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公开(公告)号：EP2829367A1
公开(公告)日：2015-01-28
申请号：EP13764312.8
申请日：2013-03-14
申请人： NTN Corporation
CPC分类号： B25J9/0048 , B25J9/12 , B25J9/1623 , B25J13/087 , G05B2219/39476 , G05B2219/40555
摘要： A link actuation device (51) includes a distal end side link hub (3) connected with a proximal end side link hub (2) through three or more sets of link mechanisms (4) for alteration in orientation. By means of an actuator (53) provided in the two or more set of the link mechanism (4), the distal end orientation, which is the orientation of the distal end side link hub (3) relative to the proximal end link hub (2), is changed arbitrarily. The operating device (55) includes an orientation designating unit (55a) for designating the distal end orientation aimed at by means of a coordinate position on the orthogonal coordinate system by an artificial manipulation, an orientation acquiring unit (55) for acquiring the distal end orientation that is expressed by an angular coordinate system through calculation, and an orientation information applying unit (55c) for applying information on the distal end orientation so acquired to a control device (54) for controlling the actuator (53).
摘要翻译： 连杆致动装置（51）包括通过三组或更多组连杆机构（4）与近端侧连接轮毂（2）连接的用于改变方向的远端侧连接轮毂（3）。 通过设置在两组或更多组连杆机构（4）中的致动器（53），作为远端侧连接轮毂（3）相对于近端连杆毂（5）的定向的远端定向 2），任意改变。 操作装置（55）包括：用于通过人工操作在正交坐标系上通过坐标位置来指定远端取向的姿势指定单元（55a）;用于获取远端的方位获取单元（55） 通过计算由角坐标系表示的姿态，以及用于将所获取的远端姿势的信息应用于用于控制致动器（53）的控制装置（54）的姿态信息应用单元（55c）。
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公开(公告)号：EP2436320A1
公开(公告)日：2012-04-04
申请号：EP10780558.2
申请日：2010-05-26
申请人： NTN Corporation
CPC分类号： A61B17/1631 , A61B17/32002 , A61B2017/00323 , A61B2017/00327 , B23B39/14
摘要： A remote controlled actuator includes an elongated spindle guide section (3), a distal end member (2) fitted to the distal end thereof for alteration in attitude, and a drive unit housing (4a) connected with a base end of the spindle guide section (3). The distal end member (2) rotatably support a spindle (13) holding a tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting a rotation of the spindle (13) and an attitude altering member (31) for altering the attitude of the distal end member (2) both within an outer shell pipe (25) forming an outer shell. The attitude altering member (31) is reciprocally movably inserted in a guide pipe (30) within the outer shell pipe (25). A guide pipe restraining unit (50) is provided for restraining the guide pipe (30) from moving within the outer shell pipe (25).
摘要翻译： 远程控制致动器包括细长主轴引导部分（3），安装在其远端上用于改变姿态的远端部件（2）和与主轴引导部分的基端连接的驱动单元壳体（4a） （3）。 远端构件（2）可旋转地支撑保持工具（1）的心轴（13）。 主轴引导部分（3）包括用于传递心轴（13）的旋转的旋转轴（22）和用于改变远端构件（2）在外壳管内的姿态的姿态改变构件（31） （25）形成外壳。 姿态改变构件（31）可往复移动地插入到外壳管（25）内的导管（30）中。 引导管限制单元（50）用于限制导管（30）在外壳管（25）内移动。
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公开(公告)号：EP2294988A1
公开(公告)日：2011-03-16
申请号：EP09754503.2
申请日：2009-03-18
申请人： NTN Corporation
IPC分类号： A61B17/12
CPC分类号： A61B17/12022 , A61B5/0048 , A61B5/0053 , A61B5/0057 , A61B17/12113 , A61B17/1214 , A61B34/70 , A61B2017/00398 , A61B2017/1205 , A61B2090/061 , A61B2090/064 , A61M25/01 , A61M25/0105 , A61M25/0113 , A61M25/09041
摘要： An insertion device of a coil includes a delivery wire driving unit (10), a secondary catheter driving unit (20), and a control circuit (30). A platinum coil (100) for coil embolization is attached to the tip of a delivery wire (110). The delivery wire driving unit (10) is provided in the proximity of the entrance of a Y connector (131) such that the delivery wire (110) is advanced and moved back. The secondary catheter driving unit (20) is provided in the proximity of the entrance of a Y connector (132) such that the secondary catheter (124) is advanced and moved back. The control circuit (30) controls the delivery wire driving unit (10) so as to insert the delivery wire (110) by a predetermined insertion force. If the delivery wire (110) cannot be inserted, the control circuit (30) controls the secondary catheter driving unit (20) such that the secondary catheter (124) is advanced after being moved back, and then controls the delivery wire driving unit (10) so as to insert the delivery wire (110).
