Patent ID: 11872008
Assignee: MAKOTO JINNO
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A

Claim 14:
15. The manipulator according to claim 1 A manipulator comprising:
a first member;
a second member configured to support the first member such that the first member can rotate about a first rotation axis;
a driven portion connected to the first member and configured to move on a circumference with respect to the first rotation axis as a center in accordance with a rotation operation of the first member;
a flexible member configured to provide, by a reciprocating operation, a force to drive the driven portion; and
a change unit including an arc guide surface configured to change a path of the flexible member in accordance with the rotation operation of the first member,
wherein the arc guide surface comprises a surface having a circular arc shape, and is arranged to maintain a path length of the flexible member in the reciprocating operation during the rotation operation of the first member,
wherein on a coordinate system for which, on a plane perpendicular to the first rotation axis, a position of the first rotation axis is defined as an origin, and axes that pass the origin and are orthogonal to each other are defined as an x-axis and a y-axis, letting r1 be a sum of a radius of the circular arc shape and a radius of the flexible member, letting n° be a maximum angle of the rotation operation of the first member about the first rotation axis with respect to the x-axis and I° be an angle made by the flexible member and the x-axis when n=0, the coordinates (xa, yb) of the center position of the circular arc shape are given by

xa(r1/2)(|n|/90) and

yb=r1 or −r1  (i) .

(r1/2)((|n|−|I|)/90)≤xa≤(r1/2)((|n|+|I|)/90) and

yb=r1 or −r1  (ii).

1.3×(r1/2)(|n|/90)>xa>(r1/2)(|n|/90) and

0.7×r1>yb>r1 or −0.7×r1>yb>−r1  (iii).

1.3×(r1/2)((|n|+|I|)/90)>xa>(r1/2)((|n|−|I|)/90) and

0.7×r1<yb<r1 or −0.7×r1>yb>−r1  (iv) .