WO2009150925A1 - 医療用器具保持アーム装置 - Google Patents
医療用器具保持アーム装置 Download PDFInfo
- Publication number
- WO2009150925A1 WO2009150925A1 PCT/JP2009/059244 JP2009059244W WO2009150925A1 WO 2009150925 A1 WO2009150925 A1 WO 2009150925A1 JP 2009059244 W JP2009059244 W JP 2009059244W WO 2009150925 A1 WO2009150925 A1 WO 2009150925A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- medical instrument
- arm portion
- rotation shaft
- fixed
- vertical arm
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/21—Flaccid drive element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
Definitions
- the present invention relates to a medical instrument holding arm device.
- various instruments have been used in recent years. For example, various types such as an endoscope, an ultrasonic echo probe, a brain spatula, and a suction tube are used.
- a holding arm device using a parallel link mechanism is used.
- This type of holding arm device has a structure in which a medical instrument is held at one end of an arm by a parallel link mechanism (including a belt driving mechanism) and a counterweight is held at the other end.
- a medical instrument is held at one end of an arm by a parallel link mechanism (including a belt driving mechanism) and a counterweight is held at the other end.
- a parallel link mechanism including a belt driving mechanism
- a counterweight is held at the other end.
- the present invention has been made paying attention to such a conventional technique, and provides a medical instrument holding arm device capable of greatly changing the position and angle of a medical instrument.
- a medical instrument holding arm device includes a base portion installed on a floor, a support column standing vertically from the base unit, and an upper end of the support column.
- a vertical arm whose middle part is pivotally supported by the pivot shaft, and a horizontal arm whose pivotal end is pivotally supported by the pivot shaft at the upper end of the vertical arm and can hold a medical instrument at the distal end.
- An arm portion a counterweight supported by a rotating shaft at the lower end of the vertical arm portion, and a clutch for rotating or fixing an arbitrary rotating shaft;
- the rotating shaft is integrated with the horizontal arm portion, the rotating shaft at the lower end is integrated with the counterweight, and a loop-shaped rotational force transmitting member is wound around the upper and lower rotating shafts.
- maintenance arm apparatus which shows one usage form.
- maintenance arm apparatus which shows another usage pattern.
- the holding arm device 1 includes a base portion 2, a support column portion 3, a vertical arm portion 4, a horizontal arm portion 5, and a counterweight 6.
- the base portion 2 includes caster portions 14 at four corners, and can be moved on the floor, and the caster portion 14 can be fixed by a foot-type brake mechanism 29 to fix the position on the floor.
- the support column 3 is erected at a position offset from the rotation shaft 3 ⁇ / b> A at the center of the base unit 2.
- the support column 3 is rotatable in the horizontal direction around the rotation shaft 3A, and the rotation shaft 3A can be fixed by a clutch (not shown) provided on the rotation shaft 3A.
- the clutch in this embodiment employs an air clutch that is driven by compressed air.
- An electromagnetic clutch may be used.
- the support column part 3 is composed of a fixed support column 7 that is rotatably attached to the base unit 2 and a movable support column 8 that is slidable in the vertical direction with respect to the fixed support column 7.
- a threaded rod 9 that is rotatable by a bearing B extends from the upper end of the movable column 8 toward the fixed column 7 and is screwed with a nut 10 provided on the fixed column 7 side. is doing.
- a bevel gear 11 is provided at the upper end of the screw rod 9.
- the bevel gear 11 is engaged with another bevel gear 13 provided on the rotation shaft of the handle 12 so that the handle 13 can transmit the rotational force to the screw rod 9 via the bevel gears 11 and 13. . Therefore, when the screw rod 9 is rotated, the movable support column 3 moves up and down with respect to the fixed support column 3.
- a rotation shaft 4 ⁇ / b> A that is rotatable by a bearing B is provided in a state along the horizontal direction.
- the rotating shaft 4 ⁇ / b> A is fixed to the lower halfway position of the vertical arm portion 4 and is integrated with the vertical arm portion 4. Therefore, the vertical arm portion 4 can rotate with respect to the support column portion 3 around the rotation shaft 4A.
- the clutch C is assembled to the rotating shaft 4A, and the rotation of the rotating shaft 4A can be made free or locked by the pressure of compressed air.
- Timing pulleys 5A and 6A as rotation shafts are provided on the upper and lower sides of the vertical arm portion 4 via a bearing B so as to be rotatable. That is, the vertical arm portion 4 is provided with a rotation axis having a theoretical axis ⁇ 1 fixed at the upper end (one end) and a rotation axis having a theoretical axis ⁇ 2 fixed at the lower end (the other end).
