ROBOT SYSTEM FOR ENDOSCOPIC TREATMENT
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Abstract
A robot system for endoscopic treatment includes a gripping unit, a manipulator unit, a treatment instrument drive unit, a gripping force detection unit, a control unit. The gripping unit is inserted into a body cavity along with an endoscopic apparatus and grips desired living tissue using gripping members. The manipulator unit includes a multi-joint structure that enables bending and stretching. The treatment instrument drive unit pulls and pays out wires. The gripping force detection unit detects gripping force provided by the gripping members. The control unit instructs the treatment instrument drive unit to pull and pay out the wires for the gripping operation so that the gripping force detected by the gripping force detection unit falls within a predetermined range when the gripping unit in the gripping state moves.
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Citations
21 Claims
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1-10. -10. (canceled)
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11. A robot system for endoscopic treatment comprising:
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a gripping unit configured to be inserted into a body cavity along with an endoscopic apparatus wherein a desired living tissue is to be gripped by gripping members configured to move by a wire operation; a manipulator unit having at least one degree of freedom or more and including a multi joint structure configured to bend at a desired angle or stretch wherein the gripping unit is provided at a distal end; a treatment instrument drive unit configured to perform a pulling and a paying out of wires for a gripping motion of the gripping unit and moving a region of the multi joint structure; a gripping force detection unit configured to detect gripping force in the gripping members when the gripping unit grips the living tissue; and a control unit configured to instruct the treatment instrument drive unit on the wire operation of the gripping members so that the gripping force detected by the gripping force detection unit falls within a range of a predetermined threshold, when the gripping unit in a gripping state is moved. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A robot system for endoscopic treatment comprising:
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gripping means for being inserted into a body cavity along with an endoscopic means wherein a desired living tissue is to be gripped by gripping member means for moving by wire means operation; manipulator means having at least one degree of freedom or more and including multi joint means for bending at a desired angle or stretching wherein the gripping means is provided at a distal end; treatment instrument drive means for performing a pulling and a paying out of wire means for a gripping motion of the gripping means and moving a region of the multi joint means; gripping force detection means for detecting gripping force in the gripping member means when the gripping means grips the living tissue; and control means for instructing the treatment instrument drive means on the wire means operation of the gripping member means so that the gripping force detected by the gripping force detection means falls within a range of a predetermined threshold, when the gripping means in a gripping state is moved.
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Specification