公开(公告)号：US20110077681A1

公开(公告)日：2011-03-31

申请号：US12995113

申请日：2009-03-18

申请人： Yoshitaka Nagano ,  Yukihiro Nishio ,  Takayoshi Ozaki

发明人： Yoshitaka Nagano ,  Yukihiro Nishio ,  Takayoshi Ozaki

IPC分类号： A61M29/00

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, a secondary catheter driving unit, and a control circuit. A platinum coil for coil embolization is attached to the tip of a delivery wire. The delivery wire driving unit is provided in the proximity of the entrance of a Y connector such that the delivery wire is advanced and moved back. The secondary catheter driving unit is provided in the proximity of the entrance of a Y connector such that the secondary catheter is advanced and moved back. The control circuit controls the delivery wire driving unit so as to insert the delivery wire by a predetermined insertion force. If the delivery wire cannot be inserted, the control circuit controls the secondary catheter driving unit such that the secondary catheter is advanced after being moved back, and then controls the delivery wire driving unit so as to insert the delivery wire.

摘要翻译： 线圈的插入装置包括输送线驱动单元，二次导管驱动单元和控制电路。 用于线圈栓塞的铂线圈附接到输送线的末端。 输送线驱动单元设置在Y连接器的入口附近，使得输送线前进并向后移动。 第二导管驱动单元设置在Y连接器的入口附近，使得二次导管前进并向后移动。 控制电路控制输送线驱动单元，以便以预定的插入力插入输送线。 如果输送线不能插入，则控制电路控制二次导管驱动单元，使得二次导管在移回后前进，然后控制输送线驱动单元以插入输送线。

公开(公告)号：US08739643B2

公开(公告)日：2014-06-03

申请号：US13394003

申请日：2010-09-22

申请人： Hiroshi Isobe ,  Yoshitaka Nagano ,  Yukihiro Nishio

发明人： Hiroshi Isobe ,  Yoshitaka Nagano ,  Yukihiro Nishio

IPC分类号： A61B17/32

CPC分类号： A61B17/1628 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1635 ,  A61B17/1675 ,  A61B2017/00318 ,  A61B2017/00327 ,  B23B39/14

摘要： A remote control actuator includes a spindle guide section (3), a distal end member (2) fitted to the tip of the spindle guide section for alteration in attitude, a tool (1) provided rotatably in the distal end member, a tool rotation drive source (41) for rotating the tool, and an attitude altering drive source (42) for altering the attitude of the distal end member. The spindle guide section has therein a rotary shaft (22) for transmitting a rotation of the tool rotation drive source to the tool, and an attitude altering member (31) capable of being selectively advanced or retracted by the attitude altering drive source for altering the attitude of the distal end member. A position detector (47) is provided for detecting the advanced or retracted position of the attitude altering member at a site distant from the attitude altering drive source.

摘要翻译： 遥控执行器包括主轴引导部分（3），安装在主轴引导部分的尖端以用于改变姿态的远端部件（2），可旋转地设置在远端部件中的工具（1），工具旋转 用于旋转工具的驱动源（41）和用于改变远端构件的姿态的姿势改变驱动源（42）。 主轴引导部分在其中具有用于将工具旋转驱动源的旋转传递到工具的旋转轴（22），以及能够通过姿态改变驱动源选择性地前进或后退的姿态改变构件（31），用于改变 远端构件的姿态。 位置检测器（47）用于检测姿态改变构件在远离姿态改变驱动源的位置处的前进或后退位置。

公开(公告)号：US20120152045A1

公开(公告)日：2012-06-21

申请号：US13394003

申请日：2010-09-22

申请人： Hiroshi Isobe ,  Yoshitaka Nagano ,  Yukihiro Nishio

发明人： Hiroshi Isobe ,  Yoshitaka Nagano ,  Yukihiro Nishio

IPC分类号： B25J18/06

CPC分类号： A61B17/1628 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1635 ,  A61B17/1675 ,  A61B2017/00318 ,  A61B2017/00327 ,  B23B39/14

摘要： A remote control actuator includes a spindle guide section (3), a distal end member (2) fitted to the tip of the spindle guide section for alteration in attitude, a tool (1) provided rotatably in the distal end member, a tool rotation drive source (41) for rotating the tool, and an attitude altering drive source (42) for altering the attitude of the distal end member. The spindle guide section has therein a rotary shaft (22) for transmitting a rotation of the tool rotation drive source to the tool, and an attitude altering member (31) capable of being selectively advanced or retracted by the attitude altering drive source for altering the attitude of the distal end member. A position detector (47) is provided for detecting the advanced or retracted position of the attitude altering member at a site distant from the attitude altering drive source.

