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    MANIPULATOR DEVICE CONTROL METHOD
    42.
    发明公开
    MANIPULATOR DEVICE CONTROL METHOD 审中-公开
    MANIPULATORVORRICHTUNGSSTEUERUNGSVERFAHREN

    公开(公告)号：EP3108843A4

    公开(公告)日：2017-08-30

    申请号：EP15751547

    申请日：2015-02-09

    申请人： OLYMPUS CORP

    发明人： KOMURO TAKAHIRO ,  IIDA MASATOSHI

    IPC分类号： A61B90/00 ,  A61B1/00 ,  B25J19/06

    CPC分类号： B25J9/1682 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/0016 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/301 ,  B25J9/1676 ,  G05B2219/39083 ,  G05B2219/45118

    摘要： A manipulator-device controlling method of the present invention includes: a step (SA1) of receiving manipulation signals for manipulators; a step (SA2) of calculating a target position of a joint on the basis of the manipulation signals; steps (SA3, SA4, and SA5) of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step (SA6) of comparing the maximum distance with a predetermined threshold; a step (SA7) of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step (SA8) of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.

    摘要翻译： 本发明的机械手装置控制方法包括：接收用于操纵器的操作信号的步骤（SA1） 根据操作信号计算关节的目标位置的步骤（SA2） 计算当假定关节被置于目标位置时操纵器之间的最大距离的步骤（SA3，SA4和SA5） 将最大距离与预定阈值进行比较的步骤（SA6） 在最大距离等于或小于预定阈值的情况下将接头移动到目标位置的步骤（SA7） 以及在最大距离大于预定阈值的情况下停止接头的移动的步骤（SA8）。

    ROBOTIC SYSTEM
    43.
    发明公开
    ROBOTIC SYSTEM 审中-公开
    ROBOTERSYSTEM

    公开(公告)号：EP3041429A1

    公开(公告)日：2016-07-13

    申请号：EP14755064.4

    申请日：2014-08-21

    申请人： Koninklijke Philips N.V.

    发明人： DENISSEN, Sander Hans

    IPC分类号： A61B90/00 ,  B25J9/16

    CPC分类号： A61B34/30 ,  A61B34/32 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3782 ,  B25J9/1633 ,  G05B2219/40074 ,  G05B2219/40418 ,  G05B2219/45118 ,  Y10S901/02 ,  Y10S901/09

    摘要： The invention relates to a robotic system for moving a shapeable instrument like a shapeable catheter within an object like a person. The system (1) comprises a robotic device (2, 3) for modifying the shape of the instrument (2) and moving the instrument within the object (7) and a control unit (4) for controlling the robotic device based on structure information like a roadmap, a target position and shape and an actual position and shape such that the instrument is moved and the shape of the instrument is modified from the actual position and shape to the target position and shape. Since the control unit considers structure information while controlling the robotic device, the navigation of the instrument can be automatically performed under consideration of knowledge about regions within the object, through which the instrument is navigatable. The navigation may therefore be performed without or with few user interactions only.

    摘要翻译： 本发明涉及一种机器人系统，用于将诸如可塑导管的可成形器械像人一样移动到物体内。 系统（1）包括用于修改仪器（2）的形状并使物体（7）内的仪器移动的机器人装置（2,3）和用于基于结构信息控制机器人装置的控制单元（4） 像路线图，目标位置和形状以及实际位置和形状，使得仪器被移动，并且将仪器的形状从实际位置和形状改变为目标位置和形状。 由于控制单元在控制机器人装置的同时考虑结构信息，所以可以在考虑到对象内的区域的知识的基础上自动执行仪器的导航，通过该知识可以导航仪器。 因此，导航可以仅在少数用户交互的情况下执行。

    MANIPULATOR AND MANIPULATOR SYSTEM
    44.
    发明公开
    MANIPULATOR AND MANIPULATOR SYSTEM 审中-公开
    操纵器操纵器

    公开(公告)号：EP3025631A1

    公开(公告)日：2016-06-01

    申请号：EP14829078.6

    申请日：2014-07-14

    申请人： Olympus Corporation

    发明人： HATAKEYAMA, Naoya ,  ISODA, Takumi ,  IIDA, Masatoshi ,  WATANABE, Sadahiro

    IPC分类号： A61B1/00 ,  A61B90/00 ,  B25J3/00 ,  G02B23/24

    CPC分类号： A61B1/00006 ,  A61B1/00045 ,  A61B1/00105 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B1/31 ,  A61B34/70 ,  A61B34/71 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/306 ,  A61B2034/715 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/35417 ,  G05B2219/39439 ,  G05B2219/45118 ,  G05B2219/49253

