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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0697704 (2010-02-01) |
| 등록번호 | US-8523900 (2013-09-03) |
| 우선권정보 | JP-2009-022902 (2009-02-03); JP-2009-078992 (2009-03-27) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 대리인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 246 인용 특허 : 3 |
A medical manipulator includes a wire movable in opposite directions, a driven wire having both ends thereof connected to the wire, an end effector of a distal-end working unit, a transmitting member, a crescent driven member integral with the transmitting member, and a return pulley. The transmitti
A medical manipulator includes a wire movable in opposite directions, a driven wire having both ends thereof connected to the wire, an end effector of a distal-end working unit, a transmitting member, a crescent driven member integral with the transmitting member, and a return pulley. The transmitting member, the crescent driven member, and the return pulley are successively arranged in this order from the proximal end of the medical manipulator. When the driven wire is moved in opposite directions, the transmitting member also moves in opposite directions. At this time, the crescent driven member moves toward the return pulley, and the proximal-end portion of the return pulley enters a cavity of the crescent driven member.
1. A medical manipulator, comprising: a drive member;a transmitting member for transmitting a drive force to an end effector;a main shaft, the transmitting member being movably supported on the main shaft;an arcuate driven member integrally mounted on the transmitting member near a proximal end ther
1. A medical manipulator, comprising: a drive member;a transmitting member for transmitting a drive force to an end effector;a main shaft, the transmitting member being movably supported on the main shaft;an arcuate driven member integrally mounted on the transmitting member near a proximal end thereof, the arcuate driven member having an arcuate convex surface that is convex toward the proximal end of the transmitting member and a cavity that is non-convex toward a distal end of the transmitting member, the cavity being disposed within a virtual circle, a portion of which is represented by the arcuate convex surface;a cylindrical return member fixedly mounted on the main shaft between the arcuate driven member and the distal end of the transmitting member; andan annular flexible member having a portion connected to the drive member and trained at least one turn around and extending between the arcuate convex surface and the cylindrical return member,wherein when the drive member is moved toward a proximal end of the manipulator in order to pull the annular flexible member, the arcuate driven member is moved together with the transmitting member toward the distal end of the manipulator, and the cylindrical return member includes a proximal-end portion that enters the cavity, andwherein the medical manipulator actuates an end effector on a distal end thereof in response to movement of the drive member. 2. The medical manipulator according to claim 1, wherein the cavity is defined by an arcuate concave surface, which is open toward the distal end of the transmitting member. 3. The medical manipulator according to claim 2, wherein when the drive member is moved toward the proximal end of the manipulator in order to pull the annular flexible member, the arcuate driven member is moved together with the transmitting member toward the distal end of the manipulator, and the proximal-end portion of the cylindrical return member enters the cavity defined by the arcuate concave surface beyond a chord line that interconnects opposite concave ends of the arcuate concave surface. 4. The medical manipulator according to claim 2, wherein the arcuate concave surface is represented by an arc having a radius of curvature which is equal to a radius of the cylindrical return member as viewed in a plane, or which is greater than the radius of the cylindrical return member as viewed in the plane. 5. The medical manipulator according to claim 1, further comprising: a second end effector drive mechanism including the drive member, the end effector, the arcuate driven member, the cylindrical return member, the flexible member, a cylindrical idle member disposed more closely to the proximal end of the manipulator than the transmitting member, and a cylindrical guide member disposed between the cylindrical idle member and the transmitting member;a cylindrical driven member mounted on the transmitting member near the proximal end thereof;a first end effector drive mechanism including a drive member, a flexible member, a cylindrical idle member, the cylindrical driven member, and a cylindrical guide member; anda drive member moving mechanism for moving the drive member of the first end effector drive mechanism and the drive member of the second end effector drive mechanism in opposite directions. 6. The medical manipulator according to claim 5, wherein the cylindrical idle member comprises a cylinder having a diameter greater than a diameter of the cylindrical guide member. 7. The medical manipulator according to claim 1, wherein the arcuate convex surface is represented by an arc having a radius of curvature which is equal to a radius of the cylindrical return member as viewed in a plane. 8. The medical manipulator according to claim 7, wherein the arcuate convex surface is represented by an arc having a central angle ranging from 140° to 220° as viewed in the plane. 