SURGICAL MANIPULATOR FOR TELEROBOTIC SYSTEM

PROBLEM TO BE SOLVED: To provide a manipulator assembly that is adapted to be robotically-actuated with a controller to manipulate surgical instruments of a type having a shaft with a distal end and a base end.SOLUTION: A manipulator assembly 2 includes: a support base 6 fixable to a surface; an ins...

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Bibliographic Details
Main Authors HILL JOHN W, JENSEN JOEL F
Format Patent
LanguageEnglish
Japanese
Published 26.02.2015
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To provide a manipulator assembly that is adapted to be robotically-actuated with a controller to manipulate surgical instruments of a type having a shaft with a distal end and a base end.SOLUTION: A manipulator assembly 2 includes: a support base 6 fixable to a surface; an instrument holder 4 movably mounted on the base, and having a mount for releasably mounting the surgical instrument; a drive assembly 7 operatively coupled to the instrument holder to provide the instrument with two degrees of freedom; a sleeve 50 mounted on the instrument holder and the distal support base of the drive assembly, and having an axial direction passage for receiving the shaft of the instrument; and a force sensing element 52 coupled to the sleeve, and operably connected to a controller to detect lateral forces transmitted to the sleeve from the distal end of the instrument shaft and to transmit signals. 【課題】末端及び基部のエンド部分を備えたシャフトを有するタイプの外科手術用具を操作するためにコントローラーによりロボット駆動されるよう適応されたマニピュレーターアセンブリを提供する。【解決手段】マニピュレーターアセンブリ２は、表面に固定可能なサポートベース６、ベースに移動自在に連結され、外科手術用具を開放可能に保持するためのマウントを有する用具ホルダー４、用具に少なくとも二自由度を与えるため用具ホルダーに作動連結されるドライブアセンブリ７、用具ホルダー及びドライブアセンブリの末端のサポートベースに装着され、用具のシャフトを受け入れるための軸方向通路を有するスリーブ５０、及びスリーブに連結され、用具シャフトの末端エンド部分によりスリーブに伝えられる横方向の力を検出し、信号を伝送するようにコントローラーに作動連結される力感知エレメント５２を含む。【選択図】図１
Bibliography:Application Number: JP20140162769