Surgical operation apparatus and manipulator for use therein
A top end portion of a medical manipulator has a surgical device accessible to a diseased area of a patient. In the manipulator, a pair of rolling members opposing to each other is provided. One of the pair of the rolling members is rolled by a flexible wire relative to the other rolling members. A plate maintains a distance between rotation centers of the pair of the rolling members constant. A pair of gears are held coaxially with the pair of the rolling members respectively, and engaged with each other. A link rotates the gear on an opposite side to a surgical device.
1. A surgical operation apparatus including a manipulator having three degrees of distal freedom,
wherein the manipulator includes a joint portion having a plurality of degrees of freedom which can bend and translate in a body cavity of a patient while the bend and translation do not interfere with each other, and a driving power is transmitted from an outside of the joint portion to the joint portion by a link mechanism, and wherein the joint portion has a pair of gears engaged with each other, a plate member to which the pair of the gears are attached, a small gear integrally formed to one of the pair of the gears, a flexible rack engaged with the small gear, a first link whose one end portion is attached to the other of the pair of the gears, and a second link whose one end portion is attached to the plate member, and wherein a bending movement is made by driving the second link, and a translating movement is made by driving the first link.
2. The surgical operation apparatus according to claim 1 , further comprising a driven gear attached to the other end portions of the first and second links, a driving gear in rolling contact with the driven gear, a pulley for driving the driving gear and a flexible wire mounted to the pulley.
3. A surgical operation apparatus comprising:
a diagnostic imaging apparatus for detecting a condition of a patient and visualizing the condition, wherein the diagnostic imaging apparatus is an MRI apparatus;
a surgical device accessible to a diseased area of a patient;
a manipulator having three degrees of distal freedom whose top end portion has the surgical device; and
a control portion for driving and controlling the manipulator,
wherein the manipulator includes a joint portion having a plurality of degrees of freedom which can bend and translate in a body cavity of a patient, and wherein a driving power is transmitted from outside of the joint portion to the joint portion by a link mechanism.
4. The surgical operation apparatus according to claim 3 , wherein markers which can be recognized by the MRI apparatus are placed on a guide member for guiding a translation surgical device which is near the surgical device and exchangeable.