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公开(公告)号：EP2982330B1
公开(公告)日：2018-12-12
申请号：EP14772848.9
申请日：2014-01-30
申请人： Olympus Corporation
发明人： KOMURO, Takahiro
CPC分类号： A61B1/00133 , A61B1/0016 , A61B1/0052 , A61B1/0125 , A61B1/018 , A61B19/2203 , A61B34/30 , A61B34/37 , A61B2017/2906 , A61B2017/3445 , A61B2019/2211 , A61B2019/2223 , A61B2034/301
摘要： Provided is a treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated. The treatment tool exchanging device includes a flexible insertion part into which the plurality of treatment tools are inserted and in which a plurality of treatment tool channels for defining insertion paths for the treatment tools are formed; a driving part that advances each of the plurality of treatment tools, which are inserted through the treatment tool channels, within the treatment tool channel, and retracts each of the plurality of treatment tools within the treatment tool channel; a manipulating part that manipulates the plurality of treatment tools to perform treatment; and a control unit that controls the amount of protrusion, from the treatment tool channel of the treatment tool, which has protruded from a distal end of the treatment tool channel, among the plurality of treatment tools. The insertion part has a switching part that changes the insertion path of the treatment tool to be inserted.
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公开(公告)号：EP2907467B1
公开(公告)日：2018-08-29
申请号：EP15154099.4
申请日：2015-02-06
IPC分类号： A61B34/30
CPC分类号： A61B34/37 , A61B34/30 , A61B34/74 , A61B34/76 , A61B90/60 , A61B2017/00482 , A61B2019/2223 , A61B2019/2238 , A61B2019/2242 , A61B2034/741
摘要： A master device for surgical robots may comprise: handle units, each of which includes at least one multi-joint robot finger configured to control a robotic surgical instrument on a robot arm of a slave device; and/or a micro motion generation unit configured to generate a control signal to control an end of the at least one multi-joint robot finger so as to move along a virtual trajectory. A master device for surgical robots may comprise: a first unit that comprises at least one multi-joint robot finger on a robot arm of a slave device; and/or a second unit configured to generate a first control signal to control the at least one multi-joint robot finger so as to move along a virtual trajectory.
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公开(公告)号：EP2982332A1
公开(公告)日：2016-02-10
申请号：EP14776302.3
申请日：2014-01-22
申请人： Olympus Corporation
发明人： OGAWA, Ryohei , KISHI, Kosuke
CPC分类号： A61B1/00045 , A61B1/00087 , A61B1/00149 , A61B1/005 , A61B1/04 , A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/74 , A61B2019/2211 , A61B2019/2223 , A61B2019/2269 , A61B2019/464 , A61B2034/301 , A61B2090/064 , B25J3/04 , B25J13/02
摘要： In the case of rotating a slave unit(4) by operating a master apparatus(2), in order to maintain a correspondence relation between a position of the master apparatus(2) and a position of treatment tools(9) on a monitor screen, there is provided a master-slave system (1) including: a slave unit(4) including an observation optical system(8) imaging a subject A; a treatment part(9) projecting from a surface(3a) on which the observation optical system(8) is provided and at least part of the treatment tools(9) is imaged along with the subject A by the observation optical system(8); a master apparatus(2) including an operating unit(23) held and operated by an operator; a control unit associating operation of the operating unit(23) of the master apparatus 2 with motion of the slave unit(4) and motion of the treatment part(9); and a monitor screen displaying an image acquired by the observation optical system(8), wherein the operating unit(23) includes a command input unit(25) into which a motion command for a slave unit(2) is inputted while the operating unit(23) is held by the operator without changing a pose of the operating unit (23).
摘要翻译： 在通过操作主设备（2）来旋转从单元（4）的情况下，为了保持主设备（2）的位置与监视器屏幕上的处理工具（9）的位置之间的对应关系 提供了一种主从系统（1），包括：从单元（4），包括对被摄体A成像的观察光学系统（8）; 从设置有观察光学系统（8）的表面（3a）突出的处理部（9）和至少一部分处理工具（9）通过观察光学系统（8）与被检体A成像， ; 主装置（2），包括由操作者保持和操作的操作单元（23）; 控制单元使主装置2的操作单元（23）与从属单元（4）的运动和处理部件（9）的运动相关联; 以及显示由观察光学系统（8）获取的图像的监视器屏幕，其中，所述操作单元（23）包括命令输入单元（25），其中输入用于从单元（2）的运动命令，而所述操作单元 （23）由操作者保持，而不改变操作单元（23）的姿势。
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公开(公告)号：EP2982330A1
公开(公告)日：2016-02-10
申请号：EP14772848.9
申请日：2014-01-30
申请人： Olympus Corporation
发明人： KOMURO Takahiro
CPC分类号： A61B1/00133 , A61B1/0016 , A61B1/0052 , A61B1/0125 , A61B1/018 , A61B19/2203 , A61B34/30 , A61B34/37 , A61B2017/2906 , A61B2017/3445 , A61B2019/2211 , A61B2019/2223 , A61B2034/301
摘要： Provided is a treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated. The treatment tool exchanging device includes a flexible insertion part into which the plurality of treatment tools are inserted and in which a plurality of treatment tool channels for defining insertion paths for the treatment tools are formed; a driving part that advances each of the plurality of treatment tools, which are inserted through the treatment tool channels, within the treatment tool channel, and retracts each of the plurality of treatment tools within the treatment tool channel; a manipulating part that manipulates the plurality of treatment tools to perform treatment; and a control unit that controls the amount of protrusion, from the treatment tool channel of the treatment tool, which has protruded from a distal end of the treatment tool channel, among the plurality of treatment tools. The insertion part has a switching part that changes the insertion path of the treatment tool to be inserted.
摘要翻译： 提供了一种处理工具更换装置，该处理工具更换装置切换并保持用于处理待处理目标的多个处理工具。 治疗工具更换装置包括柔性插入部件，多个治疗工具插入该柔性插入部件中，并且其中形成用于限定治疗工具的插入路径的多个治疗工具通道; 驱动部，其使插入于所述处理器具通道内的所述多个处理器具分别在所述处理器具通道内前进，使所述多个处理器具分别退避至所述处理器具通道内; 操纵所述多个治疗工具以进行治疗的操纵部件; 以及控制部，该控制部从所述多个处理器具中的，从所述处理器具通道的前端突出的所述处理器具的处理器具通道控制突出量。 插入部分具有切换部分，该切换部分改变待插入的治疗工具的插入路径。
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