Title:
鏡視下医療を支援可能なマニピュレータ、それを備えた医療用具、およびマニピュレータの作業性評価方法
Document Type and Number:
Japanese Patent JP6711969
Kind Code:
B2
Abstract:
The objective of the present invention is to provide a manipulator with which it is possible for an instrument such as a scope or forceps to be manipulated to a desired position and orientation, and with which interference between medical implements in a trocar or in the abdominal cavity can be avoided, thereby alleviating the load on a surgeon, for example. Another objective of the present invention is to provide a medical implement provided with said manipulator, and a method of evaluating the workability of a manipulator. A manipulator 2 is mounted on a scope 1, and is inserted from the distal end side thereof into an abdominal cavity 9, through an opening 8A which communicates with the interior of the abdominal cavity 9. The manipulator 2 is provided with: a penetrating tube 201 which penetrates through the inside of the opening 8A; a first bent portion 21 which is capable of being bent relative to the penetrating tube 201 inside the abdominal cavity 9; an extending and retracting portion 23 which is capable of being extended and retracted on the distal end side of the first bent portion 21; a first bending manipulation wire 31 for manipulating the first bent portion 21; and an extending and retracting manipulation wire 33 for manipulating the extending and retracting portion 23.
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Inventors:
Masataka Nakabayashi
Yamamoto Fuyuki
Naotaka Sakai
Endo Kazuhiro
Naohiro Sada
Yamamoto Fuyuki
Naotaka Sakai
Endo Kazuhiro
Naohiro Sada
Application Number:
JP2018525264A
Publication Date:
June 17, 2020
Filing Date:
June 29, 2017
Export Citation:
Assignee:
Utsunomiya University
Jichi Medical School
Jichi Medical School
International Classes:
A61B1/313; A61B1/00; A61B1/01; A61B1/018; A61B34/30
Domestic Patent References:
| JP2016093883A | ||||
| JP2015150124A | ||||
| JP2011004880A | ||||
| JP10020712A | ||||
| JP2001277177A | ||||
| JP7136173A | ||||
| JP6239140A | ||||
| JP3023195A | ||||
| JP2008220971A | ||||
| JP2009240704A | ||||
| JP2010158412A |
Foreign References:
| WO2014156218A1 |
Attorney, Agent or Firm:
Mitsuru Oba
Horikawa Miyuki
Yuko Otake
Horikawa Miyuki
Yuko Otake