| US 7,454,268 B2 | ||
| Manipulator | ||
| Makoto Jinno, Ota-Ku (Japan) | ||
| Assigned to Kabushiki Kaisha Toshiba, Tokyo (Japan) | ||
| Filed on Mar. 23, 2006, as Appl. No. 11/386,821. | ||
| Application 11/386821 is a division of application No. 10/893921, filed on Jul. 20, 2004, granted, now 7,043,338. | ||
| Application 10/893921 is a division of application No. 09/964459, filed on Sep. 28, 2001, granted, now 6,889,116. | ||
| Claims priority of application No. 2000-298365 (JP), filed on Sep. 29, 2000. | ||
| Prior Publication US 2006/0167589 A1, Jul. 27, 2006 | ||
| Int. Cl. G06F 19/00 (2006.01) | ||
| U.S. Cl. 700—245 [700/247; 700/248; 700/258; 700/259; 700/260; 600/130; 600/595; 606/1; 606/139; 901/1; 901/28] | 12 Claims |
| 1. A method for suturing with a manipulator:
griping a curved suture needle;
sticking the curved suture needle into a part to be sutured; and
turning a support unit,
wherein the manipulator includes,
an operation command unit including an attitude adjusting unit and an end effector control unit,
a connecting unit having one end connected to the operation command unit, and
a working unit connected to the other end of the connecting unit and provided with an end effector and the support unit supporting
the end effector for motion,
wherein the support unit includes a first joint configured to turn about a first axis perpendicular to a center axis of the
connecting unit, and a second joint configured to turn about a second axis perpendicular to the first axis, and the end effector
includes a center axis substantially parallel to the second axis.
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