Manipulator

• US 7,540,867 B2
• Filed: 03/28/2006
• Issued: 06/02/2009
• 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
• Primary Examiner(s): Johnson, III; Henry M
• Assistant Examiner(s): CRANDALL, LYNSEY P
• Application Number:
  US11/390,458
• Publication Number:
  US 20060219065A1
• Time in Patent Office: 1,162 Days
• Field of Search: None
• US Class Current: 606/1
• 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 arranged orthogonal 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 gear rotatably supported in a direction around the first rotor axis portion;

a second gear rotatably supported in a direction around the first rotor axis portion;

a third gear which engages with the first gear and is rotatably supported in a direction around the main shaft portion;

a fourth gear which engages with the second gear and is rotatably supported in the direction around the main shaft portion;

a second rotor axis portion which coaxially rotates with the third gear;

a fifth gear which coaxially rotates with the fourth gear;

a third rotor axis portion which rotates in the direction around the main shaft portion in conformity with rotation of the second rotor axis portion and is arranged from a torsional position to a parallel position with the first rotor axis portion;

a sixth gear which is rotatably supported in a direction around the third rotor axis portion and engages with the fifth gear; and

a first treating member which rotates in the direction around the third rotor axis portion with the sixth gear and rotates in the direction around the main shaft portion with the third gear.