Forceps manipulator and forceps system comprising forceps manipulator
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United States of America Patent
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Nov 14, 2017
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N/A
app pub date -
Feb 12, 2013
filing date -
Nov 1, 2012
priority date (Note) -
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Abstract
The present invention is intended to improve durability and operability of a forceps manipulator, as well as to facilitate roll motions of the forceps manipulator. In the forceps manipulator, a flexible shaft 34 is connected to a rotating joint unit 26 for transmitting a driving force from a vane motor 40 to the rotating joint unit 26 through throughholes 18a, 22a of machined springs 18b, 22b which respectively constitute flexible first and second joints 18, 22.
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