Position detection sensor and manipulator

• US 9,802,324 B2
• Filed: 06/16/2015
• Issued: 10/31/2017
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Iida, Masatoshi
• Primary Examiner(s): Guadalupe-McCall, Yaritza
• Application Number:
  US14/740,465
• Publication Number:
  US 20160001447A1
• Time in Patent Office: 868 Days
• Field of Search: 33706
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2017/00929 isolating electrical current
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: F04C 2270/0421 Controlled or regulated
• CPC Class Codes: G01D 5/165 by relative movement of a point of contact or actuation and a resistive track
• CPC Class Codes: G01D 5/2451 Incremental encoders G01D5/2454 takes precedence
• CPC Class Codes: G01D 5/2457 Incremental encoders having reference marks

Abstract

A position detection sensor includes: a linear member; a conductive portion and an insulating portion provided in an outer periphery of the linear member and arranged side by side in a direction of an axis of the linear member; a support member having insulating properties and provided so as to be capable of being relatively advanced or retracted in the direction of the axis with respect to the conductive portion and the insulating portion; and a conductive contact member attached to the support member and configured such that a distal end of the contact member comes in contact with outer surfaces of the conductive portion and the insulating portion by a biasing force toward the outer surfaces of the conductive portion and the insulating portion.

Claims

1. A position detection sensor comprising:

a linear member;

a conductive portion and an insulating portion provided in an outer periphery of the linear member, the conductive portion and the insulating portion being arranged side by side in a direction of an axis of the linear member;

a support member having insulating properties, the support member being provided so as to be capable of being relatively advanced or retracted in the direction of the axis with respect to the conductive portion and the insulating portion;

a conductive contact member attached to the support member, the contact member being configured such that a distal end of the contact member comes in contact with outer surfaces of the conductive portion and the insulating portion by a biasing force toward the outer surfaces of the conductive portion and the insulating portion;

a first biasing member configured to generate the biasing force;

a second biasing member configured to generate the biasing force,

a holding member configured to hold the first biasing member and the second biasing member; and

a fixing portion configured to fix the first biasing member and the second biasing member to the holding member, wherein

the first biasing member and the second biasing member are attached to the support member together with the holding member,

the contact member includes a first contact member attached to the first biasing member and a second contact member attached to the second biasing member,

the conductive portion is provided in plural numbers, and the insulating portion is provided in plural numbers,

each of the plurality of conductive portions and each of the plurality of insulating portions are alternately arranged in the direction of the axis, and

the holding member holds the first biasing member and the second biasing member such that a distance in the direction of the axis between a position in which the second contact member comes in contact with the plurality of conductive portions or the plurality of insulating portions and a position in which the first contact member comes in contact with the plurality of conductive portions or the plurality of insulating portions becomes a predetermined distance.

2. The position detection sensor according to claim 1, wherein the conductive portion and the insulating portion are provided over an entire circumference of the linear member.

3. The position detection sensor according to claim 2, further comprising

a second conductive portion arranged side by side in the direction of the axis with the conductive portion and the insulating portion, a length of the second conductive portion in the direction of the axis being set to be equal to or more than a length of the conductive portion, wherein

the contact member includes a first contact member, a second contact member, a third contact member, and a fourth contact member,

a position in which the second contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to a proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to a position in which the first contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion,

a position in which the third contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to the proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to the position in which the second contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion, and

a position in which the fourth contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to the proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to the position in which the third contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion.

4. The position detection sensor according to claim 1, wherein

a first holding hole extending in the direction of the axis is formed in the holding member, wherein the first biasing member is capable of being inserted into the first holding hole, and

a rotation prevention portion configured to prevent the first biasing member from rotating around a longitudinal direction of the first biasing member in the first holding hole is provided in the first holding hole.

5. The position detection sensor according to claim 1, wherein

a length of each of the plurality of conductive portions in the direction of the axis and a length of each of the plurality of insulating portions in the direction of the axis are equal to each other, and

when the length of each of the plurality of conductive portions in the direction of the axis is L and N is a natural number, the predetermined distance is equal to a value obtained using an expression of L(N−

1/2).

6. A manipulator comprising:

the position detection sensor according to claim 1; and

a pivoting member pivotably supported by the support member, wherein

a distal end portion of the linear member is attached to the pivoting member.

7. A position detection sensor comprising:

a linear member;

a conductive portion and an insulating portion provided in an outer periphery of the linear member, the conductive portion and the insulating portion being arranged side by side in a direction of an axis of the linear member;

a support member having insulating properties, the support member being provided so as to be capable of being relatively advanced or retracted in the direction of the axis with respect to the conductive portion and the insulating portion;

a conductive contact member attached to the support member, the contact member being configured such that a distal end of the contact member comes in contact with outer surfaces of the conductive portion and the insulating portion by a biasing force toward the outer surfaces of the conductive portion and the insulating portion; and

a conductive tubular member provided between the conductive portion and the insulating portion, and the linear member, the tubular member being electrically connected to the conductive portion, wherein

the conductive portion is provided in plural numbers,

the insulating portion is arranged between the plurality of conductive portions adjacent in the direction of the axis, and

a length of each of the plurality of conductive portions in the direction of the axis and a length of the insulating portion in the direction of the axis are set to be substantially equal to each other.

