Passive joint device, cable guide, and power transmission mechanism
A technology of power transmission mechanism and joints, which is applied in the direction of transmission devices, gear transmission devices, friction transmission devices, etc., and can solve problems such as the size of joints and the inability to transmit power
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[0019] Hereinafter, an embodiment in which the present invention is applied to a medical operation support device will be described in detail with reference to the drawings.
[0020] figure 1 It is a figure which shows the structure of the operation support apparatus which concerns on one Embodiment of this invention.
[0021] The surgery support device 10 of the present embodiment has a robot arm 12 that controls the posture of a surgical tool or an end effector inserted into a patient's body cavity 11 through an overtube 13 . The operation support device 10 measures the insertion angle and insertion depth of a surgical tool 14 (hereinafter also referred to as a hand-held medical instrument) which is inserted into the body cavity 11 by the surgeon and actually used for surgery. Then, it is configured to control the robot arm 12 for controlling the posture of the surgical tool 14 or the end effector (hereinafter also collectively referred to as robotic medical instruments) ba...
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