Manipulator with multiple degrees of freedom

Details Manipulator with multiple degrees of freedom Manipulator with multiple degrees of freedom

2004-12-14

2010-10-26

Manahan, Todd E (Department: 3734)

Surgery

Instruments

Forceps

Reexamination Certificate

active

07819894

ABSTRACT:
A bending forceps1has at least three degrees of freedom including relative opening/closing of a pair of gripping members11a,11b, rotation of both the gripping members around a first axis15and rotation of both the gripping members around a second axis42existing on an imaginary plane substantially perpendicular to the first axis15. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanisms5, 6and7. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means.

REFERENCES:
patent: 6592572 (2003-07-01), Suzuta
patent: 6889116 (2005-05-01), Jinno
patent: 2002/0055758 (2002-05-01), Sasaki
patent: 2003/0158576 (2003-08-01), Nagase et al.
patent: 60-009676 (1985-01-01), None
patent: 06-311984 (1994-11-01), None
patent: 2001-71290 (2001-03-01), None
patent: 2001-145635 (2001-05-01), None
patent: 2001-299768 (2001-10-01), None
International Search Report mailed Mar. 29, 2005 of International Application PCT/JP2004/018654.
International Preliminary Report on patentability dated Aug. 22, 2006, issued in corresponding PCT/JP2004/018654.
Japanese Office Action dated Nov. 10, 2009, issued in corresponding Japanese patent application No. 2003-41723.

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