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WO2019039612A3 - Forceps system - Google Patents

Forceps system Download PDF

Info

Publication number
WO2019039612A3
WO2019039612A3 PCT/JP2018/031461 JP2018031461W WO2019039612A3 WO 2019039612 A3 WO2019039612 A3 WO 2019039612A3 JP 2018031461 W JP2018031461 W JP 2018031461W WO 2019039612 A3 WO2019039612 A3 WO 2019039612A3
Authority
WO
WIPO (PCT)
Prior art keywords
rotary motor
coupled
control
head part
forceps
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/031461
Other languages
French (fr)
Japanese (ja)
Other versions
WO2019039612A2 (en
Inventor
貴弘 溝口
誠通 下野
大西　公平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Keio University
Yokohama National University NUC
Kanagawa Institute of Industrial Science and Technology
Original Assignee
Keio University
Yokohama National University NUC
Kanagawa Institute of Industrial Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Keio University, Yokohama National University NUC, Kanagawa Institute of Industrial Science and Technology filed Critical Keio University
Publication of WO2019039612A2 publication Critical patent/WO2019039612A2/en
Publication of WO2019039612A3 publication Critical patent/WO2019039612A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Ophthalmology & Optometry (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

Provided is a forceps system which is simple, can be used with the same sensation as conventional forceps systems, and has excellent operability. This forceps system is equipped with a head part having a first rotary motor and a second rotary motor, a manipulation part pivotally supported on the head part and coupled to the first rotary motor via a power transmission mechanism, a shaft part attached to the head part, a grasping part disposed on the distal end of the shaft part and for pinching a target, a manipulation member passing through the shaft part and having one end thereof coupled to the grasping part via a link mechanism and the other end thereof coupled to the second rotary motor via a power transmission mechanism, and a control unit controlling the first rotary motor and the second rotary motor. The control unit uses acceleration-based bilateral control to control the angular response of the first rotary motor and the second rotary motor in accordance with the angle deviation between the first rotary motor and the second rotary motor, and to control the torque response of the first rotary motor and the second rotary motor in accordance with the torque deviation between the first rotary motor and the second rotary motor.
PCT/JP2018/031461 2017-08-21 2018-08-20 Dumpling system Ceased WO2019039612A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017158330A JP6762280B2 (en) 2017-08-21 2017-08-21 Forceps system
JP2017-158330 2017-08-21

Publications (2)

Publication Number Publication Date
WO2019039612A2 WO2019039612A2 (en) 2019-02-28
WO2019039612A3 true WO2019039612A3 (en) 2019-04-18

Family

ID=65438963

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/031461 Ceased WO2019039612A2 (en) 2017-08-21 2018-08-20 Dumpling system

Country Status (2)

Country Link
JP (1) JP6762280B2 (en)
WO (1) WO2019039612A2 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220118615A1 (en) * 2019-03-28 2022-04-21 Sony Group Corporation Control apparatus, control method, and master-slave system
US12232839B2 (en) 2019-09-13 2025-02-25 Sony Group Corporation Surgical tool, surgery support system, and surgical operating unit
JP2021041038A (en) * 2019-09-13 2021-03-18 ソニー株式会社 Operation tool, surgery support system, and surgery operation unit
CN114402176B (en) 2019-09-13 2024-09-06 鲍勃斯脱里昂公司 Measuring device and method for measuring slot width in a product
JP2021041037A (en) 2019-09-13 2021-03-18 ソニー株式会社 Surgical tools, surgical support system, and surgical operation unit
JP7679178B2 (en) * 2020-03-31 2025-05-19 地方独立行政法人神奈川県立産業技術総合研究所 Medical drills and programs

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0759788A (en) * 1993-08-25 1995-03-07 Olympus Optical Co Ltd Snipping force feedback forceps device
JP2006043349A (en) * 2004-08-09 2006-02-16 Hitachi Medical Corp Operation support apparatus
JP2010076012A (en) * 2008-09-24 2010-04-08 Toshiba Corp Manipulator system and control method thereof
JP2015006722A (en) * 2013-05-27 2015-01-15 パナソニックＩｐマネジメント株式会社 Master device for master-slave device, control method therefor, and master-slave robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4696307B2 (en) * 2003-07-24 2011-06-08 学校法人慶應義塾 Position / force control device
JP2009282720A (en) * 2008-05-21 2009-12-03 Nagaoka Univ Of Technology Operating method and operation device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0759788A (en) * 1993-08-25 1995-03-07 Olympus Optical Co Ltd Snipping force feedback forceps device
JP2006043349A (en) * 2004-08-09 2006-02-16 Hitachi Medical Corp Operation support apparatus
JP2010076012A (en) * 2008-09-24 2010-04-08 Toshiba Corp Manipulator system and control method thereof
JP2015006722A (en) * 2013-05-27 2015-01-15 パナソニックＩｐマネジメント株式会社 Master device for master-slave device, control method therefor, and master-slave robot

Also Published As

Publication number Publication date
JP2019034002A (en) 2019-03-07
JP6762280B2 (en) 2020-09-30
WO2019039612A2 (en) 2019-02-28

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