A - Human Necessities – 61 – B
Patent
A - Human Necessities
61
B
A61B 17/34 (2006.01) A61B 19/00 (2006.01)
Patent
CA 2418662
Provided is a small-sized surgery support robot (active trocar), in which the occupied range of space within the operating room is reduced with hardly reducing any degrees of freedom. The active trocar includes a first parallel crank quadric chain 7 containing a base link 3 supported on a base 2, which is fixed to a surgical bed, to be swingable around a first swinging axis O1; a second parallel crank quadric chain 11 containing two links 4 and 6 respectively unitized with links 4 and 6 of the first parallel crank quadric chain 7, in which a support link 10 of the four links intersecting the base link 3 is swung around a second swinging axis O2 intersecting the first swinging axis O1 at a right angle at a position spaced from the base link 3, and the support link supports the tube 13 in such an orientation that a central axis OT of the tube passes an intersection point P so as to be able to freely advance and retract the tube; a first swing drive means 16 for swinging the base link 3 around the first swinging axis O1 with respect to the base 2; a second swing drive means 17 for swinging the link 4 with respect to the base link 3; and an advancement and retraction drive means 18 for advancing and retracting the tube 13 with respect to the support link 10.
Kobayashi Yuki
Nakamura Yoshihiko
Okada Masafumi
Ogilvy Renault Llp/s.e.n.c.r.l.,s.r.l.
The University Of Tokyo
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