[특허]Medical manipulator

[미국특허] Medical manipulator 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A61B-017/32
출원번호	US-0289295 (2005-11-30)
등록번호	US-7314473 (2008-01-01)
우선권정보	JP-2002-271947(2002-09-18)
발명자 / 주소	Jinno,Makoto Sunaoshi,Takamitsu
출원인 / 주소	Kabushiki Kaisha Toshiba
대리인 / 주소	Oblon, Spivak, McClelland, Maier & Neustadt, P.C.
인용정보	피인용 횟수 : 44 인용 특허 : 4

초록 ▼

A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than a back drive torque of the second power transmission unit.

대표청구항 ▼

What is claimed is: 1. A medical manipulator comprising: a working unit that performs operations; a drive unit that drives the working unit on the basis of instructions given thereto by an operating unit; and a power transmission mechanism for transmitting driving force of the drive unit to the working unit; wherein the power transmission mechanism includes a first power transmission unit interlocked with the drive unit, and a second power transmission unit interlocked with the working unit and capable of being detachably connected to the first power transmission unit, and a back drive torque of the first power transmission unit is larger than a drive torque of the second power transmission unit. 2. The medical manipulator according to claim 1, wherein the back drive torque of the first power transmission unit has a strength more than 0.05N��m when the first and the second power transmission unit are connected together. 3. The medical manipulator according to claim 1, wherein the operating unit that generates instructions, wherein the working unit and the second power transmission unit are integrated in an assembly, the operating unit and the first power transmission unit are integrated in an assembly, and the assembly of the working unit and the second power transmission unit, and the assembly of the operating unit and the first power transmission unit can detachably connected together. 4. A method of using the medical manipulator according to claim 1 when the medical manipulator is stopped in an emergency in a state where the working unit is inserted in a cavity of a surgical subject, said method comprising the steps of: removing at least the drive unit and the first power transmission unit; and extracting the working unit and the second power transmission unit from the cavity of the surgical subject. 5. A method of using the medical manipulator according to claim 1 when the medical manipulator is stopped in an emergency in a state where the working unit is inserted in a cavity of a surgical subject, said method comprising the steps of: removing at least the drive unit and the first power transmission unit; setting the working unit in a safe position by manually operating the second power transmission unit; and extracting the working unit and the second power transmission unit from the cavity of the surgical subject. 6. A method of using the medical manipulator according to claim 1 when the medical manipulator is stopped in an emergency in a state where the working unit is inserted in a cavity of a surgical subject, said method comprising the steps of: removing at least the drive unit and the first power transmission unit; and setting the working unit in a safe position by manually operating the working unit using a forceps; and extracting the working unit and the second power transmission unit from a cavity of a surgical subject.

이 특허에 인용된 특허 (4) 인용/피인용 타임라인 분석

Jinno, Makoto, Manipulator.
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Okamura Ryo (Kawasaki JPX) Nishida Shinichiro (Funabashi JPX) Asakura Makoto (Tokyo JPX), Manipulator operating apparatus.
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Jinno,Makoto; Sunaoshi,Takamitsu, Medical manipulator.
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Sunaoshi, Takamitsu, Medical manipulator and method of controlling the same.
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이 특허를 인용한 특허 (44) 인용/피인용 타임라인 분석

