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Patent Searching and Data


Title:
MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2018/154780
Kind Code:
A1
Abstract:
Provided is a manipulator comprising: an operation part (2) by which a forceps (20) is opened and closed when a first forceps pulley (23) of a first forceps piece (20A) and a second forceps pulley (25) of a second forceps piece (20B) rotate in mutually different directions about a Y-axis (yaw axis), and the orientation of the forceps is changed when the first forceps pulley and the second forceps pulley rotate in the same direction, and which enables the orientation of the forceps to be changed about the P-axis (pitch axis); a first driving part (51) which includes a left driving pulley (512L) and a right driving pulley (512R) that can slide along the Z-axis (main axis) direction; and an endless loop-shaped wire rope (6). The loop-shaped wire rope has provided to a wire rope body (60) thereof a first engagement body (61), a third engagement body (63), a second engagement body (62), and a fourth engagement body (64), in the order given. The loop-shaped wire rope is routed so that the first engagement body engages with the first forceps pulley, the second engagement body engages with the second forceps pulley, the third engagement body engages with the left driving pulley, and the fourth engagement body engages with the right driving pulley.

Inventors:
YAMAGUCHI Shinji (8th Floor Nikko Building, 14-11, Nishishinjuku 1-chome, Shinjuku-k, Tokyo 23, 〒1600023, JP)
Application Number:
JP2017/007489
Publication Date:
August 30, 2018
Filing Date:
February 27, 2017
Export Citation:
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Assignee:
TOYOFLEX CORPORATION (8th Floor, Nikko Building 14-11, Nishishinjuku 1-chome, Shinjuku-k, Tokyo 23, 〒1600023, JP)
International Classes:
B25J17/02; A61B1/018; A61B17/94; B25J17/00
Attorney, Agent or Firm:
ITOH Katsuo (OA Building 7F, 2-11 Ikebukuro 4-chome, Toshima-k, Tokyo 14, 〒1710014, JP)
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