Title:
FORCEPS SYSTEM
Document Type and Number:
Japanese Patent JP2019034002
Kind Code:
A
Abstract:
To provide a forceps system that is simple and can be used by a sense being the same as a conventional one, and is superior in operability.SOLUTION: A forceps system includes: a head part having a first rotary motor and a second rotary motor; an operation unit pivoted in the head part and coupled to the first rotary motor through a power transmission mechanism; a shaft part mounted in the head part; a gripper arranged in the tip of the shaft part and gripping an object; an operation member penetrating through the shaft part, having one end coupled with the gripper through the link mechanism, and having the other end coupled to the second rotary motor through the power transmission mechanism; and a control unit for controlling the first rotary motor and the second rotary motor. The control unit controls the angle response of the first rotary motor and the second rotary motor according to the angle deviation of the first rotary motor and the second rotary motor by the bilateral control of the acceleration standard, and controls the torque response of the first rotary motor and the second rotary motor according to the torque deviation of the first rotary motor and the second rotary motor.SELECTED DRAWING: Figure 1
Inventors:
MIZOGUCHI TAKAHIRO
SHIMONO AKIMICHI
ONISHI KOHEI
SHIMONO AKIMICHI
ONISHI KOHEI
Application Number:
JP2017158330A
Publication Date:
March 07, 2019
Filing Date:
August 21, 2017
Export Citation:
Assignee:
KANAGAWA INSTITUTE OF INDUSTRIAL SCIENCE AND TECH
NAT UNIV YOKOHAMA
KEIO GIJUKU
NAT UNIV YOKOHAMA
KEIO GIJUKU
International Classes:
A61B17/29
Domestic Patent References:
| JP2009282720A | 2009-12-03 | |||
| JPH0759788A | 1995-03-07 | |||
| JP2006043349A | 2006-02-16 | |||
| JP2010076012A | 2010-04-08 | |||
| JP2015006722A | 2015-01-15 |
Foreign References:
| WO2005109139A1 | 2005-11-17 |
Attorney, Agent or Firm:
Ken Ieiri