Jaworek, Gary S.; Koch, Jr., Robert L.; Auld, Michael D.; Kimsey, John S.; Baber, Daniel L.; Leimbach, Richard L.; Ulrich, Daniel J., Articulatable surgical instruments with conductive pathways for signal communication.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Yates, David C.; Baxter, III, Chester O.; Beckman, Andrew T., Charging system that enables emergency resolutions for charging a battery.
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Kawai, Junko; Jinno, Makoto, Cleaning method for a working mechanism for medical manipulator.
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Harris, Jason L.; Shelton, IV, Frederick E.; Vendely, Michael J., Compressible adjuncts with bonding nodes.
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Leimbach, Richard L.; Lytle, IV, Thomas W.; Sackett, Kevin D.; Overmyer, Mark D., Drive train control arrangements for modular surgical instruments.
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Leimbach, Richard L.; Shelton, IV, Frederick E.; Morgan, Jerome R.; Schellin, Emily A., End effector detection and firing rate modulation systems for surgical instruments.
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Shelton, IV, Frederick E.; Schmid, Katherine J.; Scheib, Charles J.; Aronhalt, Taylor W.; Swayze, Jeffrey S.; Contiliano, Joseph H.; Yang, Chunlin; Henderson, Cortney E.; Aldridge, Jeffrey L., End effector including an implantable arrangement.
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Shelton, IV, Frederick E., Implantable layer assemblies.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Manipulatable surgical systems with selectively articulatable fastening device.
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Sunaoshi, Takamitsu; Jinno, Makoto; Omori, Shigeru, Manipulator system and control apparatus.
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Shelton, IV, Frederick E.; Overmyer, Mark D.; Yates, David C.; Harris, Jason L., Mechanisms for compensating for drivetrain failure in powered surgical instruments.
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Kawai, Junko; Imuta, Shuji, Medical manipulator and cleaning method for medical manipulator.
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Imuta, Shuji, Medical manipulator and welding method.
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Omori, Shigeru, Medical manipulator system.
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Omori, Shigeru; Nagashimada, Masaru; Jinno, Makoto; Sunaoshi, Takamitsu, Medical manipulator system.
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Shelton, IV, Frederick E., Motor-driven surgical instrument.
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Shelton, IV, Frederick E.; Morgan, Jerome R.; Harris, Jason L.; Beckman, Andrew T.; Baxter, III, Chester O., Power adapter for a surgical instrument.
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Shelton, IV, Frederick E., Staple cartridges for forming staples having differing formed staple heights.
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Swayze, Jeffrey S.; Hueil, Joseph C.; Morgan, Jerome R.; Shelton, IV, Frederick E., Stapling assembly configured to produce different formed staple heights.
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Shelton, IV, Frederick E.; Harris, Jason L., Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw.
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Schmid, Katherine J.; Morgan, Jerome R.; Korvick, Donna L.; Shelton, IV, Frederick E., Stapling system comprising an adjunct and a flowable adhesive.
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Shelton, IV, Frederick E.; Baxter, III, Chester O.; Aronhalt, Taylor W.; Young, Joseph E., Stapling system including an actuation system.
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Beckman, Andrew T.; Nalagatla, Anil K.; Hibner, John A.; Shelton, IV, Frederick E., Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band.
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Beckman, Andrew T.; Nalagatla, Anil K.; Koch, Jr., Robert L.; Hibner, John A.; Shelton, IV, Frederick E., Surgical apparatus configured to track an end-of-life parameter.
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Shelton, IV, Frederick E., Surgical cutting and fastening instrument.
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Shelton, IV, Frederick E.; Swayze, Jeffrey S.; Baxter, III, Chester O., Surgical fastening apparatus with a rotary end effector drive shaft for selective engagement with a motorized drive system.
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Yates, David C.; Huitema, Thomas W.; Shelton, IV, Frederick E., Surgical instrument comprising a control system.
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Parihar, Shailendra K.; Kimsey, John S.; Koch, Jr., Robert L.; Nalagatla, Anil K.; Nguyen, Anthony T., Surgical instrument comprising a gap setting system.
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Overmyer, Mark D.; Auld, Michael D.; Adams, Shane R.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical instrument comprising a lockable battery housing.
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Leimbach, Richard L.; Beckman, Andrew T.; Schultz, Darwin L.; Adams, Shane R., Surgical instrument comprising a rotatable shaft.
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Yates, David C.; Shelton, IV, Frederick E.; Giordano, James R., Surgical instrument system for evaluating tissue impedance.
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Shelton, IV, Frederick E.; Baxter, III, Chester O., Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge.
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Hunter, Morgan R.; Schultz, Darwin L.; Worthington, Sarah A.; Shelton, IV, Frederick E.; Weaner, Lauren S.; Vendely, Michael J., Surgical instrument with articulating and axially translatable end effector.
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Hunter, Morgan R.; Schultz, Darwin L.; Dunki-Jacobs, Adam R.; Baxter, III, Chester O.; Swayze, Jeffrey S., Surgical instruments with tensioning arrangements for cable driven articulation systems.
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Adams, Shane R.; Yates, David C.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical shaft assemblies with watertight housings.
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Harris, Jason L.; Morgan, Jerome R.; Zeiner, Mark S.; Shelton, IV, Frederick E., Surgical staple and driver arrangements for staple cartridges.
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Murray, Michael A.; Morgan, Jerome R.; Hess, Christopher J.; Weisenburgh, II, William B.; Zwolinski, Andrew M., Surgical staple cartridge.
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Overmyer, Mark D.; Yates, David C.; Shelton, IV, Frederick E.; Adams, Shane R.; Leimbach, Richard L., Surgical stapler having motor control based on an electrical parameter related to a motor current.
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Shelton, IV, Frederick E.; Setser, Michael E.; Weisenburgh, II, William B., Surgical stapling instrument with lockout features to prevent advancement of a firing assembly unless an unfired surgical staple cartridge is operably mounted in an end effector portion of the instrument.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling instruments with rotatable staple deployment arrangements.
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Shelton, IV, Frederick E.; Harris, Jason L.; Yates, David C., System for controlling articulation forces.
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Shelton, IV, Frederick E.; Harris, Jason L.; Swensgard, Brett E.; Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D., Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures.
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Sakaguchi, Akira; Sano, Hiroaki, Working mechanism for medical manipulator.
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Kawai, Junko; Jinno, Makoto, Working mechanism for medical manipulator and cleaning method therefor.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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[미국특허] Medical manipulator 원문보기

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이 특허에 인용된 특허 (4) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (44) 인용/피인용 타임라인 분석

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