JP2001157662A - Power transmission mechanism and inserting operation sensing device for bar-shaped body using the same - Google Patents
Power transmission mechanism and inserting operation sensing device for bar-shaped body using the sameInfo
- Publication number
- JP2001157662A JP2001157662A JP34274499A JP34274499A JP2001157662A JP 2001157662 A JP2001157662 A JP 2001157662A JP 34274499 A JP34274499 A JP 34274499A JP 34274499 A JP34274499 A JP 34274499A JP 2001157662 A JP2001157662 A JP 2001157662A
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- sphere
- force
- transmission mechanism
- roller
- frictional force
- Prior art date
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- Friction Gearing (AREA)
- Endoscopes (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、被移動部材に対し
て並進、回転駆動をさせるための力伝達機構に関するも
のであり、例えば、医療現場等で使用されている細長い
円筒状（あるいは中実で棒状）をした内視鏡等のような
被移動部材に対して並進、回転運動をさせるために好適
な力伝達機構に関するものであり、またその力伝達機構
を使用した棒状体の挿入操作感覚装置に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a force transmitting mechanism for translating and rotating a member to be moved, and for example, relates to an elongated cylindrical (or solid) used in a medical field or the like. The present invention relates to a force transmission mechanism suitable for performing translation and rotation with respect to a moving member such as an endoscope or the like having a rod-like shape, and an insertion operation feeling of a rod-shaped body using the force transmission mechanism. It concerns the device.
【０００２】[0002]
【従来の技術】従来より、円筒状をした細長い被移動部
材（棒状体）に、並進、回転駆動を与える機構として歯
車等を利用した機構等が提案されている。2. Description of the Related Art Hitherto, mechanisms using gears and the like have been proposed as mechanisms for providing translation and rotation drive to a cylindrical elongated moving member (rod-like body).
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、前述し
た歯車機構の場合には、被移動部材に対して力を伝達す
る機構が大型化するとともに機構そのものが複雑とな
り、小型、軽量化を図る上で難点がある。また、歯車機
構の場合には歯車のバックラッシュの影響で、力伝達の
応答性が悪い等の問題がある。However, in the case of the gear mechanism described above, the mechanism for transmitting the force to the moving member becomes large and the mechanism itself becomes complicated, so that the size and weight can be reduced. There are difficulties. Further, in the case of a gear mechanism, there is a problem that response of force transmission is poor due to the influence of gear backlash.
【０００４】そこで、本発明は、被移動部材に当接する
球体と、この球体と接し球体に摩擦力によって回転力を
付与できるローラからなる力伝達機構を提案することに
より、上記問題点を解決することを目的とする。Accordingly, the present invention solves the above-mentioned problems by proposing a force transmitting mechanism including a sphere which comes into contact with the moving member and a roller which comes into contact with the sphere and can apply a rotational force to the sphere by frictional force. The purpose is to:
【０００５】本発明は、被移動部材に当接する球体と、
この球体と当接し摩擦力によって球体に回転力を与える
ことができるローラと、このローラを回転するモータと
を備え、前記ローラをモータによって回転させ、ローラ
の回転力を球体との間の摩擦力によって球体に伝達し、
さらに球体は被移動部材との間の摩擦力によって被移動
部材に対して並進、回転運動力を伝達する。このような
球体とローラからなる力伝達機構を採用することで、力
伝達機構の構造が極めてシンプルとなり、その結果、機
構の小型、軽量化を実現することができる。また、本発
明は被移動部材に並進、回転運動させる機構部分に広く
適用することが可能となる。[0005] The present invention provides a sphere contacting a member to be moved,
A roller that abuts the sphere to apply a rotational force to the sphere by a frictional force; and a motor that rotates the roller, the roller is rotated by the motor, and the rotational force of the roller is changed to the frictional force between the sphere and the To the sphere by
Furthermore, the sphere translates and transmits rotational force to the moved member by frictional force with the moved member. By employing such a force transmitting mechanism including a sphere and a roller, the structure of the force transmitting mechanism is extremely simplified, and as a result, the mechanism can be reduced in size and weight. In addition, the present invention can be widely applied to a mechanism for causing a member to be moved to translate and rotate.
