Patent Application
20160135914
The present invention relates to a medical manipulator that is used while inserted through the body cavity to apply treatments to various in-vivo tissues.
A medical manipulator system comprising a master manipulator operated by an operator and a slave manipulator for performing treatments on the basis of the actuation of the master manipulator has so far been known as a surgery support system.
In an operation using such a medical manipulator system, an endoscope, a manipulator (or forceps), etc. are inserted in the abdomen or the like of a patient through some small openings formed there. Then, the operator operates a treatment tool mounted on the distal end of the manipulator while viewing endoscopic images on a monitor. Such laparoscopic resection is now expected to have a wider range of applications because there is no need for abdominal operation, resulting in limited burdens on patients and some considerable curtailments in the number of days taken until postoperative recuperation and leaving hospital.
The medical manipulator is often constructed of a proximal unit for supplying driving force to a treatment tool and a distal unit that is attachable to or detachable from the proximal unit and includes a treatment tool at a distal end of a tubular member inserted through the body of a patient.
Referring to such a medical manipulator as described above, for instance, U.S. Pat. No. 7,524,320 discloses that an instrument including an end effector having at least a single degree of freedom at a distal end is attached to a driving assembly by providing one rotary member with a plurality of pins extending from its surface and another rotary member with a plurality of openings in its surface, and fitting said plurality of pins into said plurality of openings.
The present invention provides a medical manipulator comprising a distal end side and a proximal end side configured to be attachable to or detachable from each other, comprising:
a distal unit including:
an end effector on the distal end side,
a joint assembly located on a proximal end side of the end effector, and
a first power transmission assembly for transmission in a longitudinal direction of a linear motion force for actuation of the end effector or the joint assembly, and
a proximal unit including,
a driver on the proximal end side for generating power for actuating the end effector or the joint assembly, and
a second power transmission assembly for transmission of power generated from the driver to the distal end side, and detachably mounted on the distal unit at a distal end, wherein:
the distal unit includes a first linear motion force conversion mechanism linked to the first power transmission assembly to convert power from the second power transmission assembly to a linear motion force upon attachment of the distal unit to the proximal unit.
The manipulator 100 comprises a proximal unit 200, and a distal unit 300 to which driving force is supplied from the proximal unit 200 when it is attached to or detached from the proximal unit 200. The proximal unit 200 is assumed to be located on a proximal end side, and an end effector 380 is mounted on the most distal end side of the distal unit 300. The end effector 380 may include a pair of forceps, a retractor, an electric knife, an ultrasonic knife, a laser knife, etc., for in-vivo treating and may further include an imaging unit for in-vivo viewing.
The distal unit 300 is assumed to be used while inserted through a channel (not shown) and a medical trocar (not shown) in a medical endoscope or robot.
A motor 201 (driver) rotationally drives a shaft 221 (for the second linear motion force conversion mechanism) in association with the operation of an operating rod (not shown), etc. for rotation of a gear 203 (for the second linear motion force conversion mechanism).
A gear 205 (for the second linear motion force conversion mechanism) rotates about a shaft 222 (for the second linear motion force conversion mechanism) in association with the rotation of the gear 203.
A pole-form member 207 (for the second power transmission assembly) is mounted at one end on the gear 205 in such a way as to be rotatable about a shaft 223 (for the second power transmission assembly).
The pole-form member 207 is also mounted at the other end on a link member 209 (for the second power transmission assembly) in such a way as to be rotatable about a shaft 225 (for the second power transmission assembly).
A pole-form member 208 (for the second power transmission assembly) is mounted at one end on the gear 205 in such a way as to be rotatable about a shaft 224 (for the second power transmission assembly).
The pole-form member 208 is provided at the other end with the link member 209 in such a way as to be rotatable about a shaft 226 (for the second power transmission assembly).
A first restriction member 211 (for restriction) and a second restriction member 212 (for restriction) are mounted on a stage (not shown) in such a way as to move up or down while a certain distance is maintained between them. The pole-form member 208 is sandwiched between the first 211 and the second restriction member 212 such that its movement is restricted.
While the pole-form member 208 is here used as a pole-form member whose movement is restricted by the first 211 and the second restriction member 212, it is here to be noted that the movement of the pole-form member 207 may also be restricted.
For the reason that the movement of the pole-form member 208 is restricted by the first 211 and the second restriction member 212, both the pole-form members 207 and 208 are displaceable in a parallel state even when the gear 205 is rotated or displaced by the gear 203.
