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Multi-joint manipulator device and endoscope system having the same

一种机械手、多关节的技术，应用在内窥镜、机械手、程序控制机械手等方向，能够解决繁杂等问题，达到避免损伤的效果

Active Publication Date: 2012-02-01
OLYMPUS CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control of a manipulator using such a wire requires a joint torque control system and a wire tension control system, which is complicated

Method used

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  • Multi-joint manipulator device and endoscope system having the same
  • Multi-joint manipulator device and endoscope system having the same
  • Multi-joint manipulator device and endoscope system having the same

Examples

Experimental program
Comparison scheme
Effect test

no. 1 Embodiment approach

[0025] First, a first embodiment of the present invention will be described with reference to the drawings. The articulated manipulator 1 of the present embodiment is a master-slave device. like figure 1 As shown, the multi-joint manipulator device 1 generally has: a multi-joint manipulator 2; a device main body 3, which performs drive control of the multi-joint manipulator 2; a main unit 4, which generates an operation signal corresponding to the user's operation amount; and a manipulator drive unit 5 , which drives the multi-joint manipulator 2 .

[0026] Figure 2A An outline of the appearance of the articulated manipulator 2 is shown, Figure 2B The outline of the cross-section is shown. As shown in these figures, the multi-joint manipulator 2 has a gripping portion 16, a plurality of cylindrical bending pieces 17 (17-1, 17-2, ..., 17-n), and a plurality of rivet-shaped shafts. Components 18 (18-1, 18-2, ..., 18-n), multiple lines (or angled lines) 19 (19-1, 19-2, ......

no. 2 Embodiment approach

[0072] Next, a second embodiment will be described with reference to the drawings. This embodiment is an embodiment in which the multi-joint manipulator device of the first embodiment is applied to the bending drive of the bending portion of the endoscope main body and the treatment instrument arranged in the endoscope in the endoscope system. department.

[0073] Figure 5 A configuration example in which an endoscope system 31 according to the present embodiment is installed in an operating room is shown. In the center of the operating room, an operating table 32 on which the subject lies on his back is arranged. A diagnosis / treatment device 33 for diagnosing and treating a lesion in a body cavity, and an operating device 34 of the diagnosis / treatment device 33 are disposed near the operating table 32 . An endoscope control device 35 and a treatment instrument control device 36 are disposed near the opposite side of the operating table 32 so as to face them.

[0074] The...

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Abstract

A multi-joint manipulator device is provided with a tubular member (2) having a plurality of joints (18). A plurality of linear power transmission members (19) are inserted into the tubular member wherein one end of each linear power transmission member (19) is fixed in the vicinity of a joint and the other end is fixed to an actuator (25). The actuators (25) move the linear power transmission members (19) and bend the tubular member (2). Position sensors (26) detect the positions of the linear power transmission members (19), and tension sensors (27) detect the tensions of the linear power transmission members (19). An operating unit (6) inputs as targets the position and attitude of a target site of the tubular member (2) and a member (16) attached to the tubular member (2). A movement amount calculation unit (11) calculates the current position and attitude of the target site from the detected position of the linear power transmission members (19), and calculates the amount of movement of the linear power transmission members (19) required for moving the target site from the current position and attitude to the targeted position and attitude in accordance with the tension of the linear power transmission members (19) detected by the tension sensors (27).

Description

technical field [0001] The present invention relates to a multi-joint manipulator device capable of flexing joints by traction of a plurality of wires, and an endoscope system having the device. Background technique [0002] Generally, as one of the arm-type robots, there is known a manipulator in which a plurality of rods are connected by flexible joints. This type of robot is used by installing various functional parts at the end according to the application. As a functional part, for example, a clamping part for clamping an article or the like is conceivable. Wires for connecting one end of the manipulator to perform a flexion motion and each joint are arranged inside the manipulator. A joint requires at least 2 wires, so at least twice the number of joints is required. [0003] As a method of reducing the weight of the robot arm, there is known a structure in which the number of threads is reduced by concentrating on winding the pulley and making the threads interfere...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00A61B1/00B25J13/08
CPCA61B5/065A61B1/0055A61B2019/464B25J9/06A61B2019/5259A61B2019/2223A61B19/2203A61B1/0052A61B1/00147A61B2019/2238A61B2090/064A61B34/30A61B34/37A61B2034/306A61B2034/2059
Inventor 高桥和彦中村俊夫
Owner OLYMPUS CORP
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