# US 8,465,414 B2 · Medical manipulator device and actuator suitable therefor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,465,414 B2 - Document ID: US8465414B2 - Status: Granted - Kind: B2 - Application number: 12/593,700 - Filed: 2008-03-28 - Published: 2010-06-03 - Granted: 2013-06-18 - Earliest claimed: 2007-03-30 - Assignees: Osaka University; Daiken Iki Kabushiki Kaisha - Applicants: Atsushi Nishikawa; Fumio Miyazaki; Mitsugu Sekimoto; Kazuhiro Taniguchi; Kohei Kazuhara; Takeharu Kobayashi; Takaharu Ichihara; Naoto Kurashita - Inventors: Atsushi Nishikawa; Fumio Miyazaki; Mitsugu Sekimoto; Kazuhiro Taniguchi; Kohei Kazuhara; Takeharu Kobayashi; Takaharu Ichihara; Naoto Kurashita - Web page: https://patentgrep.com/patent/US8465414B2 ## CPC - B25J 17/0216: {comprising a stewart mechanism} - A61B 1/00149: {using articulated arms} - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00539: {hydraulically} - A61B 2017/00544: {pneumatically} - A61B 2017/00876: {magnetic} - A61B 2017/3407: {including a base for support on the body} - A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A clean and inexpensive medical manipulator device can be provided in which a risk of failure caused by current leakage or disconnection is eliminated and reliability is higher than in a manipulator device using an electrically driven actuator or electric motor. The medical manipulator device includes a stage section 3 that can hold a medical instrument 2; a plurality of actuators 4 each linked at one end to the stage section 3; and a base section 5 linked to the other end of each of the plurality of actuators 4 and serving as a base for the plurality of actuators 4, wherein each of the actuators 4 causes the medical instrument 2 and the stage section 3 to displace with respect to the base section 5 by extending or contracting in the longitudinal direction of the actuator 4 in response to a pressure of a liquid 6. ## Claims ### Claim 1 A medical manipulator device that displaceably holds a medical instrument, comprising: a stage section that can hold the medical instrument; a plurality of actuators each having first and second ends spaced apart longitudinally, the first end of each of the actuators being linked to the stage section; a base section linked to the second end of each of the plurality of actuators; and an introducing chamber provided in each of the actuators and into which a liquid can be introduced, wherein each of the actuators causes the medical instrument and the stage section to displace with respect to the base section by extending or contracting in the longitudinal direction of the actuator in response to a pressure of the liquid inside the introducing chamber, and wherein at least one of the actuators is provided with: a cylindrical sleeve; a driven member provided slidably within the sleeve so that the introducing chamber is between the sleeve and the driven member, the driven member maintaining a sealed state with respect to the liquid and being displaceable relative to the sleeve along a first longitudinal direction in response to a pressure applied to the liquid; and a pushing section that can push the driven member in a second longitudinal direction opposite the first longitudinal direction so that the pushing section displaces the driven member in the second longitudinal direction when the pressure of the liquid is reduced. ### Claim 2 (depends on 1) The medical manipulator device according to claim 1, wherein the stage section is configured to be capable of magnetically holding the medical instrument via a permanent magnet provided at either or both of the stage section and medical instrument. ### Claim 3 (depends on 1) The medical manipulator device according to claim 1, wherein at least one of the actuators is magnetically and detachably linked to the stage section via a stage-side permanent magnet provided at either or both of first end of the actuator and the stage section, and magnetically and detachably linked to the base section via a base-side permanent magnet provided at either or both of the second end of the at least one actuator and the base section. ### Claim 4 (depends on 3) The medical manipulator device according to claim 3, wherein a spherical shaft formed by a permanent magnet or a magnetic body is provided at one of the actuator and the stage section, and a spherical bearing that is formed by a permanent magnet or a magnetic body and that can be magnetically linked to the spherical shaft is provided at the other of the actuator and the stage section, a spherical shaft formed by a permanent magnet or a magnetic body is provided at one of the actuator and the base section, and a spherical bearing that is formed by a permanent magnet or a magnetic body and that can be magnetically linked to the spherical shaft is provided at the other of the actuator and the base section, and the spherical shafts and spherical bearings are magnetically and detachably matched so that the actuator, the stage section and base section are angularly adjustably linked. ### Claim 5 (depends on 1) The medical manipulator device according to claim 1, wherein the pushing section is formed by a biasing section for applying a biasing force between the sleeve and the driven member. ### Claim 6 (depends on 1) The medical manipulator device according to claim 1, wherein the pushing section comprises a gas chamber that is formed between the sleeve and the driven member, and an introducing passage through which gas can be introduced into the gas chamber, and the pushing section is configured so that the driven member is pushed in response to a pressure of the gas introduced into the gas chamber. ### Claim 7 (depends on 1) The medical manipulator device according to claim 1, wherein the driven member of the actuator is provided with a seal mechanism formed by an elastic body in a sliding section between the inner wall of the sleeve and the driven member, the seal mechanism conducts sealing in a state in which the pressure of the liquid inside the sleeve can be released by causing the liquid to leak to the open side of the sleeve from a storage section in a state in which an excess load acts upon the actuator, and the sleeve has an accumulation section in which the leaked liquid can be accumulated inside the sleeve. ### Claim 8 (depends on 1) The medical manipulator device according to claim 