Title:
DRIVE DEVICE, SURGICAL INSTRUMENT, ARM DEVICE, AND MASTER SLAVE SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/176143
Kind Code:
A1
Abstract:
Provided is a drive device for driving an end effector. This drive device includes: a capstan; a cable wound around the capstan; and a rod that has one degree of linear freedom, the rod having the cable connected thereto and being linearly actuated by rotating the capstan, wherein the linear actuation of the rod drives the end effector. The capstan assembly includes a reaction force imparting part which imparts a reaction force between the first capstan and the second capstan to cause the first and second capstans to rotate in opposite directions, and pre-tension is applied to the cable by the cable being rotated and wound around each of the first capstan and the second capstan by the reaction force.
Inventors:
WAKANA KAZUHITO (JP)
Application Number:
PCT/JP2023/001845
Publication Date:
September 21, 2023
Filing Date:
January 23, 2023
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
A61B34/35; B25J17/02
Foreign References:
| US20210093408A1 | 2021-04-01 | |||
| US20190192245A1 | 2019-06-27 | |||
| JP2022027324A | 2022-02-10 |
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
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