摘要翻译： 线圈的插入装置包括输送线驱动单元（10），辅助导管驱动单元（20）和控制电路（30）。 用于线圈栓塞的铂线圈（100）附接到输送线（110）的尖端。 输送线驱动单元（10）设置在Y连接器（131）的入口附近，使得输送线（110）前进并向后移动。 第二导管驱动单元（20）设置在Y连接器（132）的入口附近，使得第二导管（124）前进并向后移动。 控制电路（30）控制输送线驱动单元（10），以便以预定的插入力插入输送线（110）。 如果输送线（110）不能插入，则控制电路（30）控制第二导管驱动单元（20），使得二次导管（124）在移回后前进，然后控制输送线驱动单元 10），以插入输送线（110）。
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公开(公告)号：EP3498432A1
公开(公告)日：2019-06-19
申请号：EP19152654.0
申请日：2014-03-17
申请人： NTN Corporation
摘要： A control device is provided which is operable to change the position of a distal end side link hub by driving each of arms, which are proximal end side links of a plurality of link mechanisms by means of an actuator. When in a series of operations, the position change of the distal end side link hub is mad by an angle greater than a predetermined angle, a relay position setting unit is provided for setting a relay point between a starting point and a terminating point of each of the arms so that the interference of the three axis arms may be relieved. A position change control unit performs a position control so as to pass simultaneously through the relay point so set.
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公开(公告)号：EP2364652B1
公开(公告)日：2016-09-21
申请号：EP09818937.6
申请日：2009-10-02
申请人： NTN Corporation
CPC分类号： A61B17/1628 , A61B17/1617 , A61B17/1624 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B2017/00327 , A61B2017/1651 , A61B2017/1653 , B23B39/14 , B23B45/005 , Y10T74/18056 , Y10T74/20305
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公开(公告)号：EP2556802A1
公开(公告)日：2013-02-13
申请号：EP11765481.4
申请日：2011-03-28
申请人： NTN Corporation
CPC分类号： B23B39/14 , A61B17/1617 , A61B17/1626 , A61B17/1631 , A61B17/1633 , A61B17/1642 , A61B34/70 , A61B2017/003 , A61B2017/00398 , A61B2017/2904 , A61B2017/2927 , A61B2034/2061 , A61B2034/2065 , A61B2090/371 , A61B2090/373
摘要： A remote controlled actuator assembly includes an elongated guide section (3), a distal end member (2) fitted to the guide section (3) for alteration in attitude, and an operating tool (1) retained by the distal end member (2). An attitude altering member (31) within the guide section (3) is reciprocally movably inserted by an attitude altering drive source (43) to alter the attitude of the distal end member (2). The attitude altering drive source (43) is controlled by an attitude altering controller (63). An attitude detection unit (9) detects the attitude of the distal end member (2) relative to the guide section (3). A calibrator (65), by use of the attitude information detected by the attitude detection unit (9), corrects or generates a command value which the attitude altering controller (63) outputs to the attitude altering drive source (43).
摘要翻译： 远程控制的致动器组件包括细长的引导部分（3），装配到引导部分（3）上以改变姿态的远端部件（2）和由远端部件（2）保持的操作工具（1） 。 引导部（3）内的姿态变更部件（31）能够通过姿势变更驱动源（43）往复移动地插入，以改变前端部件（2）的姿态。 改变驱动源（43）的姿态由姿势改变控制器（63）控制。 姿态检测部（9）检测前端部件（2）相对于引导部（3）的姿势。 校准器（65）通过使用由姿态检测单元（9）检测到的姿态信息来校正或产生姿态改变控制器（63）向姿态改变驱动源（43）输出的命令值。
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10.发明公开NAVIGATION SYSTEM FOR REMOTELY OPERATED ACTUATOR 审中-公开NAVIGATIONSSYSTEMFÜREINEN FERNGESTEUERTEN AKTUATOR
公开(公告)号：EP2404566A1
公开(公告)日：2012-01-11
申请号：EP10748681.3
申请日：2010-02-26
申请人： NTN Corporation
CPC分类号： B23Q17/22 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B17/1668 , A61B34/20 , A61B34/70 , A61B2034/102 , A61B2034/2055 , G05B19/402 , G05B2219/37097
摘要： A remote controlled actuator (5) includes an actuator main body (10), a distal end member (2) fitted to a distal end of a spindle guide section (3) of the actuator main body (10) for alteration in attitude, and a tool (1) rotatably supported by the distal end member (2). The navigation system includes a tool processing member position estimator (55) for estimating the position of a processing member (1a) of the tool (1) from information on the position and attitude of a marker (7A), fitted to the actuator main body (10), that are detected by a marker detecting unit (8), information on the attitude of the distal end member (2) relative to the actuator main body (10), information on the relative position of the distal end member (2) relative to the marker (7A), and information on the shape of the tool (1).
摘要翻译： 远程控制致动器（5）包括致动器主体（10），安装在致动器主体（10）的主轴引导部分（3）的前端的用于改变姿态的远端部件（2），以及 由所述远端构件（2）可旋转地支撑的工具（1）。 导航系统包括：工具处理构件位置估计器（55），用于根据关于装配到致动器主体的标记（7A）的位置和姿态的信息来估计工具（1）的处理构件（1a）的位置 （10），由标记检测单元（8）检测到的关于远端构件（2）相对于致动器主体（10）的姿态的信息，关于远端构件（2）的相对位置的信息 ）和关于工具（1）的形状的信息。
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