【０００６】[0006]
【課題を解決するための手段】このため本発明は、被移
動部材に当接し摩擦力によって被移動部材に対して少な
くとも並進または回転運動を与えることができる球体
と、この球体に当接し摩擦力によって球体を回転させる
ローラと、このローラを回転するモータとを備え、前記
ローラは前記球体と円筒状部材との接点からの法線に対
して垂直な赤道面で球体と当接し、ローラの回転力を摩
擦力によって球体に伝達し、さらに球体は被移動部材と
の間の摩擦力によって被移動部材に対して並進または回
転運動を伝達することができるようにしたことを特徴と
する力伝達機構であり、円筒状部材に当接し、摩擦力に
よって円筒状部材に並進、回転運動を与えることができ
る球体と、この球体に当接し摩擦力によって球体を回転
させる少なくとも２個のローラと、これらローラを回転
するモータとを備え、前記ローラは前記球体と円筒状部
材との接点からの法線に対して垂直な赤道面において球
体と当接し、ローラの回転力を球体との摩擦力によって
球体に伝達し、さらに球体は円筒状部材との摩擦力によ
って円筒状部材に並進、回転運動を伝達することができ
るようにしたことを特徴とする力伝達機構であり、前記
ローラは球体の赤道面に対して９０°の角度を持って配
置されていることを特徴とする力伝達機構であり、前記
球体およびローラは表面摩擦の大きな硬質ゴムで構成し
たことを特徴とする力伝達機構であり、前記モータはコ
ンピュータによって制御されるべく構成されていること
を特徴とする力伝達機構であり、前記力伝達機構を棒状
体の挿入操作感覚機構に適用したことを特徴とする棒状
可撓体の挿入操作感覚装置であり、これらを課題解決の
ための手段とするものである。SUMMARY OF THE INVENTION Accordingly, the present invention provides a sphere capable of applying at least a translational or rotational motion to a moved member by a frictional force by contacting the moved member, A roller for rotating the sphere and a motor for rotating the roller, the roller abutting on the sphere at an equatorial plane perpendicular to a normal line from a contact point between the sphere and the cylindrical member, and rotating the roller. A force transmission mechanism for transmitting a force to a sphere by frictional force, and the sphere is capable of transmitting translation or rotation to the moved member by frictional force between the sphere and the moved member. A sphere abutting against the cylindrical member and capable of providing translation and rotation to the cylindrical member by frictional force; and at least two spheres abutting against the sphere and rotating the sphere by frictional force. Rollers, and a motor that rotates these rollers, the rollers abut against the sphere on the equatorial plane perpendicular to the normal from the contact point between the sphere and the cylindrical member, and the rotational force of the roller is compared with the sphere. The frictional force of the roller, the sphere further translates and rotates the cylindrical member by the frictional force with the cylindrical member, a force transmission mechanism, wherein the roller Is a force transmission mechanism characterized by being disposed at an angle of 90 ° with respect to the equatorial plane of the sphere, wherein the sphere and the roller are formed of hard rubber having a large surface friction. A power transmission mechanism, wherein the motor is configured to be controlled by a computer, wherein the force transmission mechanism is applied to a rod-shaped insertion operation feeling mechanism. The present invention is characterized by a stick-like flexible body insertion operation feeling device, which is used as a means for solving the problem.
【０００７】[0007]
【実施の形態】以下、本発明における力伝達機構の実施
の形態を図面に基づいて説明する。図１は力伝達機構の
平面図、図２は図１中のＡ−Ａ断面図、図３（ａ）、
（ｂ）は同力伝達機構による力伝達原理および力保持原
理の説明図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a force transmission mechanism according to the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a force transmission mechanism, FIG. 2 is a cross-sectional view taken along line AA in FIG. 1, FIG.
(B) is an explanatory view of the principle of force transmission and the principle of force retention by the same force transmission mechanism.
