Title:
ROTATION POSITION DETECTION UNIT
Document Type and Number:
WIPO Patent Application WO/2021/186578
Kind Code:
A1
Abstract:
Provided is a rotation position detection unit which, with respect to a medical robot that rotatably holds an insertion member to be inserted into a body of a patient, can detect a rotation position of the rotatable insertion member that can rotate 360 degrees or more with a simple and compact configuration. The rotation position detection unit is provided with: a motor; a drive-side pulley that is connected to the motor and is rotatably driven by the motor, centered on a drive shaft of the motor; a driven-side pulley that rotates centered on a first rotating shaft; a transmission belt that transmits the rotational drive of the drive-side pulley to the driven-side pulley; a rotary encoder that is connected to the first rotating shaft and detects a rotation angle of the driven-side pulley; and a control unit that controls driving of the motor, and into which a detection result is input by the rotary encoder. The insertion member rotates in association with rotation of the drive-side pulley, and the diameter of the drive-side pulley is smaller than the diameter of the driven-side pulley. The control unit calculates the rotation position of the insertion member on the basis of the rotation angle of the driven-side pulley and a pulley ratio obtained by dividing the diameter of the drive-side pulley by the diameter of the driven-side pulley.
Inventors:
MORITA NAOYA (JP)
Application Number:
PCT/JP2020/011794
Publication Date:
September 23, 2021
Filing Date:
March 17, 2020
Export Citation:
Assignee:
RIVERFIELD INC (JP)
International Classes:
B25J19/02; A61B34/30
Domestic Patent References:
| WO2017026167A1 | 2017-02-16 | |||
| WO2016051494A1 | 2016-04-07 |
Foreign References:
| JPH08126989A | 1996-05-21 | |||
| JP2015080845A | 2015-04-27 |
Other References:
See also references of EP 4104984A4
Attorney, Agent or Firm:
OKUBO, Katsuyuki (JP)
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