Title:
SLACK CORRECTION MECHANISM, MANIPULATOR, AND MANIPULATOR SYSTEM
Document Type and Number:
WIPO Patent Application WO/2015/129437
Kind Code:
A1
Abstract:
A slack correction mechanism (1) is provided with: a distal-end pulley (2) capable of rotating about a predetermined shaft; a distal-end wire (3) wound on the distal-end pulley (2); a first supporting part (4) for supporting one side of the distal-end wire (3), the first supporting part (4) having a first base (41), a first friction part (42) protruding from the first base (41), one side of the distal-end wire (3) wound on the distal-end pulley (2) being wrapped in a loop around the first friction part (42), and a first urging part (43) for urging the distal-end wire (3) in a pulling direction at a location further toward one end of the distal-end wire (3) than the first friction part (42); and a second supporting part (5) for supporting the other side of the distal-end wire (3), the second supporting part (5) having a second base (51), a second friction part (52) protruding from the second base (51), the other side of the distal-end wire (3) wound on the distal-end pulley (2) being wrapped in a loop around the second friction part (52), and a second urging part (53) for urging the distal-end wire (3) in the pulling direction at a location further toward the other end of the distal-end wire (3) than the second friction part (52). A manipulator and manipulator system are thereby provided in which a dynamic excess portion is rapidly removed and a distal-end part rapidly actuates in response to operation of an operation part.
Inventors:
HYODO RYOJI (JP)
KISHI KOSUKE (JP)
KISHI KOSUKE (JP)
Application Number:
PCT/JP2015/053451
Publication Date:
September 03, 2015
Filing Date:
February 09, 2015
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B1/00; A61B17/28; A61B19/00; B25J17/00; G02B23/24
Foreign References:
| JP2013215505A | 2013-10-24 | |||
| JP2012504016A | 2012-02-16 | |||
| JP4145464B2 | 2008-09-03 | |||
| JPS4828518B1 | 1973-09-01 | |||
| JP2002200091A | 2002-07-16 | |||
| JP2000001218A | 2000-01-07 |
Other References:
See also references of EP 3111821A4
Attorney, Agent or Firm:
KOYAMA, Takashi et al. (JP)
Takushi Koyama (JP)
Takushi Koyama (JP)
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