Title:
MEDICAL INSTRUMENT HOLDING DEVICE, MEDICAL SYSTEM, MEDICAL INSTRUMENT HOLDING DEVICE OPERATING METHOD, AND MEDICAL SYSTEM OPERATING METHOD
Document Type and Number:
WIPO Patent Application WO/2018/008106
Kind Code:
A1
Abstract:
A medical instrument holding device (10) is provided with an arm part (12). The arm part (12) includes multiple joints (13). A holding part (11) is connected to a distal end part (12a) of the arm part (12). The holding part (11) holds a first medical instrument (30). Each of the joints (13) is operated on the basis of a control signal generated by a control unit (20). When an operator (Op) grips, by means of gripping forceps (41) of a second medical instrument (40), the first medical instrument (30) so as to apply external force (F1) thereto, a force detection unit (16) detects the external force (F1), and the control unit (20) generates the control signal for moving the joints (13) such that the first medical instrument (30) is moved in a direction of the external force (F1). Thus, the operator (Op) can easily move the first medical instrument (30) just by applying external force (F1) to the first medical instrument (30).
Inventors:
INOUE SHINTARO (JP)
Application Number:
PCT/JP2016/069996
Publication Date:
January 11, 2018
Filing Date:
July 06, 2016
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B34/30
Domestic Patent References:
| WO2014199415A1 | 2014-12-18 | |||
| WO2015079775A1 | 2015-06-04 |
Foreign References:
| JPH0985656A | 1997-03-31 | |||
| JPS60252911A | 1985-12-13 | |||
| JP2012515025A | 2012-07-05 | |||
| JP2015002922A | 2015-01-08 |
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
Download PDF: