公开(公告)号：US11974716B2

公开(公告)日：2024-05-07

申请号：US16899068

申请日：2020-06-11

Applicant: OLYMPUS CORPORATION

Inventor： Tomoko Gocho ,  Satoru Kikuchi ,  Kosuke Kishi ,  Takami Shibazaki ,  Hiromu Ikeda

IPC: A61B1/00 ,  A61B34/10 ,  G06T7/73

CPC classification number: A61B1/00006 ,  A61B1/000094 ,  A61B1/000096 ,  A61B1/00045 ,  A61B1/00055 ,  A61B1/00147 ,  A61B34/10 ,  G06T7/73 ,  A61B2034/107 ,  G06T2207/10068

Abstract: A processor of an operation supporting device acquires pre-operation data including position information of a feature portion of an inside of a body cavity of a subject, which is generated before an operation, and a procedure in the operation, which is planned before the operation, and acquires an endoscope image generated in the operation. The processor generates real-time data including real-time position information of the feature portion of the inside of the body cavity, based at least on the pre-operation data and the endoscope image, and generates an image to be displayed on the endoscope image in a superimposed manner, based on the real-time data. The processor recognizes a real-time scene based at least on the procedure planned before the operation and the real-time data.

公开(公告)号：US10542870B2

公开(公告)日：2020-01-28

申请号：US15682627

申请日：2017-08-22

Applicant: OLYMPUS CORPORATION

Inventor： Keigo Takahashi ,  Kosuke Kishi

IPC: A61B17/28 ,  A61B1/00 ,  B25J1/02 ,  A61B90/00 ,  A61B34/00 ,  A61B17/00 ,  B25J3/04 ,  B25J13/02 ,  B25J18/00 ,  B25J18/06

Abstract: A manipulator, including: a drive unit for generating a driving force, and a treatment tool that is driven by the drive unit and attachable to and detachable from the drive unit, wherein the treatment tool includes: a distal end having at least one joint driven by the drive unit, a lock unit that is actuated to lock at least one of joints at the distal end, a lock-operating unit for operating the lock unit, and a control unit that is operated such that the lock unit is operated by the lock-operating unit and such that when the drive unit is driven, the drive unit is deactivated, and even with the treatment tool detached from the drive unit, the lock unit keeps on with locking.

公开(公告)号：US10413164B2

公开(公告)日：2019-09-17

申请号：US15682824

申请日：2017-08-22

Applicant: OLYMPUS CORPORATION

Inventor： Ryoji Hyodo ,  Kosuke Kishi

IPC: A61B1/00 ,  A61B1/005 ,  B25J17/00 ,  B25J18/06 ,  A61B90/00 ,  A61B34/00 ,  A61B17/00 ,  B25J13/04 ,  A61B17/28 ,  A61B1/008 ,  A61B34/30

Abstract: A manipulator includes: an operating unit, and a bending assembly that is bent by operation of the operating unit, wherein: the bending assembly includes: a first link member having a first arc portion, a second link member having a second arc portion, an intermediate link member that includes a first intermediate arc portion and a second intermediate arc portion in opposition to the first intermediate arc portion, and is mounted between the first link member and the second link member.

公开(公告)号：US10390878B2

公开(公告)日：2019-08-27

申请号：US14855708

申请日：2015-09-16

Applicant: OLYMPUS CORPORATION

Inventor： Ryoji Hyodo ,  Kosuke Kishi

IPC: A61B18/14 ,  A61B34/30 ,  A61B18/00

Abstract: A medical device includes an insertion portion, and a driving mechanism coupled to the insertion portion, wherein the insertion portion includes a treatment portion configured to perform a treatment on a target portion, a joint portion capable of supporting the treatment portion and changing a direction of the treatment portion, a storage portion provided in the joint portion and capable of internally accommodating the treatment portion, and a driving force transmission portion connected to the joint portion and configured to transmit a driving force for changing the direction of the treatment portion to the joint portion, wherein the driving mechanism includes a driving force generation portion configured to generate the driving force, and wherein the treatment portion enters and exits the storage portion by the driving force transmitted from the driving force generation portion to the joint portion through the driving force transmission portion.

公开(公告)号：US10188469B2

公开(公告)日：2019-01-29

申请号：US14722654

申请日：2015-05-27

Applicant: OLYMPUS CORPORATION

Inventor： Masatoshi Iida ,  Takumi Isoda ,  Noriaki Yamanaka ,  Kosuke Kishi

IPC: A61B19/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/37 ,  A61B18/14 ,  A61B17/00 ,  A61B90/30

Abstract: A manipulator system includes a medical instrument which is capable of being inserted into a body; a manipulator which is capable of holding the instrument; a holding detector which detects a holding state where the manipulator holds the instrument; an instruction-receiving part which detects an instruction for operating the instrument; and a controller which operates the instrument only in a case where the instruction-receiving part detects the instruction when the holding detector detects the holding state.

公开(公告)号：US20180296288A1

公开(公告)日：2018-10-18

申请号：US16011163

申请日：2018-06-18

Applicant: OLYMPUS CORPORATION

Inventor： Keigo Takahashi ,  Ryohei Ogawa ,  Kosuke Kishi

IPC: A61B34/00 ,  B25J9/00 ,  A61B34/37

Abstract: A manipulator system is provided with: a manipulator including an elongated flexible portion, a movable portion provided at a distal end thereof, and a driving portion that is provided at a proximal end of the flexible portion and that drives the movable portion; an inserted portion that includes a channel through which the manipulator is made to pass and that possesses flexibility; a reciprocating portion that moves the driving portion forward and backward in a longitudinal direction of the flexible portion; a movable-portion-state identifying portion that identifies a state of the movable portion; a restricting portion that, when the movable portion is identified to be in a protruded state, restricts the driving portion from being moved backward any farther; and a restriction releasing portion that, when the movable portion is identified to be in a retractable state, releases the restriction.

