Title:
OPERATING ROBOT
Document Type and Number:
Japanese Patent JP3683554
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an operating robot not damaging a living body by making the joint of a manipulator free by detecting the conversion of a posture.
SOLUTION: The treatment instrument 195 connected to the leading end of the manipulator 192 is inserted into the trocar 196 for the insertion guide preliminarily thrust in the body. When the insertion part of the treatment instrument 195 is inserted into the body through the lumen of the trocar 196, a motor 194 is controlled on the basis of the detection result from the piezoelectric film 197 on the surface of the outer peripheral wall of the trocar 196 by a control circuit 199 to change over the manipulator 192 to a freely operable free state and a lock state fixing the manipulator 192.
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Inventors:
Hitoshi Mizuno
Shuichi Takayama
Akio Nakata
Naoki Uchiyama
Tatsuya Kubota
Tatsuya Yamaguchi
Yasuhiro Ueda
Toshimasa Kawai
Masahiro Kudo
Yutaka Fujisawa
Sakae Takebata
Shuichi Takayama
Akio Nakata
Naoki Uchiyama
Tatsuya Kubota
Tatsuya Yamaguchi
Yasuhiro Ueda
Toshimasa Kawai
Masahiro Kudo
Yutaka Fujisawa
Sakae Takebata
Application Number:
JP2002176288A
Publication Date:
August 17, 2005
Filing Date:
December 28, 1993
Export Citation:
Assignee:
Olympus Endo Technology America Inc.
International Classes:
B25J9/10; A61B1/00; A61B17/00; A61B17/02; A61B17/28; A61B17/32; A61B17/34; A61B19/00; B25J3/00; B25J11/00; B25J13/00; B25J13/08; B25J15/04; B25J19/00; G05D3/12; (IPC1-7): A61B19/00; A61B17/28; A61B17/34; B25J13/08
Domestic Patent References:
| JP576482A | ||||
| JP352739B2 | ||||
| JP538327A |
Attorney, Agent or Firm:
Takehiko Suzue
Satoshi Kono
Makoto Nakamura
Kurata Masatoshi
Takashi Mine
Yoshihiro Fukuhara
Sadao Muramatsu
Ryo Hashimoto
Satoshi Kono
Makoto Nakamura
Kurata Masatoshi
Takashi Mine
Yoshihiro Fukuhara
Sadao Muramatsu
Ryo Hashimoto