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    Joint mechanism, manipulator, and manipulator system
    2.
    发明授权
    Joint mechanism, manipulator, and manipulator system 有权

    公开(公告)号：US11497387B2

    公开(公告)日：2022-11-15

    申请号：US16456320

    申请日：2019-06-28

    Applicant: OLYMPUS CORPORATION

    Inventor： Shingo Nakayama ,  Kosuke Kishi

    IPC: A61B34/00 ,  A61B1/008 ,  A61B1/005 ,  A61B17/00

    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 AND MANIPULATOR SYSTEM
    3.
    发明申请
    MANIPULATOR AND MANIPULATOR SYSTEM 审中-公开
    操纵器和操纵器系统

    公开(公告)号：US20160135913A1

    公开(公告)日：2016-05-19

    申请号：US15002515

    申请日：2016-01-21

    Applicant: OLYMPUS CORPORATION

    Inventor： Kosuke Kishi ,  Shingo Nakayama

    IPC: A61B34/00

    CPC classification number: A61B34/72 ,  A61B1/0055 ,  A61B1/008

    Abstract: Provided is a manipulator including a distal-end joint group and a proximal-end joint group that are arranged adjacent to each other in a distal-end section of an insertion part in a longitudinal axis direction and that are configured to bend the distal-end section. The proximal-end joint group includes a plurality of proximal-end bending joints bendable about axes that are lined-up side-by-side to bend the distal-end section through 180° or more. The distal-end joint group includes first distal-end bending joints disposed on a distal side of the proximal-end joint group and bendable about axes crossing a plane including the axes of the proximal-end bending joints and the longitudinal axis; and a second distal-end bending joint disposed in the longitudinal axis direction relative to the axes of the first distal-end bending joints and bendable about an axis that is lined-up side-by-side with the axes of the proximal-end bending joints.

    Abstract translation: 本发明提供一种机械手，其包括在插入部的纵轴方向的前端部彼此相邻配置的前端关节组和近端关节组，其构造为使前端 部分。 近端关节组包括可围绕轴线弯曲的多个近端弯曲接头，所述接头并排排列以使远端部分弯曲180°以上。 所述前端接头组包括设置在所述近端接头组的远端侧的第一远端弯曲接头，并且可围绕与包括所述近端弯曲接头的轴线和所述纵向轴线的平面交叉的轴线弯曲; 以及第二远端弯曲接头，其相对于所述第一远端弯曲接头的轴线在纵轴方向上配置，并且能够绕所述近端弯曲的轴线并排排列的轴线弯曲 关节。

    Manipulator and manipulator system
    4.
    发明授权
    Manipulator and manipulator system 有权

    公开(公告)号：US10085813B2

    公开(公告)日：2018-10-02

    申请号：US15002515

    申请日：2016-01-21

    Applicant: OLYMPUS CORPORATION

    Inventor： Kosuke Kishi ,  Shingo Nakayama

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

    Abstract: Provided is a manipulator including a distal-end joint group and a proximal-end joint group that are arranged adjacent to each other in a distal-end section of an insertion part in a longitudinal axis direction and that are configured to bend the distal-end section. The proximal-end joint group includes a plurality of proximal-end bending joints bendable about axes that are lined-up side-by-side to bend the distal-end section through 180° or more. The distal-end joint group includes first distal-end bending joints disposed on a distal side of the proximal-end joint group and bendable about axes crossing a plane including the axes of the proximal-end bending joints and the longitudinal axis; and a second distal-end bending joint disposed in the longitudinal axis direction relative to the axes of the first distal-end bending joints and bendable about an axis that is lined-up side-by-side with the axes of the proximal-end bending joints.

    Manipulator
    5.
    发明授权
    Manipulator 有权
    机械手

    公开(公告)号：US09517557B2

    公开(公告)日：2016-12-13

    申请号：US14827757

    申请日：2015-08-17

    Applicant: OLYMPUS CORPORATION

    Inventor： Masaru Yanagihara ,  Shingo Nakayama

    IPC: F16H3/06 ,  B25J9/10 ,  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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