Title:
WORK SUPPORTING DEVICE
Document Type and Number:
Japanese Patent JP3493579
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To speedily and easily insert or change a treatment instrument, prevent an unexpected external force from shifting a tip, provide sufficient workability in a narrow visual field of an endscope or the like, operate a position and an attitude of the tip treatment instrument with many degrees of freedom, provide a low invasive degree, and clean a lens of the endscope.
SOLUTION: A guide manipulator comprises an inserting part 6 and a driving part 5 (Fig. 3), and the inserting part 6 comprises a joint part 1, an arm part 2, a bent part 3, and a fixing part 4. The inserting part 6 is hollow, and the treatment instrument can be inserted into from an inserting hole 50 to the tip. The tip of the treatment instrument can be guided to a lesion and operated driving the joint part 1 in the head shaking direction A, and the inserting part in the rotation direction B and translation direction C. The bent part 3 can change a position of a driving part. The inserting part 6 is hollow, the joint part 1 and the arm part 2 to be inserted into a body are rigid, and the curvature radius of the joint part 1 is small, so that easiness of changing of the treatment instrument, workability, and safety are provided. A guide channel 22 can use stably and simultaneously use the plurality of treatment instruments, and the bent part 3 made of flexible material allows low invasion. A fluid opening 25 can facilitate cleaning.
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Inventors:
Koji Nishizawa
Kazutoshi Suga
Kazutoshi Suga
Application Number:
JP2001042098A
Publication Date:
February 03, 2004
Filing Date:
September 26, 1997
Export Citation:
Assignee:
Medical Research Welfare Equipment Research Institute
International Classes:
B25J18/06; A61B1/00; A61B19/00; B25J17/00; (IPC1-7): B25J18/06; A61B1/00; A61B19/00; B25J17/00
Domestic Patent References:
| JP919403A | ||||
| JP63292935A | ||||
| JP2126605U | ||||
| JP5787701U | ||||
| JP6287604U |
Attorney, Agent or Firm:
Tatsuyuki Unuma
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