Title:
The manipulator for medical treatment, and a manipulator system
Document Type and Number:
Japanese Patent JP6116429
Kind Code:
B2
Abstract:
An affected portion located at a position in the close vicinity of an inserted-portion main unit is treated while reducing interference with tissue or the like in the surrounding area. Provided is a treatment manipulator (2) including an inserted-portion main unit (7); at least one arm (8) that is provided so as to protrude forward from a distal-end surface of the inserted-portion main unit (7) and that has an end effector (8a) at the distal end thereof; and an endoscope (9) that is provided in the inserted-portion main unit (7) and that has a viewing-field area in which the end effector (8a) at the distal end of the arm (8) can be observed, wherein the arm (8) is provided with, sequentially from the distal-end side, a first flexing joint (11) that can pivot the end effector (8a) about a first axis orthogonal to a longitudinal axis of the arm (8), an intermediate roll joint (12) that can be rotated about the longitudinal axis, and a second flexing joint (13) that can be pivoted about a second axis orthogonal to the longitudinal axis, and the first flexing joint (11) can be flexed 90° or more, at least on one side, with respect to the longitudinal axis.
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Inventors:
Yanagihara Masaru
Hiroaki Kishi
Hiroaki Kishi
Application Number:
JP2013155883A
Publication Date:
April 19, 2017
Filing Date:
July 26, 2013
Export Citation:
Assignee:
Olympus Endo Technology America Inc.
International Classes:
A61B34/35; A61B1/04; A61B17/12; A61B17/28
Domestic Patent References:
| JP2009539573A | ||||
| JP2012055996A | ||||
| JP2004122286A | ||||
| JP2003204968A |
Foreign References:
| US5813976 |
Attorney, Agent or Firm:
Kunio Ueda
Noriharu Fujita
Noriharu Fujita
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