Terumo Kabushiki Kaisha

Medicaroid Corporation

Karl Storz-gmbh & Co. Kg

Karl Storz Se Co. & Kg

Ckd Corporation

Kabushiki Kaisha Meidensha

Kawasaki Heavy Industries, Ltd

Tervino Kabushiki Kaisha

Kabushiki Kaisha Toshiba

Hiroaki Sano

Shinji Ishida

Makoto Jinno

Shigeru Omori

Yoshiyuki Yamada

Tsuneyoshi Suzuki

Masaru Nagashimada

Satoshi Yamanushi

Hideya Fujihara

Masashi Yanagawa

Junichi Fukuda

Akihiko Iguchi

Narukuni Nakada

Takeshi Minatani

Yoshiro Suzuki

Osamu Sumiya

Hirofumi Mugishima

Akira Sakaguchi

Ryohei Katsuki

Shuichi Uenohara

Masayuki Sakaki

Kazuhito Ishihara

Keiko Kitamura

Yoshio Hiyama

Kazunori Uchida

Masao Hitotsuyanagi

A surgery system that includes a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints; a first input device configured to operate the multiple-degree freedom slave arm; a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device.

Medical manipulator and method of controlling the same

A remote operation-type surgery system is disclosed, which includes a multiple-degree freedom slave arm, which is able to be mounted with a medical instrument including a shaft portion and an end effector disposed at a distal end of the shaft portion; a first input device configured to receive a first input to operate the multiple-degree freedom slave arm; a second input device configured to receive a second input to operate the multiple-degree freedom slave arm and different from the first input device; a touch panel configured to set an operation mode for the multiple-degree freedom slave arm operated by the second input device; and a controller configured to control the multiple-degree freedom slave arm based on the first input or second input, wherein the controller is configured to: determine whether or not an in-operation signal is turned on.

A remote operation-type surgery system is disclosed, which includes: a multiple-degree freedom slave arm; a first operation interface configured to operate the multiple-degree freedom slave arm; a second operation interface configured to operate the multiple-degree freedom slave arm; a third operation interface configured to operate the multiple-degree freedom slave arm and different from the first and second operation interfaces; and a controller configured to control the multiple-degree freedom slave arm, wherein the controller is configured to: determine whether or not an in-operation signal is turned on; until the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by at least one of the second operation interface and the third operation interface; and while the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multi-degree-of-freedom slave arm is operated by the first operation interface.

A remote operation-type surgery system is disclosed, which includes a multiple-degree freedom slave arm; a first operation interface configured to operate the multiple-degree freedom slave arm to make a movement of a medical instrument; a second operation interface configured to receive an operational instruction for the multiple-degree freedom slave arm and different from the first operation interface; and a controller configured to control the multiple-degree freedom slave arm, wherein the controller is configured to: determine whether or not in-operation signal is turned on; until the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm performs a movement based on the operational instruction via the second operation interface; and while the in-operation signal is turned on, control the multiple-degree freedom slave arm so that the multi-degree-of-freedom slave arm follows the movement of the first operation interface.

A medical manipulator is disclosed, which includes a multiple-degree freedom arm, which can be mounted with a medical instrument; a memory configured to retain an insertion port position indicating a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body; and a controller configured to determine an insertion posture of the medical instrument so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the insertion port position, and configured to move the multiple-degree freedom arm to the determined insertion posture.

This medical manipulator is provided with: an opening/closing drive transmission unit that transmits driving force for an opening/closing operation to a tip operation section from a handle side; and a rotary driving transmission unit that transmits rotary force for a rolling operation to the tip operation section from the handle. The rotary driving transmission unit has: a rolling drive transmission tube disposed rotatably within a shaft; a bevel gear provided to the joint between the shaft and the tip operation section; and a rotating sleeve that meshes with the bevel gear. A pull-wire having flexibility and configuring a portion of the opening/closing drive transmission unit extends through the inside of the joint to the inside of the tip operation section.

Medical manipulator

A medical manipulator is disclosed, which includes a multiple-degree freedom arm which can be mounted with a medical instrument, an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body is retained, and the multiple-degree freedom arm is controlled so as to insert the medical instrument into the human body from the retained insertion port position. The multiple-degree freedom arm is driven under operational restriction in which movement of the medical instrument is restricted by the insertion port position after the medical instrument is inserted from the insertion port position. The multiple-degree freedom arm is driven so as to move a predetermined portion of the medical instrument to spatial coordinates instructed by a user while maintaining a state where the medical instrument passes through the insertion port position under the operational restriction.

A medical manipulator is provided with a brake release mechanism. The brake release mechanism is provided with a release button which is provided on a tilt wheel, and a lever mechanism which has at least one portion arranged on the inside of the tilt wheel and which is pressed when the release button moves inwards. By the action of the lever mechanism when the release button is operated, braking by a brake mechanism is released.

Brake release mechanism and medical manipulator provided with same

A medical manipulator is provided with a brake mechanism. The brake mechanism is provided with a brake rotor and a brake shoe which can contact the outer periphery of the brake rotor. On the outer periphery of the brake rotor, a first gear is provided along the circumference. On the portion of the brake shoe which is opposite of the outer periphery of the brake rotor, a second gear is provided which can mesh with the first gear.

Brake mechanism and medical manipulator provided with same

A medical manipulator is disclosed, which includes a multiple-degree freedom arm which can be mounted with a medical instrument, an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body is retained. An insertion posture of the medical instrument is determined so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the retained insertion port position, outside the human body. The multiple-degree freedom arm is controlled so as to realize the determined insertion posture.

A medical manipulator includes a surgical tool that has an end effector at a distal end and a drive unit that is detachable from a handle of the surgical tool. In a state where the drive unit is mounted on the handle, when a manipulation lever is manipulated, a driving force of a motor is transmitted to the handle, and the end effector is operated. Even in a state where the drive unit is detached from the handle, the surgical tool can be independently used by a manual manipulation.

A medical manipulator has a distal-end working unit including an end effector. The distal-end working unit has a rotor having a hollow tube rotatable in unison with the end effector and a rotational support tube having a posture variable with respect to the shaft. The rotor is rotatably supported by an inner circumferential surface of the rotational support tube. Engaging members that are disposed in side holes formed in the rotational support tube have inner ends inserted in an annular groove.

A suturing and ligating method includes a needle piercing step of inserting a needle of a suture-needle assembly through a tissue in a body cavity, a needle gripping step of gripping the needle with a first gripper, a winding step of winding a suture strand of the suture-needle assembly in at least one turn around a first distal-end working unit by rolling the first distal-end working unit in at least one revolution, a transferring step of transferring the suture-needle assembly from the first gripper to a second gripper, a suture strand gripping step of gripping a portion of the suture strand that has not passed through the tissue, with the first gripper, a pulling step of pulling the first distal-end working unit out of a loop of the suture strand, and a tightening step of forming a knot of the suture strand.

Suturing and ligating method

A working unit of a manipulator includes a hollow joint shaft, wires disposed as power transmitting members in the hollow joint shaft, and a distal-end working unit mounted on an end of the hollow joint shaft and movable by the wires. The wires are wound around respective tubular members in the distal-end working unit. The hollow joint shaft has a pair of visual checking holes defined in respective side walls thereof near the distal end thereof for allowing the wires to be visually checked therethrough. The visual checking holes are positioned to expose the tubular members therethrough.

Growing community of inventors

Yamanashi, Japan

Hiroaki Sano