Arm device

Patent metadata

Field	Value
Publication number	US-12285300-B2
Application number	US-201817042678-A
Country	US
Kind code	B2
Filing date	Sep 10, 2018
Priority date	Apr 20, 2017
Publication date	Apr 29, 2025
Grant date	Apr 29, 2025

Abstract

Provided is an arm device. The arm device includes: a first gimbal portion configured to rotatably support an instrument about a first rotational axis extending along an axis line of the instrument; a second gimbal portion configured to rotate the instrument about a second rotational axis extending along a direction intersecting the first rotational axis; a distal portion configured to rotate the instrument about a third rotational axis extending to intersect a plane including the first rotational axis and the second rotational axis. The third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees.

First claim

The invention claimed is:

1. An arm device comprising:
a first gimbal portion configured to rotatably support an instrument about a first rotational axis extending along an axis line of the instrument;
a second gimbal portion configured to rotate the instrument about a second rotational axis extending along a direction intersecting the first rotational axis; and
a distal portion configured to rotate the instrument about a third rotational axis extending to intersect a plane including the first rotational axis and the second rotational axis; and
a first actuator coupled between the joint and the outer rod;
a first gravity compensator configured to apply a force to move the distal portion upward;
wherein the distal portion is coupled to at least one arm portion that includes an inner rod and an outer rod arranged parallel to the inner rod, wherein the at least one arm portion extends between the distal portion and a joint, wherein the inner rod and the outer rod are separately pivotally coupled to the distal portion to form a first parallel link mechanism that maintains a relative attitude between the distal portion and the joint,
wherein the arm device is devoid of a counter-weight configured to balance with a weight of the distal portion,
wherein the third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees,
wherein the first actuator is configured to drive the first parallel link mechanism to thereby move a position of the distal portion,
wherein the first gravity compensator comprises a first end that is mounted on the distal portion at or proximate to a position where the inner rod is mounted, and
wherein the first gravity compensator comprises a second end that is mounted on the first actuator at or proximate to a position where the first actuator is coupled to the outer rod.

2. The arm device according to claim 1 , wherein the third rotational axis has an inclination angle of 45 degrees.

3. The arm device according to claim 1 , wherein the first actuator is an air pressure actuator configured to be driven by receiving air supply.

4. The arm device according to claim 1 , wherein the at least one arm portion extends along a horizontal direction, and the distal portion is configured to rotate about a rotational axis line extending vertically.

5. The arm device according to claim 1 , further comprising:
a holding portion that is attachable to and detachable from a place where the instrument is to be arranged for use,
wherein the holding portion is arranged adjacent to a base and supports the base in a relatively rotatable manner about a fourth rotational axis extending along a vertical direction.

6. The arm device according to claim 1 , wherein:
the at least one arm portion comprises a first arm portion forming the first parallel link mechanism, and a second arm portion forming a second parallel link mechanism;
the arm device further comprises a second actuator configured to drive the second parallel link, to thereby move a position of the distal portion; and
the arm device further comprises a second gravity compensator configured to apply a force to move the distal portion upward on the second parallel link mechanism.

7. The arm device according to claim 6 , further comprising:
an additional gravity compensator configured to apply a force to move the distal portion upward on the first parallel link mechanism.

8. The arm device according to claim 1 ,
wherein the arm device is configured for endoscopic surgery in at least one of digestive surgery, respiratory surgery, or urological surgery.

Assignees

• Riverfield Inc

Inventors

• HARAGUCHI Daisuke
• Tadano Kotaro
• Kanazawa Noriaki

Classifications

• A61B2017/00544

  pneumatically · CPC title

• A61B17/00234

  for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title

• A61B1/00149 Primary

  using articulated arms · CPC title

• A61B2090/506

  using a parallelogram linkage, e.g. panthograph · CPC title

• A61B2090/504

  with a counterweight · CPC title