Power transmission mechanism and manipulator

• US 7,300,373 B2
• Filed: 03/30/2004
• Issued: 11/27/2007
• Est. Priority Date: 03/31/2003
• Status: Active Grant

• Current Assignee: Terumo Kabushiki Kaisha (Terumo Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Jinno, Makoto, Kudo, Akira, Tsukada, Shiro, Miyagawa, Toyomi
• Primary Examiner(s): Charles; Marcus
• Application Number:
  US10/811,848
• Publication Number:
  US 20040266574A1
• Time in Patent Office: 1,337 Days
• Field of Search: 474 64- 70, 474152-156, 474/174, 474/148, 124/25.6, 124 86- 90, 355/55, 355/71, 411/98, 411778-781, 411/385, 411/400, 600/149
• US Class Current: 474/153
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 2017/00371 Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/292 connection of actuating rod to handle, e.g. ball end in recess
• 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 2017/294 Connection of actuating rod to jaw, e.g. releasable
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• 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: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: F16H 7/04 with ropes

Abstract

A power transmission mechanism comprising: a flexible power transmission element; a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, each the pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedding hole; and a pair of columnar or tapered anchor pins each having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, wherein each the anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley.

Claims

1. A power transmission mechanism for medical manipulator comprising:

a flexible power transmission element;

a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, one of the drive pulley and the driven pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedding hole, the slit embedding the flexible power transmission element wound on a part of the outer circumferential thereof; and

an anchor pin having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, the anchor pin fixing one of the pair of the drive pulley and the driven pulley, and the path hole being formed in the slit,

wherein at least one of said pin-embedding hole and said anchor pin has a tapered shape, each said anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley.

2. The power transmission mechanism for medical manipulator according to claim 1 wherein the anchor pin is made of an elastic material and reduces its diameter when compressed.

3. The power transmission mechanism for medical manipulator according to claim 1 wherein the outer diameter of the anchor pin is larger than the inner diameter of the embedding hole of the pulley.

4. The power transmission mechanism for medical manipulator according to claim 1 wherein the slit of the pulley extends substantially parallel with a tangential line of a point on the outer circumferential surface of the pulley.

5. The power transmission mechanism for medical manipulator according to claim 1 wherein the path hole of the anchor pin includes a slit portion extended along the axial direction of the anchor pin to permit the path hole to reduce the diameter thereof when inserted in the embedding hole under pressure.

6. The power transmission mechanism for medical manipulator according to claim 5 wherein the slit portion of the path hole in each said anchor pin extend to one or both of the upward direction and the downward direction along the axial direction of the anchor pin.

7. The power transmission mechanism for medical manipulator according to claim 6 wherein the slit portion extends upward along the axial direction of the anchor pin and penetrates the top surface of the anchor pin to divide it.