Title:
FORCEPS SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/039612
Kind Code:
A2
Abstract:
Provided is a forceps system which is simple, can be used with the same sensation as conventional forceps systems, and has excellent operability. This forceps system is equipped with a head part having a first rotary motor and a second rotary motor, a manipulation part pivotally supported on the head part and coupled to the first rotary motor via a power transmission mechanism, a shaft part attached to the head part, a grasping part disposed on the distal end of the shaft part and for pinching a target, a manipulation member passing through the shaft part and having one end thereof coupled to the grasping part via a link mechanism and the other end thereof coupled to the second rotary motor via a power transmission mechanism, and a control unit controlling the first rotary motor and the second rotary motor. The control unit uses acceleration-based bilateral control to control the angular response of the first rotary motor and the second rotary motor in accordance with the angle deviation between the first rotary motor and the second rotary motor, and to control the torque response of the first rotary motor and the second rotary motor in accordance with the torque deviation between the first rotary motor and the second rotary motor.
Inventors:
MIZOGUCHI TAKAHIRO (JP)
SHIMONO TOMOYUKI (JP)
OHNISHI KOUHEI (JP)
SHIMONO TOMOYUKI (JP)
OHNISHI KOUHEI (JP)
Application Number:
PCT/JP2018/031461
Publication Date:
February 28, 2019
Filing Date:
August 20, 2018
Export Citation:
Assignee:
KANAGAWA INSTITUTE OF INDUSTRIAL SCIENCE AND TECH (JP)
YOKOHAMA NATIONAL UNIV (JP)
UNIV KEIO (JP)
YOKOHAMA NATIONAL UNIV (JP)
UNIV KEIO (JP)
International Classes:
A61B17/29
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