Title:
MEDICAL MANIPULATOR AND TREATMENT TOOL REPLACEMENT METHOD
Document Type and Number:
WIPO Patent Application WO/2014/021122
Kind Code:
A1
Abstract:
This medical manipulator is provided with: a manipulation member that is connected to a treatment tool and actuates the treatment tool by driving; a treatment tool-side drive shaft for driving the manipulation member by rotation about the shaft axis; an actuation amount detection member connected to the treatment tool; a treatment tool-side detection shaft rotated about the shaft axis by displacement of the actuation amount detection member; a drive unit-side drive shaft which has a drive section for generating a drive force, is provided to a drive unit, and engages with the treatment tool-side drive shaft to transfer the drive force to the treatment tool-side drive shaft; a drive unit-side detection shaft which has a detection section for detecting the amount of displacement of the actuation amount detection member, is provided to the drive unit, and engages with the treatment tool-side detection shaft, the rotation of the treatment tool-side detection shaft being transferred thereto; a shape determining section for determining the shape of the treatment tool to be a predetermined actuated state of having been actuated by a predetermined actuation amount; and a phase setting section for setting the phases of the treatment tool-side drive shaft and treatment tool-side detection shaft in the direction of rotation.
Inventors:
HATAKEYAMA NAOYA (JP)
Application Number:
PCT/JP2013/069654
Publication Date:
February 06, 2014
Filing Date:
July 19, 2013
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B19/00; B25J15/04
Domestic Patent References:
| WO2010126127A1 | 2010-11-04 | |||
| WO2010126127A1 | 2010-11-04 |
Foreign References:
| JP2009148859A | 2009-07-09 | |||
| JP2008104854A | 2008-05-08 | |||
| JP2004105451A | 2004-04-08 | |||
| JPH04263831A | 1992-09-18 | |||
| US20040049205A1 | 2004-03-11 | |||
| JPH04263831A | 1992-09-18 |
Other References:
See also references of EP 2881061A4
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
Sumio Tanai (JP)
Sumio Tanai (JP)
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