling phenomenon (galling phenomenon) to prevent unexpected stopping of the bending motion and the operation of the mechanism. Therefore, the device having the multi-joint slider 'link mechanism can be operated smoothly and stably.
- the bending motion member according to the fourth invention can be achieved even when used in minimally invasive surgery.
- the multi-slider link mechanism of the member ⁇ manipulator it is possible to prevent the galling phenomenon and smoothly operate the mechanism, and to stabilize the operation of the bending member ⁇ the manipulator.
- the bending operation member according to the sixth invention and the actuator according to the seventh invention the bending operation member can be exchanged efficiently and in a short time, and the bending operation member can be replaced.
- the washing and sterilization operations are simplified. It is possible to simplify the operation and minimize the invasive operation by the operator while maintaining safety.
- FIG. 1 shows the overall structure of the manipulator according to this embodiment.
- the manipulator includes an actuator section 1 as driving force generating means and a joint-type bending forceps section 2.
- the actuator section 1 is mainly composed of stainless steel (SUS304) force, and includes an outer casing 11 as a housing, three motors 12 with reduction gears provided in three motor bases 12a, and a connecting plate. 13a and a joint spring 13b with three connecting arms 13, an arm guide 14 for guiding the joint arm 13, a bearing base 15, a guide base 16, a bearing case 17, and a coupling 18. I have.
- SUS304 stainless steel
- connection guide for connecting to the joint 19 of the joint type bending forceps 2 is provided on the joint 19 side of the outer case 11 of the actuator 1.
- the groove 11a is formed, for example, in an L shape.
- a driving force is generated by a motor 12 with a speed reducer. Then, the driving force is transmitted to the joint arm 13 through the bearing case 17 and the coupling 18.
- the joint arm 13 is for transmitting a driving force to a forceps portion, which is a movable portion at the distal end of the joint-type bending forceps portion 2. Further, the joint arm 13 is configured to be movable in the longitudinal direction of the actuator unit 1 in accordance with the driving caused by the generation of the driving force.
- the joint-type bending forceps section 2 is for connecting the bending forceps section 30 having a grip portion as a forceps member including a multi-segment slider 'link mechanism on the distal end side to the actuator section 1 on the other end side.
- the joint 19 is connected to a frame 24 having a hollow portion.
- the joint portion 19 is fitted into the connection guide groove 11a as a fastener when attaching and detaching the joint case 19a and the grip base 19b to and from the actuator portion 1. And a detachable pin 20 to be used.
- connection pins 21 and a locate base 22 which are configured to be connectable to the three joint arms 13 described above, respectively.
- These three sets of connection pins 21 and locate bases 22 are respectively provided at one end of the three link members 23 on the joint portion 19 side for transmitting the driving force to the bending forceps portion 30 on the distal end side.
- FIG. 2A shows a joint arm 13 according to this embodiment
- FIG. 2B shows a connecting pin 21 and a locate base 22 at one end of a link member 23 according to this embodiment
- FIG. 1 is a cross-sectional view taken along line CC of FIG. 1 showing the positional relationship between the connecting pin 21 and the mouth-piece base 22 and the joint arm 13 in FIG.
- the joint arm 13 is composed of a connecting plate 13a and an arm body 13e.
- the connecting plate 13a is formed from a plate-like member having an opening 13c formed near one end on the joint case 19a side and bent in a ⁇ shape '' so that the outer side of the arm body 13e has a mountain shape.
- the connecting plate 13a is configured to bend while having an urging force in a direction substantially perpendicular to the plate-like surface.
- the locate base 22 is formed in a plate shape, and a portion where the connecting pins 21 are provided has a stepped shape, and is formed in a convex shape. ing. Further, one end of the plate-like locate base 22 is bent so as to fix one end of the link member 23, and is connected to one end of the link member 23.
- the connection pin 21 is provided at substantially the center of the step-shaped surface of the locate base 22. That is, the connection pin 21 is provided at a position where it can be fitted to the opening 13c of the connection plate 13a of the joint arm 13 described above.
- the actuator section 1 and the joint-type bending forceps section 2 are connected. That is, The detachable pin 20 of the int-type bending forceps section 2 is fitted into the connection guide groove 11a of the actuator section 1 (see FIG. 1B). As a result, the joint arm 13 enters the inside of the joint 19 of the joint-type bending forceps 2. At this time, the initial positional relationship between the connection pin 21 and the locate base 22 and the joint arm 13 is a dotted line part (separation side) in FIG. 2C.
