Manipulator

• US 20060219065A1
• Filed: 03/28/2006
• Published: 10/05/2006
• Est. Priority Date: 03/29/2005
• Status: Active Grant

• Current Assignee: Terumo Kabushiki Kaisha
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Sunaoshi, Takamitsu, Jinno, Makoto
• Granted Patent: US 7,540,867 B2
• Time in Patent Office: Days
• US Class Current: 81/383
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

Claims

1. A manipulator, comprising:

a treating portion;

a driving portion which are connected by a connecting portion;

a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation; and

a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

2. The manipulator according to claim 1, further comprising:

a first treating member which is provided in the treating portion and is rotatably supported by the main shaft portion;

a second pulley on which a second wire driven by the driving portion is hung, which rotates around the first rotor axis;

a first gear fixed to the second pulley; and

a second gear which is fixed to the first treating member and transmits rotation torque of the first gear to the first treating member.

3. The manipulator according to claim 2, further comprising:

a second treating member which is provided in the treating portion and is rotatably supported by the main shaft portion;

a third pulley on which a third wire driven by the driving portion is hung, which rotates around the first rotor axis;

a third gear fixed to the third pulley; and

a fourth gear which is fixed to the second treating portion and transmits rotation torque of the third gear to the second treating member.

4. The manipulator according to claim 3,

wherein the first treating member has:

a first supporting portion supported by the main shaft portion; and

a first treating portion formed at one end portion of the first supporting portion;

wherein the second treating member has;

a second supporting portion supported by the main shaft portion; and

a second treating portion formed at one end portion of the second supporting portion.

5. The manipulator according to claim 1,

a treating member provided in the treating portion;

a second pulley on which a second wire driven by the driving portion is hung, which rotates around the first rotor axis;

a first gear fixed to the second pulley;

a third pulley on which a third wire driven by the driving portion is hung, which rotates around the first rotor axis;

a second gear fixed to the third pulley;

a first support member which is rotatably supported by the main shaft portion and supports the first treating member in a direction around the first rotor axis and a direction around a second rotor axis different from the direction of the main shaft;

a third gear which is fixed to the first support member and transmits rotation torque of the first gear to the first support member; and

a fourth gear which is fixed to the first treating member and transmits rotation torque of the second gear to the first treating member.

6. A manipulator, comprising:

a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;

a main shaft portion which is rotatably supported in a direction around the first rotor axis portion and is provided in a direction crossing to the first rotor axis portion;

a first gear rotatably supported in the direction around the first rotor axis portion;

a second gear rotatably supported in the direction around the first rotor axis portion;

a third gear which engages with the first gear and is rotatably supported in a direction around the main shaft portion;

a fourth gear which engages with the second gear and is rotatably supported in a direction around the main shaft portion;

a first treating member which rotates with the third gear; and

a second treating member which rotates with the fourth gear.

7. The manipulator according to claim 6, further comprising:

a third treating member provided at a position symmetric to the first treating member by sandwiching the main shaft; and

a fourth treating member provided at a position symmetric to the second treating member by sandwiching the main shaft.

8. The manipulator according to claim 6,

wherein the third gear is rotatably supported in the direction around the main shaft portion at a position offset from the first rotor axis;

and

the fourth gear is rotatably supported in the direction around the main shaft portion at a position offset from the first rotor axis.

9. A manipulator, comprising:

a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;

a main shaft portion which is rotatably supported in a direction around the first rotor axis portion and is provided in a direction crossing to the first rotor axis portion;

a treating member provided in the treating portion;

a first gear rotatably supported in the direction around the first rotor axis portion;

a second gear which engages with the first gear and is rotatably supported in a direction around the main shaft portion;

a third gear which coaxially rotates with the second gear;

a fourth gear which is provided to transmit rotation torque of the third gear to the treating member and engages with the third gear; and

a second rotor axis portion which is rotation center of the fourth gear and is arranged in a torsional relationship with the first rotor axis portion.

10. The manipulator according to claim 9,

wherein the second rotor axis portion is orthogonal to a surface including the first rotor axis portion and the main shaft portion.

11. The manipulator according to claim 9,

wherein the number of teeth in the first gear is equal to the number of teeth in the fourth gear;

and

the number of teeth in the second gear is equal to the number of teeth in the third gear.

12. A manipulator, comprising:

a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;

a main shaft portion which is rotatably supported in a direction around the first rotor axis portion and is provided in a direction crossing to the first rotor axis portion;

a first treating member and a second treating member which are provided in the treating portion;

a first gear rotatably supported in the direction around the first rotor axis;

a second gear rotatably supported in the direction around the first rotor axis;

a third gear which engages with the first gear and is rotatably supported around the main shaft portion;

a fourth gear which engages with the second gear and is rotatably supported around the main shaft portion;

a fifth gear which coaxially rotates with the third gear;

a sixth gear which coaxially rotates with the fourth gear;

a seventh gear which is provided to transmit rotation torque of the fifth gear to the first treating member and engages with the fifth gear;

a eighth gear which provided to transmit rotation torque of the sixth gear to the second treating member and engages with the sixth gear; and

a second rotor axis portion which is rotation center of the seventh gear and the eighth gear and is arranged in a torsional relationship with the first rotor axis portion.