As the pole-form member 207 makes a displacement toward the distal end side in a direction indicated by an action arrow, it causes the pole-form member 208 to make a displacement toward the proximal end side in a direction indicated by an action arrow. Conversely, as the pole-form member 207 makes a displacement toward the proximal end side, it causes the pole-form member 208 to make a displacement toward the distal end side.
The link member 209 has a given thickness vertically with respect to the sheet plane, and the leftmost end portion thereof is in a planar shape as shown. This plane is hereinafter called a link member abutment portion 210 (for the second power transmission assembly; the abutment portion). As the distal unit 300 is mounted on the proximal unit 200, it causes the link member abutment portion 210 to abut on a seesaw member contact portion 302 (for the first linear motion force conversion mechanism) of the seesaw member 301 (for the first linear motion force conversion mechanism; the seesaw portion).
An explanation is then made of the distal unit 300 to or from which the proximal unit 200 constructed as described above is attached or detached.
The seesaw member 301 in the distal unit 300 is configured (D-configuration) as if a disk member were partly cut out: it has a given certain thickness vertically with respect to the sheet plane and the rightmost end portion thereof is in a planar shape as shown. This plane is hereinafter called the seesaw member contact portion 302.
Upon attachment of the distal unit 300 to the proximal unit 200, the link member abutment member 210 of the link member 209 abuts on the seesaw member contact portion 302 of the seesaw member 301 for transmission of driving force from the link member 209 to the seesaw member 301. The seesaw member 301 is rotatable about the seventh shaft 327 (for the first linear motion force conversion mechanism). Note here that a triangle 222-223-224 defined by the respective shafts is congruent with a triangle 225-327-226 defined by the respective shafts.
One end of a wire 303 (for the first power transmission assembly) is fixed to the upper end of the seesaw member 301 (for the first linear motion force conversion mechanism) as by soldering, and the other end of the wire 303 is fixed to the most distal joint-ring 375 (for the joint assembly). The wire 303 is routed around a driven pulley 307 (for the first transmission assembly).
One end of a wire 304 (for the first power transmission assembly) is fixed to the lower end of the seesaw member 301 (for the first linear motion force conversion mechanism) as by soldering, and the other end of the wire 304 is fixed to the most distal joint-ring 375 (for the joint assembly). The wire 304 is routed around a driven pulley 308 (for the first power transmission assembly).
The distal unit 300 includes a cylindrical tubular member 370, a plurality of cylindrical joint rings 373 (for the joint assembly) and the most distal joint ring 375 in order toward the distal end side, and the wires 303 and 304 are inserted into these tubular members.
The cylindrical tubular member 370, multiple cylindrical joint rings 373 and the distal joint ring 375 are coupled together by means of a plurality of rivet-form shaft members 377 (for the joint assembly). The rivet-form shaft members 377 are provided to couple the respective joint rings 373, etc. in a foldable way to form the joints of the manipulator 100.
For instance, the end effector 380 such as an electric knife is mounted on the distal end of the most distal joint ring 375.
An explanation is now made of how the distal unit 300 is mounted in place and how the distal unit 300 is actuated in the manipulator 100 according to the first embodiment of the invention configured as described above.
As shown in
The manipulator 100 of the invention does not rely upon the conventional mounting process of fitting a plurality of pins extending from one rotary member into a plurality of openings formed in another rotary member. According to the manipulator 100 of the invention that makes use of the proximal unit 200 including the link member 209 making a displacement in association with the displacements of the pole-form members 207 and 208 and the distal unit 300 including the seesaw member 301 making a displacement in association with a displacement of the link member 209 for the purpose of ease of mounting/dismounting.
The actuation of the manipulator 100 according to the invention is now explained.
As the motor 201 in the proximal unit 200 is driven to rotate the gear 203 counterclockwise, it causes clockwise rotation of the gear 205 in mesh with the gear 203.
Rotation of the gear 205 causes the pole-form member 207 to make a displacement toward the proximal end side and the pole-form member 208 to make a displacement toward the distal end side. And the first 211 and the second restriction member 212 with the pole-form member 208 in between go down, and the link member abutment portion 210 of the link member 209 turns upward.
The seesaw member contact portion 302 in abutment on the link member abutment portion 210 turns downward and, operatively with this, the seesaw member 301 rotates clockwise about the shaft 327. This in turn causes the wire 303 to be taken up and the wire 304 to be let out with the result that the end effector 380 positioned at the most distal joint ring 375 makes an upward displacement as shown.
