Title:
MANIPULATOR, AND SURGERY ASSISTANCE ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/088094
Kind Code:
A1
Abstract:
This manipulator is provided with: a first member; a second member that supports the first member so as to be capable of rotating about a first rotation axis; a driven part connected to the first member, the driven part moving along a circumference about the first axis in accordance with a rotation operation of the first member; a flexible member that provides, by a reciprocating operation, a force for driving the driven part; and a change part having an arcuate guide surface that changes a path of the flexible member in accordance with the rotation operation of the first member. The arcuate guide surface is disposed so as to maintain the path lengths of each of an outward path and a return path in the reciprocation operation of the flexible member during the rotation operation of the first member.
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Inventors:
JINNO MAKOTO (JP)
Application Number:
PCT/JP2018/040318
Publication Date:
May 09, 2019
Filing Date:
October 30, 2018
Export Citation:
Assignee:
EDUCATIONAL FOUND OF KOKUSHIKAN (JP)
International Classes:
B25J15/08; A61B17/29; A61B34/30; B25J17/02
Foreign References:
| JPH0691579A | 1994-04-05 | |||
| JP2013215509A | 2013-10-24 | |||
| JP2004122286A | 2004-04-22 | |||
| JP2011200593A | 2011-10-13 | |||
| US20010018591A1 | 2001-08-30 | |||
| JP2006061364A | 2006-03-09 | |||
| JP2012131014A | 2012-07-12 | |||
| US20170095236A1 | 2017-04-06 | |||
| US5200679A | 1993-04-06 | |||
| JPH02256489A | 1990-10-17 | |||
| JP2004255081A | 2004-09-16 | |||
| JP2018187744A | 2018-11-29 |
Other References:
JINNO, MAKOTO: "Verification of concept of advanced tool of multi-DOF forceps for surgery support robot under laparoscopic surgery (Improvement in arc guide position of simple non- interfering mechanism between pitch and yaw axes", PROCEEDINGS OF THE 36TH ACADEMIC LECTURE CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, vol. 2018, 7 September 2018 (2018-09-07)
JINNO, MAKOTO: "Verification of concept of advanced tool of multi-DOF forceps for surgery support robot under laparoscopic surgery - Suggestion of simple non- interfering mechanism between pitch and yaw axes", THE PROCEEDINGS OF JSME ANNUAL CONFERENCE ON ROBOTICS AND MECHATRONICS, vol. 2018, 5 June 2018 (2018-06-05), pages 2424 - 3124
JINNO, MAKOTO: "Verification of concept of advanced tool of multi-DOF forceps for surgery support robot under laparoscopic surgery - Suggestion of simple non- interfering mechanism between pitch and yaw axes", THE PROCEEDINGS OF JSME ANNUAL CONFERENCE ON ROBOTICS AND MECHATRONICS, vol. 2018, 5 June 2018 (2018-06-05), pages 2424 - 3124
Attorney, Agent or Firm:
OHTSUKA, Yasunori et al. (JP)
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