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Patent Searching and Data


Title:
MEDICAL MANIPULATOR SYSTEM
Document Type and Number:
WIPO Patent Application WO/2016/181432
Kind Code:
A1
Abstract:
This medical manipulator system is provided with: a manipulator (3) provided with a flexible insertion part, a moveable unit disposed at the distal end of the insertion part, a drive unit (12) detachably attached to the proximal end of the insertion part, and a pair of tensile force transmission members in which the drive force generated in the drive unit (12) is transmitted by tensile force, and the moveable unit is operated in the forward or reverse direction; a manipulation information input unit (24) for inputting the operational commands of the manipulator (3); and a control unit (4) for controlling the drive unit (12) on the basis of the inputted operational commands. The drive unit (12) is provided with a displacement sensor (15) for detecting the displacement direction and displacement amount of the tensile force transmission members, and a tensile force difference sensor for detecting the tensile force difference between the pair of tensile force transmission members. The control unit (4) is provided with a storage unit (19) for storing the characteristics of the tensile force transmission members, and a parameter setting unit (21) for setting control parameters for controlling the drive unit (12), on the basis of the characteristics stored in the storage unit (19), and the detected tensile force difference, displacement direction, and displacement amount.

Inventors:
IIDA MASATOSHI (JP)
HATAKEYAMA NAOYA (JP)
Application Number:
PCT/JP2015/063242
Publication Date:
November 17, 2016
Filing Date:
May 08, 2015
Export Citation:
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Assignee:
OLYMPUS CORP (JP)
International Classes:
B25J3/00
Foreign References:
JP2015024008A2015-02-05
JP2010214128A2010-09-30
JP2012235936A2012-12-06
JP2010046384A2010-03-04
JP2003061968A2003-03-04
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
Ueda Kunio (JP)
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