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Instrument for surgical assistance robot

A robot and surgery technology, which is applied in the field of surgical auxiliary robot equipment, can solve problems such as complex structures, and achieve the effects of simplifying structures, achieving stabilization, and constant movement

Pending Publication Date: 2021-04-13
NHK SPRING CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, in the flexible member of Patent Document 1, a plurality of disc elements are engaged with each other, so there is a problem that the structure is complicated.

Method used

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  • Instrument for surgical assistance robot
  • Instrument for surgical assistance robot
  • Instrument for surgical assistance robot

Examples

Experimental program
Comparison scheme
Effect test

reference example 1

[0041] [Structure of curved structure]

[0042] figure 1 It is a sectional view showing the bending structure of the flexible member of Reference Example 1 of the present invention, figure 2 is an enlarged view showing a part thereof.

[0043] The curved structure 1 is applied to, for example, joint functional parts of robots, manipulators, or actuators in various fields. The curved structure 1 is provided between the base of the joint function part and the movable part, and supports the movable part so as to be displaceable relative to the base by bending.

[0044] The curved structure 1 of this reference example has a double coil shape and includes an outer coil portion 5 and an inner coil portion 7 . With this double coil shape, the curved structure 1 of this reference example is configured to be able to bend relative to the axial direction, and when bent by an external force, the inner diameter side of the bend shrinks and the outer diameter side of the bend expands, s...

reference example 2

[0101] Figure 7 It is an enlarged cross-sectional view showing a part of the curved structure of Reference Example 2. FIG. In addition, in reference example 2, the same code|symbol is attached|subjected to the structure corresponding to reference example 1, and overlapping description is abbreviate|omitted.

[0102] In the curved structure 1 of Reference Example 2, the wire diameter d1 of the wire 5 a of the outer coil portion 5 and the wire diameter d2 of the wire 7 a of the inner coil portion 7 are different. In Reference Example 2, the wire diameter d1 of the outer coil portion 5 is made larger than the wire diameter d2 of the inner coil portion 7 . In addition, the wire diameter d1 of the outer coil portion 5 can also be made smaller than the wire diameter d2 of the inner coil portion 7 .

[0103] Even if the bent structure 1 is made to differ in the wire diameter d1 of the outer coil portion 5 and the wire diameter d2 of the inner coil portion 7 , the same effect as th...

reference example 3

[0105] Figure 8 It is an enlarged cross-sectional view showing a part of the curved structure of Reference Example 3. FIG. In addition, in reference example 3, the same code|symbol is attached|subjected to the structure corresponding to reference example 1, and redundant description is abbreviate|omitted.

[0106] In the curved structure 1 of Reference Example 3, in a part of the axial direction of the outer coil portion 5, the rolled portion 7b of the inner coil portion 7 is in contact with the adjacent rolled portion 5b of the outer coil portion 5, and is fitted into these. Between adjacent rolls 5b.

[0107] That is, the inner coil portion 7 is formed to have a center diameter D2 (refer to figure 1 ) gradually decreases in the axial direction. Accordingly, as described above, the inner coil portion 7 is fitted only partially in the axial direction between the adjacent coil portions 5 b of the outer coil portion 5 .

[0108] In addition, in this reference example, the i...

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Abstract

Provided is an instrument for a surgical assistance robot that makes it possible to ensure adequate flexibility and axial rigidity. The instrument 100 for a surgical assistance robot is provided with a joint function section 109 that makes it possible to change the orientation of an end effector 105 by bending with respect to the axial direction of a shaft 103 on the tip of the shaft 103 in the axial direction, said shaft 103 being a rod-shaped member extending from a main body 101. A bending structure 107 that enables bending of the joint function section 109 is provided with an outer coil section 5 comprising a wire 5a wound in a coil shape and an inner coil section 7 that comprises a wire 7a wound in a coil shape and that is positioned within the outer coil section 5. The outer coil section 5 has a plurality of gaps 5c separating adjacent wound sections 5b from each other. The wound sections 7b of the inner coil section 7 are provided so as to correspond to the gaps 5c in the outer coil section 5, are brought into contact with the adjacent wound sections 5b of the outer coil section 5, and are fitted between the wound sections 5b.

Description

technical field [0001] The invention relates to an instrument for a surgical assistant robot. Background technique [0002] Robots, manipulators, actuators, etc. in various fields have a form having a joint function part. As a curved structure applied to such a joint functional part, there is a flexible member described in Patent Document 1, for example. [0003] The flexible member of this Patent Document 1 is constituted by engaging a plurality of disk elements so as to be swingable, and the entirety of the disk elements performs a bending operation by the oscillation of each disk element. [0004] The flexible member with this structure can perform a smooth bending operation, and can ensure rigidity against compression in the axial direction, so that the bending operation can be stabilized. [0005] However, the flexible member of Patent Document 1 engages a plurality of disk elements with each other, and thus has a problem of complicated structure. [0006] prior art ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00A61B17/29A61B34/30
CPCA61B17/29A61B34/30A61B2017/00305A61B2017/00323A61B34/71A61B2034/305A61B2034/306B25J17/00A61B34/37A61B17/2909A61B2017/2918A61B2017/292A61B2017/2939B25J3/00B25J17/02A61B34/70A61B17/28B25J9/1075A61B2017/2905A61B2017/2908A61B2034/301
Inventor 平田贵史黑川真平保户田裕树原口大辅新藤广树泷川恭平
Owner NHK SPRING CO LTD
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