【０００８】図１において、１は硬質ゴム等の表面摩擦
の大きい材質からなる球体であり、球体１は図２に示す
ように被移動部材としての円筒状部材６に１点で接して
いる。この球体には４個のローラ２、３、４、５が当接
（摩擦接触）しており、４個のローラ２、３、４、５は
球体と同様に硬質ゴム等の表面摩擦の大きい材質で形成
され、前記球体１と円筒状部材６との接点からの法線に
対して垂直な赤道上で９０°間隔で配置されている。夫
々のローラ２、３、４、５にはローラを回転するための
モータ２Ａ、３Ａ、４Ａ、５Ａが取りつけられており、
モータは使用形態に合わせてコンピュータ等のソフトを
組み換えることにより種々の制御態様を実現可能な構成
としてあり、ソフトの変更のみで種々の力伝達が可能と
なる。In FIG. 1, reference numeral 1 denotes a sphere made of a material having a large surface friction such as hard rubber. As shown in FIG. 2, the sphere 1 is in contact with a cylindrical member 6 as a member to be moved at one point. Four rollers 2, 3, 4, and 5 are in contact (friction contact) with the sphere, and the four rollers 2, 3, 4, and 5 have a large surface friction such as hard rubber like the sphere. It is formed of a material and is arranged at 90 ° intervals on the equator perpendicular to the normal from the contact point between the spherical body 1 and the cylindrical member 6. Motors 2A, 3A, 4A, and 5A for rotating the rollers are attached to the rollers 2, 3, 4, and 5, respectively.
The motor is configured so that various control modes can be realized by rearranging software such as a computer in accordance with a usage form, and various force transmissions can be performed only by changing the software.
【０００９】円筒状部材６の軸方向内で対向する一組の
ローラ３、５は円筒状部材６に対して並進運動を与える
機能を有しており、また残りの一組のローラ２、４は円
筒状部材６に対して回転運動を与える機構を有してい
る。なお、この例では４個のローラを使用しているが、
隣あう２個のローラ３、４のみでも円筒状部材に並進、
回転運動を与えることができる。A pair of rollers 3 and 5 facing each other in the axial direction of the cylindrical member 6 have a function of providing translational movement with respect to the cylindrical member 6, and the other pair of rollers 2, 4 Has a mechanism for imparting rotational movement to the cylindrical member 6. In this example, four rollers are used,
Only two adjacent rollers 3, 4 translate into a cylindrical member,
A rotational movement can be given.
【００１０】上記構成からなる力伝達機構の作動を説明
する。 〔モータの駆動力により円筒状部材に並進、回転運動を
与える力伝達〕図３（ａ）において、モ−タからの入力
Ｔによりローラ３が回転すると、図示のようにローラ３
と当接している球体１の重心には下向きの力Ｆ１とモ−
メントＭ１が働く。この時発生する下向きの力Ｆ１によ
り円筒状部材６と球体１との間の垂直抗力が増加する。
またこのとき円筒状部材６と球体１間の摩擦力の反作用
で球体重心には右向きの力Ｆ２が働き、これにより球体
１とロ−ラ３との垂直抗力が増加する。すなわち、垂直
効力の増加により、球体１と円筒状部材６との間には滑
りが発生しなくなり、モ−タの出力を効率よく円筒状部
材６に伝達することができる。さらに球体１の赤道面を
図１に示すように４個のロ−ラ２、３、４、５で囲んで
いるためすべての方向への駆動時に同様の効果が生ま
れ、優れた円筒状部材駆動力が得られた。その結果、歯
車機構のものに比較して駆動速度を大幅に向上すること
ができた。The operation of the force transmission mechanism having the above configuration will be described. [Transmission of force that translates and rotates the cylindrical member by the driving force of the motor] In FIG. 3A, when the roller 3 is rotated by the input T from the motor, the roller 3
A downward force F1 is applied to the center of gravity of the sphere 1 in contact with
Mention M1 works. Due to the downward force F1 generated at this time, the vertical reaction force between the cylindrical member 6 and the sphere 1 increases.