- the connecting pin 21 and the opening 13c are located in substantially the same plane. Are also fitted to each other.
- the joint arm 13 is advanced to the connecting pin 21 side by driving the motor 12 with a speed reducer.
- the arm main body 13e advances so as to be guided by the stepped portion of the locate base 22 on the connection plate 13a side.
- the distal end portion of the connection plate 13a is lifted so as to slidably contact the upper end of the connection pin 21, and is deformed so as to generate elastic force and bend.
- connection pin 21 and the opening 13c are fitted, and the joint arm 13 and the locate base 22 are connected.
- driving force generated by the motor with reduction gear 12 can be transmitted to the link member 23 through the joint arm 13 and the locate base 22.
- the structure of the force actuator 1 and the joint-type bending forceps 2 that require frequent replacement of surgical instruments is configured to be connectable and detachable as described above. Since only the joint-type bending forceps section 2 as an end effector section without replacing the heavy actuator section 1 can be replaced, necessary tools can be efficiently and quickly replaced.
- the actuator section 1 can be shared by a plurality of types of end effector sections. Cost can be reduced.
- the end effector unit and the actuator unit 1 are configured to be separable, cleaning, sterilization, and the like can be easily performed.
- the three link members 23 that transmit the driving force of the motor 12 with a speed reducer are formed of a cylindrical frame having a hollow portion. Stored in 24.
- a link base 25 holding, for example, a polycarbonate (PC) for holding the link member 23 is provided inside a connection portion between the frame 24 and the joint portion 19.
- PC polycarbonate
- a link guide portion 26 is sealed from the grip base 19b inside the frame 24 to an intermediate portion toward the distal end side.
- the link guide portion 26 is for holding the link members 23a, 23b, and 23c, respectively, and for blocking fluid such as gas entering from the bending forceps portion 30 on the distal end side. This makes it possible to prevent the gas from leaking outside through the frame 24 and the joint 19 inside the frame 24.
- the link members 23a, 23b, 23c transmit the driving force along the longitudinal direction of the frame 24, the link members 23a, 23b, 23c and the link guide portion 26 are in sliding contact with each other. Therefore, as the material of the link guide portion 26, a material having high durability in sliding contact with the link member 23 and low gas permeability (air permeability), for example, polycarbonate (PC) is used.
- PC polycarbonate
- the movable-side bending forceps section 30 to which the driving force is transmitted by the link member 23 housed in the frame 24 having such improved airtightness is a multi-article slider 'link mechanism. That is, the transmission of the driving force by the link member 23 prevents gas from permeating inside the frame 24, and the bending forceps portion 30 on the distal end side can be bent while maintaining airtightness. .
- the first frame 31, the second frame 32, the third frame 33, the fourth frame 34, and the fifth frame 35 are connected in series along the same axis.
- the first frame 31 and the second frame 32 are connected by a first frame pin 36 to form a first joint 50. Further, the second frame 32 and the third frame 33 are connected by a second frame pin 37 to form a second joint 51.
- the first joint 50 and the second joint 51 are configured to bend in a direction along the same plane.
- first joint 50 is configured to be able to bend to an angle of, for example, 45 degrees around the first frame pin 36 as a rotation axis
- second joint 51 is connected to the first joint It is configured to bendable in the same direction as the bending of the part 50, for example, to an angle of 45 degrees.
- the first joint portion 50 and the second joint portion 51 allow the third frame 33 to the first frame 31 to be bent to an angle of, for example, 90 degrees. Since the first joint 50 and the second joint 51 constitute a multi-joint slider 'link mechanism, the bending of the second joint 51 is continued until the bending operation of the first joint 50 is completed. The operation does not start.
- the third frame 33 and the fourth frame 34 on the rear end side are connected to the third frame pin 38. Are connected by The fourth frame 34 and the fifth frame 35 are connected by guide pins 39.
- the third frame 33, the fourth frame 34, and the fifth frame 35 are located at the respective joints in the same plane with the third frame pin 38 and the guide pin 39 as rotation axes. It is configured to be bendable along the direction.
- the third frame 33 to the fifth frame 35 also have the first joint 50 and the second joint 51 as in the case of the first frame 31 and the third frame 33.
- the bending direction of the link mechanism is configured to be perpendicular to each other.
- the multi-joint slider 'link mechanism having the first joint portion 50 and the second joint portion 51 starts the bending operation of the second joint portion 51 until the bending operation of the first joint portion 50 is completed.
