MANIPULATOR FOR MEDICAL USE

• US 20090112229A1
• Filed: 11/13/2007
• Published: 04/30/2009
• Est. Priority Date: 10/31/2007
• Status: Active Grant

• Current Assignee: Karl Storz Se & Co. Kg
• Original Assignee: Terumo Kabushiki Kaisha (Terumo Corporation)
• Inventors: Jinno, Makoto, Uenohara, Shuichi, Omori, Shigeru
• Granted Patent: US 9,662,131 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• 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

Abstract

A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator.

Claims

1. A medical manipulator comprising:

a distal end working unit including an end effector;

an operating unit for operating said distal end working unit;

a coupling interconnecting said distal end working unit and said operating unit; and

an attitude changing mechanism for changing an attitude of said distal end working unit,

wherein said end effector is mechanically operated by a transmitting member when said operating unit is operated by an operator, and

wherein said attitude changing mechanism is operated by an actuator, which is operated when said operating unit is operated by the operator.

2. A medical manipulator according to claim 1, wherein said attitude changing mechanism comprises:

a bending mechanism for bending a portion of said coupling; and

a rotating mechanism for rotating said distal end working unit about an axis,

wherein said rotating mechanism is capable of rotating said distal end working unit about a bent axis when said distal end working unit is bent out of parallelism with an axis of said coupling by said bending mechanism.

3. A medical manipulator according to claim 1, wherein said coupling is detachably mounted on said operating unit.

4. A medical manipulator according to claim 1, wherein said operating unit includes a handle angularly movable by the operator in order to move said transmitting member back and forth.

5. A medical manipulator according to claim 2, wherein said actuator of said bending mechanism moves a wire that extends through said coupling back and forth when said operating unit is operated.

6. A medical manipulator according to claim 2, wherein said transmitting member extends through said coupling and includes at least one flexible portion corresponding to a portion of said coupling, which is bendable by said bending mechanism, and further wherein said actuator of said rotating mechanism rotates said distal end working unit through said transmitting member operated by said operating unit.

7. A medical manipulator according to claim 1, wherein said transmitting member comprises a flexible member and a cylindrical member around which said flexible member is wound.

8. A medical manipulator according to claim 1, wherein said attitude changing mechanism includes a rotational shaft comprising a cylindrical member, and said transmitting member includes a flexible member having a portion wound around said cylindrical member, whereby said transmitting member operates said end effector through said flexible member.