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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

Pending Publication Date: 2021-06-08
株式会社卓越牵引力
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, as disclosed in Japanese Patent Application Laid-Open No. 2011-115906, a mechanism for self-weight compensation by springs has also been proposed, but in such a mechanism, the size of the joint portion becomes a problem.
[0006] Also, in the case of passive joints, power cannot be transmitted to the front side of the joint

Method used

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  • Passive joint device, cable guide, and power transmission mechanism
  • Passive joint device, cable guide, and power transmission mechanism
  • Passive joint device, cable guide, and power transmission mechanism

Examples

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Embodiment Construction

[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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PUM

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Abstract

A passive joint device, a cable guide, and a power transmission mechanism are provided. The passive joint device supports a rotation-side member so as to be rotatable in the vertical direction with respect to a fixed-side member about a horizontal axis, and is provided with: a cylindrical cam member, which is fixed to the fixed-side member, has a cylindrical surface about the horizontal axis, and has a pair of cam surfaces symmetrically arranged on the cylindrical surface by taking the horizontal axis as the center and obliquely formed along the horizontal axis; a pedestal having a pair of cam followers disposed inside a horizontal shaft fixed to the rotation-side member so as to be capable of sliding along the horizontal shaft, the cam followers being in surface contact with the pair of cams; and a spring which is disposed inside a horizontal shaft fixed to the rotation-side member and which biases the pedestal toward the fixed-side member along the horizontal shaft, wherein the pair of cam followers is brought into contact with the pair of cam surfaces by the force of the spring, and the pair of cam surfaces are pressed to apply an upward rotational force to the rotation-side member so as to reduce a downward rotational force of the rotation-side member generated by the weight applied to the rotation-side member.

Description

technical field [0001] The present invention relates to a passive joint device for connecting arms of a medical robot or the like. Background technique [0002] Laparoscopic surgery is usually performed by a doctor who cuts, resects, and sutures organs (hereinafter referred to as "operator"), a doctor who holds an endoscope (hereinafter referred to as "endoscope operator"), and Doctors (hereinafter referred to as "assistants") who perform traction of organs and maintain tension during incision, etc., do not use the surgeon's field of vision. In surgical support devices for laparoscopic surgery (also referred to as surgical support robots, etc.), there are more than one robot arm to control the posture of surgical tools such as forceps, endoscopes, and electric scalpels, thereby reducing surgical effort. device for the number of physicians required. [0003] Conventional surgical support devices used in laparoscopic surgery can be roughly classified into devices that perfor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30H02G11/00B25J19/00
CPCA61B34/30H02G11/00B25J19/00A61B2034/305A61B2034/302A61B2034/301A61B90/50A61B1/00149A61B1/0016A61B2090/5025A61B2017/00477A61B2017/00473A61B34/71A61B17/00234B25J9/06B25J9/1689F16H1/166A61B2017/00398B25J9/102B25J17/0258B25J19/0029F16H19/04F16H37/02
Inventor 安藤岳洋粟野启太
Owner 株式会社卓越牵引力
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