13. The manipulator according to claim 12,

wherein the first and second treating members constitutes a gripper portion which conducts open and close operations in accordance with rotations of the seventh and eighth gears.

14. The manipulator according to claim 12,

wherein the second rotor axis portion is orthogonal to a surface including the first rotor axis and the main shaft portion.

19. The manipulator according to claim 12,

wherein the third gear is integrally formed with the fifth gear;

the fourth gear is integrally formed with the sixth gear; and

a first gear member on which the third and fifth gears are integrally formed is arranged to overlap with a second gear member on which the fourth and sixth gears are integrally formed, the first gear member and the second gear member having the same rotor axis.

20. The manipulator according to claim 19,

wherein a value obtained by multiplying a module of the first gear by the number of teeth is equal to a value obtained by multiplying a module of the second gear by the number of teeth.

21. The manipulator according to claim 12,

wherein when the first treating member is driven in a first direction, a position that the first gear engages with the third gear and a position that the fifth gear engages with the seventh gear are arranged within phase 0°

to 180°

in rotation direction of the first gear member; and

when the first treating member is driven in a second direction opposite to the first direction, the position that the first gear engages with the third gear and the position that the fifth gear engages with the seventh gear are arranged within phase 180°

to 360°

in rotation direction of the first gear member.

22. The manipulator according to claim 12,

wherein when the second treating member is driven in a first direction, a position that the second gear engages with the fourth gear and a position that the sixth gear engages with the eighth gear are within phase 0°

to 180°

in rotation direction of the second gear member; and

when the second treating member is driven in a second direction opposite to the first direction, the position that the second gear engages with the four gear and the position that the sixth gear engages with the eighth gear are arranged within phase 180°

to 360°

in rotation direction of the second rotor member.

23. The manipulator according to claim 21,

wherein the first direction is a direction which drives the first and second treating members relatively in a close direction.

15. A manipulator, comprising:

a first rotor axis portion arranged orthogonal to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;

a main shaft portion which is rotatably supported in a direction around the first rotor axis portion and is provided in a direction crossing to the first rotor axis portion;

a first gear rotatably supported in a direction around the first rotor axis portion;

a second gear rotatably supported in a direction around the first rotor axis portion;

a third gear which engages with the first gear and is rotatably supported in a direction around the main shaft portion;

a fourth gear which engages with the second gear and is rotatably supported in the direction around the main shaft portion;

a second rotor axis portion which coaxially rotates with the third gear;

a fifth gear which coaxially rotates with the fourth gear;

a third rotor axis portion which rotates in the direction around the main shaft portion in conformity with rotation of the second rotor axis portion and is arranged from a torsional position to a parallel position with the first rotor axis portion;

a sixth gear which is rotatably supported in a direction around the third rotor axis portion and engages with the fifth gear; and

a first treating member which rotates in the direction around the third rotor axis portion with the sixth gear and rotates in the direction around the main shaft portion with the third gear.

16. The manipulator according to claim 15, further comprising a second treating member which coaxially rotates with the third gear, and is provided at a position capable of opening and closing by rotation of the first treating member.

24. The manipulator according to claim 16,

wherein when the first treating member is driven in a first direction, a position that the second gear engages with the fourth gear and a position that the fifth gear engages with the sixth gear are arranged within phase 0°

to 180°

in a rotation direction of the second gear; and

when the first treating member is driven in a second direction opposite to the first direction, the position that the second gear engages with the fourth gear and the position that the fifth gear engages with the sixth gear are arranged within 180°

to 360°

in the rotation direction of the second gear.

25. The manipulator according to claim 24,

wherein the first direction is a direction which drives the first and second treating members relatively in a close direction.

17. A manipulator, comprising:

a first rotor axis portion arranged orthogonal to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;

a main shaft portion which is rotatably supported in a direction around the first rotor axis portion and is provided in a direction crossing to the first rotor axis portion;

a first gear rotatably supported in a direction around the first rotor axis portion;

a second gear rotatably supported in a direction around the first rotor axis portion;

a third gear which engages with the first gear and is rotatably supported in a direction around the main shaft portion;

a fourth gear which engages with the second gear and is rotatably supported in a direction around the main shaft portion;

a fifth gear which coaxially rotates with the third gear;

a sixth gear which coaxially rotates with the fourth gear;

a seventh gear which engages with the fifth gear;

a eighth gear which engages with the sixth gear;

a second rotor axis portion which is rotation center of the seventh gear and the eighth gear and is arranged in a torsional relationship with the first rotor axis portion;

a third rotor axis portion which rotates in a direction around the second rotor axis portion with the eighth gear;

a ninth gear which engages with the seventh gear and rotates in a direction around the third rotor axis portion; and

a treating member which coaxially rotates with the ninth gear.

18. The manipulator according to claim 17,

wherein the second rotor axis portion is orthogonal to a surface including the first rotor axis portion and the main shaft portion.