Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-12582494-B2
Publication Date
2026-03-24
Expiration Date
Abstract
A parallel link mechanism is configured so that a plurality of linear actuators which are supported on a base are used to linearly shift one end part of each of links so as to move an end effector coupled to the other end parts of the links. The manipulator further includes a rotation support part that is provided between the end effector and the parallel link mechanism and that supports the end effector rotatably around a predetermined rotational axis, and a hydraulic drive mechanism that generates in the end effector rotating power around the rotational axis. The manipulator imparts, from the exterior to the hydraulic drive mechanism, change in the working-fluid hydraulic pressure so as to generate movement for rotating the end effector.
Core Innovation
The invention relates to a manipulator for microscopic work that executes a predetermined operation on a work object instead of a person. The manipulator includes a tip operation part and a link mechanism configured to change a position and an orientation of the tip operation part in a space in which the work object is present. A support part is arranged between the link mechanism and the tip operation part to support the tip operation part on the link mechanism.
The manipulator uses multiple linear actuators in a six-DOF parallel link mechanism to move the end effector in position and orientation. In addition, a separate rotation support part hydraulically drives rotation of the end effector about a predetermined rotational axis. The rotation support part is implemented using an arc-shaped guide member and a rolling diaphragm that converts working-fluid pressure changes into rotational power.
The tip operation part is described as a detachable tip operation part that performs handling operations of an instrument, such as forceps, by a hydraulic cylinder with rolling diaphragms for opening and closing. A hydraulic pressure supply mechanism adjusts hydraulic pressure for both rotation and tip actuation. The described configuration emphasizes smooth and reliable twisting control and a reduction in mechanical complexity, including elimination of sliding surfaces and packing, with simplification of sensor and calibration, compactness, and improved sterilization and replaceability.
Claims Coverage
The independent claims (clm-00001, clm-00002, and clm-00004) cover a manipulator for microscopic work with a tip operation part, a link mechanism for changing position and orientation, and a support part having first and second drive mechanisms. Across the claims, the core inventive structure is the partitioning or implementation of rotation about a predetermined rotational axis, in combination with rotation via both the link mechanism and a second drive mechanism.
Two rotation paths with different angle ranges
A support part includes a first drive mechanism to drive the tip operation part to generate the handling operation and a second drive mechanism to rotate the tip operation part around a predetermined rotational axis, where not only the second drive mechanism but also the link mechanism is capable of rotating the tip operation part around the predetermined rotational axis, and the rotation is performed in a first angle range by using the link mechanism and in a second angle range by using the second drive mechanism, with the size of the first angle range different from the size of the second angle range and the first angle range smaller than the second angle range.
Combined rotation equals a required angle range
The rotation of the tip operation part is performed in a first angle range by using the link mechanism and in a second angle range by using the second drive mechanism, with the size of the first angle range different from the size of the second angle range, and an angle range obtained by adding the first angle range and the second angle range equal to a predetermined required angle range that is required for the microscopic work.
Arc-shaped guide member in second drive mechanism
The second drive mechanism includes a guide member that is arc shaped about the rotational axis, the guide member being supported to be rotatable around the rotational axis and to which rotating power around the rotational axis is imparted.
The claims collectively require a microscopic-work manipulator where the tip operation part is positioned/oriented via a link mechanism and rotated about a predetermined rotational axis via both the link mechanism and a second drive mechanism. One inventive emphasis partitions rotation into different angle ranges that combine to cover a required angle range, while another inventive emphasis defines the second drive mechanism by an arc-shaped guide member about the rotational axis.
Stated Advantages
Smooth and reliable twisting control.
Reduced mechanical complexity.
Elimination of sliding surfaces and need for packing.
Simplification of sensor/calibration.
Compactness.
Improved sterilization and replaceability.
Documented Applications
Executing a predetermined operation related to microscopic work on a work object instead of a person.
Performing handling operations of a work object or an instrument for work using a detachable tip operation part (e.g., forceps).
Interested in licensing this patent?