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公开(公告)号：US08708895B2
公开(公告)日：2014-04-29
申请号：US13151861
申请日：2011-06-02
IPC分类号： A61B1/005
CPC分类号： A61B1/00055 , A61B1/0016 , A61B1/0051 , G02B23/2476
摘要： A curving control device to which an electrically-controlled endoscope is connected has a main CPU for primarily performing curving driving control, and a monitoring CPU for monitoring whether the operating state relating to curving actions is normal or abnormal. In the event of detecting an abnormality from the monitoring CPU, the curving control device also performs processing for handling the occurrence of the abnormality, such as outputting an emergency stop through an interlock via the main CPU, turning the main power and the like of a servo driver OFF.
摘要翻译： 连接电控内窥镜的弯曲控制装置具有用于主要执行弯曲驱动控制的主CPU，以及用于监视与弯曲动作相关的操作状态是正常还是异常的监视CPU。 在检测到来自监视CPU的异常的情况下，弯曲控制装置还进行处理异常的处理，例如通过主CPU通过联锁输出紧急停止，将主电源等转动 伺服驱动器关闭。
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公开(公告)号：US07981028B2
公开(公告)日：2011-07-19
申请号：US11708518
申请日：2007-02-20
IPC分类号： A61B1/005
CPC分类号： A61B1/00055 , A61B1/0016 , A61B1/0051 , G02B23/2476
摘要： A curving control device to which an electrically-controlled endoscope is connected has a main CPU for primarily performing curving driving control, and a monitoring CPU for monitoring whether the operating state relating to curving actions is normal or abnormal. IN the event of detecting an abnormality from the monitoring CPU, the curving control device also performs processing for handling the occurrence of the abnormality, such as outputting an emergency stop through an interlock via the main CPU, turning the main power and the like of a servo driver OFF.
摘要翻译： 连接电控内窥镜的弯曲控制装置具有用于主要执行弯曲驱动控制的主CPU，以及用于监视与弯曲动作相关的操作状态是正常还是异常的监视CPU。 在从监视CPU检测到异常的情况下，弯曲控制装置还进行处理异常的处理，例如通过主CPU通过互锁输出紧急停止，将主电源等转动 伺服驱动器关闭。
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公开(公告)号：US07348751B2
公开(公告)日：2008-03-25
申请号：US10620236
申请日：2003-07-15
IPC分类号： G05D15/00
CPC分类号： A61B1/0051 , A61B1/0016
摘要： A hauling unit hauls a subject to bend or rotate the subject. A control unit outputs a control signal that corresponds to a target value that is input by an operating unit. The control unit controls a variation amount of the control signal output in a predetermined range including a position of the hauling unit in a state before the hauling unit hauls to be greater than a variation amount of the control signal output outside the predetermined range. A driving unit drives the hauling unit based on the control signal.
摘要翻译： 拖运单位拖动受试者弯曲或旋转受试者。 控制单元输出与由操作单元输入的目标值相对应的控制信号。 控制单元控制在牵引单元牵引之前的状态下包括牵引单元的位置的预定范围内输出的控制信号的变化量大于在预定范围外输出的控制信号的变化量。 驱动单元基于控制信号驱动牵引单元。
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公开(公告)号：US20070161861A1
公开(公告)日：2007-07-12
申请号：US11708518
申请日：2007-02-20
IPC分类号： A61B1/00
CPC分类号： A61B1/00055 , A61B1/0016 , A61B1/0051 , G02B23/2476
摘要： A curving control device to which an electrically-controlled endoscope is connected has a main CPU for primarily performing curving driving control, and a monitoring CPU for monitoring whether the operating state relating to curving actions is normal or abnormal. In the event of detecting an abnormality from the monitoring CPU, the curving control device also performs processing for handling the occurrence of the abnormality, such as outputting an emergency stop through an interlock via the main CPU, turning the main power and the like of a servo driver OFF, and so forth.
