`
`IIII OI XI
`
`1 ./ I
`
`
`
`KOREAN PATENT ABSTRACTS
`
`1020100099818 A
`(I I) Publication number:
`{43) Pubiicaiion daIe: 15.09.2010
`
`(21) ACmIicaIiCz-n IICIIIIIxaI‘:
`(22) Amiication date:
`
`1020090018342
`04.03.2009
`
`(71) Applicant:
`(72) Inventor:
`
`4!: ADEN LIMITED
`a YIM. JIN HWAN
`
`(51) Int. Cl:
`
`A61517/00 (2006.01)
`A61 B 19/00 (2006.01)
`
`(54) SURGICAL INSTRUMENT. CAPABLE OF FORMING THE SURGICAL PORTION OF A PATIENT SMALL BY
`FORMING A DIAMETER OF AN ANTERIOR IDLER PULLEY SMALL
`
`(57) Abstract:
`
`
`PURPOSE A'3iY
`fiprvvr
`
`‘IWII'EB '3yII‘.:A\/II"IQ
`
`W'IIIEI.
`
`comprises a
`CONSTITUTION: A surgicai n3IIJTIbn.
`
`
`Iin of
`C; IIaII (10) £1 wri3I m 620: bC
`I), a. DI‘CI
`
`
`
`
` I/ing DEIIL and a‘
`ODEII’ 20C
`(3 a,
`.300) , an auxi
`I‘
`'
`
`C:
`I
`C,
`.
`main
`:2 DaII.
`’I'IIEI wrisI II Mn;
`
`gui
`In ..
`I
`a wrisi Inai .
`
`
`
`
`‘00ij having“aFILI-
`
`on holes, and a D
`III I
`
`I‘nemberv , 3)II.aving inseIIioI.
`L
`IO the: MI 3t In em I) my.
`
`COPYRIGHT KIPO 20H
`
`http://Ima. ICIpI‘Is . 0C. kr/I'XML/QOI 00009981SAID/ICpaMnI
`
`20110050.]
`
`
`
`2- DH E 5% 10-2010-0099818
`
`
`
`(11) 43711134.:
`
`10-2010—0099818
`
`(43) %7H°é7<}
`
`2010609%15‘a
`
`Int. Cl.
`(51)
`A613 17/00 (2006.01) A613 19/00 (2006.01)
`(21) %%td§
`10—2009-0018342
`(22) %%<§X}
`200922103§04€l
`Miflgx} 01%
`
`(71) an
`7% -
`ME
`Thu} 1% 0]
`13:21:?5031g*1 31% X0?) 0
`Hm
`(72) 3;:U \— \—
`7371 10M <§*&%¥ U}%% 974—1
`(74) 01319
`0] 1H3}
`xi?“ *3??? i %26§}
`
`0
`- A
`752—1 ETJWQW
`
`(54) $37]?
`{‘3
`933
`
`
`
`
`9] {F37}?E WEEhhafflg}? 7WIEyi‘XHg}, 537] AWEEJHO” 0137:1139] 55F7H9] @2130] %*3%
`‘19}, 537] 435%an 1418;591] @2139] ”EWJES 77%“: 577119] ZE‘TWHE OIWWXWJI, 537] WEEW}
`037:3: E €2$XH(WTiSt member)W-§ f-WPFXHW]
`$301]
`91311 47% 037:3: E 5-}?7119] &%X}(effector)9}§ {:53}
`WW] QWQE 9&0” 47] @2139] W11 WV] W14 316314119}, 537] 55F7H9] Z}%X}9‘r 537] W11 WV] WMWE
`E‘XHOH 47$ OJEQE W11
`‘3‘; W12 916’le QE E}. ?L%1?‘91r§ W11 WV] W13 WW] ?%3%§ QE WW] ?L%1dr
`i WL/‘JWW, WW] ?L%1?‘E {ZWE‘XHW 311415 316/474 B.(yaw) %%*]7131, 5—?7119] Z}%X}§ %*]°” W “J
`iii WEWWE WWWitch) —3%*]7]
`, 55F7H9] Z}%X}7} ”WE {ICOVVJW gWflE HJWEE 47% 316W
`VIC00‘
`§W1%%% “715% WL/‘JEW.
`
`«‘7
`
`f< — EB
`
`
`
`
`
`2- DH E 51 10-2010-0099818
`
`
`
`EEE1
`
`X1§§§:(shaft)$1;
`
`)3'71 EEEX11°11 T11
`71°1EEX1191 *L71 71°1EEX11°11°1 “$101 E7114 *EX1E01 SEE EEEX1191,
`§X1HU1
`*L‘ELEE 7LE EA7114 EEEXHE O1T°1X1U1
`)3'71
`*LEEOH OdéflE EEEXHWrist
`8OL31X11
`member191§
`
`*oL71 EEEX11°11 E1011
`
`91011 7474 OJEHE E‘F71191 XLEX1(effector)91§
`
`*oL71 EEEXHOH EXWE EEO“ 7471 QLEHE X111 111X1 X114 E16?— X1191 XOL71E¢71191 XLEX191 XOL
`71 X111 L11X1 X114§1XdEX11011 7474 EEHE X111 “4 X112 91°1°1E XXLE E3. EEEEL;
`
`910101011
`
`91311 E3— EEE91 03,7.233‘31 x401E EL 711 °1*L4 EEEE 7LE “11% EEEE E‘éfl‘fl,
`
`3
`
`o1 EEEE $211191 XdX11E wym 3(yaw) EEX1X1E, 247191 21%}; EX1°11 :1 1%
`)
`EEX1X1
`, Wm] XLEXLXL X1: E44714 EVE Mg: 7471 w
`E 441EEE X1X1EE E/‘éflE 311% E721°i3 E "4.571?L
`
`L
`
`X171
`
`T101 WW1
`
`7114 7101:101 swab 44:49},
`
`X171
`
`1 WM WW1 swans]
`
`717101 40] *LXWE mg; 341:1 547191 gnaw: EX;
`
`%?%3
`
`41160101 940w, X171 $241qu EEEXflE
`‘QEE E1 $113101,
`*oL71 QL‘QEE 7474 73X1X1X11 11413
`
`EL
`
`X??? 4
`
`X11130L°11 9401/4 *L71EE7114 Z‘TLEXLE 401 EXX1E1E QL‘QEQ 'é/LJHE 7§fi%(capstan)371;
`
`*oL71 735E101 ‘QX11E 52141351 QL‘QEQ E/‘éflE E
`
`*oL71 EEEXHQLOLEOH ”14X1E flXéE—XHEL;
`
`Efl flifld 1161301 XEEEJQ §1XL°11
`
`91311
`
`j1X1 EEHE 0115 Z‘LEXLE E‘éflE XAE Efiii
`
`41160101 940w, X171 22: TEE—91 x11 11x1 x14 $611an 7171 EL X191 010151 E313 01E°1X1
`
`*oL71 E3— EEE‘” X111XUL X112§1Xd EX1191 Z173191 i71E *oL71 X113 “4 X114 §1§EX1191
`X11130L°11 9401/4,
`Z173 E131 ZTLX11E/LJHE fiE E 13% 3E E4571E.
`
`@EE7
`
`X11130L°11 9401/4,
`
`*oL71 E53 EEE‘” X111 “4 X112 flfiEXHq LLL7391 371E *oL71 X113 “4 X114 316E411
`
`_2_
`
`
`
`2- DH E 51 10-2010-0099818
`
`91
`
`11173 8.81 0.3 ~ 0.9 11171 181188 118381E 78—8 872188 81E E87181.
