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.

Abstract: An automatic needle mover for moving a medical threaded needle includes: two shafts extending in the same direction and slidable relative to each other along a longitudinal direction; a needle-holding portion provided on one end side of the second shaft; a needle-receiving portion provided on one end side of the first shaft; and a handle serving as a control portion for controlling the sliding of the two shafts. The needle-holding portion has a first claw portion protruding in a direction intersecting the longitudinal direction of the shafts. The needle-receiving portion has a second claw portion protruding in a direction intersecting the longitudinal direction of the shafts. As a result of the sliding of the two shafts, the needle-holding portion and the needle-receiving portion become close to each other and a straight needle held by the needle-holding portion can be press-fitted into the needle-receiving portion.

Abstract: A fine work assistance system is configured such that a parallel link mechanism is used for a slave manipulator activated by a master operation, and a precise motion for microsurgery or the like is performed by remote control. In a slave unit of a master-slave manipulator, the parallel link mechanism with multiple degrees of freedom is used for a link mechanism in which an end effector is movable with respect to a base. Moreover, a tip operation part is driving by a hydraulic driving mechanism such that a plurality of linear actuators supported by the base move one ends of links so as to move the end effector, and the slave unit is activated in response to a user operation on the master unit. This achieves the precise motion of the end effector and causes the end effector to perform operations for a precise work.

Abstract: An automatic needle mover (1) for moving a medical threaded needle includes: two shafts (a first shaft (11) and a second shaft (12)) extending in the same direction and slidable relative to each other along a longitudinal direction; a needle holding portion (a second needle support portion (22)) provided on one end side of the second shaft (12); a needle-receiving portion (a first needle support portion (21)) provided on one end side of the first shaft (11); and a handle (30) serving as a control portion for controlling the sliding of the two shafts. The needle holding portion has a first groove portion provided in a first claw portion protruding in a direction intersecting the longitudinal direction of the shafts. The needle-receiving portion has a second groove portion provided in a second claw portion protruding in a direction intersecting the longitudinal direction of the shafts.

Abstract: A manipulator includes a flexible actuating body, that includes a rectangular horizontal plate spring, a curved vertical plate spring which stands upright having a plate surface perpendicular to a plate surface of the horizontal plate spring, of which a base end is connected to one end of the horizontal plate spring in a longitudinal direction, which protrudes to one side in a width direction of the horizontal plate spring, which extends along the longitudinal direction of the horizontal plate spring, and of which a tip end in the extending direction is a portion bent in a direction opposite to the protruding direction, a shaft body which is connected to a tip end of the bent portion, and is rotatably supported at a center perpendicular to the plate surface of the horizontal plate spring, and an actuator protruding in a radius direction from an outer circumference of the shaft body.

Abstract: A fine work assistance system is configured such that a parallel link mechanism is used for a slave manipulator activated by a master operation, and a precise motion for microsurgery or the like is performed by remote control. In a slave unit of a master-slave manipulator, the parallel link mechanism with multiple degrees of freedom is used for a link mechanism in which an end effector is movable with respect to a base. Moreover, a tip operation part is driving by a hydraulic driving mechanism such that a plurality of linear actuators supported by the base move one ends of links so as to move the end effector, and the slave unit is activated in response to a user operation on the master unit. This achieves the precise motion of the end effector and causes the end effector to perform operations for a precise work.

Abstract: A manipulator includes a flexible actuating body, that includes a rectangular horizontal plate spring, a curved vertical plate spring which stands upright having a plate surface perpendicular to a plate surface of the horizontal plate spring, of which a base end is connected to one end of the horizontal plate spring in a longitudinal direction, which protrudes to one side in a width direction of the horizontal plate spring, which extends along the longitudinal direction of the horizontal plate spring, and of which a tip end in the extending direction is a portion bent in a direction opposite to the protruding direction, a shaft body which is connected to a tip end of the bent portion, and is rotatably supported at a center perpendicular to the plate surface of the horizontal plate spring, and an actuator protruding in a radius direction from an outer circumference of the shaft body.