公开(公告)号：US20160360947A1

公开(公告)日：2016-12-15

申请号：US15245269

申请日：2016-08-24

Applicant: OLYMPUS CORPORATION

Inventor： Masatoshi IIDA ,  Naoya HATAKEYAMA ,  Hiroshi WAKAI

IPC: A61B1/00 ,  A61B1/05 ,  A61B34/20 ,  A61B1/005 ,  B25J9/16 ,  A61B34/37

CPC classification number: A61B1/00006 ,  A61B1/00009 ,  A61B1/00045 ,  A61B1/00057 ,  A61B1/00059 ,  A61B1/00087 ,  A61B1/0051 ,  A61B1/05 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00725 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/364 ,  B25J9/1692 ,  G02B23/2476

Abstract: A medical system includes a treatment tool including a treatment portion, a joint portion, a flexible tube portion, and a drive unit; an endoscope device including an outer sheath that holds the treatment tool and an imaging unit that is capable of acquiring an image including at least the joint portion; and a control unit that controls an operation of the treatment tool. The control unit includes a table that has a parameter for causing the joint portion to move, a controller that issues a command for controlling the drive unit based on the parameter to the drive unit, an image processing unit that calculates at least one of a position and an orientation of the joint portion based on the image, and a compensation value calculating unit that detects displacement of the joint portion, generates a compensation value, and incorporates the compensation value into the parameter.

Abstract translation: 医疗系统包括处理工具，其包括处理部分，接合部分，柔性管部分和驱动单元; 内窥镜装置，其包括保持所述治疗工具的外护套和能够获取至少包括所述接合部的图像的摄像部; 以及控制单元，其控制所述治疗工具的操作。 所述控制单元包括具有用于使所述接合部移动的参数的表，基于所述驱动单元的参数发出用于控制所述驱动单元的指令的控制器，图像处理单元，其计算位置 以及基于图像的接合部的取向，以及补偿值计算单元，其检测接合部的位移，生成补偿值，并将补偿值并入参数。

公开(公告)号：US20160135663A1

公开(公告)日：2016-05-19

申请号：US15006422

申请日：2016-01-26

Applicant: OLYMPUS CORPORATION

Inventor： Takumi ISODA ,  Naoya HATAKEYAMA ,  Masatoshi IIDA ,  Sadahiro WATANABE

IPC: A61B1/005 ,  A61B1/06 ,  A61B1/04 ,  A61B1/00 ,  A61B1/018

CPC classification number: A61B1/0057 ,  A61B1/00006 ,  A61B1/00045 ,  A61B1/0052 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B34/70 ,  A61B34/71 ,  A61B2034/715 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/35417 ,  G05B2219/39439 ,  G05B2219/45118 ,  G05B2219/49253

Abstract: The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly.The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2, a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3, and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.

Abstract translation: 本发明的目的是提供一种操纵器和操纵器系统，其中快速移除动态剩余，并且移动组件与操作组件的操作相关联地快速致动。 操纵器1包括由操作者操作的操作组件2，由操作组件2操作的移动组件3，用于将操作组件2联接到移动组件3的传动组件4，以将操作组件2的驱动力传递到 移动组件3和传动补偿组件6，用于补偿与操作组件2的操作相关联地在发送组件4中发生的动态剩余。

公开(公告)号：US20160346054A1

公开(公告)日：2016-12-01

申请号：US15235396

申请日：2016-08-12

Applicant: OLYMPUS CORPORATION

Inventor： Naoya HATAKEYAMA ,  Masatoshi IIDA ,  Hiroshi WAKAI

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

CPC classification number: A61B34/37 ,  A61B17/00234 ,  A61B34/30 ,  A61B90/08 ,  A61B2017/00296 ,  A61B2017/00725 ,  A61B2034/301 ,  A61B2090/0811

Abstract: A medical system includes: a treatment tool including a treatment portion configured to treat a living body, a joint portion configured to move the treatment portion, a first indicator portion provided to correspond to a position of the joint portion, a sheath portion connected to the joint portion, and a driving portion connected to the sheath portion and configured to displace the joint portion; an overtube including a flexible tube portion having a distal end and a proximal end and holding the treatment tool such that the treatment portion is capable of protruding from the distal end, and a second indicator portion provided at the flexible tube portion to identify a predefined space where calibration of the treatment tool is performed; and a calibration mechanism configured to calibrate the treatment tool when the first and second indicator portions have a predetermined positional relationship.