Another actuation pattern of the manipulator 100 according to the invention is now explained.
As the motor 201 in the proximal unit 200 is driven to rotate the gear 203 clockwise, it causes counterclockwise rotation of the gear 205 in mesh with the gear 203.
Rotation of the gear 205 causes the pole-form member 207 to make a displacement toward the distal end side and the pole-form member 208 to make a displacement toward the proximal end side. And the first 211 and the second restriction member 212 with the pole-form member 208 in between go up, and the link member abutment portion 210 of the link member 209 turns downward.
The seesaw member contact portion 302 in abutment on the link member abutment portion 210 turns upward and, operatively with this, the seesaw member 301 rotates counterclockwise about the shaft 327. This in turn causes the wire 303 to be let out and the second wire 304 to be taken up with the result that the end effector 380 positioned at the distal joint ring 375 makes a downward displacement as shown.
As described above, the manipulator 100 described here includes the seesaw member 301 that makes an unerring displacement in association with the displacements of the pole-form members 207 and 208 in the proximal unit 200, making sure proper transmission of driving force to the end effector 380.
The manipulator 100 of the invention does not rely upon the conventional mounting process of fitting a plurality of pins extending from one rotary member into a plurality of openings formed in another rotary member. The manipulator 100 according to the invention makes use of the distal unit 300 having the seesaw member 301 making displacements in association with displacements of the pole-form members 207 and 208 in the aforesaid proximal unit 200, contributing more to ease of mounting/dismounting.
The second embodiment of the invention is now explained. Referring here to the manipulator 100 according to the first embodiment, there is a possibility that the end effector 380 may move although depending on the posture of the link member 209 in the proximal unit 200 upon mounting of the distal unit 300 on the proximal unit 200 after insertion of the distal unit 300 in the body.
To exclude such a possibility, the embodiment described here is configured such that the driving force may be fed to the link member 209 after aligning the posture of the link member 209 in the proximal unit 200 with the posture of the seesaw member 301 in the distal unit 300. More specifically, the embodiment described here includes a mechanism having a function like that of a clutch for making a selection of whether or not the driving force of the motor 201 is transmitted to the pole-form members 207, 208 or the link member 209 (hereinafter called the clutch-like mechanism).
In the embodiment described here, the clutch-like mechanism transmits or cuts off the driving force of the motor 201 by engagement or disengagement of the gears 203 and 205.
The medical manipulator 100 of the invention does not rely upon the conventional mounting process of fitting a plurality of pins extending from one rotary member into a plurality of openings formed in another rotary member. All that is needed for the medical manipulator 100 according to the embodiment described here is just only the coupling of the distal unit 300 to the proximal unit 200, resulting in ease of mounting/dismounting.
An exemplary configuration of the clutch-like mechanism of the embodiment described here is now explained with reference to
The embodiment described here includes a slide member 234 that slides on a base 231, and an upright portion 236 extending from the slide member 234 is provided with a motor 201 for generation of driving force and a gear 203 that rotates by way of the motor 201.
The slide member 234 is constantly biased by a biasing member 238 toward the proximal end side. The slide member 234 includes a through-hole 235 through which a pawl-form member 240 is insertable, and the base 231 includes a cutout 232 capable of receiving a slant portion 241 of the pawl-form member 240. The pawl-form member 240 is configured by a mechanism (not shown) in such a way as to make a vertical displacement.
The distal unit 300 in the embodiment of the invention configured as described above is now explained. As the distal unit 300 is mounted on the proximal unit 200 with the end effector 380 turning upward as shown typically in
How the driving force of the motor 201 may be transmitted to the pole-form members 207, 208 or the link member 209 is now explained. Upon a descent of the pawl-form member 240 from the state shown in
In a transition from the driving force transmitted state of
In the embodiment described herein, the transmission of the driving force of the motor 201 may be cut off by a simple actuation involving the ascendant movement of the pawl-form member 240. For instance, an emergent shutoff of the manipulator 100 may simply be carried out only by the ascending movement of the pawl-form member 240 as mentioned above. The embodiment described here has a merit of taking a convenient yet quick step to emergencies.
The third embodiment of the invention is now explained. In the manipulator 100 according to the second embodiment, the clutch-like mechanism performs its function in two modes: engagement and disengagement of the gears 203 and 205. In the third embodiment of the invention, however, another clutch-like mechanism is relied upon.