摘要翻译： 遥控执行器包括主轴引导部分（3），安装在主轴引导部分的尖端以用于改变姿态的远端部件（2），可旋转地设置在远端部件中的工具（1），工具旋转 用于旋转工具的驱动源（41）和用于改变远端构件的姿态的姿势改变驱动源（42）。 主轴引导部分在其中具有用于将工具旋转驱动源的旋转传递到工具的旋转轴（22），以及能够通过姿态改变驱动源选择性地前进或后退的姿态改变构件（31），用于改变 远端构件的姿态。 位置检测器（47）用于检测姿态改变构件在远离姿态改变驱动源的位置处的前进或后退位置。

公开(公告)号：US20130192420A1

公开(公告)日：2013-08-01

申请号：US13878523

申请日：2011-10-03

申请人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： F16H21/54 ,  B25J11/00

CPC分类号： F16H21/54 ,  B25J9/0048 ,  B25J9/0078 ,  B25J11/00 ,  Y10T74/18888

摘要： A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.

摘要翻译： 链接致动装置通过三个或更多个用于姿势改变的连杆机构将输出构件连接到输入构件。 每个连杆机构包括在输入和输出侧的端部连杆构件和中间连杆构件。 链接机构具有这样的形状，即通过直线表示连杆部件的几何模型使得输入和输出侧部分相对于每个中间连接部件的中间部分彼此对称。 在所有连杆机构中提供固定机构，以使输出构件以相对于输入构件的任意姿势固定。 提供一种结构体，用于将输入和输出构件彼此连接，同时与形成在输入和输出构件中的接触部分接触。

公开(公告)号：US20110203825A1

公开(公告)日：2011-08-25

申请号：US13062711

申请日：2009-09-10

申请人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

IPC分类号： B25F5/00

CPC分类号： B23B51/00 ,  A61B17/16 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1642 ,  A61B2017/00212 ,  B23B39/14 ,  B23B45/005 ,  Y10T74/20

摘要： A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source to the spindle. An attitude altering member inserted in a guide hole is selectively advanced or retracted by an attitude control drive source. An initial attitude hold control unit controls the attitude control drive source so that an initial attitude holding force necessary to maintain the distal end member in the initial attitude can be applied to the attitude altering member. An attitude alteration control unit controls the attitude control drive source so that the attitude of the distal end member can be altered by a force larger than the initial attitude holding force.

摘要翻译： 远程控制致动器包括细长主轴引导部分和安装到其远端的远端部件，用于改变姿态。 远端构件可旋转地支撑用于保持工具的心轴。 主轴引导部分包括用于将工具旋转驱动源的旋转传递到主轴的旋转轴。 插入引导孔中的姿态改变构件通过姿态控制驱动源选择性地前进或后退。 初始姿态保持控制单元控制姿态控制驱动源，使得能够将姿势改变构件应用于将前端构件保持在初始姿态所需的初始姿势保持力。 姿态改变控制单元控制姿态控制驱动源，使得可以通过大于初始姿态保持力的力来改变远端构件的姿态。

公开(公告)号：US09249869B2

公开(公告)日：2016-02-02

申请号：US13878523

申请日：2011-10-03

申请人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： G05B15/00 ,  G05B19/00 ,  F16H21/54 ,  B25J11/00 ,  B25J9/00

CPC分类号： F16H21/54 ,  B25J9/0048 ,  B25J9/0078 ,  B25J11/00 ,  Y10T74/18888

摘要： A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.

摘要翻译： 链接致动装置通过三个或更多个用于姿势改变的连杆机构将输出构件连接到输入构件。 每个连杆机构包括在输入和输出侧的端部连杆构件和中间连杆构件。 链接机构具有这样的形状，即通过直线表示连杆部件的几何模型使得输入和输出侧部分相对于每个中间连接部件的中间部分彼此对称。 在所有连杆机构中提供固定机构，以使输出构件以相对于输入构件的任意姿势固定。 提供一种结构体，用于将输入和输出构件彼此连接，同时与形成在输入和输出构件中的接触部分接触。

公开(公告)号：US08439899B2

公开(公告)日：2013-05-14

申请号：US13062711

申请日：2009-09-10

申请人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

IPC分类号： A61B17/16

CPC分类号： B23B51/00 ,  A61B17/16 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1642 ,  A61B2017/00212 ,  B23B39/14 ,  B23B45/005 ,  Y10T74/20

摘要： A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source to the spindle. An attitude altering member inserted in a guide hole is selectively advanced or retracted by an attitude control drive source. An initial attitude hold control unit controls the attitude control drive source so that an initial attitude holding force necessary to maintain the distal end member in the initial attitude can be applied to the attitude altering member. An attitude alteration control unit controls the attitude control drive source so that the attitude of the distal end member can be altered by a force larger than the initial attitude holding force.

