Manipulator for medical use
First Claim
Patent Images
1. A manipulator for medical use, comprising:
- a hollow shaft;
a power transmitting member having a first wire, the power transmitting member being disposed in said shaft;
a working unit control mechanism disposed at a first end of the shaft; and
a working unit disposed at a second end of said shaft and being driven by said first wire, said working unit having a tip tool including a rolling mechanism rotating about a rolling axis directed to a distal end thereof;
wherein the tip tool includes an end effector configured to grip a needle,wherein the first wire is fastened to a first tubular member of the rolling mechanism,wherein the first tubular member is rotated by the first wire to drive the rolling mechanism,wherein a proximal end member and a distal end member of the tip tool are relatively rotated by said rolling mechanism, and a rotation identifier is provided on at least one member of the proximal end member and the distal end member, said rotation identifier indicating a degree of rotation of the other member of the proximal end member and the distal end member, thereby indicating a degree of rotation of the tip tool with respect to the shaft,wherein said other member includes a first alignment indicator to indicate an initial position of said one member,wherein the tip tool is arranged to rotate along with the end effector in a yawing direction about a yawing axis perpendicular to the rolling axis, the tip tool being rotatable about the rolling axis at a position closer to the distal end than the yawing axis,wherein the first alignment indicator is provided on a side surface of the proximal end member, the side surface continuously connecting walls that oppose each other in a direction along which the yawing axis extends, andwherein said rotation identifier is provided on the tip tool such that, during an operation on a patient with the manipulator, the rotation identifier is positioned within a field of operation to be displayed on a monitor showing the tip tool within the patient.
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Abstract
A manipulator comprises a hollow shaft, wires provided on the shaft and a working unit disposed on one end of the shaft and being driven by at least one wire of the wires, the working unit having a tip tool including a rolling mechanism which rotates about an axis Or directed to a distal end thereof. A tip side surface of a proximal end member and a cover of a distal end member are relatively rotated by the rolling mechanism. The cover has a rotation identifier for indicating a degree of relative rotation of the tip side surface. The tip side surface has an alignment indicator for indicating an initial position of the cover.
645 Citations
20 Claims
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1. A manipulator for medical use, comprising:
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a hollow shaft; a power transmitting member having a first wire, the power transmitting member being disposed in said shaft; a working unit control mechanism disposed at a first end of the shaft; and a working unit disposed at a second end of said shaft and being driven by said first wire, said working unit having a tip tool including a rolling mechanism rotating about a rolling axis directed to a distal end thereof; wherein the tip tool includes an end effector configured to grip a needle, wherein the first wire is fastened to a first tubular member of the rolling mechanism, wherein the first tubular member is rotated by the first wire to drive the rolling mechanism, wherein a proximal end member and a distal end member of the tip tool are relatively rotated by said rolling mechanism, and a rotation identifier is provided on at least one member of the proximal end member and the distal end member, said rotation identifier indicating a degree of rotation of the other member of the proximal end member and the distal end member, thereby indicating a degree of rotation of the tip tool with respect to the shaft, wherein said other member includes a first alignment indicator to indicate an initial position of said one member, wherein the tip tool is arranged to rotate along with the end effector in a yawing direction about a yawing axis perpendicular to the rolling axis, the tip tool being rotatable about the rolling axis at a position closer to the distal end than the yawing axis, wherein the first alignment indicator is provided on a side surface of the proximal end member, the side surface continuously connecting walls that oppose each other in a direction along which the yawing axis extends, and wherein said rotation identifier is provided on the tip tool such that, during an operation on a patient with the manipulator, the rotation identifier is positioned within a field of operation to be displayed on a monitor showing the tip tool within the patient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification