Traction balance adjustment mechanism, manipulator and manipulator system
The traction balance adjustment mechanism 1 includes a movable part 2 that goes into operation through at least one degree of freedom, wires 7 connected to the movable part 2 , and a traction part 6 that pulls one of the wires 7 and pushes out the other, wherein the length of the one wire 7 pulled by the traction part 6 is longer than the length of the other wire 7 pushed out.
1. A traction balance adjustment mechanism comprising:
a movable part that moves with respect to a cylindrical coupler through at least one degree of freedom;
a first wire and a second wire that are connected to an inside of the movable part for transmission of power to the movable part; and
an operating part that is provided at a proximal end of the coupler to operate the movable part by the first wire and the second wire, and
a pulley provided on the operating part wherein the pulley rotates with respect to a center axis of the pulley, wherein:
the pulley comprises:
a first take-up portion that is mounted on a first surface portion defining a vertical plane with respect to the center axis of the pulley to wind up the first wire, and a second take-up portion that is mounted on a second surface portion provided parallel with the first surface portion to wind up the second wire, wherein the first take-up portion includes a first smallest diameter site where a distance from the center axis to an outer diameter of the first take-up portion is shortest and a first largest diameter site where a distance from the center axis to the outer diameter of the first take-up portion is longest, and
the second take-up portion includes a second smallest diameter site where a distance from the center axis to an outer diameter of the second take-up portion is shortest and a second largest diameter site where a distance from the center axis to the outer diameter of the second take-up is longest, wherein:
an amount of the first wire wound up by the first take-up portion is larger than an amount of the second wire fed by the second take-up portion toward the movable part,
the outer diameter of the first take-up portion is gradually incremental from the first smallest diameter site to the first largest diameter site, and
the outer diameter of the second take-up portion is gradually incremental from the second smallest diameter site to the second largest diameter site.
2. A traction balance adjustment mechanism according to claim 1 , wherein:
the movable part includes a first connector that makes a connection to one end of the first wire and a second connector that makes a connection to one end of the second wire, the movable part further includes a first mount which is mounted on the first take-up portion and to which the other end of the first wire provided at a given distance from the center axis toward the outer diameter of the first take-up portion is attached and a second mount which is mounted on the second take-up portion and to which the other end of the second wire provided at a given distance from the center axis is attached.
3. A manipulator comprising:
a driving part for driving the pulley;
an operating part for operating the driving part to operate an orientation of the movable part; and
a traction balance adjustment mechanism according to claim 1 .
4. A manipulator system comprising:
a manipulator according to claim 3 ;
a system controller for controlling the manipulator; and
a display unit for displaying an image acquired through the manipulator;
wherein the manipulator includes an endoscope, and the system controller is adapted to display an image acquired through the endoscope on the display unit.
5. A traction balance adjustment mechanism according to claim 1 , wherein in a point symmetrical position with respect to a center point of an intermediate portion sandwiched between the first take-up portion and the second take-up portion at which point the outer diameter of the intermediate portion intersects the center axis, the first and second take-up portions are located on the first and second surface portions, respectively.