Manipulator

• US 7,717,904 B2
• Filed: 04/05/2006
• Issued: 05/18/2010
• Est. Priority Date: 04/07/2005
• Status: Expired due to Fees

• Current Assignee: KEIO University
• Original Assignee: KEIO University
• Inventors: Kitajima, Masaki, Morikawa, Yasuhide, Nakazawa, Kazuo, Suzuki, Takashi
• Primary Examiner(s): Johnson, III; Henry M
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US11/278,786
• Publication Number:
  US 20060229666A1
• Time in Patent Office: 1,504 Days
• Field of Search: 606/1, 606 50- 52, 606205-211, 606/39, 606/120, 606/151, 606/190, 606/237, 606/53, 623/24
• US Class Current: 606/1
• CPC Class Codes: A61B 17/28 Surgical forceps for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201 ; obstetrical forceps A61B17/44; for inserting intraocular lenses A61F2/1662; hand-held gripping tools in general B25B7/00 ]
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2902 characterized by features of the actuating rod
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points

Abstract

The manipulator has two-degree-of-freedom of rotation and gripping, and is capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operation part 1 and a working part 2. The link mechanism 3 has four driving rods 3a to 3d and first and second coupling members of the sane structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to the operation of first and second operating members 1a, 1b with the aid of the link mechanism 3. The first and second working member can open and close, change the yaw angles and the pitch angles in response to the same action of the first and second operating member through the link mechanism.

Claims

1. A manipulator including a working part for implementing a work and an operating part for implementing an operation, the operation in the said operating part being transmitted to the said working part, and force acted on the said working part being transmitted to the said operating part as force sensation comprising:

at least four driving rods provided between said working part and said operating part;

opposite ends of said driving rod coupled with said working part and said operating part via coupling members of the same structure;

longitudinal axes of said respective driving rods are directed in parallel and at least longitudinal axes of all the driving rods being arranged not to be in the same plane; and

said coupling members on sides of the operating part and said working part forcing said respective driving rods to be moved axially in conformity with the operation said the operating part while keeping them in parallel and driving said working part correspondingly to the operation of said operation part, each of said coupling members having a central axis;

wherein said operating part comprises a first and a second operating member, said first and said second operating member being coupled rotatably to said coupling member on the side of said operating part taking said central axis of said coupling member on the side of said operating part as an axis,

said working part comprises a first and a second working member, and said first and said second working member being coupled rotatably with said coupling member of the side of said working part taking said central axis of said coupling member as an axis;

at least a first and a third driving member of said driving rods are coupled with one side of said coupling member with respect to said central axis respectively independently rotatably, and at least a second and a fourth driving member of said driving rods are coupled with the other side of said coupling member with respect to said central axis respectively independently rotatably;

a first operating member is coupled with said first working member via a first and a second driving rod of said four driving rods, and said second operating member being coupled with said second working member via a third and a fourth driving rod of said four driving rods;

when it is assumed that the direction of the axis of said driving rods is an X axis direction, and directions perpendicular to the X-axis are Y-axis and Z-axis directions respectively,

when said first and said second operating member are both rotated around the Y-axis, at least said first and said second driving rod are both rotated in a first direction via said coupling member, and said third and said fourth driving rod move oppositely to said first direction to both rotate said first and said second working members around the Y-axis;

when said first and said second operating members are both rotated around Z-axis, at least said first and said third driving rod are both rotated in a first direction, and said second and said fourth driving rod move oppositely to said first direction to both rotate said first and said second working member;

when said first operating member is rotated around Z-axis, one of said first and said second driving rod is rotated in a first direction and the other moves in the opposite direction to rotate said first working member around Z-axis; and

when said second operating member is rotated around Z-axis, one of said third and said fourth driving rod is rotated in the first direction and the other moves in the opposite direction to the first direction to rotate said second working member around Z-axis.

