MANIPULATOR

• US 20080091072A1
• Filed: 10/11/2007
• Published: 04/17/2008
• Est. Priority Date: 10/13/2006
• Status: Abandoned Application

• Current Assignee: Terumo Kabushiki Kaisha (Terumo Corporation), Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Terumo Kabushiki Kaisha (Terumo Corporation), Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Uenohara, Shuichi, Sunaoshi, Takamitsu, Jinno, Makoto, Omori, Shigeru
• Application Number:
  US11/870,849
• Publication Number:
  US 20080091072A1
• Time in Patent Office: Days
• US Class Current: 600/131
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/2909 Handles
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/00424 ergonomic, e.g. fitting in fist
• CPC Class Codes: A61B 2017/2925 Pistol grips
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 2034/742 Joysticks
• 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: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A manipulator includes an operation command unit to be gripped by a hand, a composite input unit operable by a finger, a connector shaft extending from the operation command unit, and a working unit disposed on a distal end of the connector shaft. The working unit includes a yawing mechanism, a rolling mechanism, and an opening and closing mechanism. The composite input unit has a shuttle ring for actuating the rolling mechanism, and a pad for actuating the yawing mechanism. The shuttle ring is an angularly movable member having two knobs disposed in respective left and right positions. The pad is disposed inside of the shuttle ring.

Claims

1. A manipulator comprising:

an operating unit including a grip handle to be gripped by a hand;

a first input unit mounted on said operating unit and operable by a finger;

a connector extending from said operating unit; and

a working unit disposed on a distal end of said connector and including a rotating mechanism angularly movable about an axis along which a distal end of said working unit extends, based on operation of said first input unit,

wherein said first input unit comprises a rotary member including at least two finger holders disposed at left and right positions, respectively, on each side of a central line of the rotary member as viewed in front elevation.

2. A manipulator according to claim 1, wherein said operating unit comprises a second input unit disposed within an angularly movable range of said two finger holders and operable by the finger, so as to be tilted in horizontally pushed directions;

and

said working unit includes a pivot axis about which the working unit is angularly movable and which is non-parallel to an axis that extends from a proximal end of said connector to the distal end thereof, based on operation of said second input unit.

3. A manipulator according to claim 1, wherein said first input unit has an annular shape when viewed in front elevation;

said operating unit includes a second input unit disposed within said first input unit and operable by the finger, so as to be tilted in vertically pushed directions; and

said working unit includes a pivot axis about which the working unit is angularly movable and which is non-parallel to an axis that extends from a proximal end of said connector to the distal end thereof, based on operation of said second input unit.

4. A manipulator according to claim 1, wherein said first input unit is angularly movable within a range of from ±

5°

to ±

20°

.

5. A manipulator according to claim 1, wherein said first input unit has a center of rotation spaced from each of said finger holders by a distance within a range of from 10 mm to 25 mm.

6. A manipulator according to claim 1, wherein the angle formed between an axis along which said connector extends and a rotational plane of said first input unit is within a range of from 35°

to 55°

.

7. A manipulator according to claim 1, wherein said first input unit has an annular shape when viewed in front elevation.

8. A manipulator according to claim 1, wherein said first input unit, when viewed in front elevation, has a vertical central line aligned with an axis along which said connector extends.

9. A manipulator according to claim 1, wherein said two finger holders have a center of rotation disposed in a position shifted from an axis along which said connector extends, in a direction opposite to a direction in which said grip handle extends.

10. A manipulator according to claim 9, wherein the center of rotation of said two finger holders is spaced from said axis along which said connector extends, by a distance within a range of from 20 mm to 50 mm.

11. A manipulator comprising:

an operating unit including a grip handle to be gripped by a hand;

a composite input unit mounted on said operating unit and having a first input unit and a second input unit, each operable by a finger;

a connector extending from said operating unit; and

a working unit disposed on a distal end of said connector,

wherein said working unit comprises;

a rotating mechanism angularly movable about an axis along which a distal end of said working unit extends, based on operation of said first input unit; and

a pivot axis about which said working unit is angularly movable and which is non-parallel to an axis that extends from a proximal end of said connector to the distal end thereof, based on operation of said second input unit,

said first input unit comprises a rotary member for supplying an operation command to said rotating mechanism,

said second input unit is tilted in horizontally pushed directions in order to supply an operation command with respect to the rotation of said pivot axis, and

said first input unit surrounds said second input unit at least with respect to a tilted direction of said second input unit and is coaxially disposed with respect to a center of said second input unit, as viewed from a front of said composite input unit.

12. A manipulator according to claim 11, wherein said second input unit has a width ranging from 10 mm to 25 mm, in a direction perpendicular to the tilted direction of said second input unit, as viewed from the front of said composite input unit.

13. A manipulator according to claim 12, wherein said first input unit has an annular shape, as viewed from the front of said composite input unit.

14. A manipulator according to claim 13, wherein said working unit further comprises a third angularly moving mechanism other than said rotating mechanism and said pivot axis,

said composite input unit further comprises a third input unit operable by a finger and vertically tiltable in order to supply an operation command to said third angularly moving mechanism,

said second input unit and said third input unit are integrally formed with each other, and

said first input unit surrounds said second input unit and said third input unit, as viewed from the front of said composite input unit.

15. A manipulator comprising:

an operating unit including a grip handle to be gripped by a hand;

an input unit mounted on said operating unit and operable in either direction with reference to a neutral position;

a first detecting unit for detecting an operating amount of said input unit in one direction of the directions;

a second detecting unit for detecting an operating amount of said input unit in another direction of the directions;

a connector extending from said operating unit; and

a working unit disposed on a distal end of said connector and movable in either direction based on a signal detected by said first detecting unit and said second detecting unit,

wherein said first detecting unit and said second detecting unit are arranged such that an operating amount of said input unit is not detected within a range of a certain dead zone with reference to the neutral position.

16. A manipulator according to claim 15, wherein said working unit comprises a rotating mechanism angularly movable about an axis along which a distal end of said working unit extends, based on operation of said input unit;

said input unit comprises a rolling member for supplying an operation command to said rotating mechanism; and

said first detecting unit and said second detecting unit are arranged such that an operating amount of said input unit is not detected within said range of said certain dead zone ranging from ±

1°

to ±

8°

with reference to the neutral position.

17. A manipulator according to claim 15, wherein said working unit includes a pivot axis about which the working unit is angularly movable and which is non-parallel to an axis that extends from a proximal end of said connector the distal end thereof,

said input unit comprises a tilting member which tilts in horizontally pushed directions in order to supply an operation command to said pivot axis;

said first detecting unit and said second detecting unit face right and left portions of an end surface of said tilting member respectively, with gaps therebetween; and

a distance between said first detecting unit and said second detecting unit is set to 2 mm through 8 mm.

18. A manipulator according to claim 17, wherein said working unit includes a first rotational axis and a second rotational axis;

said input unit comprises a tilting member which tilts in horizontally pushed directions in order to supply an operation command to said first rotational axis and which tilts in vertically pushed directions in order to supply an operation command to said second rotational axis;

two sets of said first detecting unit and said second detecting unit are provided as a first set for detecting a horizontal tilt of said input unit and a second set for detecting a vertical tilt of said input unit; and

said first set of said first and second detecting units face right and left portions of an end surface of said tilting member, with gaps therebetween, and said second set of said first and second detecting units face upper and lower portions of said end surface of said tilting member, with gaps therebetween.