- the bending direction of the first joint portion 50 and the bending direction of the second joint portion 51 are the same.
- the second joint section 51 may bend before the bending operation of the first joint section 50 ends, or The second joint 51 may be slightly bent in the direction opposite to the original bending direction in response to the bending motion at the joint 50.
- FIG. 5A shows the second joint 51
- FIG. 5B shows a partial cross-sectional view of the joint 51a of the second joint 51 along the line BB.
- the second joint portion 51 composed of the second frame 32 and the third frame 33 will be described as an example, but the fourth frame 34 and the fifth frame 35 A similar configuration is employed in the second joint 51 composed of
- one end of the connecting side between each of the second frame 32 and the third frame 33 is formed in a ring shape. And are connected to each other by a second frame pin 37 to form a joint portion 51a.
- the ring-shaped component forces connected by the second frame pins 37 of the second frame 32 and the third frame 33 are tapered to each other. It is configured in a shape.
- the inner contact surface of the joint portion 51a with the third frame 33 in the second frame 32 is formed in a forward tapered shape whose thickness becomes larger at the root, and
- the outer contact surface force in contact with the joint portion 51a of the frame 33 is formed in a forward tapered shape so as to follow the forward tapered shape of the joint portion 51a of the second frame 32 in an unbent state.
- the joint surface (contact surface) at the joint portion 51a between the second frame 32 and the third frame 33 has a forward tapered shape so as to follow each other's shape without being bent.
- the occurrence of an undesired bending motion can be suppressed in the second joint portion 51, so that the pulling force at the second joint portion 51 can be prevented, whereby the bending forceps can be prevented.
- the operation of the unit 30 can be made smooth and stable.
- the magnitude of the force required for bending the second joint portion 51 While the second joint 51 is configured to be larger than the force required to bend the first joint 50, and various methods of applying a force to maintain the state where the bending angle is 0 ° are applied to the second joint 51. It is possible to adopt it.
- the joint 51a of the second joint 51 is formed by a tight fit between the frames to increase the force required for bending, or the joint 51a of the second joint 51 is formed by a spring. It is also possible to adopt a method using a washer or the like.
- a second frame 32 constituting the second joint portion 51 and a movable link or a link for bending the second joint portion 51 are provided.
- Link for restraint It is also possible to adopt a method of minimizing the frictional force at the contact portion with each other (not shown).
- the material forming the movable link or the restraining link may be a material having a higher hardness than the material forming the frame, or the link member may be subjected to a surface treatment.
- a movable forceps 40 that is openable and closable at an angle of, for example, 60 degrees and that can grip a tangible object of a predetermined size is provided.
- the movable forceps 40 includes fixed gripping teeth 40a and movable gripping teeth 40b.
- the fixed gripping teeth 40a are fixed to the distal end side of the first frame 31.
- the movable holding teeth 40b are formed at a predetermined angle by an elastic body such as a spring (not shown) and an operation through one of the three link members 23 (for example, the link member 23c). (For example, about 60 °).
- the manipulator according to this embodiment is configured.
- the present invention is not limited to the manipulator, but is used in a region where the internal pressure is higher than the outside air pressure by using a device having a movable portion at the distal end. Is inserted into the high pressure part and the link member transmits the driving force to perform the work.
- the present invention can be applied not only to the manipulator but also to any device having a multi-joint slider 'link mechanism.
- FIG. 1 is a sectional view showing a manipulator according to an embodiment of the present invention, a side view showing an outer case, and a sectional view showing a tip.
- FIG. 2 is a perspective view showing a joint arm in a manipulator according to an embodiment of the present invention, a perspective view showing a connecting pin to be connected, and a cross-sectional view showing a positional relationship in connection and separation between an actuator section and a joint section. is there.
- FIG. 3 is a perspective view showing a method of connecting an actuator section and a joint section in the manipulator according to one embodiment of the present invention.
- FIG. 4 is a perspective cutaway view showing a link guide portion in a frame in the manipulator according to one embodiment of the present invention.
- Garden 5 is a perspective view showing a second joint provided in the manipulator according to one embodiment of the present invention, and a sectional view showing a joint.
- FIG. 6 is a schematic diagram for explaining a conventional articulated slider 'link mechanism.