An exemplary configuration of the clutch-like mechanism in the manipulator 100 according to the third embodiment of the invention is now explained with reference to
The manipulator 100 according to the third embodiment of the invention differs from the one according to the second embodiment in that a first pulley 243 (for the second linear motion force conversion mechanism) is used instead of the gear 203 and a second pulley 244 (for the second linear motion force conversion mechanism) is used instead of the gear 205.
The first pulley 243 is attached to a shaft 221 that is rotationally driven by the motor 201.
The second pulley 244 is the same as in the former embodiment in that it rotates about a shaft 222 and is provided with the pole-form member 207 by a shaft 223 and the pole-form member 208 by a shaft 224.
An endless wire 245 (for the second linear motion force conversion mechanism) is routed around the first 243 and the second pulley 244, and the first pulley 243 is movable toward both the distal and the proximal end side by a mechanism (not shown).
As the first pulley 243 comes close to the second pulley 244, it causes the wire 245 to be relaxed, creating a disengaged state where the rotational driving force of the first pulley 243 is not transmitted to the second pulley 244.
As the first pulley 243 is released off from the second pulley 244, on the other hand, it causes the wire 245 to be tightened, creating an engaged state where the rotational driving force of the first pulley 243 is transmitted to the second pulley 244.
The manipulator 100 according to the third embodiment described here may have such similar advantages as achieved by the manipulator 100 according to the second embodiment.
The fourth embodiment of the invention is now explained.
When the distal unit 300 is attached to the proximal unit 200 after insertion of the distal unit 300 through the channel, it is often desirable in view of operability that the end effector 380 be oriented in the direction intended by the operator. This may be achieved by allowing the seesaw member 301 in the distal unit 300 to follow forcibly the posture of the link member 209 in the proximal unit 200.
The link member 209 includes a convex portion in the form of a home plate; there are four link member abutment portions 210 formed in a plane vertical to the sheet plane, as depicted in
Thus, the embodiment described here is characterized in that when the distal unit 300 is attached to the proximal unit 200, the seesaw member 301 abuts on the link member 209 via a plurality of planes. This in turn causes the seesaw member 301 in the distal unit 300 to follow forcibly the posture of the link member 209 in the proximal unit 200.
Further, the concave portion in the form of a home plate in the seesaw member 301 is provided on both its side with tapered portions 309 (for the first linear motion force conversion mechanism; the contact portions) that permit for smooth fitting of the link member 209 into the seesaw member 301.
An exemplary actuation of the manipulator 100 according to the fourth embodiment describe here is now explained. As shown typically in
As described above, the manipulator 100 according to the fourth embodiment described here contributes more to operability, because in the attachment of the distal unit 300 to the proximal unit 200, the end effector 380 is oriented in the direction intended by the operator.
The fifth embodiment of the invention is now explained. This manipulator 100 is first different from the manipulator 100 according to the first embodiment in terms of the configuration of the pole-form member 207, and the pole-form member 208.
In the manipulator 100 according the fifth embodiment described here, the pole-form member 207 comprises a first rack 247 (for the second linear motion force conversion mechanism, and for the second rack-and-pinion mechanism), a first rod-form member 251 (for the second power transmission assembly) extending from this first rack 247, and a rolling member 261 (for the second power transmission assembly) mounted on this first rod-form member 251.
The pole-form member 208 comprises a second rack 248 (for the second direct power conversion mechanism, and for the second rack-and-pinion mechanism), a second rod-form member 252 (for the second power transmission assembly) extending from this second rack 248, and a rolling member 262 (for the second power transmission assembly) mounted on this second rod-form member 252.
The first rack 247 is in mesh with a first pinion gear 249 (for the second linear motion force conversion mechanism, and for the second rack-and-pinion mechanism), the second rack 248 is in mesh with the first pinion gear 249, and the first pinion gear 249 is rotationally driven by the motor 201.
In the manipulator 100 according to the fifth embodiment described here, as the pole-form member 207 makes a displacement toward the distal end side in a direction indicated by an action arrow, it causes the pole-form member 208 to make a displacement toward the proximal end side in a direction indicated by an action arrow. Conversely, as the pole-form member 207 makes a displacement toward the proximal end side, it causes the pole-form member 208 to make a displacement toward the distal end side.