- the timing pulley 5A at the upper end is integrated with the base end of the horizontal arm portion 5 and rotates in the same direction as the horizontal arm portion 5.
- the upper timing pulley 5 ⁇ / b> A can be freely rotated or locked by the clutch C on the side arm 5 side.
- the timing pulley 6A at the lower end is integrated with the counterweight 6 and rotates in the same direction as the counterweight 6 rotates.
- the lateral arm portion 5 and the counterweight 6 extend in opposite directions and are parallel to each other.
- the counterweight 6 can generate torque around the rotation axis ⁇ 2.
- the upper and lower timing pulleys 5A and 6A have a grooved shape, and a timing belt 15 as a rotational force transmission member is wound around the timing pulleys 5A and 6A.
- the upper and lower timing pulleys 5A and 6A and the timing belt 15 transmit torque equivalent to a parallel link in which the link ( ⁇ 1- ⁇ 2) fixed to the vertical arm 4 is a vertical link and the radius of the timing pulleys 5A and 6A is a horizontal link.
- the vertical arm portion 4 has a link case structure and is composed of a rigid member, and has a hollow structure that houses and protects the timing pulleys 5A and 6A and the timing belt 15 therein.
- the groove of the timing belt 15 is engaged with the groove of the timing pulleys 5A and 6A, so that both rotation and torque are correctly transmitted.
- the torque around the rotation axis ⁇ 1 of the horizontal arm 5 and the endoscope 20 is always compensated by the torque around the rotation axis ⁇ 2 of the counterweight 6.
- a pair of tension rollers 16 and 17 are provided near the upper and lower timing pulleys 5A and 6A.
- the tension rollers 16 and 17 are rotatable by the bearing B, and the tension applied by the vertical link ( ⁇ 1- ⁇ 2) fixed to the vertical arm 15 is further reduced by reducing the distance between the timing belts 15 facing each other. Is added.
- the contact area between the timing belt 15 and the timing pulleys 5 ⁇ / b> A and 6 ⁇ / b> A increases, and the rotational force transmission performance by the timing belt 15 is improved.
- the distal arm 18 of the horizontal arm 5 is rotatable about the axis of the horizontal arm 5 and can be switched between a free state and a fixed state (locked) by a clutch (not shown).
- An attachment 19 is attached to the end of the distal arm 18, and an endoscope 20 as a medical instrument is held via the attachment 19.
- the attachment 19 is provided with a switch lever 21.
- the switch lever 21 When the operator holds the attachment 19 portion and presses the switch lever 21, compressed air is supplied, and all the clutches C are in a free state. When the hand is released, all the clutches C are locked. Therefore, the operator can hold the attachment 19 and push the switch lever 21 to bring the holding arm device 1 as a whole into a free state so that the endoscope 20 can be brought to a desired position and angle. When you release, the position is automatically fixed.
- the position of the lateral arm part 5 can be set to the optimum height according to the height position of the patient.
- the horizontal arm portion 5 and the counter weight 6 are rotated in conjunction with the timing belt 15, as shown in FIG. 3, the horizontal arm 5 is maintained while maintaining the weight balance of the horizontal arm portion 5 by the counter weight 6.
- the part 5 can be freely rotated by 180 degrees or more around the rotation center ⁇ 1. It can be rotated over the entire range that does not interfere with the support column 3 substantially.
- the lateral arm portion 5 (FIG. 10) oriented in one direction is straight up (FIG. 11) to the opposite side (FIG. 12). It can be rotated.
- FIG.10 and FIG.12 as long as it does not interfere with the support
- the vertical arm 4 can be moved backward to the support 3, the horizontal arm 5 can be lowered, and the endoscope 20 can be brought closer to the support 3. Further, as shown in FIG. 7, the endoscope 20 can be directed from the lower side to the patient with the vertical arm portion 4 facing downward and the horizontal arm portion 5 raised.
- the entire holding arm device 1 can be reduced in weight. Furthermore, the timing belt 15 is suitable for the medical field where quietness is required because the operation sound is small compared to other gear transmission mechanisms and the like.
- timing chain or other members may be employed as the rotational force transmitting member.
- the rotation angle range of the horizontal arm portion is increased, and the horizontal arm portion is increased.
- the position and angle of the medical instrument held at the tip of the can can be greatly changed.
- the horizontal arm portion and the counterweight rotate at the same angle, the weight balance state by the counterweight is maintained.