摘要翻译： 连接电控内窥镜的弯曲控制装置具有用于主要执行弯曲驱动控制的主CPU，以及用于监视与弯曲动作相关的操作状态是正常还是异常的监视CPU。 在检测到来自监视CPU的异常的情况下，弯曲控制装置还进行处理异常的处理，例如通过主CPU通过联锁输出紧急停止，将主电源等转动 伺服驱动器OFF，等等。
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公开(公告)号：US08622895B2
公开(公告)日：2014-01-07
申请号：US12167628
申请日：2008-07-03
申请人： Toshimasa Kawai
发明人： Toshimasa Kawai
IPC分类号： A61B1/00
CPC分类号： A61B1/0052 , A61B1/00039 , A61B1/0016 , G02B23/2476
摘要： In the present invention, a logical block of an FPGA is configured by a serial communication unit, a serial communication control portion, an EEPROM controller, an abnormal signal processing portion, an LED controller, an operation mode controller, a DPRAM, a clutch signal input portion, a jig substrate input output portion, a RAM, a motor controller, a motor drive waveform generating portion, an RL (right and left) motor current F/B portion, a UD (up and down) motor current F/B portion, a potentiometer control portion, a thermistor control portion, an RL encoder control portion, a UD encoder control portion, and an FPGA block abnormality monitoring portion.
摘要翻译： 在本发明中，FPGA的逻辑块由串行通信单元，串行通信控制部分，EEPROM控制器，异常信号处理部分，LED控制器，操作模式控制器，DPRAM，离合器信号 输入部，夹具基板输入部，RAM，马达控制器，马达驱动波形生成部，RL（左右）马达电流F / B部，UD（上下）马达电流F / B 电位器控制部，热敏电阻控制部，RL编码器控制部，UD编码器控制部以及FPGA块异常监视部。
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公开(公告)号：US08523765B2
公开(公告)日：2013-09-03
申请号：US12019375
申请日：2008-01-24
申请人： Toshimasa Kawai
发明人： Toshimasa Kawai
CPC分类号： A61B1/0055 , A61B1/00006 , A61B1/00039 , A61B1/00078
摘要： A controller includes a servo controller that performs attitude control of the bending portion. A point lock computing section is provided at the servo controller. Based on supplied distal end command value information and position feedback information, the point lock computing section performs computational processing by a distal end link root coordinate position calculating section and an inverse kinematics computing section in order to obtain a servo position command signal for a distal end-side link member and a servo position command signal for a link member other than the link member, and outputs the same to a driving section. Accordingly, point lock is enabled at two locations, namely, the distal end-side link member and an arbitrary link member, while other link members are controlled so as to assume attitudes having redundancy.
摘要翻译： 控制器包括执行弯曲部分的姿态控制的伺服控制器。 伺服控制器设有点锁计算部。 基于所提供的远端指令值信息和位置反馈信息，点锁计算部分通过远端连杆根坐标位置计算部分和逆运动学计算部分执行计算处理，以获得用于远端的伺服位置命令信号 侧连杆构件和用于连杆构件以外的连杆构件的伺服位置指令信号，并将其输出到驱动部。 因此，在两个位置（即，远端侧连接构件和任意的连接构件）上能够进行点锁定，而其他连杆构件被控制以呈现具有冗余度的姿态。
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公开(公告)号：US20070150155A1
公开(公告)日：2007-06-28
申请号：US11708596
申请日：2007-02-20
IPC分类号： G06F7/00
CPC分类号： A61B1/0052 , A61B1/00059 , A61B1/0016 , G02B23/2476
摘要： At startup, a main CPU renders and copies various types of unique parameters stored in an SRAM card corresponding to an ID unique to endoscopes to DPRAM and SDRAM and enables the endoscopes to be used with these parameters. Also in the event of desiring to change the set parameters, the user requests a change via an HM, whereby the changed parameters are copied to the SDRAM via the DPRAM, and electrically-operated curving actions of the endoscope can be performed with the changed parameters.
摘要翻译： 在启动时，主CPU将存储在SRAM卡中的各种类型的独特参数呈现并复制到与DPRAM和SDRAM相同的内窥镜唯一ID，并使内窥镜与这些参数一起使用。 此外，在希望改变设定参数的情况下，用户通过HM请求改变，由此通过DPRAM将改变的参数复制到SDRAM，并且可以利用改变的参数来执行内窥镜的电动弯曲动作 。
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公开(公告)号：US5679216A
公开(公告)日：1997-10-21
申请号：US518260
申请日：1995-08-23
申请人： Shuichi Takayama , Takeaki Nakamura , Tatsuya Yamaguchi , Akio Nakada , Yasuhiro Ueda , Hideyuki Adachi , Katsunori Sakiyama , Yasukazu Tatsumi , Koji Fujio , Masaaki Hayashi , Shinji Kaneko , Yasuo Hirata , Toshimasa Kawai
发明人： Shuichi Takayama , Takeaki Nakamura , Tatsuya Yamaguchi , Akio Nakada , Yasuhiro Ueda , Hideyuki Adachi , Katsunori Sakiyama , Yasukazu Tatsumi , Koji Fujio , Masaaki Hayashi , Shinji Kaneko , Yasuo Hirata , Toshimasa Kawai
CPC分类号： A61B1/0058
摘要： A multi-degree-of-freedom manipulator includes a flexible tube having a plurality of flex portions provided therealong, a plurality of actuators made of shape memory alloy and respectively provided near the flex portions to correspond to the flex portions, for flexing the flex portions, two common energy transmission paths, extending along the flexible tube, for transmitting an energy to the actuators, and selective energy supply members, provided between the common energy transmission paths and the actuators in series, for controlling the energy supplied from the common energy transmission path to the actuators, thereby respectively independently driving the actuators to bend the flexible tube. The manipulator is made by forming electronic circuits in a plurality of regions on a semiconductor substrate, forming wiring regions to connect the electronic circuits with flexible wiring portions, and removing a region of the semiconductor substrate other than a region thereof on which the electronic circuits are formed, thereby forming an actuator controlled chip array, used in the manipulator.
