Traction balance adjustment mechanism, manipulator and manipulator system

Patent metadata

Field	Value
Publication number	US-2016338571-A1
Application number	US-201615228163-A
Country	US
Kind code	A1
Filing date	Aug 4, 2016
Priority date	Feb 7, 2014
Publication date	Nov 24, 2016
Grant date	—

Abstract

The traction balance adjustment mechanism 1 includes a movable part 2 that goes into operation through at least one degree of freedom, wires 7 connected to the movable part 2, and a traction part 6 that pulls one of the wires 7 and pushes out the other, wherein the length of the one wire 7 pulled by the traction part 6 is longer than the length of the other wire 7 pushed out.

First claim

1 . A traction balance adjustment mechanism comprising:
a movable part that operates through at least one degree of freedom; power transmission members that are connected to the movable part; and a traction part that pulls one of the power transmission members and pushes out the other; wherein a length of the one power transmission member pulled by the traction part is longer than a length of the other power transmission member pushed out.

2 . A traction balance adjustment mechanism according to claim 1 ,
wherein an amount of change in the length of the one power transmission member pulled by the traction part is constant or incremental.

3 . A traction balance adjustment mechanism according to claim 2 ,
wherein the amount of change is constantly incremental.

4 . A traction balance adjustment mechanism according to claim 3 ,
wherein the amount of change is incremental at a constant rate.

5 . A traction balance adjustment mechanism according to claim 1 ,
wherein the traction part comprises a pulley rotatable with respect to a given axis, and the pulley includes a helical take-up portion for winding up the power transmission members, wherein the take-up portion has a smallest-diameter site having a shortest distance from the axis and a largest-diameter site having a longest distance from the axis.

6 . A traction balance adjustment mechanism according to claim 5 ,
wherein the power transmission members include at least one pair of first and second power transmission members, the movable part includes a first connector that makes a connection to one end of the first power transmission member and a second connector that makes a connection to one end of the second power transmission member, the pulley includes a first take-up portion that has a first largest-diameter site and is capable of winding up the first power transmission member and a second take-up portion that has a second largest-diameter site and is capable of winding up the second power transmission member, and the smallest-diameter site includes a first smallest-diameter site adjacent to a first mount to which the other end of the first power transmission member wound around the first take-up portion is attached and a second smallest-diameter site adjacent to a second mount to which the other end of the second power transmission member wound around the second take-up portion is attached.

7 . A traction balance adjustment mechanism according to claim 1 , wherein:
the traction part includes a driving gear that is capable of rotating with respect to a given axis, and a first driven gear and a second driven gear in mesh with the driving gear, the power transmission members include at least one pair of a first power transmission member and a second power transmission member, the movable part includes a first connector that makes a connection to one end of the first power transmission member and a second connector that makes a connection to one end of the second power transmission member, the first driven gear includes a first take-up portion for winding up the first power transmission member, the second driven gear includes a second take-up portion for winding up the second power transmission member, the first take-up portion includes a first smallest-diameter site adjacent to a first mount to which the other end of the first power transmission member is attached and a first largest-diameter site positioned at an outermost circumstance thereof, and the second take-up portion includes a second smallest-diameter site adjacent to a second mount to which the other end of the second power transmission member is attached and a second largest-diameter site positioned at an outermost circumstance thereof.

8 . A traction balance adjustment mechanism according to claim 1 , wherein:
the traction part includes a driving gear that is capable of rotating with respect to a given axis, and a first driven gear and a second driven gear in mesh with the driving gear, the power transmission members include at least one pair of a first power transmission member and a second power transmission member, the movable part includes a first connector that makes a connection to one end of the first power transmission member and a second connector that makes a connection to one end of the second power transmission member, the first driven member includes a first mount to which the first power transmission member is attached, the second driven member includes a second mount to which the second power transmission member is attached, the driving gear comprises a first driving gear provided with a first driving smallest-diameter site and a first driving largest-diameter site and a second driving gear provided with a second driving smallest-diameter site and a second driving largest-diameter site, a tooth tilting rate of the first driven member is compatible with an incremental/decremental rate of diameter of the first driving gear such that a straight line in an extension direction of the first power transmission member lies always in the same position, and a tooth tilting rate of the second driven member is compatible with an incremental/decremental rate of diameter of the second driving gear such that a straight line in an extension direction of the second power transmission member lies always in the same position.

9 . A traction balance adjustment mechanism according to claim 1 , which comprises:
a coupler for supporting the movable part in a rotatable manner; a gimbal mechanism including a support member for supporting the coupler; a first frame member that is rotatably attached to a given first axis with respect to the support member; and a second frame member that is rotatably attached to a given second axis with respect to the first support member, the second axis being different from the first axis; wherein the traction part is attached to the first frame member.

10 . A manipulator comprising:
a driving part for driving the traction part; an operating part for operating the driving part to operate an orientation of the movable part; and a traction balance adjustment mechanism according to claim 1 .

11 . A manipulator system comprising:
a manipulator according to claim 10 ; a system control unit for controlling the manipulator; and a display unit for displaying an image acquired through the manipulator; wherein the manipulator includes an endoscope, and the system control unit is adapted to display an image acquired through the endoscope on the display unit.

Assignees

• Olympus Corp

Inventors

• Haraguchi Masafumi

Classifications

• A61B1/06

  with illuminating arrangements · CPC title

• A61M25/0147

  with movable mechanical means, e.g. pull wires · CPC title

• A61M25/0136

  Handles therefor · CPC title

• A61B1/0057 Primary

  Constructional details of force transmission elements, e.g. control wires · CPC title

• A61B1/0052

  Constructional details of control elements, e.g. handles · CPC title