- the timing belt is used as the rotational force transmitting member, the entire apparatus can be reduced in weight, and the operation sound is small, which is suitable for the medical field.
- the rotational force transmission member is not touched directly from the outside, and safety is improved.
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
Description
本発明の技術的側面によれば、医療用器具保持アーム装置は、フロア上に設置するベース部と、ベース部から垂直に立設した支柱部と、支柱部の上端の回動軸に途中部分が回動自在に支持された縦アーム部と、縦アーム部の上端の回動軸に基端が回動自在に支持され且つ先端に医療用器具を保持可能な横アーム部と、縦アーム部の下端の回動軸に支持されたカウンタウェイトと、任意の回動軸を回転状態又は固定状態にするクラッチとを備えたものであり、前記縦アーム部の上端の回動軸は横アーム部と一体で、下端の回動軸はカウンタウェイトと一体で、上下の回動軸間にループ状の回転力伝達部材を掛け回したことを特徴とする。
本発明の技術的側面)によれば、縦アーム部の上下の回動軸同士を回転力伝達部材により連結した構造のため、横アーム部の回転角度範囲が大きくなり、横アーム部の先端に保持する医療用器具の位置や角度を大きく変えることができる。また、横アーム部とカウンタウェイトとは同じ角度回転するため、カウンタウェイトによる重量バランス状態は保たれる。
本国際特許出願は米国指定に関し、2008年6月12日に出願された日本国特許出願第2008-154479号(2008年6月12日出願)について米国特許法第119条(a)に基づく優先権の利益を援用し、当該開示内容を引用する。
Claims (4)
- フロア上に設置するベース部と、
前記ベース部から垂直に立設した支柱部と、
前記支柱部の上端に位置固定された第3回動軸に中間部分が回動自在に支持された縦アーム部と、
前記縦アーム部の一端に回転中心が位置固定された第1回動軸に基端が回動自在に支持され且つ先端に医療用器具を保持可能な横アーム部と、
前記縦アーム部の他端に回転中心が位置固定された第2回動軸に対して回動自在に支持されたカウンタウェイトと、
少なくとも前記第1回動軸、第2回動軸、第3回動軸のいずれか1つを回転自在又は固定状態に切換自在なクラッチと、
前記第2回動軸のまわりの前記カウンタウェイトのトルクと前記第1回動軸のまわりの前記横アーム部のトルクを相互に伝達するトルク伝達機構であって、前記第1回動軸および第2回動軸間にトルク伝達のためのループ状の回転力伝達部材が掛け回されるものと
を具備することを特徴とする医療用器具保持アーム装置。 - 前記回転力伝達部材がタイミングベルトであることを特徴とする請求項1記載の医療用器具保持アーム装置。
- 前記縦アーム部の内部に対向するタイミングベルト同士の距離を狭めて張力を付与する一対のテンションローラを設けたことを特徴とする請求項2記載の医療用器具保持アーム装置。
- 前記縦アーム部は回転力伝達部材を収納する中空構造を有するリンクケースであることを特徴とする請求項1記載の医療用器具保持アーム装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112009001412.7T DE112009001412B4 (de) | 2008-06-12 | 2009-05-20 | Haltearmvorrichtung für medizinisches Werkzeug |
US12/997,285 US8910537B2 (en) | 2008-06-12 | 2009-05-20 | Holding arm apparatus for medical tool |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008-154479 | 2008-06-12 | ||
JP2008154479A JP5135069B2 (ja) | 2008-06-12 | 2008-06-12 | 医療用器具保持アーム装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009150925A1 true WO2009150925A1 (ja) | 2009-12-17 |
Family
ID=41416636
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/059244 WO2009150925A1 (ja) | 2008-06-12 | 2009-05-20 | 医療用器具保持アーム装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8910537B2 (ja) |
JP (1) | JP5135069B2 (ja) |
DE (1) | DE112009001412B4 (ja) |
WO (1) | WO2009150925A1 (ja) |
Cited By (1)
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---|---|---|---|---|
CN106078807A (zh) * | 2016-08-12 | 2016-11-09 | 珠海格力智能装备有限公司 | 负重组件及具有其的机器人 |
Families Citing this family (21)
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---|---|---|---|---|
WO2012117922A1 (ja) | 2011-03-03 | 2012-09-07 | オリンパスメディカルシステムズ株式会社 | 医療用保持装置 |
GB2496376A (en) * | 2011-11-02 | 2013-05-15 | Inst Medical Informatics | Audio visual camera support for operating theatre |
DE102011056086A1 (de) * | 2011-12-06 | 2013-06-06 | Leica Microsystems (Schweiz) Ag | Stativ zum Halten von mindestens einem medizinischen Gerät, insbesondere einem Mikroskop |
