Karl Storz Se Co. & Kg

Karl Storz-gmbh & Co. Kg

Tsuneyoshi Suzuki

Shinji Ishida

Hiroaki Sano

Junichi Fukuda

Hirofumi Mugishima

Kazunori Uchida

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 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

This medical manipulator is provided with a distal-end moving section including an end effector. The distal-end moving section includes a rotating sleeve (a distal-end rotator) which is able to rotate integrally with the end effector about a roll axis and has a hollow cylindrical portion, and a distal-end fulcrum block (rotary support cylinder) which is provided so as to be able to change orientation in relation to the axial direction of a shaft and rotatably supports the rotating sleeve at an inner peripheral section. A part of an opening/closing driving transmission section (actuating means) for transmitting an opening/closing driving force to the end effector is disposed inside of the distal-end moving section.

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 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.

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Kanuma, Japan

Tsuneyoshi Suzuki