Manipulator with Multiple Degrees of Freedom

Abstract

A bending forceps 1 has at least three degrees of freedom including relative opening/closing of a pair of gripping members 11a, 11b, rotation of both the gripping members around a first axis 15 and rotation of both the gripping members around a second axis 42 existing on an imaginary plane substantially perpendicular to the first axis 15. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanisms 5, 6 and 7. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram showing a bending forceps system including a manipulator with multiple degrees of freedom (bending forceps) according to an implementation of the present invention.

FIG. 2 is a perspective view of the front end portion of the bending forceps.

FIG. 3 is a top view of the front end portion of the bending forceps.

FIG. 4 is a side view of the front end portion of the bending forceps.

FIG. 5 is a diagram showing an action of a first link mechanism.

FIG. 6 is a diagram showing an action of the first link mechanism.

FIG. 7 is a diagram showing an action of a third link mechanism.

DESCRIPTION OF REFERENCE NUMERALS

• 1: Bending forceps (manipulator with multiple degrees of freedom)
• 2: Actuator (driving means)
• 3: Control portion
• 5: First link mechanism
• 6: Second link mechanism
• 7: Third link mechanism
• 10: Arm portion (second supporting body)
• 10 a, 10 b, 10 c: Slide hole
• 11: Gripping portion
• 11 a, 11 b: Gripping member
• 12: Input axis
• 12 a, 12 b: Input axis (second link)
• 12 c: Input axis (fourth link)
• 13 a, 13 b: Gripping tooth
• 14 a, 14 b: Link portion
• 15: First axis
• 16: First supporting body
• 17: Base portion
• 17 a, 17 b: Slide hole
• 18 a, 18 b: Side wall portion
• 20: DC motor
• 21: Ball screw
• 40: Link portion
• 41: Fixed link
• 42: Second axis
• 50 a, 50 b: Connecting link (third link)
• 51 a, 51 b: Restraint link (first link)
• 52 a, 52 b: Connecting link
• 53: Extension
• 55: Intersection
• 70: Connecting link (sixth link)
• 71: Crank (fifth link)

Claims

1. A manipulator with multiple degrees of freedom for surgery driven by a driving means, the manipulator including at least three degrees of freedom including relative opening/closing of a pair of gripping members, rotation of both the gripping members around a first axis and rotation of both the gripping members around a second axis existing on an imaginary plane substantially perpendicular to the first axis, wherein a drive power from the driving means is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by a link mechanism.

2. A manipulator with multiple degrees of freedom for surgery driven by a driving means, comprising: a pair of gripping members;a first axis that connects both the gripping members rotatably;a second axis existing on an imaginary plane substantially perpendicular to the first axis;a first link mechanism for converting a drive power of the driving means to a rotary motion of one gripping member around the first axis;a second link mechanism for converting a drive power of the drive means to a rotary motion of the other gripping member around the first axis; anda third link mechanism for converting a drive power of the driving means to a rotary motion of both the gripping members around the second axis.

3. A manipulator with multiple degrees of freedom according to claim 2 further comprising: a first supporting body for supporting the gripping members with the first axis; anda second supporting body for supporting the first supporting body with the second axis.

4. A manipulator with multiple degrees of freedom according to claim 3 wherein each of the first and second link mechanisms comprises: a first link supported slidably by the first supporting body;a second link supported slidably by the second supporting body; anda third link for connecting between the first link and the second link.

5. A manipulator with multiple degrees of freedom according to claim 4 wherein an axial line of the second axis and the third link are perpendicular to each other when the first link, the second link and the third link are arranged in line.

6. A manipulator with multiple degrees of freedom according to claim 5 wherein a rotation range of the gripping member is predetermined and when the first link, the second link and the third link slide with a state in which they are arranged in line, the axial line of the second axis and the third link are always perpendicular to each other in the rotation range.

7. A manipulator with multiple degrees of freedom according to any one of claims 3 to 6 wherein the third link mechanism comprises: a fourth link supported slidably by the second supporting body;a fifth link that is fixed to the first supporting body and rotatable around the second axis; anda sixth link for connecting between the fourth link and the fifth link.