IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
|
| 국제특허분류(IPC7판) |
|
| 출원번호 |
US-0391506
(2009-02-24)
|
| 등록번호 |
US-8382790
(2013-02-26)
|
| 우선권정보 |
JP-2008-045076 (2008-02-26); JP-2009-017796 (2009-01-29) |
|
발명자
/ 주소 |
- Uenohara, Shuichi
- Sano, Hiroaki
|
| 출원인 / 주소 |
|
| 인용정보 |
피인용 횟수 :
42 인용 특허 :
10 |
초록
▼
A manipulator includes a hollow joint shaft, wires extending through the joint shaft, pulleys mounted on an end of the joint shaft, for imparting a drive force to the wires, a distal-end working unit mounted on another end of the joint shaft, for being actuated by the wires, and a sealing member for
A manipulator includes a hollow joint shaft, wires extending through the joint shaft, pulleys mounted on an end of the joint shaft, for imparting a drive force to the wires, a distal-end working unit mounted on another end of the joint shaft, for being actuated by the wires, and a sealing member for preventing liquid such as blood from flowing from the distal-end working unit through the joint shaft to a connector. The sealing member has holes defined therein, and the wires are slidably inserted through the holes.
대표청구항
▼
1. A manipulator comprising: a hollow shaft;a power transmitting member extending through the hollow shaft;a drive mechanism mounted on a proximal end of the hollow shaft, the drive mechanism imparting a drive force to the power transmitting member;a distal-end working unit mounted on a distal end o
1. A manipulator comprising: a hollow shaft;a power transmitting member extending through the hollow shaft;a drive mechanism mounted on a proximal end of the hollow shaft, the drive mechanism imparting a drive force to the power transmitting member;a distal-end working unit mounted on a distal end of the hollow shaft, the distal end working unit being actuated by the power transmitting member;a sealing member that prevents liquid from flowing from the distal-end working unit through the hollow shaft to the drive mechanism, the sealing member having a power transmitting member hole defined therein, and the power transmitting member being slidably inserted through the power transmitting member hole; anda cleaning tube extending from a drive mechanism side of the manipulator toward a distal-end working unit side of the manipulator, the cleaning tube supplying a cleaning solution therethrough for cleaning an interior of the distal-end working unit;wherein the sealing member has a cleaning hole defined therein, the cleaning tube extending through the cleaning hole, and the sealing member being disposed inside the hollow shaft,wherein the hollow shaft internally defines a space extending along an axial direction between the distal end of the hollow shaft and the sealing member,wherein the cleaning tube has a cleaning solution inlet on a first end at the drive mechanism side, extends through the drive mechanism and the shaft, and penetrates through the sealing member,wherein the cleaning tube has a cleaning solution outlet on a second end at the distal-end working unit side, the outlet being disposed, within the space, more closely to the distal-end working unit compared to the sealing member,wherein the sealing member has a slit extending from an outer surface thereof to the power transmitting member hole, andwherein wall surfaces defining the slit are in close contact with and adhered to each other. 2. A manipulator according to claim 1, wherein the sealing member divides an interior of the hollow shaft into a first compartment near the distal-end working unit and a second compartment near the drive mechanism. 3. A manipulator according to claim 1, wherein the power transmitting member has, at least, a first portion which is flexible and a second portion which is more rigid than the first portion, the second portion extending through the power transmitting member hole. 4. A manipulator according to claim 3, wherein the second portion comprises a reinforcing tube surrounding a portion of the first portion or a bar member coupled to the first portion. 5. A manipulator according to claim 3, wherein when the power transmitting member is operated, the second portion is slidably held in the power transmitting member hole at all times. 6. A manipulator according to claim 1, further comprising a plug removably mounted on the first end of the cleaning tube near the drive mechanism. 7. A manipulator according to claim 1, further comprising a check valve connected to a portion of the cleaning tube which is closer to the drive mechanism than compared to the sealing member, that prevents the cleaning solution from flowing from the distal-end working unit toward the drive mechanism. 8. A manipulator comprising: a hollow shaft;a power transmitting member extending through the hollow shaft;a drive mechanism mounted on a proximal end of the hollow shaft, the drive mechanism imparting a drive force to the power transmitting member;a distal-end working unit mounted on a distal end of the hollow shaft, the distal end working unit being actuated by the power transmitting member;a sealing member that prevents liquid from flowing from the distal-end working unit through the hollow shaft to the drive mechanism, the sealing member having a power transmitting member hole defined therein, the power transmitting member being inserted through the power transmitting member hole, and an elastic member disposed in the power transmitting member hole and fixedly mounted on an outer circumferential surface of the power transmitting member; anda cleaning tube extending from a drive mechanism side of the manipulator toward a distal-end working unit side of the manipulator, the cleaning tube supplying a cleaning solution therethrough for cleaning an interior of the distal-end working unit;wherein the sealing member has a cleaning hole defined therein, the cleaning tube extending through the cleaning hole, and the sealing member being disposed inside the hollow shaft,wherein the hollow shaft internally defines a space extending along an axial direction between the distal end of the hollow shaft and the sealing member,wherein the cleaning tube has a cleaning solution inlet on a first end at the drive mechanism side, extends through the drive mechanism and the shaft, and penetrates through the sealing member,wherein the cleaning tube has a cleaning solution outlet on a second end at the distal-end working unit side, the outlet being disposed, within the space, more closely to the distal- end working unit compared to the sealing member,wherein the sealing member has a slit extending from an outer surface thereof to the power transmitting member hole, andwherein wall surfaces defining the slit are in close contact with and adhered to each other. 9. The manipulator according to claim 1, wherein a ring is disposed against the sealing member inside the hollow shaft, thereby securing the sealing member in position. 10. The manipulator according to claim 1, wherein the hollow shaft includes an annular ridge that abuts the sealing member. 11. The manipulator according to claim 4, wherein the reinforcing tube is crimped around the power transmitting member on each end thereof. 12. The manipulator according to claim 9, wherein the ring is bonded or welded to an inner circumferential surface of the hollow shaft. 13. The manipulator according to claim 9, wherein the ring is press-fitted in the hollow shaft. 14. The manipulator according to claim 1, wherein the cleaning hole and the power transmitting member hole of the sealing member are separate and distinct.
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