Secondly, the manipulator 100 according to the fifth embodiment is different from the manipulator 100 according to the first embodiment in that the seesaw member 301 is configured in the form of a rod, not in the D form, and the wires 303 and 304 are respectively fixed to an upper and a lower end of the rod-form seesaw member 301.
The manipulator 100 according to the fifth embodiment configured as described above, too, may have such similar advantages as achieved in the former embodiments.
The sixth embodiment of the invention is now explained. The manipulator 100 according to the sixth embodiment is a modification to the manipulator 100 according to the fifth embodiment. The manipulator 100 according to the sixth embodiment differs from the manipulator 100 according to the fifth embodiment in terms of the construction of the seesaw member 301 disposed on the distal unit 300 side.
In the manipulator 100 according to the sixth embodiment described here, the seesaw member 301 on the distal unit 300 side comprises a third rack 347 (for the first linear motion force conversion mechanism and the first rack-and-pinion mechanism) in mesh with a second pinion gear 349 (for the first linear motion force conversion mechanism and the first rack-and-pinion mechanism), and a fourth rack 348 (for the first linear motion force conversion mechanism and the first rack-and-pinion mechanism) in mesh with the second pinion gear 349.
The wire 303 is fixed at one end to the third rack 347, and the wire 304 is fixed at one end to the fourth rack 348. The driven pulleys 307 and 308 provided in the manipulator 100 according to the fifth embodiment are dispensed with, and the wires 303 and 304 are parallel with each other in the vicinity of the third 347 and the fourth rack 348. The rolling members 261 and 262 are also dispensed with.
The manipulator 100 according to the sixth embodiment configured as described above, too, may have such similar advantages as achieved by the former embodiments.
The seventh embodiment of the invention is now explained.
In the manipulator 100 according to the seventh embodiment, the pole-form member 207 comprises a first rod-form member 255 (for the second power transmission assembly), and a first rod-form member 251 extending from this first rod-form member 255.
The rod-form member 208 comprises a second rod-form member 256 (for the second power transmission assembly), and a second rod-form member 252 from this second rod-form member 256.
The wire 257 (for the second linear motion force conversion mechanism) is fixed at one end to the first rod-form member 255 and at the other end to the second rod-form member 256. This wire 257 is routed around a driving pulley 258 (for the second linear motion force conversion mechanism) driven by the motor 201.
In the manipulator 100 according to the seventh embodiment described here, as the driving pulley 258 is rotationally driven by the motor 201, it causes the pole-form member 208 to make a displacement toward the proximal end side in a direction indicated by an action arrow when the pole-form member 207 makes a displacement toward the distal end side in a direction indicated by an action arrow. Conversely, when the pole-form member 207 makes a displacement toward the proximal end side, the pole-form member 208 makes a displacement toward the distal end side.
The manipulator 100 according to the seventh embodiment configured as described above, too, may have such similar advantages as achieved by the former embodiments.
The eighth embodiment of the invention is now explained. The manipulator 100 according to the eighth embodiment is a modification to the manipulator 100 according to the fifth embodiment.
The manipulators 100 explained so far are configured in such a way as to have a single degree of freedom. To configure a manipulator having multiple degrees of freedom, seesaw members as many as the degrees of freedom are necessary. The manipulator 100 according to the eighth embodiment described here is designed such that multiple degrees of freedom are operated with just one driving member. To this end, a gimbal member 350 (for the first linear motion force conversion mechanism) movable about the center of rotation 351 (for the first linear motion force conversion mechanism) is used in the distal unit 300, instead of the seesaw member 301.
In the proximal unit 200, pushing/pulling is performed on four points: rolling members 261 to 264, not on two points: rolling members 261 and 262.
According to the manipulator 100 of the eighth embodiment as described above, multiple degrees of freedom may be driven by a single gimbal member.
The ninth embodiment of the invention is now explained. The manipulator 100 of the ninth embodiment differs from the manipulator 100 of the first embodiment in terms of the configuration of the restriction portion used for displacements of the pole-form members 207 and 208 while they remain in a parallel state.
The manipulator 100 of such ninth embodiment, too, may have such similar advantages as achieved by the former embodiments.
The 10th embodiment of the invention is now explained. The manipulator 100 of the 10th embodiment differs from the manipulator 100 of the first embodiment in terms of the construction of the restriction assembly used for displacements of the pole-form members 207 and 208 while they remain in a parallel state.