2. The manipulator according to claim 1, wherein

said first coupling member includes a first and a second movable member rotatable around said central axis thereof;

said second coupling member includes a third and a fourth movable member rotatable around said central axis thereof;

said first operating member is coupled to said first movable member;

said second operating member is coupled to said second movable member;

said first working member is coupled to said third movable member;

said second working member is coupled to said fourth movable member;

said first driving rod is provided between each one side of said first movable member and said third movable member with respect to said central axis, rotatably around a first axis parallel to said central axis, and rotatably around a second axis perpendicular to both said central axis and the longitudinal direction of said first driving rod;

said second driving rod is provided between each the other side of said first movable member and said third movable member with respect to said central axis, rotatably around a third axis parallel to said central axis, and rotatably around a fourth axis perpendicular to both said central axis and the longitudinal direction of said second driving rod;

said third driving rod is provided between each one side of said second movable member and said fourth movable member with respect to said central axis, rotatably around a fifth axis parallel to said central axis, and rotatably around a sixth axis perpendicular to both said central axis and the longitudinal direction of said third driving rod; and

said fourth diving rod is provided between each the other side of said second movable member and said fourth movable member with respect to said central axis, rotatably around a seventh axis parallel to said central axis, and rotatably around a eighth axis perpendicular to both said central axis and the longitudinal direction of said fourth driving rod.

3. The manipulator according to claim 1 wherein one or more intermediate coupling members having the central axis, with the same structure as each of said first coupling member and said second coupling member, is provided in each way of said driving rods, thereby supporting said driving rods.

4. The manipulator according to claim 2 wherein one or more intermediate coupling members having the central axis, with the same structure as each of said first coupling member and said second coupling member, is provided in each way of said driving rods, thereby supporting said driving rods.

5. The manipulator according to claim 3, comprising:

a easing for covering said driving rods; and

a fixing member attached to said easing rotatably around said Y axis;

wherein at least one of said intermediate coupling members is mounted on said fixing member, said central axis thereof being in said Z-axis direction.

6. The manipulator according to claim 1, wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working member, and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member, and having the other end side thereof rotatably mounted on said second working member; and

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.

7. The manipulator according to claim 2, wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working member (2d), and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member, and having the other end side thereof rotatably mounted on said second working member; and

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.

8. The manipulator according to claim 3, wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working member, and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member, and having the other end side thereof rotatably mounted on said second working member;

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.

9. The manipulator according to claim 5, wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working member, and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member, and having the other end side thereof rotatably mounted on said second working member; and

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.

10. A manipulator including a working part for implementing a work and an operating part for implementing an operation, the operation in said operating part being transmitted to said working part, and force acted on said working part being transmitted to said operating part as force sensation comprising:

a first, second, third and fourth driving rods, in total four driving rods, are provided between said working part and said operating part;

a first coupling member on said operating part and a second coupling member on said working part, of the same structure, are provided to couple said driving rods with said operating part and said working part, each of said first coupling member and said second coupling member having a central axis;

opposite ends of said respective driving rods are coupled with said operating part and said working part via said first coupling member and said second coupling member;

longitudinal axes of said respective driving rods are directed in parallel and at least longitudinal axes of all the driving rods being arranged not to be on the same plane; and

said first coupling member and said second coupling member forcing said respective driving rods to move axially in conformity with the operation of said operating part while keeping them in parallel and driving said working part correspondingly to the operation of said operating part;

said operating part comprises a first and a second operating member, said first and said second operating member being coupled rotatably, independently from each other, to said first coupling member;

said working part comprises a first and a second working member, said first and said second working member being coupled rotatably, independently from each other, to said second coupling member;

said first operating member and said first working member are coupled via said first and said second driving rod provided between said first coupling member and said second coupling member; and

said second operating member and said second working member are coupled via said third and said fourth driving rod provided between said first coupling member and said second coupling member,

wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working member, and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member,

and having the other end side thereof rotatably mounted on said second working member; and

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.

11. A manipulator including a working part for implementing a work and an operating part for implementing an operation, the operation in said operating part being transmitted to said working part, and force acted on said working part being transmitted to said operating part as force sensation comprising:

a first, second, third and fourth driving rods, in total four driving rods, are provided between said working part and said operating part;

a first coupling member on said operating part and a second coupling member on said working part, of the same structure, are provided to couple said driving rods with said operating part and said working part, each of said first coupling member and said second coupling member having a central axis;

opposite ends of said respective driving rods are coupled with said operating part and said working part via said first coupling member and said second coupling member;

longitudinal axes of said respective driving rods are directed in parallel and at least longitudinal axes of all the driving rods being arranged not to be on the same plane; and

