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1. WO2022003860 - ORIENTATION VARYING MECHANISM, FORCEPS, AND ORIENTATION VARYING METHOD

Publication Number WO/2022/003860
Publication Date 06.01.2022
International Application No. PCT/JP2020/025813
International Filing Date 01.07.2020
IPC
B25J 17/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
B25J 17/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
B25J 18/06 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
06flexible
B25J 19/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A61B 34/30 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 17/28 2006.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
28Surgical forceps
Applicants
  • 国立大学法人東京医科歯科大学 NATIONAL UNIVERSITY CORPORATION TOKYO MEDICAL AND DENTAL UNIVERSITY [JP]/[JP]
  • リバーフィールド株式会社 RIVERFIELD INC. [JP]/[JP]
Inventors
  • 菅野 貴皓 KANNO Takahiro
  • 川嶋 健嗣 KAWASHIMA Kenji
  • 宮嵜 哲郎 MIYAZAKI Tetsuro
  • 川瀬 利弘 KAWASE Toshihiro
  • 福島 伽津彦 FUKUSHIMA Katsuhiko
Agents
  • 小澤 一郎 OZAWA Ichiro
Priority Data
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) ORIENTATION VARYING MECHANISM, FORCEPS, AND ORIENTATION VARYING METHOD
(FR) MÉCANISME DE VARIATION D’ORIENTATION, FORCEPS ET PROCÉDÉ DE VARIATION D’ORIENTATION
(JA) 姿勢変化機構、鉗子及び姿勢変化方法
Abstract
(EN) An orientation varying mechanism 10 is provided with: joints 12; holding parts 14 that hold the orientation of the joints 12; heating parts 16 that heat the holding parts 14; wires 20a and 20b that have the joints 12 interposed therebetween and that extend from one side toward the other side; an actuator 22 that pulls the wires toward the one side; and a pulled part, provided on the other side, that is pulled together with the joints 12 when the wires 20a and 20b are pulled. The wires extend to the pulled part. The holding parts 14 become deformable when an external force is applied by means of heat from the heating parts 16 and the orientation of the joints varies according to the pulling of the wires 20a and 20b by the operation of the actuator.
(FR) La présente invention concerne un mécanisme de variation d’orientation 10 qui est pourvu de : jonctions 12 ; parties de maintien 14 qui maintiennent l’orientation des jonctions 12 ; parties de chauffage 16 qui chauffent les parties de maintien ; fils 20a et 20b entre lesquels les jonctions 12 sont intercalées et qui s’étendent d’un côté vers l’autre côté ; un actionneur 22 qui tire les fils vers le premier côté ; et une partie tirée, disposée sur l’autre côté, qui est tirée conjointement avec les jonctions 12 lorsque les fils 20a et 20b sont tirés. Les fils s’étendent jusqu’à la partie tirée. Les parties de maintien 14 deviennent déformables lorsqu’une force externe est appliquée au moyen de la chaleur provenant des parties de chauffage 16 et l’orientation des jonctions varie en fonction de la traction des fils 20a et 20b suivant le fonctionnement de l’actionneur.
(JA) 姿勢変化機構10は、関節12と、関節12の姿勢を保持する保持部14と、保持部14を加熱する加熱部16と、関節12を挟んで一方の側から他方の側に向かうように延びるワイヤ20a,20bと、ワイヤを一方の側へ引っ張るアクチュエータ22と、他方の側に設けられ、ワイヤ20a,20bが引っ張られると関節12とともに引っ張られる被引張部と、を備える。ワイヤは、被引張部まで延びており、保持部14は、加熱部16の加熱によって外力が加わると変形可能な状態になり、アクチュエータの動作によりワイヤ20a,20bが引っ張られることで関節の姿勢が変化するように構成されている。
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