Title:
手術器具のための受動的事前負荷およびキャプスタン駆動
Document Type and Number:
Japanese Patent JP5542288
Kind Code:
B2
Abstract:
A robotic surgical system uses a passive preload system attached to a tendon that is wrapped around a capstan to control relaxed tension in the tendon. The passive preload system can employ a spring or other structure to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull on a structural member of the instrument. For example, for the application of clamping pressure or movement of the structural member against resistance, capstan friction can produce the tendon tension that is many times the tension applied by the passive preload system. However, when the tendon is not needed to apply force to the member, the capstan can be freed, so that the spring system provides enough tension to prevent derailment or other malfunctions of the tendon. The low tension in relaxed tendons can reduce tendon friction, particularly in instruments with flexible shafts.
Inventors:
プリスコ and Giuseppe
Application Number:
JP2011529066A
Publication Date:
July 09, 2014
Filing Date:
September 02, 2009
Export Citation:
Assignee:
In テュイティブ Surgical Operations and in condominium lei テッド
International Classes:
A61B19/00; A61B17/28
Attorney, Agent or Firm:
Shusaku Yamamoto
Takaaki Yasumura
Natsuki Morishita
Takaaki Yasumura
Natsuki Morishita