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    Medical manipulator
    11.
    发明申请
    Medical manipulator 有权
    医疗机械手

    公开(公告)号：US20060074408A1

    公开(公告)日：2006-04-06

    申请号：US11289294

    申请日：2005-11-30

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B17/00

    CPC分类号： A61B17/00234 ,  A61B34/70 ,  A61B34/72 ,  A61B90/50 ,  A61B2017/00017 ,  A61B2017/00477

    摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than aback drive torque of the second power transmission unit.

    摘要翻译： 医疗机械手包括执行操作的工作单元（10），产生指令的操作单元（20），基于操作单元给出的指令驱动工作单元的驱动单元（50），动力传递 用于将驱动单元的驱动力发送到工作单元的机构（60），以及用于基于由操作单元给出的指令来控制动力传递机构的控制单元（40）。 动力传递机构包括与驱动单元互锁的第一动力传递单元（61）和与作业单元互锁且能够可拆卸地连接到第一动力传递单元的第二动力传递单元（63）。 第一动力传递单元的后驱动扭矩大于第二动力传递单元的驱动扭矩。

    Manipulator
    12.
    发明授权
    Manipulator 有权
    机械手

    公开(公告)号：US08002784B2

    公开(公告)日：2011-08-23

    申请号：US11743222

    申请日：2007-05-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： A61B17/32

    CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2934 ,  A61B2017/2936 ,  A61B2017/2939

    摘要： A manipulator has a working unit in which when at least a first end effector finger and a second end effector finger are maximally closed on each other, at least the distance between a third joint axis and a first joint axis is greater than the distance between the first joint axis and a distal end of the second end effector finger, or the distance between the third joint axis and the first joint axis is greater than the distance between third joint axis and a second joint axis, or the angle formed between a direction from the third joint axis to the first joint axis and a direction from the third joint axis to the second joint axis is not π.

    摘要翻译： 操纵器具有工作单元，其中当至少第一末端执行器指状物和第二末端执行器指状物彼此最大程度地闭合时，至少第三关节轴线与第一关节轴线之间的距离大于 或者第三关节轴线与第一关节轴线之间的距离大于第三关节轴线和第二关节轴线之间的距离，或者第一关节轴线与第二关节轴线的方向之间形成的角度， 与第一关节轴线的第三关节轴线和从第三关节轴线到第二关节轴线的方向不是＆pgr。

    Medical manipulator
    13.
    发明授权
    Medical manipulator 有权
    医疗机械手

    公开(公告)号：US07905234B2

    公开(公告)日：2011-03-15

    申请号：US11779911

    申请日：2007-07-19

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B19/00

    CPC分类号： A61B17/00234 ,  A61B34/70 ,  A61B34/72 ,  A61B90/50 ,  A61B2017/00017 ,  A61B2017/00477

    摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than a back drive torque of the second power transmission unit.

    摘要翻译： 医疗机械手包括执行操作的工作单元（10），产生指令的操作单元（20），基于操作单元给出的指令驱动工作单元的驱动单元（50），动力传递 用于将驱动单元的驱动力发送到工作单元的机构（60），以及用于基于由操作单元给出的指令来控制动力传递机构的控制单元（40）。 动力传递机构包括与驱动单元互锁的第一动力传递单元（61）和与作业单元互锁且能够可拆卸地连接到第一动力传递单元的第二动力传递单元（63）。 第一动力传递单元的后驱动扭矩大于第二动力传递单元的后驱动扭矩。

    Manipulator
    14.
    发明申请
    Manipulator 有权

    公开(公告)号：US20060219065A1

    公开(公告)日：2006-10-05

    申请号：US11390458

    申请日：2006-03-28

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： B25B7/12

    CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B2017/2927 ,  Y10T74/20335

    摘要： A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

    Working mechanical device and manipulator
    17.
    发明授权
    Working mechanical device and manipulator 有权
    工作机械装置和机械手

    公开(公告)号：US07942895B2

    公开(公告)日：2011-05-17

    申请号：US11833023

    申请日：2007-08-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： A61B17/00

    CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2936 ,  A61B2017/2939

    摘要： A working unit comprises a gear body rotatable in a direction perpendicular to a reference axis, a gear ring including a proximal end surface held in contact with the gear body and rotatable about the reference axis to change the direction of rotation of the gear body, a first end effector body held in contact with an axially distal end surface of the gear ring at an upper portion thereof, and rotatable about a rotational axis perpendicular to the reference axis to change the direction of rotation of the gear ring, and a second end effector body held in contact with the axially distal end surface of the gear ring at a lower portion thereof, and rotatable in a direction opposite to the direction in which the first end effector body rotates, about the rotational axis. The first end effector body and the second end effector body are openable and closable symmetrically with respect to the reference axis.