Also, at this time, a rightward force F2 acts on the center of gravity of the ball due to the reaction of the frictional force between the cylindrical member 6 and the ball 1, thereby increasing the vertical reaction force between the ball 1 and the roller 3. That is, due to the increase of the vertical force, no slippage occurs between the sphere 1 and the cylindrical member 6, and the output of the motor can be efficiently transmitted to the cylindrical member 6. Further, since the equatorial plane of the sphere 1 is surrounded by four rollers 2, 3, 4, and 5 as shown in FIG. 1, the same effect is produced when driving in all directions, and excellent cylindrical member driving is achieved. Power was gained. As a result, the driving speed was able to be greatly improved as compared with that of the gear mechanism.
【００１１】なお、上記力伝達機構は、モータを停止し
た時に、その状態で円筒状部材６を保持する機能を有し
ている。即ち、モータ停止時に、円筒状部材６に図３
（ｂ）に示す軸方向の力（反力）Ｆが作用すると、球体
１の重心には右向きの力Ｆ４とモーメントＭ２が働く。
このとき、上記説明の場合と逆に、まず力Ｆ４によりロ
−ラ３と球体１間の垂直抗力が増す。このときの摩擦力
の反作用により球体には下向きの力Ｆ３が働き、内視鏡
６とボ−ル１間の垂直抗力が増す結果、球体１と円筒状
部材６との間に滑りの発生がなくなり、この効果によ
り、円筒状部材６に力Ｆが作用しても、円筒状部材６と
球体１とが滑ることがなくなり、強い保持力を確保する
ことができる。上記形態では、被移動部材として円筒状
部材を使用したものについて説明したが、被移動部材は
円筒状部材に限定することなく、中実の棒状体のもの、
さらに剛性のある棒状体、あるいは可撓性のある棒状体
等を含み、本明細書中の棒状体とは上記のような部材の
総称として用いている。The above-mentioned force transmission mechanism has a function of holding the cylindrical member 6 when the motor is stopped. That is, when the motor is stopped, the cylindrical member 6 shown in FIG.
When an axial force (reaction force) F shown in (b) acts, a rightward force F4 and a moment M2 act on the center of gravity of the sphere 1.
At this time, contrary to the case described above, first, the normal reaction between the roller 3 and the sphere 1 is increased by the force F4. Due to the reaction of the frictional force at this time, a downward force F3 acts on the sphere, and the vertical drag between the endoscope 6 and the ball 1 increases. As a result, slip occurs between the sphere 1 and the cylindrical member 6. By this effect, even if the force F acts on the cylindrical member 6, the cylindrical member 6 and the sphere 1 do not slip, and a strong holding force can be secured. In the above embodiment, the moving member using the cylindrical member has been described, but the moving member is not limited to the cylindrical member, and may be a solid rod-shaped member.
Further, a rigid rod or a flexible rod is included, and the rod in the present specification is used as a general term for the above members.
【００１２】〔実施例〕上記力伝達機構を内視鏡（また
はカテーテル）の挿入操作感覚を得るための力覚表示装
置に適用した例を説明する。現在の医療現場では、患者
への負担が少ない低浸襲・無浸襲の検査・手術が多く行
われるようになっている。その代表的な物に内視鏡を用
いた内視鏡下検査・手術がある。しかし、これらに対す
る効果的な訓練法は確立されておらず、実際に検査・手
術中に臓器に損傷を与えてしまうという症例も報告され
ている。そこで、上記力伝達機構を内視鏡の挿入操作感
覚を得るための力覚表示装置に適用した例について説明
する。[Embodiment] An example in which the above-mentioned force transmission mechanism is applied to a force sense display device for obtaining a feeling of an insertion operation of an endoscope (or a catheter) will be described. In current medical practice, many less invasive / non-invasive examinations / surgeries with less burden on patients are being performed. A typical example is an endoscopic examination / surgery using an endoscope. However, no effective training method has been established for them, and there have been reports of cases in which organs are actually damaged during examination and surgery. Therefore, an example in which the above-described force transmission mechanism is applied to a force sense display device for obtaining an endoscope insertion operation feeling will be described.