摘要翻译： 多自由度操纵器包括具有设置在其上的多个柔性部分的柔性管，由形状记忆合金制成的多个致动器，并且分别设置在柔性部分附近以对应于柔性部分，用于使柔性部分弯曲 ，沿着柔性管延伸的用于将能量传递到致动器的两个公共能量传输路径，以及设置在公共能量传输路径和致动器之间的选择性能量供应构件，用于控制从公共能量传输提供的能量 从而分别独立地驱动致动器来弯曲柔性管。 机械手是通过在半导体基板上的多个区域中形成电子电路而形成的，形成布线区域以将电子电路与柔性布线部分连接起来，以及除去其上电子电路的区域以外的半导体基板的区域 从而形成用于机械手的致动器控制芯片阵列。
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公开(公告)号：US08214083B2
公开(公告)日：2012-07-03
申请号：US12828709
申请日：2010-07-01
申请人： Toshimasa Kawai
发明人： Toshimasa Kawai
CPC分类号： A61B1/0052 , A61B1/00147 , A61B1/0016 , A61B34/70 , A61B2034/742 , Y10T74/20323
摘要： A manipulator comprises a tube body including a bending portion, a bending wire for a bending drive of the bending portion, a motor including a rotary shaft which rotates in accordance with a drive command signal, a reduction gear unit connected to the rotary shaft and configured by a plurality of gears meshing with each other, a detection unit which detects an operation state of the motor, a storage unit which stores load variation values periodically caused by the meshing of the plurality of gears constituting the reduction gear unit as correction information, a load calculation section which calculates a load exerted on the tube body as a bending load estimated value, and a notifying unit which notifies a calculation result of the load calculation section.
摘要翻译： 一种机械手包括一个管体，它包括弯曲部分，一个用于弯曲部分的弯曲驱动的弯曲线，一个马达，包括一个根据驱动命令信号旋转的旋转轴，一个连接到旋转轴的减速齿轮单元， 通过多个彼此啮合的齿轮，检测电动机的操作状态的检测单元，存储由构成减速装置的多个齿轮的啮合周期性地引起的负载变化值作为校正信息的存储单元， 负荷计算部，其计算施加在所述管体上的负荷作为弯曲载荷估计值;以及通知单元，其通知所述负荷计算部的计算结果。
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公开(公告)号：US07938773B2
公开(公告)日：2011-05-10
申请号：US11708596
申请日：2007-02-20
IPC分类号： A61B1/00
CPC分类号： A61B1/0052 , A61B1/00059 , A61B1/0016 , G02B23/2476
摘要： At startup, a main CPU renders and copies various types of unique parameters stored in an SRAM card corresponding to an ID unique to endoscopes to DPRAM and SDRAM and enables the endoscopes to be used with these parameters. Also in the event of desiring to change the set parameters, the user requests a change via an HMI, whereby the changed parameters are copied to the SDRAM via the DPRAM, and electrically-operated curving actions of the endoscope can be performed with the changed parameters.
摘要翻译： 在启动时，主CPU将存储在SRAM卡中的各种类型的独特参数呈现并复制到与DPRAM和SDRAM相同的内窥镜唯一ID，并使内窥镜与这些参数一起使用。 此外，在希望改变设定参数的情况下，用户通过HMI请求改变，由此通过DPRAM将改变的参数复制到SDRAM，并且可以利用改变的参数来执行内窥镜的电动弯曲动作 。
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