摘要:
This measurement device is a measurement device for measuring compressive force and pulling force in a direction of a longitudinal axis applied to a linear body having flexibility, and it includes a main body in which a through hole for inserting the linear body is formed. The through hole is formed to allow bending of the linear body in an arc shape in the through hole and variation in degree of bending of the linear body in accordance with compressive force and pulling force. This measurement device further includes a sensor for detecting a degree of bending of the linear body and a conversion circuit for converting the degree of bending detected by the sensor into a signal indicating compressive force and pulling force applied to the linear body.
摘要:
A remote-controlled actuator assembly includes a guide section (3) of an elongated shape, a distal end member (2) fitted to a tip end of the guide section for alteration in attitude, an operating tool (1) in the distal end member, and a restraining tool (6) for aligning the distal end member straight with the guide section. The distal end member is altered in attitude through advancing/retracting attitude altering members (31) in the guide section by attitude altering drive sources (43), which are controlled by an attitude control unit (62). An advance or retraction position detector (45) detects an advance/retraction position of the attitude altering members while the attitude altering members applying a preload to the distal end member restrained by the restraining tool. The attitude control unit uses the detection value as information on the advance/retraction position corresponding to an initial position-attitude of the distal end member.
摘要:
A remote controlled actuator includes an elongated guide section (3) of a curved shape, a distal end member (2) fitted to a tip of the guide section for alteration in attitude, and a work tool (1) provided in the distal end member. A drive shaft (22) for transmitting a driving force of a work tool drive source (41) to the work tool and a curved guide hole (30a) extending to its opposite ends are accommodated inside the guide section. A wire-like attitude altering member (31) is inserted within the guide hole for selective advance or retraction and then is driven by an attitude altering drive source (42) to alter the attitude of the distal end member. The attitude altering member has a curved shape identical with the curved shape of the guide hole under a natural condition while it has not yet been inserted into the guide hole.
摘要:
This insertion device is an insertion device for inserting a medical linear body in a vessel in a body, and it includes a drive device for moving the medical linear body in a direction of a longitudinal axis, a measurement device for measuring compressive force and pulling force in the direction of the longitudinal axis applied to the medical linear body, and a notification device for notifying an operator of compressive force and pulling force measured with the measurement device.
摘要:
A tool tip position detecting device for a remote controlled actuator having an elongated spindle guide, a tool fitted to a tip thereof and a main body housing having a base end of the spindle guide connected thereto. The device includes an external force free position detector for detecting the tip position of the tool from a detection value thereof, a strain detector for detecting a strain of the spindle guide, and a corrector for correcting the tip position of the tool, which has been detected by the external force free position detector, with the use of a detected strain value of the strain detector.
摘要:
There is provided a drive device for a linear body, that allows a treatment to be immediately, manually resumed when an emergency arises. A drive device for a linear body includes a securing portion capable of securing a Y connector having a through hole, and an actuator including a driving roller and a driven roller moving the linear body that is inserted in the through hole of the Y connector in the longitudinal direction of the linear body. The drive device allows the linear body and the Y connector to be integrally, manually attached to and detached from the securing portion.
摘要:
A remote controlled actuator (5) includes an actuator main body (10), a distal end member (2) fitted to a distal end of a spindle guide section (3) of the actuator main body (10) for alteration in attitude, and a tool (1) rotatably supported by the distal end member (2). The navigation system includes a tool processing member position estimator (55) for estimating the position of a processing member (1a) of the tool (1) from information on the position and attitude of a marker (7A), fitted to the actuator main body (10), that are detected by a marker detecting unit (8), information on the attitude of the distal end member (2) relative to the actuator main body (10), information on the relative position of the distal end member (2) relative to the marker (7A), and information on the shape of the tool (1).
摘要:
A remote controlled actuator (5) includes a distal end member (2) fitted to a distal end of a spindle guide section (3) for alteration in attitude, and a tool (1) rotatably supported by the distal end member. The navigation system includes a tool and tool marker relative position storage section (54) for storing the relative position of a processing member of the tool relative to the tool marker, and a relative relation storage section (55) having recorded therein the relative position and attitude of the tool marker relative to a main body marker (7A) for each angle of rotation of the distal end member, and a tool processing member position estimator (56) estimates the position of the processing member of the tool from the attitude and position of the main body marker during the actual procedure and the angle of rotation of the distal end member.
摘要:
There is provided a drive device for a linear body, that allows a treatment to be immediately, manually resumed when an emergency arises. A drive device for a linear body includes a securing portion capable of securing a Y connector having a through hole, and an actuator including a driving roller and a driven roller moving the linear body that is inserted in the through hole of the Y connector in the longitudinal direction of the linear body. The drive device allows the linear body and the Y connector to be integrally, manually attached to and detached from the securing portion.
摘要:
An actuator main body mounted on an operating bench includes a main body base end housing fixed to the operating bench, an elongated spindle guide section having its base end connected with the main body base end housing, a distal end member fitted to a front end thereof for alteration in attitude, and a tool rotatably provided in the distal end member. Within the spindle guide section, a rotary shaft for transmitting a rotation of a tool rotation drive source to the tool and an attitude altering member for altering the attitude of the distal end member are provided. Within the main body base end housing, an attitude altering drive mechanism for selectively advancing or retracting the attitude altering member when driven by an attitude altering drive source is provided.