`
`818181 8
`
`811181011 910181 8171 8.8. EEE° 8111
`
`‘8‘
`
`8112 910101 E 8111 910101E E87191 811E81 E 811191
`
`'8'818‘210111‘8' 8811128 81818171103888
`8114 81818—811 E 811191 O1°1E81 881011
`11181
`81881311 8111
`8112 E1°1°1E EE711911E81 E D1E 811191 81881311 8:1 81191
`8111 11181
`8114 8818— 811 E 818 811191 0101—8
`
`81 E8101 "S 81810111‘8'
`
`'S '8811188 818181711 837.8188 E8188 8 E 887181.
`
`EEEQ
`
`9181 818181011 881
`
`81, 8181 88 8188—8 81118-1 812 910101E 8181 81818011 88.8 81 818818 88881011
`111 81888
`81
`81E 81011 888 88818 810188011 71018801 01881888101 88118
`
`E 872188 81E E87111
`
`81118 10
`
`811181011 910181,
`818$EEE
`
`8171
`
`11118 EEEE 818881 01788131 EEE8118 1:8 888 81011 8. EE8181E
`
`8171 8111 811°JEEE81 8180111 81881 7171 88818131 8171 8111 818EEEEEO81 91010101103783
`
`8T7191 81281E 8118 1:8 888 8181 EE8181E 8112 U11<JEEE811
`
`8171 8111 81°JEEEE E81 8171 810101011 817.8801 88
`8171 8112 811°JEEE81 81818811 88818131,
`71191 8E81ED18 81118 111—8 888 8181 EE181E 8113 181188188; E8388 882138 81%88 7181
`
`%?§11
`
`flwfiw flfifi,§71fl1flfl?-EEE3fllflN°M1fiéflE-fiéfiflflhflfiJflqEEflflfi
`
`flZQNfidl fiéflE‘Q5848Mflfi«4qEE flfli
`
`8181 81 818 811881 810188818 8181 81 818 812881 81018118181 8181 818011 88188 8111881
`
`88 881011 881 818188881) EE81EI 811 801018 812 801018 8818 8.818101 EEE
`
`iiflfiflflfifiigflflE/WEEEEflE181§WE%Q28‘°E8 E:*%fl?.
`
`%?%12
`
`flwfiw flflfi,€71fllflfl3EEE3flIQQQQ1fi€3E§}%QKM§fiJflqEEflfl?
`
`8284N81fi€3E§}%QKM§@JWqEEflfl?
`
`E7 8188 8188;78HEE88 688 Eflflu1819k18fl EEHE3E'EQ fluii§§.flq
`EEfifl;
`
`
`
`
`
`
`
`
`
`
`
`£7 8 %91fl2§§J”qEE891$%01§flHW 8288WV1EEEH8§rfifl 848588_fl4
`
`
`
`E7 8188 fl1§%;7EH3EXq1EEN’SflfluiflIEFWflfl EEHE3E'EQ flflii§§.flq
`
`
`
`
`
`
`
`
`
`81191:
`
`EEfifl;
`
`£7 8 %QXM§§_TQEE*91@%01§flHW 82848fl8fiaflE-EbfiflHwfliflfi.flq
`81191:
`
`8—8 8 81—8 81188 78015188 8 8181 81 818 81288 81018881818181 018011 818188 88
`1
`88101 811 801018 812 801018 8 818 8.818101 EEE811E 8118 E 808 8818181 8 EE8181E
`.18
`
`E8818 81818—8 8 188 81E 88818.
`
`%?§13
`
`8112 8181 710158—8191 8:1 81191
`‘81
`8111
`9810181, 8171 8111 U11<JEEE81 8:1 81181
`8111181 EEE 811128101
`818V18488881885E8EZV1888883V18E8E2$881288H8¢EflE.
`
`_3_
`
`
`
`44%} 14
`
`2- DH E 51 10-2010-0099818
`
`X1110441 401/4,
`4% X1124 X4434:
`
`
`*0J71 X111
`
`“4‘ X112 U114?%41% 7474 *J71 X111444 4J%°LJ4 XJ44141 44°11 ‘44
`
`*J71 X11246441 01374344 11124644 46°11 4011 44401 X111 4010114 X112 401014 4 2414131
`
`314 4144 4444,
`
`1.171 444 4 44 1111411 714441114 4 44 1112411 714441114 411444 41144 44
`4 124 44 447141.
`
`4??? 15
`
`
`111144011 40111 4171 11114“—1
`1112 111144144—4 7474011 411114 11124d4°1 4441 11114134 41411111:
`
`447114 431171 211011
`5L1 4100104 441171 4 1((pitch14 4111714, 111244401 114 44 414,134 4
`441:1: 4T7114 4141171114 440147111 “40144 1104,04 7474 414014 4714 4114—4 472134 414 4
`47141.
`
`44141 16
`
`114341411114;
`
`710154—1114 4171 71015441110114 7.43414 447114 “41401 11434 4441114, 4171 444111011 41
`44111 41144 11444 44 4471 444114 444114 10171 44114 47.444 4441411114
`member)9Jr§
`
`49-7] 443%TXHOJ] 4011 441 7474 013L744T447114 4%1H6ffectoflfl'?
`
`)3'7J 5544411011 444% 44:41 7471 444% X111 11111 X114 4d,?x114 *J714?7HI4 4%114 *oJ
`71 X111 1111] 41446441141 7474 34434 037.44% 1111 ‘4 1112 40101: 74: E}. 4144—
`
`*oJ71 E}— ?%4‘—°11 4444 01374344 *J71 447114 4%114 411314. 7434 4444 4444 11114 4%?—
`
`4 $6444,
`
`414 4444 444114 41114 4111171 sum) 4411711, 44714 44114 41101 1L1 4
`4 41111714 41141141 441171
`, 44714 441171 114 40111714 414114 1101424 44 41
`7
`
`1112 4114114 111714 4714 1171 111317-1
`111164011 4411 1171 4.4 4444 111171
`4 14171 4.4 o. 3 ~ 0. 9 11171444 131144 114 41124 214 44714.
`
`1114 411411
`
`4:44 18
`
`1112 401014 414114 17114 4144—71 44471 4414011
`X11164011 40111, 4171 4.4. 41444 1111 “—1
`44131114 4144 401014 0140144 41)1044 4 447141
`
`4:44 19
`
`41164011 4°14,
`4 J34 31% #457143
`
`44%} 20
`
`*0J71 U114 ?%PrE 4?7H4 4%1141 41314 9011:.(degree) $444 444% 74%
`
`fiLJ 44134 464174 44(pitch) 4%471
`
`“114 ?%4—4x1*0J71 X111
`
`“4‘
`
`1112 4401011 013743401 447114 4%114 %*1°11
`
`41164011 401/4,
`
`*0J71
`
`*0J71 X111 U114?%$1° X440 14 $4011 7474 AJX144 *J71 X111 U114?%41% %311 *oJ71 X111 4401011
`
`037.444 1112 11114414491;
`
`
`
`2- DH E 51 10-2010-0099818
`
`@171 X112 EMEEEE EEEXH §X1EU1 @171 X111 EMEEEE E31 @171 X112 910101011 OJXPEEE X11
`
`3 EMEEEE EXSE‘E,
`
`X171 712 7119171EE91 711371117EE1 717 E171 1712: 9171191 :EE711 X17111 717LX171
`
`9.1m) 1EX171711 71: 711110711: 11191 E17 91 71E7171 717 19171711 7191711 111217 1
`71191 717111E 71711777
`X1711 EXlii 7% 117171
`
`73:1”? 21
`
`X1120§1°11
`
`97101/‘1, X0171 X111 EMEEEE X111 910101011 OJXPEEE 3L1 51191 X111§1Xd 71°1EEX1191?