8. The position detection sensor according to claim 7, further comprising

an insulating covering material which covers the outer periphery of the linear member, wherein

the contact member includes a first contact member and a second contact member, and

a position in which the second contact member comes in contact with the plurality of conductive portions or the insulating portion is shifted in the direction of the axis by a half of the length of each of the plurality of conductive portions in the direction of the axis relative to a position in which the first contact member comes in contact with the plurality of conductive portions or the insulating portion.

9. The position detection sensor according to claim 7, wherein

the contact member includes a first contact member and a second contact member,

the linear member has conductivity,

the linear member is electrically connected to the tubular member,

a position in which the second contact member comes in contact with the plurality of conductive portions or the insulating portion is shifted in the direction of the axis by a half of the length of each of the plurality of conductive portions in the direction of the axis relative to a position in which the first contact member comes in contact with the plurality of conductive portions or the insulating portion.

10. The position detection sensor according to claim 7, wherein

the contact member includes a first contact member formed in a spherical shape and a second contact member formed in a spherical shape, and

a position in which the second contact member comes in contact with the plurality of conductive portions or the insulating portion is shifted in the direction of the axis by a half of the length of each of the plurality of conductive portions in the direction of the axis relative to a position in which the first contact member comes in contact with the plurality of conductive portions or the insulating portion.

11. The position detection sensor according to claim 7, further comprising

a receiving member including a concave portion opened toward the axis of the linear member, the receiving member being formed of a conductive material, wherein

the receiving member is configured to rotatably support the contact member in the concave portion.

12. A manipulator comprising:

the position detection sensor according to claim 7; and

a pivoting member pivotably supported by the support member, wherein

a distal end portion of the linear member is attached to the pivoting member.

13. The position detection sensor according to claim 7, wherein the conductive portion and the insulating portion are provided over an entire circumference of the linear member.

14. The position detection sensor according to claim 13, further comprising

a second conductive portion arranged side by side in the direction of the axis with the conductive portion and the insulating portion, a length of the second conductive portion in the direction of the axis being set to be equal to or more than a length of the conductive portion, wherein

the contact member includes a first contact member, a second contact member, a third contact member, and a fourth contact member,

a position in which the second contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to a proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to a position in which the first contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion,

a position in which the third contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to the proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to the position in which the second contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion, and

a position in which the fourth contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to the proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to the position in which the third contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion.

15. A position detection sensor comprising:

a linear member;

a conductive portion and an insulating portion provided in an outer periphery of the linear member, the conductive portion and the insulating portion being arranged side by side in a direction of an axis of the linear member;

a support member having insulating properties, the support member being provided so as to be capable of being relatively advanced or retracted in the direction of the axis with respect to the conductive portion and the insulating portion;

a conductive contact member attached to the support member, the contact member being configured such that a distal end of the contact member comes in contact with outer surfaces of the conductive portion and the insulating portion by a biasing force toward the outer surfaces of the conductive portion and the insulating portion; and

a holding member provided in the outer periphery of the linear member, the holding member including a holding surface parallel to the axis of the linear member in an outer surface of the holding member, wherein

the conductive portion and the insulating portion are arranged on the holding surface, and

the support member is configured to be capable of being advanced or retracted in the direction of the axis with respect to the conductive portion and the insulating portion, and is configured to prevent the linear member from rotating in a circumferential direction with respect to the conductive portion and the insulating portion.

16. A manipulator comprising:

the position detection sensor according to claim 15; and

a pivoting member pivotably supported by the support member, wherein

a distal end portion of the linear member is attached to the pivoting member.

17. The position detection sensor according to claim 15, wherein the conductive portion and the insulating portion are provided over an entire circumference of the linear member.

18. The position detection sensor according to claim 17, further comprising

a second conductive portion arranged side by side in the direction of the axis with the conductive portion and the insulating portion, a length of the second conductive portion in the direction of the axis being set to be equal to or more than a length of the conductive portion, wherein

the contact member includes a first contact member, a second contact member, a third contact member, and a fourth contact member,

a position in which the second contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to a proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to a position in which the first contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion,

a position in which the third contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to the proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to the position in which the second contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion, and

a position in which the fourth contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion is shifted to the proximal end of the linear member by a half of the length of the conductive portion in the direction of the axis relative to the position in which the third contact member comes in contact with the conductive portion, the insulating portion, or the second conductive portion.