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    JOINT MECHANISM, MANIPULATOR, AND MANIPULATOR SYSTEM
    1.
    发明申请
    JOINT MECHANISM, MANIPULATOR, AND MANIPULATOR SYSTEM 审中-公开
    联合机构，操纵器和操纵器系统

    公开(公告)号：US20160316996A1

    公开(公告)日：2016-11-03

    申请号：US15205591

    申请日：2016-07-08

    Applicant: OLYMPUS CORPORATION

    Inventor： Shingo NAKAYAMA ,  Kosuke KISHI

    IPC: A61B1/008 ,  A61B1/005

    CPC classification number: A61B1/008 ,  A61B1/0055 ,  A61B1/0057 ,  A61B34/71 ,  A61B2017/00314 ,  A61B2017/00323

    Abstract: Provided is a joint mechanism including a tubular first member having a through-hole; a second member disposed at the distal end of the first member and swivelable about a swivel axis intersecting a central axis thereof; a flexible, tubular guide sheath extending near the central axis of the through-hole and a distal end of which is fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a turnaround section that is provided in the second member at a position decentered from the swivel axis in the radial direction and that causes the manipulation wire introduced from the first member via the guide sheath to make a U-turn toward the first member. A distal end of the manipulation wire caused to make a U-turn at the turnaround section is fixed to a position decentered in the radial direction.

    Abstract translation: 提供一种接合机构，其包括具有通孔的管状第一构件; 第二构件，其设置在所述第一构件的远端，并且绕与其中心轴线相交的旋转轴线可旋转; 柔性管状引导护套，其在所述通孔的中心轴线附近延伸，并且其远端固定到所述第二构件; 向导向鞘的远端引入的操作线; 以及转动部，其设置在所述第二部件的径向从所述旋转轴线偏心的位置，并且使得经由所述引导护套从所述第一部件引出的所述操作线向所述第一部件转动。 操作线的在转弯部处的U形转弯的前端被固定在径向偏心的位置。

    JOINT MECHANISM, MANIPULATOR, AND MANIPULATOR SYSTEM
    2.
    发明申请
    JOINT MECHANISM, MANIPULATOR, AND MANIPULATOR SYSTEM 审中-公开

    公开(公告)号：US20190313882A1

    公开(公告)日：2019-10-17

    申请号：US16456320

    申请日：2019-06-28

    Applicant: OLYMPUS CORPORATION

    Inventor： Shingo NAKAYAMA ,  Kosuke KISHI

    IPC: A61B1/008 ,  A61B1/005 ,  A61B34/00

    Abstract: A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.

    MANIPULATOR
    4.
    发明申请
    MANIPULATOR 有权
    操纵器

    公开(公告)号：US20150352715A1

    公开(公告)日：2015-12-10

    申请号：US14827757

    申请日：2015-08-17

    Applicant: OLYMPUS CORPORATION

    Inventor： Masaru YANAGIHARA ,  Shingo NAKAYAMA

    IPC: B25J9/10 ,  A61B19/00 ,  B25J9/06

    CPC classification number: B25J9/104 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/301 ,  A61B2034/306 ,  B25J9/06 ,  Y10S901/15 ,  Y10S901/21 ,  Y10T74/18576 ,  Y10T74/20323

    Abstract: A manipulator includes an elongated main portion, a distal end portion, and a bendable portion provided between the main portion and the distal end portion; a plurality of linear members that extend from the distal end portion to the main portion via the bendable portion; a power generator; a plurality of power transmitters that transmit, to proximal ends of the linear members, the power generated by the power generator as linear motion in a longitudinal direction of the main portion; and a linear-member relaxing unit that relaxes the linear members in which tension is generated between the distal end portion and the power transmitters by pushing and pulling of the linear members by the linear motion transmitted from the power transmitters.

    Abstract translation: 操纵器包括细长主体部分，远端部分和设置在主体部分和远端部分之间的可弯曲部分; 多个直线部件，其经由所述弯曲部从所述前端部延伸到所述主体部; 发电机; 多个功率发射器，其沿着所述主要部分的纵向方向向所述线性构件的近端传递由所述发电机产生的电力作为直线运动; 以及线性部件放松单元，其通过从所述功率发送器发送的线性运动来推动和拉动所述线性部件，来松弛在所述远端部分和所述功率发射器之间产生张力的线性部件。

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