Medical tool grip mechanism which grips and controls medical tool
AssigneeMedicaroid Corporation
InventorTetsuya Nakanishi
Life of this patent
Estimating the term…
Abstract
One or more embodiments provide medical tool grip mechanism to which multiple types of medical instruments can be attached. A grip mechanism grips an instrument. The instrument has a shaft extending in a longitudinal direction, a treatment tool arranged at a distal end of the shaft, and a treatment tool control portion that is arranged at a proximal end of the shaft and controls the treatment tool. The grip mechanism has a gripping portion. The gripping portion grips the treatment tool control portion such that the treatment tool control portion is rotatable about a rotational axis extending in the longitudinal direction of the shaft, and movable in the longitudinal direction with respect to the shaft.
Claims19
A medical tool grip mechanism which is configured to grip a medical tool including a shaft extending in a longitudinal axis of the shaft, a treatment tool arranged on a side of one end portion of the shaft in the longitudinal axis of the shaft, and a treatment tool control portion which is arranged on a side of the other end portion of the shaft in the longitudinal axis of the shaft and controls the treatment tool, the medical tool grip mechanism comprising:
- a gripping portion which is provided at a distal end of a manipulator arm, is rotatably supported by a drive shaft provided orthogonal to the longitudinal axis of the shaft so as to be rotatable between a grip position and a released position with respect to the manipulator arm about the drive shaft and is configured to grip the treatment tool control portion in such a manner that the treatment tool control portion is movable in the longitudinal axis of the shaft when the gripping portion is being rotated about the drive shaft of the gripping portion,
- wherein the gripping portion includes a space for gripping the treatment tool control portion in the grip position, the space having a longitudinal axis thereof extending along a radial axis of the drive shaft in the grip position and having first and second ends along the longitudinal axis of the space such that, when the gripping portion is rotated about the drive shaft from the grip position to the released position, the treatment tool control portion in the space is moved toward the first end of the space along the longitudinal axis of the space while the longitudinal axis of the space of the gripping portion is rotated with respect to the longitudinal axis of the shaft, and
- the medical tool grip mechanism is configured to couple the treatment tool control portion of the medical tool to the gripping portion at the grip position in such a manner that the treatment tool control portion is located in the space of the gripping portion and thus gripped by the gripping portion and is configured to decouple the treatment tool control portion of the medical tool from the gripping portion at the released position in such a manner that the treatment tool control portion comes out of the space of the gripping portion from a side of the first end of the space of the gripping portion.
A method for attaching and detaching a medical tool which includes a shaft extending in a longitudinal axis of the shaft, a treatment tool arranged on a side of one end portion of the shaft in the longitudinal axis of the shaft, a treatment tool control portion which is arranged on a side of the other end portion of the shaft in the longitudinal axis of the shaft and controls the treatment tool, and a gripping portion which is provided at a distal end of a manipulator arm and rotatably provided about a drive shaft orthogonal to the longitudinal axis of the shaft such that the gripping portion is rotatable about the drive shaft between a grip position and a released position with respect to the manipulator arm and is configured to grip the treatment tool control portion in a space formed in the gripping portion, the space of the gripping portion having a longitudinal axis extending along a radial axis of the drive shaft in the grip position, the method comprising:
- attaching the medical tool to the gripping portion, by pushing the shaft along the longitudinal axis of the shaft to push the treatment tool control portion into the space of the gripping portion located at the released position, wherein the pushing of the shaft causes the treatment tool control portion to be inserted into the space from a side of a first end of the space of the gripping portion and then to cause the treatment tool control portion in the space to be moved toward a second end of the space of the gripping portion along the longitudinal axis of the space while the gripping portion is rotated about the drive shaft from the released position to the grip position;
- and
- detaching the medical tool from the gripping portion gripping the medical tool by pulling the shaft in the longitudinal axis of the shaft from the gripping portion to rotate the gripping portion about the drive shaft from the grip position to the released position, wherein the pulling of the shaft causes the treatment tool control portion in the space to be moved toward the first end of the space along the longitudinal axis of the space while the longitudinal axis of the space of the gripping portion is rotated with respect to the longitudinal axis of the shaft is and then the treatment tool control portion to come out of the space of the gripping portion at the released position from the side of the first end of the space of the gripping portion.
Dependencies are inferred from the claim text.