MANIPULATOR

• US 20090216249A1
• Filed: 04/29/2009
• Published: 08/27/2009
• Est. Priority Date: 03/29/2005
• Status: Active Grant

• Current Assignee: Terumo Kabushiki Kaisha (Terumo Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Sunaoshi, Takamitsu, Jinno, Makoto
• Granted Patent: US 8,512,316 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 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.

2. The manipulator according to claim 1,

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.

3. The manipulator according to claim 1,

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