| 摘要 |
<P>PROBLEM TO BE SOLVED: To determine an abnormality in a feedback system without giving influence on a procedure. <P>SOLUTION: A manipulator 10 for medical use includes: an actuator block 30 with a motor 40b; a connection part 15 which is freely detachable from the actuator block 30 and has a pulley 50b to be connected to the rotary shaft of the motor 40b; a distal end operation part 12 arranged at the distal end of a connection shaft 48 extending from the connection part 15, so as to be linked with the pulley 50b via a wire 54b; an encoder 44b for detecting the rotary angle F of the motor 40b; and a controller 27 for reading the signal of the encoder 44b, performing comparison with an operation command value C, and feedback-driving the motor 40b. The controller 27 outputs to the motor 40b, a signal corresponding to the resolution of the encoder 44b or more and the operation lower limit of the motor 40b or more within a range not to move the distal end operation part 12, monitors a rotary angle F, and determines the abnormality in the feedback loop 508. <P>COPYRIGHT: (C)2010,JPO&INPIT |