【００１３】本力覚表示装置では実際の内視鏡挿入操作
時と同様な感覚を医師にフィ−ドバックする必要がある
ため、内視鏡挿入時の抵抗感覚を表す仮想フリ−状態
と、腸壁などに接触した時の感覚を表す仮想バネ状態を
表現する実験を行った。図４において１０が内視鏡であ
り、この内視鏡には上記の構成からなる力伝達機構１１
が取りつけられており、力伝達機構１１内のモータには
制御装置１２が連結され、制御装置１２内にはモータを
駆動するプログラムが内蔵されている。この実験では仮
想フリ−状態では内視鏡への反力が常に０になるように
力伝達機構１１内のモータを制御する。In the present force sense display device, it is necessary to provide the doctor with the same feeling as in the actual operation of inserting the endoscope. An experiment was performed to represent a virtual spring state that represents the feeling of touching a wall or the like. In FIG. 4, reference numeral 10 denotes an endoscope, which has a force transmission mechanism 11 having the above-described configuration.
The control device 12 is connected to a motor in the force transmission mechanism 11, and a program for driving the motor is built in the control device 12. In this experiment, the motor in the force transmission mechanism 11 is controlled so that the reaction force to the endoscope is always zero in the virtual free state.
【００１４】例えば、挿入時、反力が０の時にはモータ
によって円筒状部材が並進して送り込まれ、また円筒状
部材に反力が発生した時には、反力が０になるようにモ
ータを制御する。この制御は制御装置内に予め組み込ま
れたプログラムによって行う。また、仮想バネ状態は６
軸力センサから読み込んだ力の現在位置から線形バネモ
デルを用いて位置の理論位置を算出し、それとエンコ−
ダでセンシングした位置の現在位置との差分からモ−タ
の出力を決定する比例制御を行なう。この結果、並進方
向のフリ−状態では誤差を１０〔ｇｆ〕程度に抑えられ
ており非常に良好な結果が得られた。また、回転方向に
関しても同様に良い結果が得られている。なお、内視鏡
の挿入操作感覚を得るための力覚表示装置に適用する場
合には、使用対象となる臓器（腸、食道、胃、気管な
ど）に対応したソフト（モータ制御用のプログラム）を
制御機器（コンピュータ等）に組み込むことであらゆる
臓器に対応した抵抗感覚を得ることができる。For example, at the time of insertion, when the reaction force is zero, the cylindrical member is translated and fed by the motor, and when the reaction force is generated in the cylindrical member, the motor is controlled so that the reaction force becomes zero. . This control is performed by a program pre-installed in the control device. The virtual spring state is 6
The theoretical position of the position is calculated using the linear spring model from the current position of the force read from the axial force sensor, and the theoretical position is calculated.
Proportional control for determining the output of the motor from the difference between the position sensed by the radar and the current position is performed. As a result, in the free state in the translation direction, the error was suppressed to about 10 [gf], and a very good result was obtained. Similarly, good results are obtained for the rotation direction. When applied to a haptic display device for obtaining a feeling of insertion operation of an endoscope, software (a program for motor control) corresponding to an organ to be used (intestine, esophagus, stomach, trachea, etc.) By incorporating this into a control device (computer or the like), a sense of resistance corresponding to any organ can be obtained.