`
`X112 91°101E1°117§EE 3L1 “0191 X112EXL1 71°1ET X1191;
`
`X0171
`
`3L1 51191 X111EX1 71°1EEX11E @171
`
`3L1 51191 X112EX1 71°1EEX1171 7171 Oo1E°11 §X1Efl X111EX1
`
`E91 E16011 9131 X1i(seesaw)L°EE3101 X111 91010191 X112 E010191TE: 11X1E ZX131011Efi71191 X11EX1E
`
`OX1°115L1 “010103 EXL1X171 J1X1°L1 ‘SLX11X'E XL/t EEEXHE E1 @131:
`771% E 10$ 31% -’F%71E
`
`511131 22
`
`X112031311 EEX1, X171 X111 11113111111 7111 E3131311 EEEE 3:1 X1E X11131X1 X131EEX11E:
`
`7112 E3131911E71E: 3L1 X1E 711231XL177O1EEX11E;
`
`3: X1E 7111311 77315117 E XLE<>1 X1X1E1E1 X111 E310171 EEEE 3L1 X1E 7111152717; 7131
`
`X17
`X11E:
`
`X17
`
`EEEE,
`
`X17
`X11E:
`
`X07
`
`EEEE;
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`3 X1E X11231X; 791517 E EEE X1X1E1E1 X112 E310171 EEEE 3L1 X1E 7114152717; 7131
`
`3: X1E 7111311 791517 E EEE X1X1E1E1 X111 E310171 EEEE 3L1 X1E 7112152717; 7131
`
`
`
`
`
`3: X1E 7112311 77315117 E XLE<>1 X1X1E1E1 X112 E310171 EEEE 3L1 X1E 7113152717; 7131
`
`X17
`3L X1E X11131XL' 791517 E X171 31 X1E X11231XL1 X1°1ET X171 7171 OOEE X1‘1E1 X1X1 1
`
`3131 X111 E3 101E X112 E°1°1E EE EX1E 5913131 EEXHE X1EXXE1E3X1°11L1'11111E EXLX1X1
`1 X1
`
`1
`
`E
`
`XEX1 E
`712031911 919171, X171 7123-1
`7113
`71131 EEEEE 7171 X171 711 71117111131 X1E91E1 EE911
`1 71121X1E71; X171
`711291X11911 917111171 7112911131 91X1911 3171 91X11191 7111 9191911 7112 319191
`11
`—.—4
`911E
`1 7.7171 1717 E11171, X171 EEE 71 191 7111171 719157—7131 71 X131 71121X1 7191:1171
`‘1EEE X17111 71—1 E 12: 711 117171.
`
`712071911 919171 X171 7127-1
`
`7113
`
`71191 EEEE 7171 1711 71117171 71711 17171 71: E9171
`
`11712: 171111 11711711 X17111 1717171 9137111 1EX171E1, 71:7 711 111712: 71711111771711 71
`E7171 71: 19171711 7191711 11712: 171191 71711 1E1711 EXJEE 71—1 E71317 : 117171.
`
`71771 25
`
`E17131 7117191;
`
`E’.
`7101537191 X171 7191511711011 EXE
`
`3131X11*1X1EU1 ”013% 7%:
`l"2171191 SEE
`1:1
`
`t]
`_'_.
`
`2.4: E19
`
`T E_
`
`[
`
`o: i 3111 0H 11: 2.4: 19 r3 11111. 1111 i i 11: 2.4: 19 o: i i : 2.4: L
`
`f; 11
`
`& _L‘\L i
`
`1111111111: 2.4: 1111 i
`
`
`
`2- DH 8 51 10-2010-0099818
`
`
`
`2 47887114 71788 78818191 71788 71711 8171 118101 7113w 7114 4788711
`4 7178011 111801 71711 887848 788 472188 818 88718
`
`78881 26
`
`7g
`
`8
`
`8871191 887180] 238884. 88871191, 8871 88871141 1’11
`051871141 087881
`
`1'4 17114 2887114 018017141 8871 3187191 087848 88871191?
`8181711 8871441 8848138 78:
`
`8871191 8871 888‘— 71191 08784. 7171871191, 8871 X17187114 088°“ 7471 238884. 8887114 01
`8°17] T188871141,0878481EE91;
`
`81 710 887114 47887114, 710118 8171 0184 9101018 01801771 8.8.
`
`*871 8.8. 8884 9101018 871717171 1181 887114 83118 74: 1118
`
`*871 7187111 888711 84 814011 41814 11114 88871 90188 4881 87148 788 87128 8
`88718.
`
`rlr
`
`
`
`
`
`
`8 E
`
`1
`
`4488 71 78711848 8188 814 81714 4471718 80171 4811 47878
`
`3118 8871871748441.4 7878 8:014 828 0188 8:01: 44% 88718714848111 018101718
`71118881871841 81718 84.
`
`880114 8888011 4
`
`0191 7,310 84148871841 78484 7188 171888881 U357921353:(88<8: 19988 888 68, 881
`
`0117] {Efflfloi
`Inc)°1]
`Intuitive Surgical,
`‘3]:
`18 1—88 7848—3101 881831?! 1318378 781:1.
`
`9&5}. “138%3561 U85792135§0H 717113 $§71¥§ @3183
`
`28419] #37]?E 11:. 101] ENE 419} 7180], EL?” 8/5558 7]?(wrist-iike mechanism)(1100)9]- *1EE
`(1200)§ 4183.314-
`
`783i Ed(capstan)(1120)
`5—}?7119]
`433% 7i¥<1100>§ *1EE(1200)°N 037.8441, C3318XM1110),
`9115 X4%?(Hend effector)(1130), xii 01018731 Eaufront
`idler puiley)(1140), 5.8% 01018731 EBKrear
`
`751%71
`910101 $E(wire 100p)(1160,1170)i 8L3.31:1 E 10118 0115
`idler puiiey)(1150) “-187119]
`(1130), 718 010184 84(1140) 4 88 010184 8840150171 7474 81111:1 E71401 424, 8414 88
`
`7180118 7474 8871171 811144 788 0101881 884(114014 478801 84 8.4518151 jo1nt)(1140a)8
`8883381131.
`
`{11001}
`
`[00112]
`
`[00031
`
`{111104}
`
`{1.1005}
`
`{0006]
`
`8414887184 71784 21718 888 711(11101011 78784 487114 888 711(1110a14 74780111011 4
`
`787844, 78¢ 4(112014 Z178(11218 8877184 478(d11011 481 314171101 714 . 884—711(11102114
`
`78(d118 884—711(1110211011 71787118714 84 845(11402118 8 881: 7180101841 884(114014 1878
`
`>011 481 787844, 487114 7858(1120) 71°14 714(g118718 001 1881 884014014 1878(r11011 481
`
`
`
`2- 3H E 51 10-2010-0099818
`
`111111, E3191 EE71E°1171E 7dE °°11EE1 E174(1140)91 11L17é1(rl)°1E 731E011 EE71191
`(1120) 710191 7131(g1171 7171711 E111 EEE71191 7111iEL1(1120) 710191 7131(g1171 7171E 73E
`0191 7173(d21E 710171711 301 £111 EE 73.1(torque1E 3E31711 E131
`
`11181181171,
`8871 4371119] 71EEE EE71191 810101 EE<wire 100p)(1160,1170)°11 7EB1E 70181011
`0115 751E71(1130)«1 3171341E EE711°
`910101 EEWire 100p)(1160, 11701011 7131171E 7O1E1Uensior11371 EEE
`
`j01n1)(1140a)91 11173 011 $811 7.179381L. $1191 E:71E: CE 7115(1140a)711: 10117181 71
`E‘flaw11st
`01 7LE O1°1E81 E131<1140> 811 11‘191333 0L81
`0115 71%71(1130>81 81711841E EE7114 810101 EE<wire
`
`100p)( 160,11701011 7181171E 70181311 711% O1°1E81 E81<1140>91 11L17a'(r1)<>11
`
`5%
`EH14 E271E: C515(1140a171 71% O1°1E81 E81<1140>o11 8117317132: E811 7LE
`
`71173 31L.