1, wherein the actuator is further provided with: a liquid inlet/outlet port that communicates with the introducing chamber; and a tube that is connected at one end to the liquid inlet/outlet port and connected at the other end to a pressurized liquid supply port through which the liquid can be supplied, and wherein the pressurized liquid supply port and the tube are connected so that an excess load acts upon the actuator causes the liquid to leak from the connection site of the pressurized liquid supply port and the tube before the leaks in connection of the liquid inlet/outlet port and the tube. ### Claim 9 (depends on 1) The medical manipulator device according to claim 1, wherein the actuator is provided with a coating section formed by a flexible film that covers an outer surface of the sleeve. ### Claim 10 (depends on 1) The medical manipulator device according to claim 1, wherein the liquid includes either water or silicone oil as a main component. ### Claim 11 (depends on 1) The medical manipulator device according to claim 1, wherein the plurality of actuators together with the base section and stage section constitute a Stewart-Gough mechanism. ### Claim 12 (depends on 1) The medical manipulator device according to claim 1, wherein the medical instrument is an endoscope. ### Claim 13 (depends on 12) The medical manipulator device according to claim 12, wherein the medical instrument is an endoscope such as a laparoscope for conducting observations in an abdominal cavity or a thoracoscope for conducting observations in a thoracic cavity. ### Claim 14 (depends on 1) The medical manipulator device according to claim 1, wherein the base section is configured to be linkable to a multi-degree-of-freedom grasping arm with flexibility that is provided so as to extend from a fixing member that is fixed to a patient. ### Claim 15 (depends on 14) The medical manipulator device according to claim 14, wherein the fixing member is a belt for attaching the medical manipulator device in the vicinity of a pelvis of hypogastrium of the patient. ### Claim 16 (depends on 1) The medical manipulator device according to claim 1, wherein the medical instrument is an endoscope including a distal end to be inserted into a body of a patient, the driven member can be displaced in a direction for contracting the actuator along the longitudinal direction in response to the pressure of the liquid inside the introducing chamber, the pushing section can push the driven member in a direction for extending the actuator along the longitudinal direction in a state in which the pressure of the liquid is reduced, and the stage section can hold the endoscope in a state in which the endoscope penetrates through the base section in such a manner that the distal end of the endoscope is disposed opposite to the stage section with respect to the base section. ### Claim 17 An actuator for use in a medical manipulator device that holds a medical instrument and comprises a base section, and a stage section that can hold the medical instrument, the actuator having first and second ends spaced apart longitudinally and comprising: a first linking section provided at the first end of the actuator and can be linked to the stage section; a second linking section provided at the second end of the actuator and can be linked to the base section; a cylindrical sleeve; an introducing chamber in the sleeve and into which a liquid can be introduced; a driven member provided slidably within the sleeve so that the introducing chamber is between the sleeve and the driven member, the driven member maintaining a sealed state with respect to the liquid and being displaceable in a first longitudinal direction in response to a pressure applied to the liquid; and a pushing section that can push the driven member in a second longitudinal direction opposite the first longitudinal direction, wherein the actuator extends or contracts in response to a pressure of the liquid introduced into the introducing chamber, so that the first linking section and the second linking section approach or separate from each other, and wherein the pushing section displaces the driven member in the second longitudinal direction when the pressure of the liquid is reduced. ### Claim 18 (depends on 17) The actuator according to claim 17, further comprising: a liquid inlet/outlet port that communicates with the introducing chamber; wherein the first linking section is provided at one of the sleeve and the driven member, and the second linking section is provided at the other of the sleeve and the driven member. ### Claim 19 (depends on 17) The actuator according to claim 17, wherein the stage section includes a first magnetic section, the base section includes a second magnetic section, the first linking section and the second linking section include magnetic bodies, and the first magnetic section and the first linking section, and the second magnetic section and the second linking section are magnetically and detachably linked, respectively. ### Claim 20 (depends on 17) The actuator according to claim 17, wherein the pushing section includes a biasing section for applying a biasing force between the sleeve and the driven member. ### Claim 21 (depends on 17) The actuator according to claim 17, wherein the pushing section is provided with: a gas chamber that is formed between the sleeve and the driven member; and an introducing passage through which gas can be introduced into the gas chamber, and the pushing section pushes the driven member in response to a pressure of the gas introduced into the gas chamber. ### Claim 22 (depends on 17) The actuator according to claim 17, wherein the medical instrument is an endoscope including a distal end to be inserted into a body of a patient, the driven member can be displaced in a direction for contracting the actuator along the longitudinal direction in response to the pressure of the liquid inside the introducing chamber, the pushing section can push the driven member in a direction for extending the actuator along the longitudinal direction in a state in which the pressure of the liquid is reduced, and the stage section can hold the endoscope in a state in which the endoscope penetrates through the base section in such a manner that the distal end of the endoscope is disposed opposite to the stage section with respect to the base section.