| 摘要 |
PURPOSE: To make it possible to position mechanical parts including an active center point onto a work point far away from a main body of a manipulator device repeatedly, by constituting the manipulator mechanism from multiple rigid links connected by pivots. CONSTITUTION: In the device made of two parts, that is, a central part and a tip end, there are multiple rigid links 1-7. The links position an instrument such as a surgical instrument 11 into a work point Cmot by rotating the links with centering around pivots A-K. The central part of the device is mounted adjustably on a fixed body such as an operation table 22. The tip part of the device supports the surgical instrument. The tip part of the device can be moved against the central part by movement of the links that can control several lengths. That is, the work point and an action radius of a manipulator can be varied without moving the central part of the device. The links are rotated with centering around the pivot by an actuator 9 of manual or remote (computer) controlling type, to adjust the length of the adjustable links. |
