Manipulator with multiple degrees of freedom
US7819894B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Dec 14, 2004 |
| Grant date | Oct 26, 2010 |
| Priority date | — |
| Expiry date | Feb 24, 2027 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/0813
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.