Abstract translation: 医疗系统包括：处理工具，其包括被配置为处理生物体的处理部，配置成移动处理部的接合部，与接合部的位置对应地设置的第一指示部，与该连接部 连接部分和连接到护套部分并构造成使接合部分移位的驱动部分; 包括具有远端和近端的柔性管部分并且保持治疗工具使得处理部分能够从远端突出的外套管，以及设置在柔性管部分处以识别预定空间的第二指示器部分 其中执行治疗工具的校准; 以及校准机构，被配置为当所述第一和第二指示器部分具有预定的位置关系时校准所述治疗工具。

公开(公告)号：US20160136810A1

公开(公告)日：2016-05-19

申请号：US15002721

申请日：2016-01-21

Applicant: OLYMPUS CORPORATION

Inventor： Hiroshi WAKAI ,  Naoya HATAKEYAMA ,  Masatoshi IIDA

IPC: B25J9/16 ,  A61B1/00 ,  B25J13/06

CPC classification number: B25J9/1635 ,  A61B1/00059 ,  A61B1/00133 ,  A61B34/30 ,  A61B34/37 ,  A61B90/96 ,  A61B90/98 ,  A61B2017/00022 ,  A61B2017/0034 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  B25J9/1638 ,  B25J9/1689 ,  B25J13/06 ,  B25J18/06 ,  G02B23/2476 ,  G05B2219/40279 ,  Y10S901/09

Abstract: Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit.

Abstract translation: 本发明提供一种机械手系统，包括：具有由柔性部和弯曲部构成的插入部的机械手，具有用于驱动弯曲部的弯曲部驱动部; 操作输入单元; 柔性部分形状检测单元和弯曲部分形状检测单元，其分别检测柔性部分和弯曲部分的弯曲形状; 补偿值设定单元，其基于由所述形状检测单元检测出的所述弯曲形状来设定补偿值; 以及控制单元，其根据经由操作输入单元输入的操作指令生成用于驱动所述弯曲部驱动单元的曲率控制信号，并且还使用所述补偿值来校正所述曲率控制信号，并将其传送到所述弯曲部驱动单元 。

公开(公告)号：US20150094737A1

公开(公告)日：2015-04-02

申请号：US14562898

申请日：2014-12-08

Applicant: OLYMPUS CORPORATION

Inventor： Naoya HATAKEYAMA

IPC: A61B19/00

CPC classification number: A61B50/36 ,  A61B34/30 ,  A61B34/37 ,  A61B34/77 ,  A61B2034/306 ,  Y10T29/4973

Abstract: A medical manipulator includes: an operation member configured to drive so as to operate a treatment tool; a treatment tool side drive shaft configured to rotate about an axis thereof so as to drive the operation member; an operation amount detection member connected to the treatment tool; a treatment tool side detection shaft configured to rotate about an axis thereof in accordance with displacement of the operation amount detection member; a drive unit side drive shaft engaged with the treatment tool side drive shaft; a drive unit side detection shaft engaged with the treatment tool side detection shaft; a shape regulation section configured to regulate a shape of the treatment tool to a predetermined operation state; and a phase setting section configured to set phases in rotational directions of the treatment tool side drive shaft and the treatment tool side detection shaft.

Abstract translation: 医疗机械手包括：被配置为驱动以操作治疗工具的操作构件; 处理工具侧驱动轴，其构造成围绕其轴线旋转以驱动操作构件; 连接到处理工具的操作量检测构件; 处理工具侧检测轴，其构造成根据操作量检测构件的位移围绕其轴线旋转; 与治疗工具侧驱动轴接合的驱动单元侧驱动轴; 与治疗工具侧检测轴接合的驱动单元侧检测轴; 形状调节部，其将所述处理工具的形状调整为规定的动作状态; 以及相位设定部，被配置为设置处理工具侧驱动轴和处理工具侧检测轴的旋转方向的相位。