    摘要： The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part.
    The manipulator 1 is characterized by including an operating part 2 operated by an operator, a moving part 3 operated by the operating part 2, a transmitting part 4 for coupling the operating part 2 to the moving part 3 to transmit driving force of the operating part 2 to the moving part 3, a transmission compensating part 6 for making up for a dynamic surplus occurring in the transmitting part 4 in association with the operation of the operating part 2, an input part 8 for acquiring a state of at least one of the operating 3, moving 3 and transmitting part 4, and a control unit 91 for controlling the transmission compensating part 6 depending on the state acquired by the input part 8.

    摘要翻译： 本发明的目的是提供一种操纵器和操纵器系统，其中动态剩余被快速移除，并且移动部件与操作部件的操作相关联地快速致动。 操作器1的特征在于包括由操作者操作的操作部分2，由操作部分2操作的移动部分3，用于将操作部分2联接到移动部分3以传递操作部分的驱动力的传送部分4 2到移动部分3，用于与发送部分4中发生的与动作部分2的操作相关的补充动态剩余的发送补偿部分6，用于获取操作部分2中的至少一个的状态的输入部分8 操作3，移动3和发送部分4，以及用于根据由输入部分8获取的状态来控制发送补偿部分6的控制单元91。

    INTERFACE APPARATUS WITH CABLE-DRIVEN FORCE FEEDBACK AND FOUR GROUNDED ACTUATORS
    46.
    发明授权
    INTERFACE APPARATUS WITH CABLE-DRIVEN FORCE FEEDBACK AND FOUR GROUNDED ACTUATORS 有权
    WITH CABLE驱动的力反馈和四连MASS连接的执行器接口设备

    公开(公告)号：EP1417547B1

    公开(公告)日：2010-11-24

    申请号：EP02748193.6

    申请日：2002-07-16

    申请人： Immersion Corporation

    发明人： GREGORIO, Pedro ,  OLIEN, Neil, T. ,  BAILEY, David, W. ,  VASSALLO, Steven, P.

    IPC分类号： G05B11/00

    CPC分类号： G09B23/285 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00707 ,  A61B2034/741 ,  G05B2219/40122 ,  G05B2219/45118

    摘要： A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member (46), a mechanical linkage (38) rotatably coupled to the ground member (47), a linear axis member coupled to the practice tool and the mechanical linkage (38), at least four actuators (62, 64, 66, 70) coupled to the ground member, sensors (65, 67, 69) for sensing movement of the actuators, and at least three cables in contact with the at least four (actuators ) (65, 64, 66, 70) and coupled to the mechanical linkage (38). An interface device is coupled to the simulation apparatus and a host computer (20) is coupled to the interface device (14) for implementing an application program. The application program provides signals for the actuators (62, 64, 66, 70) to move the cables (130) and thereby move the mechanical linkage (38).

    Manipulator
    47.
    发明公开
    Manipulator 有权
    机械手

    公开(公告)号：EP2110212A2

    公开(公告)日：2009-10-21

    申请号：EP09005241.6

    申请日：2009-04-09

    申请人： Olympus Medical Systems Corporation

    发明人： Umemoto, Yoshitaka ,  Takahashi, Kazuhiko

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1674 ,  A61B1/0051 ,  A61B5/065 ,  G05B19/4062 ,  G05B2219/37175 ,  G05B2219/37514 ,  G05B2219/37522 ,  G05B2219/42291 ,  G05B2219/42306 ,  G05B2219/42329 ,  G05B2219/45118

    摘要： A manipulator includes: a drive section (41B) which electrically drives a joint (53a-53d); an instruction input section (44B) which executes instruction input; a control section (42B) which generates a driving signal in response to the instruction input (44B); a sensor (60a-60c) which detects an operation status of the joint (53a-53d) or the drive section in time series; a setting section (14B) which sets an allowable operation range of the drive section (41B); a determination section (12B) which determines whether an operation status signal including a detection signal is within the allowable operation range; and a replacement section (16B) which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.