9. The medical manipulator according to claim 1, wherein the main shaft supports thereon the drive member, the arcuate driven member, and the cylindrical return member, the medical manipulator further including a pin supported on the main shaft, the pin being of a cantilevered structure, the cylindrical return member being rotatably supported on the pin. 10. The medical manipulator according to claim 1, further comprising: a manually operable input unit, the drive member being mechanically connected to the manually operable input unit. 11. A medical manipulator comprising: an end effector;a transmitting member that transmits a drive force to the end effector;a main shaft, the transmitting member being movably supported on the main shaft; andfirst and second end effector drive mechanisms that move the transmitting member in opposite directions,wherein the first end effector mechanism includes: a first drive member disposed on a proximal end portion of the transmitting member, the first drive member being movable in opposite directions,a cylindrical idle member disposed more closely to a distal end of the first end effector drive mechanism than the first drive member,a cylindrical driven member disposed, on the transmitting member, more closely to the distal end of the first end effector drive mechanism than the cylindrical idle member,a cylindrical guide member disposed between the cylindrical idle member and the cylindrical driven member, anda first annular flexible member extending on opposite sides of the cylindrical idle member, crossing between the cylindrical guide member and the cylindrical driven member, extending on opposite sides of the cylindrical guide member in an axially shifted position, and trained around the cylindrical driven member, the first annular flexible member having a portion connected to the first drive member,wherein when the first drive member is moved toward a proximal end of the manipulator in order to pull the first annular flexible member, the transmitting member is moved toward the proximal end of the manipulator,wherein the second end effector drive mechanism includes: a second drive member disposed on the proximal end portion of the transmitting member, the second drive member being movable in opposite directions,an integral driven member integrally mounted on the transmitting member near the proximal end thereof,a cylindrical return member fixedly mounted on the main shaft between the integral driven member and a distal end of the transmitting member, anda second annular flexible member having a portion connected to the second drive member and trained at least one turn around and extending between the integral driven member and the cylindrical return member,wherein when the second drive member is moved toward a proximal end of the manipulator in order to pull the second annular flexible member, the transmitting member is moved toward the cylindrical return member, andwherein, assuming a direction from the cylindrical guide member toward the cylindrical driven member is referred to as a Z direction, the cylindrical guide member and the cylindrical driven member have respective axes extending out of parallelism with each other as viewed from the Z direction, such that the first annular flexible member has outward and inward stretched sections that extend in the Z direction between the cylindrical guide member and the cylindrical driven member. 12. The medical manipulator according to claim 11, wherein the cylindrical driven member has a cylindrical driven member groove formed in a side surface thereof for circumferentially guiding the first annular flexible member. 13. The medical manipulator according to claim 11, wherein the cylindrical guide member comprises a first layer guide pulley for guiding either one of an outward stretched section and an inward stretched section of the first annular flexible member, and a second layer guide pulley for guiding the other of the stretched sections of the first annular flexible member at a position which is axially displaced a distance Δ from the stretched section of the first annular flexible member that is guided by the first layer guide pulley; and wherein the first annular flexible member has a turn trained around the cylindrical driven member and having opposite ends which are displaced from each other by the distance Δ in an axial direction of the cylindrical guide member. 14. The medical manipulator according to claim 11, wherein the cylindrical idle member comprises a first layer idle pulley and a second layer idle pulley, which are held in coaxial alignment with each other and disposed parallel to each other. 15. The medical manipulator according to claim 11, wherein the first annular flexible member comprises a single wire having opposite ends secured to each other at a position other than a junction where the first annular flexible member is connected to the first drive member. 16. The medical manipulator according to claim 11, further comprising: a manually operable input unit, the first drive member being mechanically connected to the manually operable input unit. 17. The medical manipulator according to claim 11, wherein the second end effector drive mechanism includes a second cylindrical driven member and a second cylindrical guide member, wherein the medical manipulator further comprises a drive member moving mechanism for moving the first drive member of the first end effector drive mechanism and the second drive member of the second end effector drive mechanism in opposite directions,wherein the cylindrical return member is disposed more closely to a distal end of the second end effector drive mechanism than the second cylindrical driven member, andwherein the second annular flexible member is trained around and extends between the second cylindrical driven member and the cylindrical return member of the second end effector drive mechanism, the second cylindrical guide member and the second cylindrical driven member having respective axes extending parallel to each other. 18. The medical manipulator according to claim 17, wherein the cylindrical driven member of the first end effector drive mechanism comprises a pulley rotatably supported on the transmitting member, and wherein the second cylindrical driven member of the second end effector drive mechanism is integral with the transmitting member. 19. The medical manipulator according to claim 18, wherein the end effector comprises an openable and closable gripper; wherein the first annular flexible member of the first end effector drive mechanism is held under higher tension when the gripper is closed; andwherein the second annular flexible member of the second end effector drive mechanism is held under higher tension when the gripper is opened.
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