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Robot system for endoscope treatment

A robot system and endoscope technology, applied in surgical robots, applications, manipulators, etc., can solve problems such as deviation of holding force, and achieve the effect of eliminating changes in holding force

Active Publication Date: 2014-03-19
OLYMPUS CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The following is considered to be the cause of the above phenomenon: In the state where the flexible part and the joint part are bent, structurally, since the path lengths of the flexible wires on the outside and inside of the bent part are different, and the flexible wires hanging on the joint part The friction with the coils passing through the cable varies, so the holding force varies according to the degree of bending

Method used

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  • Robot system for endoscope treatment
  • Robot system for endoscope treatment
  • Robot system for endoscope treatment

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Experimental program
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Embodiment Construction

[0022] Embodiments of the present invention will be described in detail below with reference to the drawings.

[0023] figure 1 It is a figure which shows the general structure of the robot system for endoscope treatment of 1st Embodiment of this invention. figure 2 It is a diagram showing a configuration for controlling each component of the robot system for endoscope treatment, and a flow of detection signals, control signals, and the like.

[0024] The robot system for endoscope treatment in this embodiment includes a multi-joint robot treatment instrument driven by a plurality of flexible cables, and a detection device is provided on the flexible cables for driving the manipulator and the gripping part of the treatment instrument. The cable tension sensor for the gripping force performs gripping control processing according to the obtained cable tension value (holding force).

[0025] This robot system for endoscope treatment is basically composed of a control unit 1 in...

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Abstract

In a robot system for endoscopic treatment, a gripping force detection unit configured to detect gripping force is provided at a gripping unit (12) configured to open and close by an operation of wire (17) from a surgeon's front side, and a treatment instrument control unit (7) is configured to instruct a treatment instrument drive unit (3) on the operation of wire (17) configured to drive the gripping unit (12) so that the gripping force detected by the gripping force detection unit falls within a range of a predetermined threshold when the gripping unit in a gripping state is moved.

Description

technical field [0001] The present invention relates to a robotic system for endoscope treatment that properly maintains a grasped state of a treatment instrument inserted into a body cavity. Background technique [0002] In general, there is known a robotic arm system for endoscopes that remotely operates an endoscope main body inserted into a body cavity and a treatment instrument passing through a forceps channel to perform desired actions. [0003] In this system, the main part provided outside is composed of an operation part and a main control part, the operation part is composed of a joystick or a plurality of joint parts and link parts connected alternately, and the main control part will operate The action of the part is converted into an electrical signal and output as an operation signal. The movable part of the front end portion of the treatment instrument is connected to a pulley or the like driven by a motor in the treatment instrument drive unit via a cable o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/28A61B1/00A61B18/12A61B19/00B25J3/00B25J13/08
CPCA61B2019/465A61B2018/00345A61B2017/00867A61B19/2203A61B2018/00404C08L2201/12A61B2019/2242A61B2018/00619A61B18/1442A61B2019/2211A61B34/30A61B34/71A61B2034/301A61B2090/065
Inventor 中村俊夫
Owner OLYMPUS CORP