Yung-Ho Jo,Kwang-Gi Kim,Kyoung-Won Nam,Young-Woo Kim
申请号：
US12589439
公开号：
US08460175B2
申请日:
2009.10.23
申请国别(地区):
US
年份:
2013
代理人:
摘要：
According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward/backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized. One-click button function of readily and rapidly attaching/detaching endoscope to/from endoscope manipulator can increase convenience of use.
