发明名称 |
MANIPULATOR WITH MULTIPLE DEGREES OF FREEDOM |
摘要 |
A bending forceps 1 has at least three degrees of freedom including relative opening/closing of a pair of gripping members 11a, 11b, rotation of both the gripping members around a first axis 15 and rotation of both the gripping members around a second axis 42 existing on an imaginary plane substantially perpendicular to the first axis 15. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanisms 5, 6 and 7. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means. |
申请公布号 |
EP1695669(A1) |
申请公布日期 |
2006.08.30 |
申请号 |
EP20040807013 |
申请日期 |
2004.12.14 |
申请人 |
MITSUISHI, MAMORU;THK CO., LTD. |
发明人 |
MITSUISHI, MAMORU;WARISAWA, SHINICHI;ARATA, JUMPEI;NAKAZAWA, TOJI |
分类号 |
A61B34/00;B25J17/00;A61B17/28;A61B19/00;A61B90/00;B25J17/02 |
主分类号 |
A61B34/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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