    摘要翻译： 操纵器包括：电驱动接头（53a-53d）的驱动部分（41B）; 执行指令输入的指令输入部（44B） 响应于指令输入（44B）产生驱动信号的控制部分（42B）; 传感器（60a-60c），其以时间序列检测接头（53a-53d）或驱动部的操作状态; 设定部（14B），其设定驱动部（41B）的允许动作范围; 确定部分（12B），其确定包括检测信号的操作状态信号是否在允许的操作范围内; 以及替代部分（16B），其在操作状态信号被确定为偏离允许的操作范围的情况下，用刚刚在偏离确定之前获取的先前检测信号替换检测信号，以产生驱动信号 。

    INTERFACE APPARATUS WITH CABLE-DRIVEN FORCE FEEDBACK AND FOUR GROUNDED ACTUATORS
    49.
    发明公开
    INTERFACE APPARATUS WITH CABLE-DRIVEN FORCE FEEDBACK AND FOUR GROUNDED ACTUATORS 有权
    WITH CABLE驱动的力反馈和四连MASS连接的执行器接口设备

    公开(公告)号：EP1417547A1

    公开(公告)日：2004-05-12

    申请号：EP02748193.6

    申请日：2002-07-16

    申请人： Immersion Corporation

    发明人： GREGORIO, Pedro ,  OLIEN, Neil, T. ,  BAILEY, David, W. ,  VASSALLO, Steven, P.

    IPC分类号： G05B11/00

    CPC分类号： G09B23/285 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00707 ,  A61B2034/741 ,  G05B2219/40122 ,  G05B2219/45118

    摘要： A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member (46), a mechanical linkage (38) rotatably coupled to the ground member (47), a linear axis member coupled to the practice tool and the mechanical linkage (38), at least four actuators (62, 64, 66, 70) coupled to the ground member, sensors (65, 67, 69) for sensing movement of the actuators, and at least three cables in contact with the at least four (actuators ) (65, 64, 66, 70) and coupled to the mechanical linkage (38). An interface device is coupled to the simulation apparatus and a host computer (20) is coupled to the interface device (14) for implementing an application program. The application program provides signals for the actuators (62, 64, 66, 70) to move the cables (130) and thereby move the mechanical linkage (38).

    EP0820255A4 -
    50.
    发明公开
    EP0820255A4 - 失效
    EP0820255A4 - Google专利

    公开(公告)号：EP0820255A4

    公开(公告)日：1998-02-25

    申请号：EP96910809

    申请日：1996-04-11

    IPC分类号： A61B10/00 ,  A61B17/32 ,  A61B19/00 ,  G05B19/23 ,  G05B19/425 ,  H02H7/08 ,  H02H7/085 ,  H02P6/00 ,  H02P6/06 ,  H02P6/08 ,  H02P6/16 ,  H02P6/20 ,  H02P6/24 ,  H02P8/30

    CPC分类号： H02H7/0822 ,  A61B17/32002 ,  A61B2090/031 ,  G05B19/232 ,  G05B2219/35455 ,  G05B2219/36464 ,  G05B2219/37165 ,  G05B2219/41092 ,  G05B2219/41321 ,  G05B2219/45118 ,  G05B2219/49382 ,  H02H7/0858 ,  H02P6/06 ,  H02P6/085 ,  H02P6/16 ,  H02P6/24 ,  H02P6/34 ,  H02P8/30

    摘要： A surgical system, adapted to operate with at least one surgical device, has a handpiece containing a motor which is adapted to receive the surgical device. The surgical device is driven through a continum of positions by the motor output shaft. A controller microprocessor (16) controls the operation of the system. The motor has sensors for generating electrical position signals (22) and the controller (16) is responsive to input signals for defining both a stop position and a reversal position for the surgical device. As a result, the controller (16) initiates operation of the surgical device at the so-called stop position and stops operation of the surgical device so that it comes to rest substantially at the stop position. In an oscillatory mode of operation, the controller (16) also forces reversals to occur solely at a reversal position dictated by the system, under the control of the user. In connection with an arthroscopic cutting device, the control enables the surgeon to control, for example, the opening of the aperture through which tissue and fluids are removed from the surgical site during the reversal and start/stop conditions.

    摘要翻译： 适于与至少一个手术装置一起操作的手术系统具有包含适于接收手术装置的马达的手持件。 手术装置通过电机输出轴连续驱动。 控制器微处理器（16）控制系统的操作。 电动机具有用于产生电位置信号（22）的传感器，并且控制器（16）响应于输入信号来为外科装置定义停止位置和反向位置。 结果，控制器（16）在所谓的停止位置启动手术装置的操作并且停止手术装置的操作，使得其基本停止在停止位置。 在振荡操作模式中，控制器（16）也在使用者的控制下强制逆转仅在由系统规定的反转位置发生。 结合关节镜切割装置，控制器使得外科医生能够控制例如在逆转和开始/停止条件期间组织和流体通过其从手术部位移除的开口。