Title:
医療用マニピュレータ
Document Type and Number:
Japanese Patent JP3969733
Kind Code:
B2
Abstract:
A medical manipulator (10), comprising a plurality of manipulator formed bodies (14) to (18) longitudinally connected to each other so as be displaced relative to each other. The manipulator formed bodies (14) to (18) further comprise bases (20) and balloon bodies (21) installed on the bases (20) and providing pressing forces to structures in a living body. The balloon bodies (21) further comprise spaces (48) capable of storing normal saline solution supplied from a device body (12), and installed so that the pressing forces can be controlled by controlling internal pressures in the spaces (48). The manipulator (10) is so formed as to be autonomously moved forward in the living body by the control of the pressing force while the manipulator formed bodies (14) to (18) are displaced relative to each other by a reaction from the structures in the living body.
Inventors:
Masakatsu Fujie
Haruka Okayasu
Haruka Okayasu
Application Number:
JP2005506346A
Publication Date:
September 05, 2007
Filing Date:
May 20, 2004
Export Citation:
Assignee:
Waseda University
International Classes:
A61B19/00; A61B17/02; A61B17/00; A61B17/32
Domestic Patent References:
| JP7291124A | ||||
| JP7088788A | ||||
| JP11048171A | ||||
| JP2002086400A | ||||
| JP2003052716A | ||||
| JP2004246675A |
Other References:
岡安はる奈、外2名,液体駆動脳ヘラマニピュレータの開発,日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),日本,社団法人日本機械学会,2003年 5月23日,Vol.2003,Page.2P1.2F.D7(1)-2P1.2F.D7(2)
Attorney, Agent or Firm:
Hidetoshi Enomoto