【００１５】以上、本発明の実施の形態は球体が１個、
この球体に当接するローラが４個の場合について説明し
てきたが、この力伝達機構によって、被移動部材に対し
て並進運動、あるいは回転運動のみを与える場合にはロ
ーラは１個でもよい。また被移動部材が角材等の場合に
は、並進運動のみを伝達する機構として利用することも
可能である。さらに上記実施形態においてローラを４個
設けた例を説明しているが、隣合う２個のローラとする
ことも可能である。たとえば、上記機構では並進・回転
駆動用にそれぞれ２つ、合計４つのモ−タを用いている
が、各駆動を行う際に２つのモ−タに与える出力電圧は
同一であるため、モ−タを２つのみ用いて行うことがで
きる。この場合にも同様に容易な制御で被移動部材の駆
動を行なうことができる。また、上記実施例では本力伝
達機構を内視鏡の力覚表示装置に採用した例を説明して
いるが、他の装置にも適用できることは当然であり、さ
らに本発明はその精神または主要な特徴から逸脱するこ
となく、他のいかなる形でも実施できる。そのため、前
述の実施形態はあらゆる点で単なる例示にすぎず限定的
に解釈してはならない。As described above, the embodiment of the present invention has one sphere,
Although the description has been given of the case where the number of rollers abutting on the sphere is four, the number of rollers may be one when only a translational motion or a rotational motion is applied to the moved member by the force transmission mechanism. When the member to be moved is a square bar or the like, it can be used as a mechanism for transmitting only translational motion. Furthermore, although an example in which four rollers are provided in the above embodiment has been described, it is also possible to use two adjacent rollers. For example, in the above-described mechanism, two motors are used for translational / rotational driving, respectively, for a total of four motors. However, the output voltages given to the two motors at the time of each driving are the same, This can be done using only two parameters. In this case, similarly, the driven member can be driven with easy control. Further, in the above-described embodiment, an example is described in which the present force transmission mechanism is applied to a force sense display device of an endoscope. It can be implemented in any other form without departing from the essential characteristics. Therefore, the above-described embodiment is merely an example in all aspects and should not be interpreted in a limited manner.
【００１６】[0016]
【発明の効果】以上の詳細に説明した如く、本発明によ
れば、モ−タの出力を被移動部材に伝達するのは表面摩
擦の大きい硬質ゴムボ−ルのみであり、歯車等を用いて
ないため力伝達機構を非常にシンプルかつ効率の良いも
のとすることあでき、同時に大幅な小型・軽量化が達成
できた。特にギア等を用いていないため、バックラッシ
がなくなり、非常にダイレクトドライブに近い力伝達を
実現でき応答性を向上することができた。また、内視鏡
の駆動機構に採用した場合には駆動力・駆動速度の向上
を図ることができ、また内視鏡保持力を向上することが
できた。さらに内視鏡を用いた検査、手術の効果的な訓
練装置としても優れた効果を上げることができた。As described in detail above, according to the present invention, only the hard rubber ball having a large surface friction transmits the output of the motor to the moving member, and the gear is used for the transmission. As a result, the force transmission mechanism could be made very simple and efficient, and at the same time, a significant reduction in size and weight could be achieved. In particular, since no gear or the like was used, backlash was eliminated, and a force transmission very similar to direct drive was realized, and responsiveness was improved. In addition, when employed in the drive mechanism of the endoscope, the driving force and the driving speed can be improved, and the endoscope holding force can be improved. In addition, an excellent effect was obtained as an effective training device for examination and surgery using an endoscope.
【図１】本発明に係る力伝達機構の平面図である。FIG. 1 is a plan view of a force transmission mechanism according to the present invention.
【図２】図１中のＡ−Ａ断面図である。FIG. 2 is a sectional view taken along the line AA in FIG.
【図３】（ａ）、（ｂ）は同力伝達機構による力伝達原
理および力保持原理の説明図である。FIGS. 3A and 3B are explanatory diagrams of a principle of force transmission and a principle of force holding by the same force transmission mechanism.
【図４】内視鏡を移動させるための移動機構の斜視図で
ある。FIG. 4 is a perspective view of a moving mechanism for moving the endoscope.