`
`91 811
`
`E81<1140>91 EEUDE 71711 81L 73E011 910101 E:(w1re 100p)(1160 1170)o11 7181171E 7074101 717171 $101
`
`713119131.
`111E7301
`100p)(1160,1170)4
`EE(Wire
`910101
`EE71191
`100D)(1160,1170)91 111E730] 7181E1E 73E°11 EE71E91 743-4730] 7181331.
`
`4E7114
`
`9101
`
`EEWMe
`
`E<>11EE7111711¢8L111201 71°14
`E3L1, 7LE 001 1EE1 E174(1140)91 11L17é1(rl)E 741711 E1 E €1E71
`711;EL1(1120)81 7173(d2>°171%£i
`781E
`0115 71%7111130>E EE8171 1181 E81 E 11%8101 8.711301+71101 111018171 91711
`
`7117«1(g1)71 7171711 3
`@311 E3191EE71E
`
`€31.
`
`
`
`E271EE 7d? O1°1‘EE1 E74011 C3 513571 7217(1E3i
`
`°L311 7LE 01° E31 E
`
`€71.51.
`
`EL113171 Eflm EE71EE 7d711711£i EE71E91 71731127 E°E1 E ‘11
`
`731711;} E 131711
`174% 111L731E 71711
`E E71171E 11135311 9151
`
`
`7&3 °1°1EE1 E17491 E3 °1°1EE1 E
`E E3
`E E17391 E711E 7LE3L1 E71173??? 317E3171 E13L1 712i
`°1°1EE1 E74 1 EE E‘flEE E73312E711 7dE °1°1EE1 E17491
`71731—27
`71711
`1171131071 EE71EQ 71731—27
`
`71711 3101
`'L71q EEEE1E 71E3L1 71711 E1 E 91E EE71EE 711—3171731011 9131.
`
`E 11117391 14E 371.3 7d? °1°1EE1 E17491 71731—27 71711 E73312E711 71115691 71731427 21711 373% E 9101
`91°101i 71E EEEE 71311 °i15 751E71E U171131711 5—7173 E 91E EE71EE 711—3171731011
`91111
`
`E E17391 EE D1E E711E 91°101i 713 71E EEEE 7171 Egg” 91010191 111E71E 7117J7171EE71E4
`
`{171711227 717L1717E1 E 91E EE71EE 711—3171731011 9131.
`
`{0007}
`
`[00118]
`
`[(11109]
`
`{1.1010}
`
`{0011}
`
`{(11112}
`
`[0013]
`
`{0014}
`
`{1.1015}
`
`E71EU11°L1 EEEi E71391 “11°L1 EEEE EEE71191 7d711E 3167171 3(yaw1L E71171 , EE7114
`
`, EE71191 751E7171 71E E01717111 UE10171
`E71E E71011 3L111013o£i 31117171E 4 71(p11ch) EE7171
`11013013i 7171 317d31E 71711332 717134 E7113:
`71011 9151.
`
`{0016]
`
`037E
`E 118381711271717181 31% EE771EE 712111111181: 718151—7181, 7171 7181517— 7181
`
`E
`SEE
`7171E°1 171E EEE7181 70771 EEE7‘11011 118121171 7171381 71‘11733 71: 82771181
`7
`7E
`‘71,
`0171 751E7191L7EHE EEE711(wrist member191: EEE711°11 13°11 4311 7171 011 E1E EE71191 751E71
`
`(effector1911 EEE711°11 E71HE EEO“ 7171 E71 E 7111
`70171
`7111 11171
`7114§1 7LE711°11 7171 E71711°i OVEHE 7111 “71
`
`l'12’1‘71191074137191E0171E4 72171HE “11°L1 EEEi E71301 “11 L1 EEEE EEE711
`70171
`E011 01117123301
`91
`7L1711E é17L17171 3(yaw)L E11717, EE7114 741E71E E71011 3L1 11171°§ 51117171E 471(p11ch) EE
`
`7171711 EE7114 741E717171i E01717111 UE10171E 11017013§ 7171 E17L131: 7171‘”? 717134 E7113:
`
`70171 EE71191 751E7191
`7114 517LE171191
`11171
`7112 91°1°1E 7x1E E7 E0 E91: E3. EE
`
`7%
`
`_7_
`
`7114 §1LE711E1 *0171
`111X1
`7111
`ffector191' CEE711°11 E71QE 1E0“ 7471 737131311
`71
`7111 11171 71143114171011 7171 037.18% 7111 17-1
`7112 81°1°1E 71E Ea: EEE81;
`7111
`
`EE71191
`7.13
`1171i o170171
`
`EE7114 71%71
`E 7114 71%7191
`
`111
`
`71
`
`7113 U11°L1EE
`
`
`91 1117371011811 111E E911: 71EE(shaft>811 710154171181, 7171 710154171011 <11
`
`17.r11:>1111%“:0E
`1E°1 710171113 EEE71191 70171 EEE711°11 T117131711 721713011 7101732 77E l'1’17114 SE
`EL
`Age-(m('D
`70171 712E011 EEHE EEE711(W1181 member)91? EEE711°11 13°11 4311 7171 01171433
`ELh—l
` 111151110178
`
`
`
`2- DH E 51 10-2010-0099818
`
`{@017}
`
`
`E EEE A.:71EE E: 0101EE EEE EE 010131 E
`E EE 010131 EEE :E 591:: EA;
`
`E391 EE 01°1EE EEE EEE E711 EEEE EE71 E EEE E711 EEE E 91E 01EE
`EEEE EE EE 01°1EE EEE EEE E711 EAJEQEE 73EE191 EEE E711 EAJE E 9101 E0101
`
`EEEE
`
`01E 7161X1E EEEE E711 EEEE
`'
`EASE 719171 EE71EE EEAé—E 71EA1E E 91E 01EE EEEE 7115171 EEEE 611E
`
`EEEE £13 715E EEE 8. EE EEEE E EEEE—E A015: :ENE EEE E 91E °1EE
`EEEE
`
`
`(AELA1E111
`
`E“ELLE”391 X111 ALA1E1°11 FEE EE71E EA‘l'EL
`
`
`1E 2E E E13391 EE71EE1 EEE AoLF1191 A1A1E°1fl, E 3E
`E
`A1A1E01‘E1, E 4E E 3011 EA1E EEEE E311 A1A1E°1E1, E 5E E 3011 EA1E E
`EEK“. E90151.
`
`71EEEE
`EEEAELA1
`
`£11: g;
`
`1111
`
`AELA1E1°11 FEE EE71EE i711 A1EE(101E1, EEE,711(2019Lr EE71191 ELEA1
`x111
`E E13391
`(30a,30b)E, E54. EEE(40) E X111 L11E X113 U11E EEE<110,120,1301E EEE E U11E EEE(48)E EA;
`EE.
`
`A0171 A1EE<101E EEEiE TE71EE 1 161EEE4:101, EEEX11
`EHEEE AE71E°11*1,
`(201E A1EE<0111°11
`x111E(1>°11 E61 EEEEEE71E x112E<2>°1 EE AEEEE E61
`T71E EE
`(30a, 30b1E 7171EEEX1<201011 x113E(3)<>11 E61 EEEE.
