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Title:
WIRE-DRIVEN MANIPULATOR DEVICE
Document Type and Number:
Japanese Patent JP2020044216
Kind Code:
A
Abstract:
To provide a wire-driven manipulator device enabling external force applied to a distal end and gripper gripping force to be correctly recognized.SOLUTION: A forceps manipulator device is comprised of: a pipe 1; a joint 2 coupled to the pipe 1; and a forceps gripper 4 which is coupled to an opposite side of the pipe 1, of the joint 2 through a forceps link 3. Wires W1, W2, W3, W4 for driving the joint 2 and wires W5, W6 for driving the forceps gripper 4 are provided in a prescribed arrangement inside and outside the pipe 1. A shaft 5 with a protrusion 5a for applying vibration to the wires W1, W2, . . .W6 is provided in a center in the pipe 1. There are also provided actuators 61-1, 61-2, . . 61-6 for driving the wires W1, W2, . . . W6 and an actuator 62 for driving the shaft 5. A microphone 7 for inputting voice vibration of the wires W1, W2, . . W6 of the pipe 1 are provided outside a base 6.SELECTED DRAWING: Figure 2

Inventors:
KOMATA TORU
KUSAKABE YUKI
Application Number:
JP2018176855A
Publication Date:
March 26, 2020
Filing Date:
September 21, 2018
Export Citation:
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Assignee:
TOKYO INST TECH
International Classes:
A61B34/30; A61B17/28
Attorney, Agent or Firm:
Shozo Igarashi



 
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