１ 球体 ２〜５ ローラ ２Ａ〜５Ａ モータ ６ 被移動部材（円筒状部材） １０ 内視鏡 １１ 力伝達機構 １２ 制御装置 DESCRIPTION OF SYMBOLS 1 Spherical body 2-5 Roller 2A-5A Motor 6 Member to be moved (cylindrical member) 10 Endoscope 11 Force transmission mechanism 12 Control device
Claims (6)
動部材に対して少なくとも並進または回転運動を与える
ことができる球体と、この球体に当接し摩擦力によって
球体を回転させるローラと、このローラを回転するモー
タとを備え、前記ローラは前記球体と円筒状部材との接
点からの法線に対して垂直な赤道面で球体と当接し、ロ
ーラの回転力を摩擦力によって球体に伝達し、さらに球
体は被移動部材との間の摩擦力によって被移動部材に対
して並進または回転運動を伝達することができるように
したことを特徴とする力伝達機構。1. A sphere capable of abutting against a moved member and imparting at least translational or rotational movement to the moved member by frictional force, a roller abutting on the sphere and rotating the sphere by frictional force, and the roller A motor that rotates the roller, the roller abuts the sphere at an equatorial plane perpendicular to the normal from the contact point between the sphere and the cylindrical member, and transmits the rotational force of the roller to the sphere by frictional force, Further, the force transmission mechanism is characterized in that the sphere can transmit a translation or a rotational movement to the moving member by a frictional force between the sphere and the moving member.
筒状部材に並進、回転運動を与えることができる球体
と、この球体に当接し摩擦力によって球体を回転させる
少なくとも２個のローラと、これらローラを回転するモ
ータとを備え、前記ローラは前記球体と円筒状部材との
接点からの法線に対して垂直な赤道面において球体と当
接し、ローラの回転力を球体との摩擦力によって球体に
伝達し、さらに球体は円筒状部材との摩擦力によって円
筒状部材に並進、回転運動を伝達することができるよう
にしたことを特徴とする力伝達機構。2. A sphere that abuts against the cylindrical member and is capable of providing translation and rotation to the cylindrical member by frictional force, at least two rollers that abut against the sphere and rotate the sphere by frictional force, A motor for rotating these rollers, wherein the rollers abut against the sphere at an equatorial plane perpendicular to the normal line from the contact point between the sphere and the cylindrical member, and the rotational force of the roller is determined by the frictional force with the sphere. A force transmission mechanism for transmitting to a sphere, and the sphere can transmit translation and rotation to the cylindrical member by frictional force with the cylindrical member.
°の角度を持って配置されていることを特徴とする請求
項２に記載の力伝達機構。3. The roller is positioned 90 degrees with respect to the equatorial plane of the sphere.
3. The force transmission mechanism according to claim 2, wherein the force transmission mechanism is disposed at an angle of degrees.
な硬質ゴムで構成したことを特徴とする請求項１〜請求
項３の何れかに記載の力伝達機構。4. The force transmitting mechanism according to claim 1, wherein the sphere and the roller are made of hard rubber having a large surface friction.
されるべく構成されていることを特徴とする請求項１〜
請求項４の何れかに記載の力伝達機構。5. The motor of claim 1, wherein the motor is configured to be controlled by a computer.
The force transmission mechanism according to claim 4.
載の力伝達機構を棒状体の挿入操作感覚機構に適用した
ことを特徴とする内視鏡の挿入操作感覚装置。6. An insertion operation sensation device for an endoscope, wherein the force transmission mechanism according to claim 1 is applied to a rod-shaped insertion operation sensation mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34274499A JP3877921B2 (en) | 1999-12-02 | 1999-12-02 | Force transmission mechanism and rod-like body insertion operation sense device using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34274499A JP3877921B2 (en) | 1999-12-02 | 1999-12-02 | Force transmission mechanism and rod-like body insertion operation sense device using the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001157662A true JP2001157662A (en) | 2001-06-12 |
| JP3877921B2 JP3877921B2 (en) | 2007-02-07 |
Family
ID=18356166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34274499A Expired - Fee Related JP3877921B2 (en) | 1999-12-02 | 1999-12-02 | Force transmission mechanism and rod-like body insertion operation sense device using the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3877921B2 (en) |
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| JPWO2006126268A1 (en) * | 2005-05-26 | 2008-12-25 | オリンパスメディカルシステムズ株式会社 | Rotating self-propelled endoscope device |
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| US8425465B2 (en) | 2008-03-25 | 2013-04-23 | Ntn Corporation | Drive device for linear body |
| WO2009125744A1 (en) | 2008-04-10 | 2009-10-15 | Ntn株式会社 | Linear object operation controller which controls operation of linear object by operator |
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