KR101363245B1 (ko) * | 2012-09-03 | 2014-02-12 | (주)한국랩 | 밸런싱 웨이트 조립체 및 이를 구비한 관절 암 |
EP2967348B1 (en) * | 2013-03-15 | 2022-03-23 | Synaptive Medical Inc. | Intelligent positioning system |
KR20160040005A (ko) * | 2014-10-02 | 2016-04-12 | 주식회사 고영테크놀러지 | 의료 기구용 스탠드 |
WO2016157571A1 (ja) | 2015-03-27 | 2016-10-06 | オリンパス株式会社 | 内視鏡保持装置 |
FR3036279B1 (fr) * | 2015-05-21 | 2017-06-23 | Medtech Sa | Robot d'assistance neurochirurgicale |
DE102015113467A1 (de) * | 2015-08-14 | 2017-02-16 | Sami Haddadin | Roboterarm und Roboterhandgelenk |
EP3463146A4 (en) * | 2016-05-26 | 2020-03-11 | Covidien LP | ROBOTIC SURGICAL ASSEMBLIES |
CN106239493A (zh) * | 2016-10-08 | 2016-12-21 | 安徽理工大学 | 一种自紧式往复摆臂夹紧移动装置 |
US10478257B2 (en) * | 2017-02-02 | 2019-11-19 | Ethicon Llc | Robotic surgical tool, system, and method |
WO2019023393A1 (en) * | 2017-07-27 | 2019-01-31 | Intuitive Surgical Operations, Inc. | MEDICAL DEVICE WITH ERGONOMIC CHARACTERISTICS |
US11561359B2 (en) * | 2018-02-09 | 2023-01-24 | Carl Zeiss Meditec Ag | Balancing device for rotary apparatus |
US20210159004A1 (en) * | 2018-04-22 | 2021-05-27 | Genesis Robotics And Motion Technologies, LP | Magnetic assembly |
CN210384059U (zh) * | 2018-09-12 | 2020-04-24 | 苏州铸正机器人有限公司 | 辅助手术装置 |
TW202028091A (zh) * | 2019-01-22 | 2020-08-01 | 緯創資通股份有限公司 | 平衡機構與具有該平衡機構的移動醫療裝置 |
US20210236228A1 (en) * | 2020-01-31 | 2021-08-05 | Globus Medical, Inc. | Patient stabilization system |
US20220113487A1 (en) * | 2020-10-09 | 2022-04-14 | Nikon Corporation | Balanced active stabilizers |
DE102022119958B3 (de) | 2022-08-09 | 2024-02-01 | Karl Storz Se & Co. Kg | Gelenkarretierung für Haltearme medizinischer Operationseinrichtungen |
CN116021551B (zh) * | 2023-03-31 | 2023-06-02 | 成都思越智能装备股份有限公司 | 一种连杆式机械臂 |
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2008
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-
2009
- 2009-05-20 DE DE112009001412.7T patent/DE112009001412B4/de not_active Expired - Fee Related
- 2009-05-20 WO PCT/JP2009/059244 patent/WO2009150925A1/ja active Application Filing
- 2009-05-20 US US12/997,285 patent/US8910537B2/en not_active Expired - Fee Related
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JPH0716239A (ja) * | 1993-06-21 | 1995-01-20 | Carl Zeiss:Fa | 平衡調整可能スタンド及びx−y摺動装置 |
JP2001300871A (ja) * | 2000-04-18 | 2001-10-30 | Kawasaki Heavy Ind Ltd | マスターアーム装置 |
JP2004154174A (ja) * | 2002-11-01 | 2004-06-03 | Mitaka Koki Co Ltd | 内視鏡用スタンド装置 |
JP2005211667A (ja) * | 2004-01-29 | 2005-08-11 | Carl Zeiss Ag | 医療用光学器具のためのスタンド装置 |
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Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106078807A (zh) * | 2016-08-12 | 2016-11-09 | 珠海格力智能装备有限公司 | 负重组件及具有其的机器人 |
Also Published As
Publication number | Publication date |
---|---|
JP5135069B2 (ja) | 2013-01-30 |
DE112009001412T5 (de) | 2011-04-14 |
US20110162476A1 (en) | 2011-07-07 |
DE112009001412B4 (de) | 2018-09-13 |
US8910537B2 (en) | 2014-12-16 |
JP2009297236A (ja) | 2009-12-24 |
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