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1. (WO2017018048) IMPLEMENT FOR MEDICAL USE AND SUPPORT ARM DEVICE FOR MEDICAL USE

Pub. No.:    WO/2017/018048    International Application No.:    PCT/JP2016/066000
Publication Date: Fri Feb 03 00:59:59 CET 2017 International Filing Date: Wed Jun 01 01:59:59 CEST 2016
IPC: A61B 34/30
Applicants: SONY CORPORATION
ソニー株式会社
Inventors: SUZUKI, Hiroyuki
鈴木 裕之
NAGASAKA, Kenichiro
長阪 憲一郎
HONGO, kazuo
本郷 一生
Title: IMPLEMENT FOR MEDICAL USE AND SUPPORT ARM DEVICE FOR MEDICAL USE
Abstract:
An appliance (10) for medical use includes a drive portion (101) and a tubular portion (103) which extends from the drive portion (101) in the z-axis direction. An end effector (110) is provided at the distal end of the tubular portion (103). A driving force generated by the drive portion (101) is transmitted to the end effector (110) by way of two cables (105) which pass through the tubular portion (103), and the driving force opens and closes the end effector (110) within the x-z plane. A force sensor (107) which detects forces acting on the end effector (110) is provided at the base end of the end effector (110). The cables (105) transmit the driving force by rotating around axes parallel to the z-axis. The driving force may therefore influence the value of a moment about the z-axis, detected by the force sensor (107). However, forces in the x-, y-, and z-axis directions, and moments about the x- and y-axes, which are a high priority for detection, can be detected with high precision by the force sensor (107).