`A0171 E5: EEE(40) E 1111 L11E x113 611E E
`EE<110,120 1301E EEE711(201E EEA1E Myaw) EE61711 611, EE71E EEK1<30a,30b>E EA1611 E
`
`HOEOE EEA1E 3T E1 EE EEEE EEE EE171 E EEEE EEEE E‘1(pitch> EEE 61711 61
`E, EEK1<30a,30b>E A1E E°1A17111 EEEE EEQE 7171 EEA1E E711 EEE E E 91711 EAJEE E
`E.
`
`AoL71 A1EE(101E E3 “-L E4011 EA1E 11191 E01, EEE711(111, X1X1E711(121x“-L EE71191 EET711
`(131E °1E°1A1.E1 EEE711(111E EE71EE EEEEE A1A1E1EE EAJE‘E, A1A1T711(121E EEEEMI
`
`11°11 AL°L A2171E1‘31EE71191 71°1EE(12a1°1 EAJEE. ET71191 EEE711(131E A1XLE1 711(121E E131 EAOLE
`
`1’11E1E711 EAJE‘E, 7171011E X111E<11E ELEEL E 9JEE ELEELEUBaM EAJEE. 1313,
`01 A1E EAé>L°1
`A1A1E711(1219Lr EEE711(131 A1°1<>11E 73A1E'1:(13a1°1 EASE
`EEE711(20191 8. EEE 71°1EEE ‘EELE
`E171 E131.
`>4 \I
`1.O
`
`1 EEEX11(20>E EA71E 71°1EE x1191), EEEE1<22> E EE71E EEE711(231E EAJEE.
`
`{(11,118}
`
`{0019}
`
`{0020}
`
`[0021}
`
`[0022}
`
`{0023}
`
`[0024}
`
`[0025}
`
`{0011.6}
`
`[0027}
`
`EE711E 71°1EE X11(211E EEEE1(22)E 61E°11 HE EEEE EAJEE, X111E(1)—E AME AEEE
`E EEE<2M>61 E35151 EAT711E 7161EE X11(21)E EEEE1<22>E 61Eo11 HE EEEE AEEEE
`EEE(40)E E Aé1E X113E EEX11(43) E1 E Aé1E x114EEEX11<44>E EE711E 71°1EEX11(211E A101
`
`$111111
`
`(211E A1EE(10)E EA.71E E
`
`0]M
`
`E.
`
`HO
`
`E1m1
`
`EEE x111E<1><>11 E61 771EX1E1 EE. EEE EE711E 71°13? X11
`EEX11(13171 1 L11E<>11 EEEEE 61E A1EE(10)°11 771EX1111 EE.
`
`EEEEQEE<EAEEi4EEE EQDE EEEE EEE1.E EEE E1E
`
`EQ%W1EELAEEJMEQVAEEE=EEEEJEWE1NEEQ%P1OE
`(BHEEEEEQDE’EEEAEEEEEE1EEEEXBEB1EEE EEE=EE
`
`EE.
`
`(2221101 EAJE‘E, A2121
`EE.
`EEE<EEEE
`EE 4501 3542321101 EOfl/H
`
`EE711E ZELEA1(30a,30b1E 7171 7LAEd(capstan1(311,EET711(321, EA1E711(331EUL o11E(end1 AEL
`XE11(34)E EA1.EE 73¢E<311E x113E<31011 E61 771EA1‘E1, EEE711(321E EEEBUE EEE EAJE
`
`U1 1 L11E<>11 ELEELE(32a1°1 EAJEE. EASE—71183 E EEE711(321E ELEELE(32a1O11
`
`771E1A1‘E1,
`
`°11E EEE
`
`
`
`2- DH E 51 10-2010-0099818
`
`(341E7‘1iEL1(31)°11 30444401 714548114 314011 4311 31 X1 %%4‘31.
`
`[0028]
`
`[0029}
`
`4.5: EEE<401E 2111471E711<411, 2112471E711<421, 2113471E711<431, 211444E21<441,
`(first wire)(46), X112 91-0101(wire)(47)§ $643131.
`
`7111 4°1°1
`
`X11131XJEX1M411E EEEXH<2O1°11 4X14 EE7114 71124(21%31‘1°11 1144401, X1124XdEX11(42)
`EXEX11(20)°11 4X14EE7114 X1124(2) E T4E 314011 444141. O1E13L1 X1114XdEX11(41191 X11231444411
`EEE711(221°11 4
`743 74 214224101 3121211 742144. 2134211 711(431E EEE711(2014 °‘Eo1 4
`
`(42
`
`EEX1111T‘1_(1)°11 461 4174131 71144XdEXH(441E 1112120191 4E4 11 21:11:11 21141141 451 41
`21
`2444
`
`{(11130}
`
`7111
`
`11171 711444E71(41,42,43,441E 744 71E 444EE 4714E 3L1“0
`
`°°1
`
`,
`
`71E °1°1EE1 E4011
`‘1‘ 7112471E21(41,421o11 7474 E1114E 4 71‘4 °1°1EE1 E4
`b1E °1E°1711 7111
`31444,
`2113
`‘1‘ 2114471E711<43,441o11 7474 E1114E 3L1 7‘4 °1°1EE1 E E EE °1° 1E4 E4011 31%
`
`E1. 44, 711344E71(4314 711444E71(44171 47144 EEE711<20171 21114<11E EiE 014 41 EE 1
`711144E71(4114 711244E71(421E 7111 4°1°1<461°111 7112 4°1°1<4714 471E171°15(gudie1 44
`4 31711 44.
`
`{0031}
`
`°1E 431 711144E71(4114 711244E71(4214 44(r2: EL 6b ‘1‘ E1001 E7141 2171E 211331714—
`
`711<4314 711444E71(4414 44hr EL 6b°11 E7141 4.31 71711 47344, 711144E71(4114 71247111711
`(4214 473(r214 471E 7113471E711(4314 71447111744414 473(111 4.31 0.3 ~ 0.9 H1171 4EE 4734
`
`E1. 31471, 1171 2111 ‘1‘
`E47171 44.
`
`2112 44E711<41,4214 71734 2113 ‘1‘
`
`2114 471E711<43,4414 7173011 111314 7171 °1
`
`7111 4°1°1<461E 7111
`
`11171 711444E71(41, 42, 43 ,441011 7474 E1114E 31114 °1°1EE1 E4<40a14
`
`EE7114 4E71(30a,30b1 E 31114 71546110114444 744E 4471744. 444 7111 4°1°1<461E 7111
`11171 711444E71(41, 42 ,43,441°11 7474 E1114E 31114 °1°1EE1 E4<40a1o11 44 71
`'S'714°1‘1 4 'S'714
`°E 44471144431.
`
`01017421 E11
`7474 EH14E r14 E11191
`11171 21144711171141, 42, 43 ,441011
`2112 4°1°1<471E 2111
`(40b14 0144 EE7114 71E21(30a,30b1EE1E 3144 7“54611311 4444 474E 4717144. 444
`
`7114 44E 21(41,42,43,441o11 7474 E1114E 4E31L14 °1°1EE1 E4<40a1°11 4
`7112 4°1°1<471E 7111 11171
`7E 71
`'8'71444 4 '8'71424 444711 4444.
`
`014 E101 O44131711 444E X111 4014(46191 X112 9101010171E 7474 71454811011 011:2 *1 Z‘1EX1
`
`(30a,30b)4 1X4E711(33)°11 4311 71454811011 114401 *1EE(10)4 X1 X1-rX11(12)°11 3M4 E‘F71191 7101
`EE<12a1011 71°1E(guide)4°1 01%41EE £104 44451.