- Park 7 A schematic diagram for explaining a pulling force phenomenon (galling phenomenon) in a conventional articulated slider 'link mechanism.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04806959A EP1693018A4 (en) | 2003-12-11 | 2004-12-13 | BENDED, MULTI-JOINT SLIDING CONNECTION MECHANISM, ACTUATING ELEMENT AND MANIPULATOR |
US10/582,354 US20070219581A1 (en) | 2003-12-11 | 2004-12-13 | Bending Action Member, Multi-Slider Linkage Mechanism, Actuator And Manipulator |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-413721 | 2003-12-11 | ||
JP2003-413719 | 2003-12-11 | ||
JP2003413721A JP4504000B2 (ja) | 2003-12-11 | 2003-12-11 | 屈曲動作部材、アクチュエータおよびマニピュレータ |
JP2003413720A JP4524096B2 (ja) | 2003-12-11 | 2003-12-11 | 多節スライダ・リンク機構、屈曲動作部材およびマニピュレータ |
JP2003413719A JP2005168846A (ja) | 2003-12-11 | 2003-12-11 | 屈曲動作部材およびマニピュレータ |
JP2003-413720 | 2003-12-11 |
Publications (1)
Publication Number | Publication Date |
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WO2005055850A1 true WO2005055850A1 (ja) | 2005-06-23 |
Family
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Family Applications (1)
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PCT/JP2004/018598 WO2005055850A1 (ja) | 2003-12-11 | 2004-12-13 | 屈曲動作部材、多節スライダ・リンク機構、アクチュエータおよびマニピュレータ |
Country Status (3)
Country | Link |
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US (1) | US20070219581A1 (ja) |
EP (1) | EP1693018A4 (ja) |
WO (1) | WO2005055850A1 (ja) |
Cited By (1)
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WO2007089676A1 (en) * | 2006-01-27 | 2007-08-09 | Medtronic, Inc. | Device and system for surgical dissection and or guidance of other medical devices into body |
Families Citing this family (15)
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JP5377991B2 (ja) | 2008-02-26 | 2013-12-25 | テルモ株式会社 | マニピュレータ |
EP2262408B1 (en) * | 2008-04-18 | 2017-09-27 | Fortimedix Surgical B.V. | An instrument for endoscopic applications or the like |
FR2943906B1 (fr) | 2009-04-03 | 2013-03-22 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
FR2943907B1 (fr) | 2009-04-03 | 2012-08-03 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
WO2011070846A1 (ja) * | 2009-12-10 | 2011-06-16 | オリンパスメディカルシステムズ株式会社 | 医療用マニピュレータ |
US9220559B2 (en) | 2010-09-24 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Articulation joint features for articulating surgical device |
US9144370B2 (en) | 2013-02-28 | 2015-09-29 | Canon Usa Inc. | Mechanical structure of articulated sheath |
EP3046454B1 (en) | 2013-09-20 | 2024-04-03 | Canon U.S.A., Inc. | Control apparatus for tendon-driven device |
ES2894284T3 (es) | 2014-12-30 | 2022-02-14 | Touchstone Int Medical Science Co Ltd | Aparato de sutura y corte para cirugía endoscópica |
US10226239B2 (en) | 2015-04-10 | 2019-03-12 | Covidien Lp | Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
WO2017066253A1 (en) | 2015-10-15 | 2017-04-20 | Canon U.S.A., Inc. | Steerable medical instrument |
US10660623B2 (en) * | 2016-01-15 | 2020-05-26 | Covidien Lp | Centering mechanism for articulation joint |
US11278366B2 (en) | 2017-04-27 | 2022-03-22 | Canon U.S.A., Inc. | Method for controlling a flexible manipulator |
US11007641B2 (en) | 2017-07-17 | 2021-05-18 | Canon U.S.A., Inc. | Continuum robot control methods and apparatus |
WO2019050797A1 (en) * | 2017-09-05 | 2019-03-14 | Intuitive Surgical Operations, Inc. | SYSTEMS AND METHODS FOR COMPUTER-AIDED REMOTE CONTROL SURGERY |
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- 2004-12-13 WO PCT/JP2004/018598 patent/WO2005055850A1/ja active Application Filing
- 2004-12-13 EP EP04806959A patent/EP1693018A4/en not_active Withdrawn
- 2004-12-13 US US10/582,354 patent/US20070219581A1/en not_active Abandoned
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WO2007089676A1 (en) * | 2006-01-27 | 2007-08-09 | Medtronic, Inc. | Device and system for surgical dissection and or guidance of other medical devices into body |
Also Published As
Publication number | Publication date |
---|---|
EP1693018A4 (en) | 2012-08-08 |
US20070219581A1 (en) | 2007-09-20 |
EP1693018A1 (en) | 2006-08-23 |
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