said first coupling member and said second coupling member forcing said respective driving rods to move axially in conformity with the operation of said operating part while keeping them in parallel and driving said working part correspondingly to the operation of said operating part;

said operating part comprises a first and a second operating member, said first and said second operating member being coupled rotatably, independently from each other, to said first coupling member;

said working part comprises a first and a second working member, said first and said second working member being coupled rotatably, independently from each other, to said second coupling member;

said first operating member and said first working member are coupled via said first and said second driving rod provided between said first coupling member and said second coupling member; and

said second operating member and said second working member are coupled via said third and said fourth driving rod provided between said first coupling member and said second coupling member,

wherein said first coupling member includes a first and a second movable member rotatable around said central axis thereof;

said second coupling member includes a third and a fourth movable member rotatable around said central axis thereof;

said first operating member is coupled to said first movable member;

said second operating member is coupled to said second movable member;

said first working member is coupled to said third movable member;

said second working member is coupled to said fourth movable member;

said first driving rod is provided between each one side of said first movable member and said third movable member with respect to said central axis, rotatably around an first axis parallel to said central axis, and rotatably around an second axis perpendicular to both said central axis and the longitudinal direction of said first driving rod;

said second driving rod is provided between each the other side of said first movable member and said third movable member with respect to said central axis, rotatably around a third axis parallel to said central axis, and rotatably around a fourth axis perpendicular to both said central axis and the longitudinal direction of said second driving rod;

said third driving rod is provided between each one side of said second movable member and said fourth movable member with respect to said central axis, rotatably around a fifth axis parallel to said central axis, and rotatably around a sixth axis perpendicular to both said central axis and the longitudinal direction of said third driving rod; and

said fourth driving rod is provided between each the other side of said second movable member and said fourth movable member with respect to said central axis, rotatably around an seventh axis parallel to said central axis, and rotatably around a eighth axis perpendicular to both said central axis and the longitudinal direction of said fourth driving rod, and

wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working member, and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member, and having the other end side thereof rotatably mounted on said second working member; and

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.

12. A manipulator including a working part for implementing a work and an operating part for implementing an operation, the operation in said operating part being transmitted to said working part, and force acted on said working part being transmitted to said operating part as force sensation comprising:

a first, second, third and fourth driving rods, in total four driving rods, are provided between said working part and said operating part;

a first coupling member on said operating part and a second coupling member on said working part, of the same structure, are provided to couple said driving rods with said operating part and said working part, each of said first coupling member and said second coupling member having a central axis;

opposite ends of said respective driving rods are coupled with said operating part and said working part via said first coupling member and said second coupling member;

longitudinal axes of said respective driving rods are directed in parallel and at least longitudinal axes of all the driving rods being arranged not to be on the same plane; and

said first coupling member and said second coupling member forcing said respective driving rods to move axially in conformity with the operation of said operating part while keeping them in parallel and driving said working part correspondingly to the operation of said operating part;

said operating part comprises a first and a second operating member, said first and said second operating member being coupled rotatably, independently from each other, to said first coupling member;

said working part comprises a first and a second working member, said first and said second working member being coupled rotatably, independently from each other, to said second coupling member;

said first operating member and said first working member are coupled via said first and said second driving rod provided between said first coupling member and said second coupling member; and

said second operating member and said second working member are coupled via

said third and said fourth driving rod provided between said first coupling member and said second coupling member,

wherein one or more intermediate coupling members having the central axis, with the same structure as each of said first coupling member and said second coupling member, is provided in each way of said driving rods, thereby supporting said driving rods, and

wherein a link mechanism is used in said working part;

said link mechanism comprising;

a rotation axis parallel to said central axis of said second coupling member;

a third working member pivoting around said rotation axis and having one free end side acting as a first gripping constituent element of an article to be worked, and having the other end side;

a fourth working member pivoting around said rotation axis and having one free end side acting as a second gripping constituent element of said article to be worked, and having the other end side;

a first arm having one end side thereof rotatably mounted on said other end side of said third working in ember, and having the other end side thereof rotatably mounted on said first working member;

a second arm having one end side thereof rotatably mounted on said other side of said fourth working member, and having the other end side thereof rotatably mounted on said second working member; and

wherein a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said first arm, and a configuration obtained by connecting four points of said central axis, said rotation axis and respective rotation central axes at opposite ends of said second arm are a rectangle, respectively.