초록 ▼

An apparatus for holding a medical instrument, such as an endoscope, in place without exerting an undue force on an insertion hole in an abdominal cavity of a subject even when the arm of a scope-holding section is unlocked, includes a four-link parallelogram mechanism. The four-link parallelogram m

An apparatus for holding a medical instrument, such as an endoscope, in place without exerting an undue force on an insertion hole in an abdominal cavity of a subject even when the arm of a scope-holding section is unlocked, includes a four-link parallelogram mechanism. The four-link parallelogram mechanism includes a support arm for supporting a treating tool, an arm section parallel to the support arm and upper and lower arm sections connected to the upper and lower end sides of the support arm and arm section in a parallel relation. A support mechanism supports the arm sections of the four-link parallelogram mechanism to allow the arm sections to be moved in left/right and up/down directions, while being rotated, so that a straight line connecting an intersecting point P of a center line of the treating instrument inserted into an insertion hole in an abdominal wall of a subject and the center of the insertion hole to spherical bearings of the arm is set parallel to the upper and lower arm sections.

대표청구항 ▼

An apparatus for holding a medical instrument in place when a medical operation is to be performed on a subject at an operation field in the subject, with the medical instrument inserted into an insertion hole of a body wall of a subject, which insertion hole provides access to said operation field,

An apparatus for holding a medical instrument in place when a medical operation is to be performed on a subject at an operation field in the subject, with the medical instrument inserted into an insertion hole of a body wall of a subject, which insertion hole provides access to said operation field, the apparatus comprising: holding means for holding the medical instrument in place; a fixing device defining a fixing position which is located separate and apart from the subject; and locating means coupled between the holding means and said fixing device defining said fixing position, for locating the holding means at a position near the subject and significantly separate from the operation field; said locating means including: a parallel link mechanism supporting the holding means such that the medical instrument which is held by the holding means is rotatable about a fixed, non-movable pivot point which is located near the insertion hole, the medical instrument being rotatable through the holding means about the fixed, non-movable, pivot point in a plane passing through the fixed, non-movable, pivot point which substantially corresponds to a rotation center of the medical instrument; a rotating mechanism supporting the parallel link mechanism for rotating a plane of the parallel link mechanism about a line passing through the fixed, non-movable, pivot point; and means for setting the parallel link mechanism and the rotating mechanism so that the fixed, non-movable, pivot point is set at a predetermined position near the insertion hole.