公开(公告)号：US09788902B2

公开(公告)日：2017-10-17

申请号：US14049467

申请日：2013-10-09

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: A61B34/30 ,  A61B19/00 ,  A61B34/37 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2090/061 ,  A61B2090/064 ,  A61B2090/0811 ,  Y10S901/08

Abstract: A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit.

公开(公告)号：US09632577B2

公开(公告)日：2017-04-25

申请号：US14169742

申请日：2014-01-31

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: A61B19/00 ,  G06F3/01 ,  A61B17/29 ,  A61B17/32 ,  A61B18/14 ,  B25J9/16 ,  B25J13/02 ,  A61B34/30 ,  A61B46/10 ,  A61B34/37 ,  A61B17/068 ,  A61B17/00 ,  A61B46/23 ,  A61B34/20 ,  A61B90/00 ,  A61B34/00

CPC classification number: G06F3/01 ,  A61B17/068 ,  A61B17/29 ,  A61B17/32002 ,  A61B18/1402 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B46/23 ,  A61B2017/00119 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/067 ,  A61B2090/3937 ,  B25J9/1689 ,  B25J13/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/30 ,  Y10T29/49826 ,  Y10T74/18056

Abstract: An operation support device includes a manipulation input unit that outputs a manipulation command in accordance with an input from an operator, and a motion unit that causes a surgical instrument to move in accordance with the manipulation command. The manipulation input unit includes an object-to-be-detected that is gripped by the operator and a detection device that detects the object-to-be-detected. The object-to-be-detected includes a body part that has a first marker, which is detected by the detection device, disposed thereon, a manipulation part that is disposed in the body part and that is manipulated by the operator, and a second marker that is disposed in at least one of the body part and the manipulation part.

公开(公告)号：US09568992B2

公开(公告)日：2017-02-14

申请号：US14168525

申请日：2014-01-30

Applicant: OLYMPUS CORPORATION

Inventor： Mitsuaki Hasegawa ,  Kosuke Kishi

IPC: A61B19/00 ,  G06F3/01 ,  A61B17/29 ,  A61B17/32 ,  A61B18/14 ,  A61B19/08 ,  B25J13/02 ,  A61B17/068 ,  A61B19/10 ,  A61B17/00

CPC classification number: G06F3/01 ,  A61B17/068 ,  A61B17/29 ,  A61B17/32002 ,  A61B18/1402 ,  A61B34/30 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B46/27 ,  A61B2017/00119 ,  A61B2017/00477 ,  A61B2017/00482 ,  B25J13/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/30 ,  Y10T29/49826 ,  Y10T74/18056

Abstract: A medical manipulator including a base section at which a support surface is formed, a movable part movably supported on the support surface, when a reference direction parallel to the support surface is defined, between a distal end position, which is a distal end side in the reference direction with respect to the base section, and a proximal end position, which is a proximal end side in the reference direction, a positioning mechanism configured to position the movable part at the distal end position with respect to the base section, a holding section movably supported in the reference direction with respect to the movable part and configured to detachably hold a proximal end portion of a treatment tool, and a driving unit configured to move the holding section in the reference direction with respect to the movable part.

Abstract translation: 一种医用机械手，其特征在于，在形成有支撑面的基部时，在与支承面平行的基准方向上，可移动地支承在支承面上的可动部， 相对于基部的基准方向和作为基准方向的近端侧的基端位置，配置为将可动部相对于基部定位在远端位置的定位机构，保持 相对于可移动部件在参考方向上可移动地支撑，并且被构造成可拆卸地保持治疗工具的近端部分;以及驱动单元，其构造成使保持部分相对于可移动部件沿参考方向移动。

公开(公告)号：US20160030120A1

公开(公告)日：2016-02-04

申请号：US14821170

申请日：2015-08-07

Applicant: OLYMPUS CORPORATION

Inventor： Masaru Yanagihara ,  Kosuke Kishi

IPC: A61B19/00 ,  A61B1/005 ,  A61B1/00

CPC classification number: A61B1/00133 ,  A61B1/0052 ,  A61B1/0055 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2018/1422 ,  A61B2034/301 ,  A61B2034/306

Abstract: The invention has for its object to provide a manipulator wherein the size of a curved portion is reduced and the internal architecture of the curve portion is simplified. The manipulator 100 comprises an insert part that is capable of being inserted into the body cavity, a movable part that is located at a distal end of the insert part and movable in any direction, a drive unit that is provided on a proximal-end side of the insert part, a first elongated member that is connected to the drive unit and located in the insert part, and displaces in response to operation of the drive unit, a second elongated member that is different from the first elongated member and has a distal end connected to the movable part, and a deceleration mechanism that urges displacement of the second elongated member in association with displacement of the first elongated member, and makes a second amount of displacement of the second elongated member smaller than a first amount of displacement of the first elongated member.

Abstract translation: 本发明的目的是提供一种操纵器，其中弯曲部分的尺寸减小，并且曲线部分的内部结构被简化。 机械手100包括能够插入到体腔中的插入部，位于插入部的远端并且能够沿任意方向移动的可动部，设置在基端侧的驱动部 所述第一细长构件连接到所述驱动单元并且位于所述插入部分中，并且响应于所述驱动单元的操作而移位;第二细长构件，其与所述第一细长构件不同，并且具有远端 一端连接到可移动部分，以及减速机构，该减速机构与第一细长构件的移动相关联地推动第二细长构件的位移，并且使得第二细长构件的第二位移量小于第一细长构件的第一位移量 第一细长构件。