OPERATING MECHANISM, MEDICAL MANIPULATOR, AND SURGICAL ROBOT SYSTEM
First Claim
1. An operating mechanism comprising:
- a grip handle for being gripped by a human hand; and
a trigger lever movable toward and away from the grip handle;
the trigger lever comprising;
a pulling member which can be pulled toward the grip handle by a finger held against the pulling member; and
a pushing member which can be pushed away from the grip handle by the finger held against the pushing member, the pushing member being disposed in facing relation to the pulling member;
the pushing member having a cavity defined in a surface thereof which faces the pulling member.
1 Assignment
0 Petitions
Accused Products
Abstract
A medical manipulator includes an operation command unit having motors and a working unit detachably mounted on the operation command unit. The operation command unit includes a grip handle for being gripped by a human hand, and a trigger lever movable toward and away from the grip handle. The trigger lever comprises a pulling member which can be pulled toward the grip handle by a finger held against the pulling member, and a pushing member which can be pushed away from the grip handle by the finger held against the pushing member, the pushing member being disposed in facing relation to the pulling member. The pushing member has a hemispherical cavity defined in a surface thereof which faces the pulling member.
189 Citations
29 Claims
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1. An operating mechanism comprising:
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a grip handle for being gripped by a human hand; and a trigger lever movable toward and away from the grip handle; the trigger lever comprising; a pulling member which can be pulled toward the grip handle by a finger held against the pulling member; and a pushing member which can be pushed away from the grip handle by the finger held against the pushing member, the pushing member being disposed in facing relation to the pulling member; the pushing member having a cavity defined in a surface thereof which faces the pulling member. - View Dependent Claims (2, 3)
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4. An operating mechanism comprising:
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a grip handle for being gripped by a human hand; a trigger lever movable toward and away from the grip handle; and a switch movable toward and away from the grip handle; the trigger lever and the switch being disposed on a plane on one side of the grip handle and juxtaposed in a Y direction in which the grip handle extends longitudinally. - View Dependent Claims (5, 6, 7, 8)
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9. A medical manipulator comprising:
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an operating mechanism comprising a grip handle for being gripped by a human hand, and a trigger lever movable toward and away from the grip handle; the trigger lever comprising; a pulling member which can be pulled toward the grip handle by a finger held against the pulling member; and a pushing member which can be pushed away from the grip handle by the finger held against the pushing member; the pushing member being disposed in facing relation to the pulling member, the pushing member having a cavity defined in a surface thereof which faces the pulling member; a shaft extending from the operating mechanism; and a distal-end working unit mounted on a distal end of the shaft; wherein the distal-end working unit is moved when the trigger lever is operated.
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10. A medical manipulator comprising:
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a grip handle for being gripped by a human hand; a shaft extending from the grip handle; and a distal-end working unit mounted on a distal end of the shaft; the grip handle being of a hollow structure and including at least one pressure-regulating mechanism. - View Dependent Claims (11, 12)
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13. An operating mechanism comprising:
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a grip handle for being gripped by a human hand; an actuator for actuating a working unit; a cable connected to a controller; and an actuator unit housing the actuator therein; the actuator having an axis extending substantially parallel to a direction in which the grip handle extends, the grip handle having an upper end connected to the actuator unit, and the grip handle having a lower end connected to the cable. - View Dependent Claims (14, 15, 16)
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17. A medical manipulator comprising:
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an actuator unit housing an actuator therein; and a working unit detachably mounted on the actuator unit and including a shaft and a distal-end working unit mounted on a distal end of the shaft for angular movement about an axis not parallel to an axis of the shaft in response to operation of the actuator; the actuator unit having two independent engaging members for holding the working unit. - View Dependent Claims (18, 19, 20)
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21. A medical manipulator comprising:
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an actuator unit housing an actuator therein; a shaft extending from the actuator unit; a distal-end working unit disposed on a distal end of the shaft and operatively coupled to the actuator; an operating unit for supplying an operation command to the distal-end working unit; a first switch disposed in the operating unit; and a controller for controlling operation of the actuator in response to the operation command from the operating unit; the distal-end working unit including a rolling mechanism rotatable about an axis extending toward a distal end of the distal-end working unit and at least one angularly movable mechanism angularly movable about an axis not parallel to the shaft; wherein the controller energizes the actuator in response to operation of the first switch to return only the rolling mechanism to a predetermined origin attitude. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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28. A surgical robot system comprising:
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a robot arm; an actuator unit mounted on the robot arm and housing an actuator therein; a working unit detachably mounted on the actuator unit and including a shaft and a distal-end working unit mounted on a distal end of the shaft for angular movement about an axis not parallel to an axis of the shaft in response to operation of the actuator; and a controller disposed remotely from at least the working unit, for controlling the robot arm; the controller comprising; an operating mechanism comprising a grip handle for being gripped by a human hand, and a trigger lever movable toward and away from the grip handle; the trigger lever comprising; a pulling member which can be pulled toward the grip handle by a finger held against the pulling member; and a pushing member which can be pushed away from the grip handle by the finger held against the pushing member, the pushing member being disposed in facing relation to the pulling member; the pushing member having a cavity defined in a surface thereof which faces the pulling member. - View Dependent Claims (29)
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Specification