# US 9,517,557 B2 · Manipulator

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- Number: US 9,517,557 B2
- Document ID: US9517557B2
- Status: Granted
- Kind: B2
- Application number: 14/827,757
- Filed: 2015-08-17
- Published: 2015-12-10
- Granted: 2016-12-13
- Earliest claimed: 2013-02-27
- Assignees: Olympus Corporation
- Applicants: Olympus Corporation
- Inventors: Masaru Yanagihara; Shingo Nakayama
- Web page: https://patentgrep.com/patent/US9517557B2

## CPC

- B25J 9/104: {with cables, chains or ribbons}
- A61B 34/30: Surgical robots
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- B25J 9/06: characterised by multi-articulated arms
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/306: {Wrists with multiple vertebrae}
- Y10S 901/15: Jointed arm
- Y10S 901/21: Flaccid drive element
- Y10T 74/18576: including screw and nut
- Y10T 74/20323: including flaccid drive element
- 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)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A manipulator includes an elongated main portion, a distal end portion, and a bendable portion provided between the main portion and the distal end portion; a plurality of linear members that extend from the distal end portion to the main portion via the bendable portion; a power generator; a plurality of power transmitters that transmit, to proximal ends of the linear members, the power generated by the power generator as linear motion in a longitudinal direction of the main portion; and a linear-member relaxing unit that relaxes the linear members in which tension is generated between the distal end portion and the power transmitters by pushing and pulling of the linear members by the linear motion transmitted from the power transmitters.

## Claims

### Claim 1

A manipulator comprising:
an elongated main portion, a distal end portion disposed at a distal end of the main portion, and a bendable portion provided between the main portion and the distal end portion;
a plurality of linear members that are connected to the distal end portion and that extend to the main portion via the bendable portion;
a power generator that generates power;
a plurality of power transmitters that are provided in the main portion and that transmit, to proximal ends of the linear members, the power generated by the power generator as linear motion in a longitudinal direction of the main portion; and
a linear-member relaxing unit that relaxes the plurality of linear members in which tension is generated between the distal end portion and the power transmitters by pushing and pulling of the linear members in the longitudinal direction by the linear motion transmitted from the power transmitters;
wherein the power transmitters each include
a shaft member that is disposed in the longitudinal direction in the main portion and that is rotated about an axis extending in the longitudinal direction by the power generated by the power generator,
a threaded shaft member that connects the proximal end of the corresponding linear member to the shaft member and that is rotated together with the shaft member, and
a nut member that is engaged with the threaded shaft member and that feeds the rotating threaded shaft member in the longitudinal direction.

### Claim 2 (depends on 1)

The manipulator according to claim 1, wherein the linear-member relaxing unit causes the distal end portion and the plurality of power transmitters to relatively move in the longitudinal direction close to each other.

### Claim 3 (depends on 2)

The manipulator according to claim 2, wherein the linear-member relaxing unit includes a supporting member that simultaneously supports the plurality of power transmitters and that is movable together with the plurality of power transmitters in the longitudinal direction relative to the main portion, and a moving mechanism that moves the supporting member toward the distal end.

### Claim 4 (depends on 2)

The manipulator according to claim 2, wherein the linear-member relaxing unit includes a supporting member that supports a proximal end of the bendable portion, and a moving mechanism that moves the supporting member toward the proximal end.

### Claim 5 (depends on 3)

The manipulator according to claim 3,
wherein the moving mechanism includes
a rotational-force generator that generates a rotational force, and
a power converter that converts the rotational force generated by the rotational-force generator into linear motion in the longitudinal direction and transmits the linear motion to the supporting member.

### Claim 6 (depends on 4)

The manipulator according to claim 4,
wherein the moving mechanism includes
a rotational-force generator that generates a rotational force, and
a power converter that converts the rotational force generated by the rotational-force generator into linear motion in the longitudinal direction and transmits the linear motion to the supporting member.

### Claim 7

A manipulator comprising:
an elongated main portion, a distal end portion disposed at a distal end of the main portion, and a bendable portion provided between the main portion and the distal end portion;
a plurality of linear members that are connected to the distal end portion and that extend to the main portion via the bendable portion;
a plurality of pulling mechanisms provided in the main portion and having connectors that are connected to proximal ends of the linear members, drivers that generate rotational motion, and power converters that convert the rotational motion generated by the drivers into linear motion in a longitudinal direction and transmit the linear motion to the connectors; and
a combination changing mechanism that changes a combination of the linear members and the pulling mechanisms connected to the linear members;
wherein the power converters each include a shaft member that is disposed in a longitudinal direction of the main portion and that is rotated about a central axis thereof by the corresponding driver, a threaded shaft member that is coaxial with the shaft member and that is rotated together with the shaft member, and a movable member that has a thread groove engageable with the threaded shaft member and that is provided at the proximal end of the corresponding linear member in a movable manner in the longitudinal direction, and
wherein each connector is formed of the threaded shaft member and the movable member.

### Claim 8 (depends on 7)

The manipulator according to claim 7, wherein the combination changing mechanism changes the combination of the linear members and the pulling mechanisms by moving the pulling mechanisms relative to the linear members.

### Claim 9 (depends on 8)

The manipulator according to claim 8,
wherein the main portion includes a tubular outer tube having a first part that is fixed to the bendable portion and a second part that is provided at a proximal end of the first part in a rotatable manner in a circumferential direction relative to the first part and that accommodates the pulling mechanisms, and
wherein the combination changing mechanism moves the pulling mechanisms relative to the linear members by rotating the pulling mechanisms together with the second part.

### Claim 10 (depends on 7)

The manipulator according to claim 7, further comprising:
a fault detector that detects a fault in the pulling mechanisms,
wherein the combination changing mechanism changes the combination of the linear members and the pulling mechanisms when the fault detector detects a fault in the pulling mechanisms.