In the manipulator 100 of the 10th embodiment, the link member 209 in the proximal unit 200 has a convex portion 215 (for the second power transmission assembly; the abutment portion), and the seesaw member 301 in the distal unit 300 has a concave portion 310 (for the first linear motion force conversion mechanism) so that upon attachment of the distal unit 300 to the proximal unit 200, the aforesaid convex portion 215 is fitted into the aforesaid concave portion 310. Therefore, when the link member 209 fitted in the seesaw member 301 makes coordinated displacements, there is no misalignment, ensuring that movement of the pole-form members 207 and 208 is restricted.
The manipulator 100 of such 10th embodiment, too, may have such similar advantages as achieved by the former embodiments.
The 11th embodiment of the invention is now explained. The manipulator 100 of the 11th embodiment differs from the manipulator 100 of the first embodiment in terms of the construction of the restriction assembly used for displacements of the pole-form members 207 and 208 while they remain in a parallel state.
In the manipulator 100 of the 11th embodiment, the link member 209 is provided with a bifurcated retaining member 216 having a slit portion 217, and the distal unit 300 is attached to the proximal unit 200 by locating a shaft 327 in the aforesaid slit portion 217, ensuring that movement of the pole-form members 207 and 208 is restricted.
The manipulator 100 of such 11th embodiment, too, may have such similar advantages as achieved by the former embodiments.
The 12th embodiment of the invention is now explained.
The case 355 is provided at a site for receiving the seesaw member 301 with a bellows portion 356 so that the case 355 can move following movement of the seesaw member 301.
The manipulator 100 according to such 12th embodiment may have such similar advantages as achieved in the former embodiments. In addition, keeping the interior of the distal unit 300 watertight may contribute to less cumbersome washing and shorter washing time, because washing the outside alone is all that is needed.
While the manipulators 100 according to the 1st to the 12th embodiment have been described, it is to be understood that possible manipulators 100 comprising some combinations thereof, too, are included in the category of the invention.
It is also to be noted that the aforesaid embodiments may each be applied to a so-called master/slave manipulator 1000 that is remote controlled.
The master/slave manipulator system 1000 comprises a master manipulator 111 operated by an operator Op as shown typically in
The master manipulator 111 comprises a master arm 113 in which the operator Op enters an input, a display unit 114 for displaying images, etc. taken by the endoscope device 110, a control unit 117 including a master control unit 118 for generating an operational instruction for actuation of the slave manipulator 112 and a slave control unit 119, and a control mode changeover footswitch 121.
In the embodiment described here, the master arm 113 is an operating portion for actuation of the respective components of the slave manipulator 112 including the manipulator 100 inserted through the channel in the endoscope device 110. Although not illustrated in details, the master manipulator 111 includes a pair of master arms 113a and 113b corresponding to the right hand and left hand of the operator Op. The master arm 113 has a multi-joint structure; one master arm 113a is provided for actuation of the manipulator 100 including the end effector 380 while the other master arm 113b is done for actuation of the bending assembly 124 of the endoscope device 110.
The display unit 114 is provided for displaying images of the site to be treated, taken by the viewing optical system 126, lighting optical system 127, etc. attached to the endoscope device 110. The end effector 380 is also shown together with the site Z to be treated on the display unit 114.
The slave manipulator 112 includes a table 1 on which a patient P is lying down, a multi-joint robot 115 positioned near the table 1, and an endoscope device 110 attached to the multi-joint robot 115. Although not shown in details, the endoscope device 110 is actuated by drivers 115A, 115B mounted on the slave manipulator 112 pursuant to an operational instruction issued from the master manipulator 111.
As shown in
The operator Op instructs the assistant to introduce the insert assembly 123 from the mouth of the patient P through the body cavity. While checking on images at the display unit 114, the operator Op operates the master arm 113 to properly bend the bending portion 124 of the insert assembly 123 or actuate the end effector 380.
Even when the invention is applied to such master/slave manipulator system 1000, the advantages of the embodiments as described above may be achievable.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2013-153295 | Jul 2013 | JP | national |
This application is a Continuation Application of International Application PCT/JP2014/066013 filed on Jun. 17, 2014, which claims priority to Japanese Patent Application No. 2013-153295 filed on Jul. 24, 2013. The Contents of International Application PCT/JP2014/066013 and Japanese Patent application No. 2013-153295 are hereby incorporated by reference herein in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2014/066013 | Jun 2014 | US |
| Child | 15004073 | US |