`
`314 EEE<481E 71351014 °1744EE 7171431 7111 4444614 71124°1°1(471°11 7474 444
`
`4 7111 4444614 7112 4°1°1<4714 4 71E 52703171 431.444 314 EEE<481E 7111 414EEE<1101
`2112 414EEE (1201 ‘1‘ 2113 414EEE (1301i °1E°17L‘E1.
`
`X111 “114?%E(1101E X1EE(10)E1 0174434 44431 X11191°1°1(46)E1 X11291°101(47)°11L744°1
`
`EEE711<201E 21114<11E E34 3131 8. EEE 717171 44. 444 7111 414EEE<1101E°11E 4 71‘4 711
`
`131XX4 71°1EHX11(111),
`34XX14711 9"/1
`
`3L1 45191 X11244 71°1EEX11(112)
`
`“E4 A1ft EEEXMseesaw motion member)(113)71 E1
`
`3L1 4191 7111314 71015141 X11(1111E 7111 9101010161011 L443 1ft EEEX11(113191 O(14°11 7474 4
`
`3L1 4191 7112314 71015141 X11(1121E 7112 9101010171011 0117441 *13t EEEX11(113191 O(14°11 7474 4
`
`X1E1‘31,
`X144.
`
`71¢ EEE 711(1131E 3L1 414 71114XL1 71°1EE 711(11114 3L1 4191 711244 71°1£EX11<112171 7474 ‘21
`E011 4X14‘317111‘1110L11LEE(11014 44°11 4311 X1&L(seesaw1 EE31O1 711 91010101614 7112 4014(4714
`
`01313L1 7111 U114?%E(114)91 444% E 2011/1191 712101 *1EE(10)91 CEEXH
`471(position1E 4.313114.
`(201011 7431 E 71114141191 4301301371 E431EE $44214.
`
`0 1
`
`30171
`
`7111 U114?%E(1101E EEO1‘1 ELEEJOH 91311 314401 *1 i EEE711<1131E 3174463441 ‘11
`312E 4717171 71¢ EEE711<113171 447401: E 621011 37141 44 47L
`74 E 91211 E7344. 214 E
`
`_9_
`
`[0032}
`
`{411,133}
`
`{0034}
`
`{0035}
`
`[(11136]
`
`{(1037}
`
`[0038]
`
`[0039]
`
`
`
`{11040}
`
`[(10411
`
`T3- 3H T 51 10-2010-0099818
`
`TT711(113)71 317,17T( a1uL1T T1T1T TTT1T,01
`
`7111 T°1°1(461T 7112 T°1°1(471T T1T1T(F11 111T
`TTO1TTT1H7711TT7TLT.
`7TTTTTTT711(1131T T1T TT°11 TT11 7111T°1o1(461T 7112 T°1°1(471T
`T7171T7TTT TTT H71TL1
`7T7T711(201717111T(11T TTT T1T 8. TTTET TT. o1TT T71 T.
`17TT 7111 T°1T(46111 712 9100101171 TTTTTT o1TTT1T01171 7111 910101016111 712 TO1T(471 T T1
`
`TT T171131: TT T111T 071T”TTTTTT TTTT TTT TT. o1TT T T1T 7111T17T 71°1ET711(11
`11T T T1T 7112T17T 71°1ET 711(1121 T TT O1°1TT TT71 TTTT.
`
`TTT T1TTTT(481T TT T71011TT 1T 50117191 T101 T T1T 7111T17T 71°1ET711(1111, T T1T
`
`7112T17T 71°1ET711(1121, T T1T 7111TTT17T 71°1ET711(111a1, T T1T 7112TT. T1T 71°1ET711(111b1, T
`T191 x113TT§121 7101ET711(112a1, T T1T 7114TTT17T 71°1ET711(112b1 T TTTTT711(1151T TTTTT.
`
`x111§1xd 71o1TT711(1111T 7111 T°1°1(461011T,7TTT T T1T 7112T17T 71°1ET711(1121T
`T1 M191
`7112 To1o1(471011 T7TTT. T T1T 7111TTT17T 71°1ET 711(111a1T T T1T 7111T17T 71°1ET711(1111T 7,1T
`
`011 TT71TT 7111 T°1°1(461011T,7TTT T T1T 7112TT.T1T 71°1ET711(111b1T T T1T 7111T17T 71°1ET711
`(1111T—TTT011 TT71TT 7111 9101010161011 TZTTT. T1 T1T 7113E§§17j 71015T711(112a1T T T1T 7112T1
`
`T1 T1T 7114TTT17T 71°1ET711(112b1T
`7,1 71°1ET711(1121T 7,1T011 TT71TT 7112 T°1°1(471011T7TTT,
`T T1T 7112T17T 71°1ET 711(1121T—TT011 T171TT 7112 T°1°1(471011T.7TT_T TTT T T1T 7111T17T 7101
`
`TT711(1111, T T1T 7112T17T 71°1ET 711(1121, T T1T 7111TTT17T 71O1ET 711(111a1, T T1T 7112TTT17T
`
`71015T711(111b1, T T1T 7113TTT17T 71O1ET711(112a1 T T T1T 7114TTT17T 71°1ET711(112b1T T71 71
`TL1TTT711(1151011 7171 T71TT, TTT O1°1TT TT71 TTTT.
`
`[0042}
`
`717LTTT711(1151T 1 OJT011 T1 T1T 7111T17L1 71O1ET 711(1111T T1 T1T 7112T17T 71O1ET711(1121
`
`71 TT TTTTT,
`
`7HTL1 TTT1OO1 7111 TO1O1(461°1T 7112 TO1O1(471T T 71T 527301711 TT. 717L1TTT711
`
`TT71T(E71 TT1011T7TT01 7H7TTT71T011 T611 T1T1T(65,661 TTTT TTL1TTTo1711TL
`T711(115171 TTT(65,661 TTTT TTTTT T1711 TT 7111 T°1T(46111 7112 T°1T(471T 71
`TT 1 H 71T TT71 TTTT. o1TT TO1O1T T71T TT011 T611 TTT711(201T 7111T(11T
`8. TTT T1711 TT.
`
`[11114.3 1
`
`7112 T1LT1TT(1201T 7111 T1TTTT(1101T o17—1 T171TT,
`
`7111 U11OL1TTT(1101T T611 711 T0101
`
`1111
`7112
`011T T ,
`(461011T7TT01 TT 711T 7T1T71(30a, 30b1 T T111T 7113T(31—T TOT T 7L1TT7T17L1T.
`OL1TTT(120171 T1T1T(611L1 T1T1T(621 TTTT T17L1TT 7111 TO1O1(461T H 7171 T1T1T(F21 TTTT o1
`
`TTT TTTTL, TTT o1T T 71TT TT711T 7T1T71(30a,30b1TT1L1T TE T1T71(341T 7113T(31T T
`2T T71 TTT T1711 TT.
`
`x113 TT TTT(1301T 7112 T1TTTT(1201T TTT711 T71TT,
`
`7111 T1TTTT(1101T T611 7112 T
`
`o101(471011 T7TT°1T711T 751%118021, 30b) T TT T111T 7113T(31T TOT T71 TTT717L1T1. T1T
`T01,
`713 U11OL1TTT(1301T T1T1T(61111 T1T1T(621 111T1OT T17L1TT 7112 T°1°1(461T H 1‘71 LTTT
`
`TTHT T1T7(30a, 30b1T TT T111T TE T1T71(341T 7113T(31T TOT T 7‘11TTT T1711 T11.
`
`712 T1TTTT(1201T 7113 T1TTTT(1301T T1T111T1011 TT TT711T 71T71(30a,30b1T 711TTT
`T TTTT T1711TTT T171L1,
`TT1<>11 T17L1T01 T71LTTTT T1711 LT.