    摘要翻译： 工作单元包括：齿轮体，其可沿垂直于基准轴线的方向旋转;齿圈，其包括保持与齿轮体接触并可围绕参考轴线旋转的近端表面，以改变齿轮体的旋转方向; 第一末端执行器主体在其上部保持与齿圈的轴向远端表面接触，并且能够绕垂直于参考轴线的旋转轴线旋转以改变齿圈的旋转方向，并且第二末端执行器 主体在其下部保持与齿圈的轴向远端表面接触，并且能够沿与第一端部执行器主体的旋转方向相反的方向围绕旋转轴线旋转。 第一末端执行器主体和第二末端执行器主体相对于参考轴线对称地打开和关闭。

    MANIPULATOR
    18.
    发明申请
    MANIPULATOR 有权
    操纵器

    公开(公告)号：US20090216249A1

    公开(公告)日：2009-08-27

    申请号：US12432511

    申请日：2009-04-29

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B19/00

    CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B2017/2927 ,  Y10T74/20335

    摘要： A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

    摘要翻译： 机械手具有处理部分，通过连接部分连接的驱动部分，第一皮带轮，穿过连接部分内部并由驱动部分驱动的第一丝线悬挂在其上，并且主轴 所述部分沿着与所述第一滑轮旋转的第一转子轴线不同的方向可旋转地支撑所述处理部分，所述第一转子轴线的一端部固定到所述第一滑轮。

    MANIPULATOR
    19.
    发明申请
    MANIPULATOR 审中-公开
    操纵器

    公开(公告)号：US20080091072A1

    公开(公告)日：2008-04-17

    申请号：US11870849

    申请日：2007-10-11

    申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B1/012

    CPC分类号： A61B17/29 ,  A61B17/062 ,  A61B17/2909 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B2017/00199 ,  A61B2017/00367 ,  A61B2017/00424 ,  A61B2017/2925 ,  A61B2017/2929 ,  A61B2017/2939 ,  A61B2034/742

    摘要： A manipulator includes an operation command unit to be gripped by a hand, a composite input unit operable by a finger, a connector shaft extending from the operation command unit, and a working unit disposed on a distal end of the connector shaft. The working unit includes a yawing mechanism, a rolling mechanism, and an opening and closing mechanism. The composite input unit has a shuttle ring for actuating the rolling mechanism, and a pad for actuating the yawing mechanism. The shuttle ring is an angularly movable member having two knobs disposed in respective left and right positions. The pad is disposed inside of the shuttle ring.

    摘要翻译： 机械手包括用手抓握的操作指令单元，由手指操作的复合输入单元，从操作命令单元延伸的连接器轴以及设置在连接器轴的远端上的工作单元。 工作单元包括偏航机构，滚动机构以及开闭机构。 复合输入单元具有用于致动滚动机构的梭环和用于致动偏航机构的垫。 梭环是具有设置在相应的左右位置的两个旋钮的可角度运动的构件。 垫片设置在梭环内部。

    Medical manipulator
    20.
    发明授权
    Medical manipulator 有权
    医疗机械手

    公开(公告)号：US07314473B2

    公开(公告)日：2008-01-01

    申请号：US11289295

    申请日：2005-11-30

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B17/32

    CPC分类号： A61B17/00234 ,  A61B34/70 ,  A61B34/72 ,  A61B90/50 ,  A61B2017/00017 ,  A61B2017/00477

    摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than a back drive torque of the second power transmission unit.

    摘要翻译： 医疗机械手包括执行操作的工作单元（10），产生指令的操作单元（20），基于操作单元给出的指令驱动工作单元的驱动单元（50），动力传递 用于将驱动单元的驱动力发送到工作单元的机构（60），以及用于基于由操作单元给出的指令来控制动力传递机构的控制单元（40）。 动力传递机构包括与驱动单元互锁的第一动力传递单元（61）和与作业单元互锁且能够可拆卸地连接到第一动力传递单元的第二动力传递单元（63）。 第一动力传递单元的后驱动扭矩大于第二动力传递单元的后驱动扭矩。