摘要翻译： 远程控制致动器包括细长主轴引导部分和安装到其远端的远端部件，用于改变姿态。 远端构件可旋转地支撑用于保持工具的心轴。 主轴引导部分包括用于将工具旋转驱动源的旋转传递到主轴的旋转轴。 插入引导孔中的姿态改变构件通过姿态控制驱动源选择性地前进或后退。 初始姿态保持控制单元控制姿态控制驱动源，使得能够将姿势改变构件应用于将前端构件保持在初始姿态所需的初始姿态保持力。 姿态改变控制单元控制姿态控制驱动源，使得可以通过大于初始姿态保持力的力来改变远端构件的姿态。

公开(公告)号：US20120143203A1

公开(公告)日：2012-06-07

申请号：US13390600

申请日：2010-08-19

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： A61B17/17

CPC分类号： B23B39/14 ,  A61B17/1631 ,  A61B17/1668 ,  A61B34/20 ,  A61B2034/102 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/066 ,  A61B2090/067 ,  A61B2090/0818 ,  G01B5/30

摘要： Provided is a tool tip position detecting device (53) for a remote controlled actuator (5) having an elongated spindle guide (3), a tool (1) fitted to a tip thereof and a main body housing (4) having a base end of the spindle guide (3) connected thereto. The device (53) includes an external force free position detector (54) for detecting the tip position of the tool (1) from a detection value thereof, a strain detector (60) for detecting a strain of the spindle guide (3), and a corrector (55) for correcting the tip position of the tool (1), which has been detected by the external force free position detector (54), with the use of a detected strain value of the strain detector (60).

摘要翻译： 提供一种用于遥控致动器（5）的刀尖位置检测装置（53），其具有细长主轴引导件（3），与其尖端配合的工具（1）和具有基端 与主轴导向件（3）连接。 该装置（53）包括用于从其检测值检测工具（1）的尖端位置的外部无力位置检测器（54），用于检测主轴导向件（3）的应变的应变检测器（60） 以及校正器（55），用于通过所述应变检测器（60）的检测应变值来校正由所述外力无位置检测器（54）检测到的所述工具（1）的尖端位置。

公开(公告)号：US20130023900A1

公开(公告)日：2013-01-24

申请号：US13639377

申请日：2011-03-28

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： A61B19/00

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： 远程控制致动器组件包括细长引导部分（3），与导向部分（3）配合以用于姿态变化的远端部件（2）和由远端部件（2）保持的操作工具（1） 。 引导部分（3）内的姿态改变部件（31）通过姿态改变驱动源（43）往复运动地插入以改变远端部件（2）的姿态。 改变驱动源（43）的姿势由姿势改变控制器（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势改变控制器（63）向姿势改变驱动源（43）输出的命令值。

公开(公告)号：US09282976B2

公开(公告)日：2016-03-15

申请号：US13582819

申请日：2011-03-03

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B23B45/00 ,  A61B17/16 ,  B23B39/14

CPC分类号： A61B17/1617 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1628 ,  A61B17/1631 ,  A61B17/1642 ,  B23B39/14 ,  B23B45/005

摘要： A remote-controlled actuator assembly includes a guide section (3) of an elongated shape, a distal end member (2) fitted to a tip end of the guide section for alteration in attitude, an operating tool (1) in the distal end member, and a restraining tool (6) for aligning the distal end member straight with the guide section. The distal end member is altered in attitude through advancing/retracting attitude altering members (31) in the guide section by attitude altering drive sources (43), which are controlled by an attitude control unit (62). An advance or retraction position detector (45) detects an advance/retraction position of the attitude altering members while the attitude altering members applying a preload to the distal end member restrained by the restraining tool. The attitude control unit uses the detection value as information on the advance/retraction position corresponding to an initial position-attitude of the distal end member.

摘要翻译： 远程控制致动器组件包括细长形状的引导部分（3），安装在引导部分的顶端的用于改变姿态的远端部件（2），远端部件中的操作工具（1） ，以及用于将前端构件与引导部直线对准的约束工具（6）。 通过由姿态控制单元（62）控制的改变驱动源（43）的姿态改变导向部件中的前进/后退姿势改变构件（31）来改变姿势。 前进或后退位置检测器（45）检测姿态改变构件的前进/后退位置，同时姿势改变构件对由约束工具限制的远端构件施加预载荷。 姿势控制单元使用检测值作为与前端构件的初始位置姿势对应的前进/后退位置的信息。