Title:
MANIPULATOR APPARATUS
Document Type and Number:
Japanese Patent JP2008259607
Kind Code:
A
Abstract:
To feed back the sense of power in a high band while making autoclave sterilization possible and to improve stability and responsiveness in a manipulator apparatus.
The manipulator apparatus is provided with a slave manipulator 1, a master manipulator 2 and a controller 3. Each of the slave manipulator 1 and the master manipulator 2 is provided with a translational shaft connected through a parallel link to a gimbal part. The controller 3 executes feedback control of the sense of power in a wide band generated on the basis of the detection signals of the slave manipulator and the master manipulator from a treatment tool 17 to the hand operation part 27 of the master manipulator 2.
Inventors:
KAWAI TOSHIKAZU
MORIKAWA YASUHIDE
OZAWA SOJI
ONISHI KOHEI
NISHI HIROAKI
MORIKAWA YASUHIDE
OZAWA SOJI
ONISHI KOHEI
NISHI HIROAKI
Application Number:
JP2007103550A
Publication Date:
October 30, 2008
Filing Date:
April 11, 2007
Export Citation:
Assignee:
HITACHI LTD
KEIO GIJUKU
KEIO GIJUKU
International Classes:
A61B19/00; B25J3/00
Domestic Patent References:
| JP2006043349A | 2006-02-16 | |||
| JPH0998978A | 1997-04-15 | |||
| JPH11244301A | 1999-09-14 | |||
| JP2007050270A | 2007-03-01 | |||
| JPH06261911A | 1994-09-20 | |||
| JP2007029274A | 2007-02-08 | |||
| JPH07214482A | 1995-08-15 | |||
| JPH0671086U | 1994-10-04 | |||
| JP2005297187A | 2005-10-27 | |||
| JPH07276265A | 1995-10-24 |
Foreign References:
| WO2005109139A1 | 2005-11-17 |
Attorney, Agent or Firm:
Polaire Patent Business Corporation