MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM
First Claim
1. A medical manipulator comprising:
- a rod-shaped member housing therein a first flexible member actuatable by a first actuator and a second flexible member actuatable by a second actuator, said rod-shaped member being flexible at least partly;
at least one distal-end joint disposed on a distal end of said rod-shaped member, said distal-end joint being angularly movable by a rotor around which said first flexible member is wound; and
at least one intermediate joint disposed on said rod-shaped member more closely to a proximal end thereof than said distal-end joint, said intermediate joint being bendable in response to back-and-forth movement of said second flexible member.
1 Assignment
0 Petitions
Accused Products
Abstract
The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis.
93 Citations
13 Claims
-
1. A medical manipulator comprising:
-
a rod-shaped member housing therein a first flexible member actuatable by a first actuator and a second flexible member actuatable by a second actuator, said rod-shaped member being flexible at least partly; at least one distal-end joint disposed on a distal end of said rod-shaped member, said distal-end joint being angularly movable by a rotor around which said first flexible member is wound; and at least one intermediate joint disposed on said rod-shaped member more closely to a proximal end thereof than said distal-end joint, said intermediate joint being bendable in response to back-and-forth movement of said second flexible member. - View Dependent Claims (2, 3, 4)
-
-
5. A medical robot system comprising:
-
a plurality of first robot arms supporting respective manipulators thereon; a second robot arm supporting an endoscope thereon; and a controller for controlling said first robot arms and said second robot arm; each of said manipulators including a rod-shaped member for insertion through a trocar into a body cavity, and a distal-end working unit mounted on a distal end of said rod-shaped member and having at least one joint; wherein at least one of said manipulators comprises a retractor and has at least one intermediate joint disposed in said rod-shaped member for bending said rod-shaped member. - View Dependent Claims (6, 7, 8, 9, 10)
-
-
11. A medical robot system comprising:
-
a plurality of first robot arms supporting respective manipulators thereon; a second robot arm supporting an endoscope thereon; and a controller for controlling said first robot arms and said second robot arm; said manipulators and said endoscope being inserted into a body cavity through a common trocar supporting member, wherein each of said manipulators includes a rod-shaped member for insertion through said trocar supporting member into said body cavity, a distal-end working unit mounted on a distal end of said rod-shaped member and having at least one joint, and at least one intermediate joint disposed in said rod-shaped member for bending said rod-shaped member. - View Dependent Claims (12, 13)
-
Specification