`011T
`7,112 TTTTT(12o171
`T1T1T(611 TTTT TTT11 7113 T1TTTT(13o171 T1T1T62(110T12T T17L1TT 71T TTTTTT TTT
`
`TT711T T1T71(30a, 30b1T TE T1T71(341T 711TT T 71 TTT T1711 T01 71T T017171T TT71T 111T1
`
`7112 T1TTTTT(1201T 7113 T1TTTT (130171 T1T T1T1T(611
`2T TTTT T1711TTT T1711 TT. TTT,
`O1T T1T1T(621 TTTT TT1°11 T1T T1T TT711T T1T71(30a,30b1011 TT TTTT TE T1T71(341T TT1
`011 T 71 TTT T1711 TT.
`
`01: 31:71(341T T71 TE7171T x112 T1TTTT(1201T 7113 T1TTTT(1301T 7171 7112T17TT
`
`(122,1321J1 TT(121,1311T TTTTT.
`
`TT11°11
`7112T1TT(122,1321T 7111 T1TTTT(1101T 7,1T0111 TTT T171TT, TTT(E1T 701
`
`T T
`
`TT.
`7TTT. TTT011 T7TTT 7112T17LT(122, 1321TTL TTT T71011 TT11 T1T1T(61, 621 111ng: T1T
`6111
`01(4
`T(121,1311T 7112T17T T,(122 1321011 T7TTT 7112T17L T(122, 1321T T17L1011 T011 T17L1T101 71119101
`7112 T°1T(471T T 71T T7TTT. T, TTTT T011 T 7L1TT 7112T7L1T(122, 1321011 T011 T17TLT
`(121,1311T 7111 T°1°1(46111 7112 T°1°1(471T H 71T T7TTT. TTT TT(121,1311T T T1T 7111 T1
`
`TT
`j 7].
`
`{(1044}
`
`{11045}
`
`[0046}
`
`{(1047}
`
`
`
`[0048]
`
`[0049}
`
`{0050}
`
`[0051}
`
`{0:352}
`
`{0053}
`
`{0054}
`
`{0:355}
`
`[0056]
`
`[0057]
`
`2- DH E 51 10-2010-0099818
`
`015Ex11<111>91 E} A319] 31231ij 71015114101214] EA1EEE AEA1ED1.
`
`(E14012)
`
`E 112113391 A112AE‘A1011011 HATE TEAHLE AHA—E Eta—E EEA1O1 $318113: EEE 71:151.
`
`
`ESE—EL 11214 x12AL‘A10101 WE EEAHLE EE A1A1Tolu1, T 9% T 801 TALE TEE—91 51E
`AL1A101EL1E121 A1A1E 0111.
`
`x12AL‘A1o1on HE EEAHLE A1EE<10>91 :ETMW, ET71191 EEA1<3oa,3ob>91,
`E 12112321
`EEEEl”H401 “—1 “110L1EEE(48)E E41951 O1171/‘1EEA11(20)
`“—1 EE71191 Z‘1EA1(30a,30b)E 63%
`E 1112391 111 AL1A1<>191 TTA1/E‘QA1EE 2 A01A11AL1 A21230 A3E16171E ALE.
`
`E 112113391
`A114A1AdEA1(44>,
`
`A112AE‘A1<11<>11 EL1E EEEEE<40>E A111A1AdEA1(41>, A112A1AdEA1(42>, A113A1AdEA1(43>,
`A111 91°101(46>,
`A112 91°101(47>E o1E01A1E, “11?1EEE(48)E A111 mlflEEA—(uo),
`A112
`
`mlflEEA—(uo) E1 A113 u11flEEA—(1301E o1E01AL1D1. O171A1, EEEEE(40)91 A111A1AdEA1(41), 412:1sz
`A11(42), A113A1AdEA11<43> E1 A114A1AdEA1(44>E AdEAL1 E 112113391 A111AE‘A101191 EE‘EEE 1 AO1A1AL1 Ens—E A1
`EA171E AL1D1.
`
`A111 91°1°1(46) E1 A112 91°1©1<47>E A111A1AdEA1(41), A112A1AdEA1(42), A113A1AJEA1(43) E1 A114A1Ad
`EA11(44>°11 7171 ENEE AL1 A191 O1°1EE1 EE<40aAOb>o11 'S'A1Aé01L1 A1
`'S'A1AéEE AAEEEE AJEE°1
`
`31991 WEE 91-0101(c10sed 100p wire)i 01E0131131.
`
`*0171 U11‘flEE%(48)° A111 91°1°1<46>£1 A112 91°1°1<47>O11 7474 037E301 A111 91°1°1(46)4 A112 91° 1
`
`01(47M $1A1E EA3A1O1 {EEEAMZOH AdA‘11E §1AdA171 9L 3EA1A17111,E4TE7114 Z‘1EA1(30a,30b)E E
`
`, EEflM ZK1EA1(30a,30b)71 A1E E°1A17114r Ua101A1E 11015013
`AL1 EEEE AdA171 31 A1 3EA1A171
`A1011
`E 7474 §1ALA171 EH1 EEE A1A1A11 EASE°1 $111.
`
`331111334 A112A‘A1011011A1
`
`U11°L1 EE%(48)° ET7114 A1EA1(30a,30b)L1 CEEA1(20)E91 01E A111
`
`U11°L1 EEEJ<48>E ET7114 EEA1<30a,30b)71AéA1EE
`011 A1A1o1 90E(degree>A3E E01A1A1EA1ED1.E,
`EEEAH<20>011 7.23121 LA1111T1l(1)4 E11214 A111 U11°L1EEATU1O>4 A111A1AdE(110a)91 EA1A1° E8011A191
`
`23101 90E E01A1U1, A1EE<10>91 017—1 AEA1E01
`(3021,3011): OJEEE.
`
`A111
`
`9101010161371
`
`A112 91°101(47>E ET7114 EEA1
`
`E¢7H91
`
`Z(1’E7<1'(3021,30b19’1'
`
`EO1XA1A1 §21QE “11% :rL%%(48)% X111
`
`LHX]
`
`X113
`
`U11?]?%1?—
`
`(110,120,1301E 01E01A1D1,
`
` EE71191 Z‘1E;<1(3021 30b191 £11 745(0171/‘1E9 51$ 3012:1211 “11‘31 EE%(48)°1 Eflgii’fi A11
`
`EE7114 Z‘1E7<1(30a,30b)E E/‘1011 i1 “JEEE
`1EEE(110)E A111 91°1°1(46)91 X112 91°1°1(47)°11L7EQ
`§1X1}‘171 3121E}‘E1?21T}\ 011:1 0131?.1 X111 EEET(110)E @511 E:
`“2113391 A111§*1‘31191 “173.171x1i
`3L1 55191
`
`A111§131 710151? A11(111),
`°1E°1¥1131.
`
`{1 ”514 A112§131 71°1EEA11(112)
`
`‘34 A1Zt
`
`:‘EEEAMseesaw motion member)(113)i
`
`[(1058]
`
`AL1 A$191 A111§1Ad 71°1EEA11(111)E A111 91°1°1(46)011L7EEEA1Z£ EEEA11(113)91 001131311 7474 E
`
`i i
`
`3‘31 {1 A$191 A112§1Ad 71°1EEA11(112)E A112 91°101(47)°11 037.2333 AVE EEEA11(113)91 001131311 7474 E
`E131 AZt1 EEEA11(113)E AL1 A$191 A111§1Ad 71°1EEA11(111)91 AL1 A$191 A112§1Ad 71°1EEA11(112)71 7474 ‘21
`
`011 *EA1QU1 A111§1ALE(114)91 E16011 9131 A15t(seesaw) EEA1O1 A111 910101016111 A112 91°101(47)91 $1A1
`
` 11111111
`
`111 A101 ET7114 X4EA1(3021,30b)E EA1°11
`
`5L1 EEEE §1AdA171 A1A1 EEA17L1131.
`
`{0059}
`
`[0060}
`
`A111 mlflEEA—(uom D1E AE‘A1C11E EL 9011491 23101
`ElAj 71015EA11U12),
`A21 A191 A111EEA1AJ 71°1EEA11(111a),
`
`AL1 A191 A112
`AL1 A191 A111A1Ad 71°1EEA1(111>,
`A21 A191 A112EEA1AJ 71°1EEA11(111b),
`A21 A1
`
`91 A113EEA1Ad 71°1EEA11(112a),
`
`A21 A191 A114EEA1Ad 71°1EEA11(112b) E1 A1AJEEEA11<115>E EAJEE.
`
`AL1 A191 A112A1Ad 71°1EEA11<112>E
`AL1 A14 A111A1AL1 71°1EE A11<111>E A111 9101010161011 WEE‘AI
`x112 91°1O1<47>o11037gau1 A1 A14 A111E§§1Aj 7101EE A11(111a)E AL1 A191 A111A1Ad 71°1EEA11<111191 AdE
`
`AL1 A14 A112EEA1AJ 71°1EEA11(111b)E AL1 A191 A111A1Ad 71°1EEA11
`o11 AEA1EU1 A111 91°1°1(46)°1 OJEE‘AI,
`(11114—1E011 A1A1E1A1 A111 91°1°1(46)°11L7EED1.3L1 A14 A113EAA1Ad 71°1EEA11<112a1E AL1 A191 A112A1
`
`Ad 71°1ET A11<112>4 AdEoH A1A1E1‘31
`
`A112 91°101(47)°1103,EEU1 AL1 A191 A114EEA1Ad 71°1EEA11(112b)E
`
`_11_
`
`
`
`$- DH E 51 10-2010-0099818
`
`ZL1 Z11Z1
`
`x112Z1Z1 71°1EEZ11(1121Z1—Z01:1 ZEZ1EZ1 x112 Z10101(471011O1.ZEE_Z1 o1Z1ZL1 ZL1 Z11Z1 Z111Z1Z1 7101
`
`ZEZ11(1111, Z1 Z11Z1
`
`x112Z1Z1 71°1EE Z11(1121, Z1 Z11Z1 x111EEZ1Z1 71°1EE Z11(111a1, Z1 Z11Z1 x112EEZ1Z1
`
`71015Zx11(111b1, Z1 Z11Z1 x113EEZ1Z1 71°1EEZ11(112a1 1Z1 Z1 Z11Z1 x114EEZ1Z1 71°1EEZ11(112b1E 7171 Z1
`Z1EEEZ11(1151011 7171 ZEZ1EU1, 7171E 01°1EZ1 EZ171 ZEEE.
`
`[0061]
`
`Z1Z1EEEZ11(1151E ZL1 Z11Z1 Z111Z1Z1 71°1EEZ11(1111Z1 ZL1 Z11Z1 Z112Z1Z1 71°1EEZ11(112171 7171 E1
`
`:011 Z1Z1
`E1 Z1Z1 EEZ1O1 Z111 Z1°1O1(46111 Z112 Z1°1°1(471Z1 E1Z1E :Z1Z1Z1. 111 1Z1 Z112 Z1°1°1(46,471
`
`Z1 E1Z1E :Z1Z1E Z1Z1EEEZ11(1151E Z1:1EE71E(EZ1 91E1°11 EEEE Z1Z1EE71E°11 4Z11 Z1ZE1E
`(c5,C61 Z1Z1£Z Z11EEE Z111 E11. Z1Z
`EZ11(115171 Z1ZE1E(C5,C61 111Z, 2E Z1Z1EEE Z111 E11
`111 Z1010101610111 Z112 Z10101(471E Z11EL1E 7171 Z10101 11 Z14 111171 1E1:E1LZ1.
`o1Z1ZL1 Z10101 E1Z1
`111
`
`111111011 Z1Z11 EE7HZ1 Z1EZ1(30a,30b1EE 1 011
`5L1 111°1EZ Z1Z1Z171 Z1Z1 EEZ1ZL1Z1.
`
`Z1
`
`[(111621
`
`x112 u11<1EEE(12o1E x111 U11°L1EEE(1101Z1 o1Z1 Z1Z1EU1 x111 U11<1EEE(1101E EZ11
`
`x111 Z10101
`
`Z113 U11°L1EEE(1301E x112 u11<1EEE(1201Z1 Z1EZ1Z1EE ZEZ1EU1 Z111 11‘1EEE(1101E
`(461011 EEEE,
`
`EZ11 Z112 Z1°1°1(471011°1.ZEE_Z1 o1Z1ZL1 Z112 u11<1EEE(1201Z1 Z113
`\11‘1EEE(1301E EEEEE(40171 ET
`
`7114 Z1EZ1(30a,30b1Z1 E°1Z171 Z1Z1EEZ <1Z11 Z1Z EEE H1Z1ZZ 3111101 EEEZH(201E E EEZ1Z1
`
`7111, Z1Z Z1E Z1Z1£Z Z1Z1E°1EE711Z1 Z1EZ1(30a,30b171 Z1Z E01Z171L1 EEZ1E 11,1Z13E Z1Z1E01
`Z171 EEE Z171 E91. Z171 EEEE x112 u11<1EEE(1201Z1 Z113 “11‘1EEE(1301Z1 Z1Z17191 Z1°1<>11
`Z1Z11 E
`
`Z1EZ1.
`
`[0063]
`
`11101341
`
`[(111651
`
`{0066}
`
`[0067]
`
`10013111
`
`[(111691
`
`x112 u11<1EEE(1201Z1 Z113 u11<1EEE(1301E 7171 Z112Z1Z1:(122,1321311 EZ1(121,1311E EZ1EZ1.
`
`Z112Z1Z1(:122, 1321E Z111 U11°L1EEE((110191 Z1:°111 EEOH Z1Z1Z1E1, EEE(EZ1 EEE1°1 EEE
`
`Z1 EE11011°1EZ1EZ112Z1Z1(:1,22 1321E EEE011 Z1Z11 Z1Z1E(C1, C2) H1Z1ZE Z1Z1ELZ1. EZ1(121, 1311
`E Z112Z1Z1:(122, 1321011 LEEE Z112Z1Z1:(122, 13214 Z1Z1°11 4Z1 Z1Z1E°1 Z111 E1010101610111 Z112 E10101
`
`4Z11 Z1Z1E°1 EE
`4Z1 Z1Z1Z1E Z112Z1Z1(:1,22 1321011
`E1Z1( Z1011E :Z1Z1Z1. E, EEE011
`(47191
`(121,1311E Z111 Z101°1(46111 Z112 E10101017191 EZ1(Z1°11E :Z1Z1O1 EEETZ11(2014 ETE0111ET7114
`
`Z1EZ1(30a,30b1Z1 Z111 EEE Z1Z1Z11 E91.
`
`Z112 u11<1EEE(1201Z1 Z113 U11°1EE (1301011 7171 EH1Z1E EZ1(121,131171 Z1Z EEE
`011E E ,
`Z1Z1£Z Z1Z1Z1Z11 E11 EEEZ11(201E Z1Z1171 Z1 Z1E01£1EEEU1 Z1Z Z1E Z1Z1£Z Z1Z1Z1Z11 E11 EE
`
`711Z1 Z1Ex1(30a, 30b1E