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公开(公告)号：US20140121834A1
公开(公告)日：2014-05-01
申请号：US14147762
申请日：2014-01-06
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Kosuke KISHI
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/37 , A61B2090/368 , A61B2090/371 , A61B2090/372 , A61B2090/502 , B25J3/00 , B25J3/04 , B25J9/1689
Abstract: A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result.
Abstract translation: 机械手系统包括被配置为发送输入命令的主操作器，被配置为根据输入命令进行操作的从动操纵器，被配置为获取对象的图像的图像拍摄单元，放置在操作者前方的显示装置， 显示由图像拍摄单元获取的图像;检测装置，被配置为检测操作者对于显示装置的脸部的方向;以及控制单元，被配置为确定操作者的脸部的方向是否在 基于检测装置中的检测结果相对于显示装置的预定角度，并且在第一控制模式和第二控制模式之间移动从动操纵器的操作模式，其中操作受限于第一控制 模式基于确定结果。
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公开(公告)号：US20170296280A1
公开(公告)日：2017-10-19
申请号：US15636067
申请日：2017-06-28
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Kosuke KISHI
CPC classification number: A61B34/74 , A61B34/30 , A61B34/71 , A61B90/00 , A61B2034/301 , A61B2034/742 , B25J3/00
Abstract: Provided is an operation input device for inputting an operation command to a medical manipulator having a distal-end-side moving portion having at least one joint on a distal end and a proximal-end-side moving portion that is connected to a proximal-end side of the distal-end-side moving portion and moves the distal-end-side moving portion, and the operation input device includes a first operation portion that generates a moving command for driving the distal-end-side moving portion in accordance with an operation command input with a palm or a finger and a second operation portion that is linked to the first operation portion and generates the moving command for driving the proximal-end-side moving portion in accordance with an operation command input with a wrist or an arm.
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公开(公告)号：US20170252116A1
公开(公告)日：2017-09-07
申请号：US15597341
申请日：2017-05-17
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Kosuke KISHI , Keigo TAKAHASHI
CPC classification number: A61B34/74 , A61B1/00149 , A61B34/30 , A61B34/70 , A61B34/77 , A61B2017/00367 , A61B2090/067 , B25J3/00 , B25J9/1674 , B25J9/1689 , G05B2219/45118 , G06F3/01
Abstract: A medical manipulator system including: a medical manipulator having a joint; an operating section having an operating system; and a control unit controlling the medical manipulator according to an operation applied to the operating section. The operating section includes a switch enters or releases a command. The control unit determines whether a deviation between the joint and the operating system exceeds a threshold while the command is entered, carries out a first motion for moving the joint by a displacement corresponding to the displacement of the operating system if the deviation is equal to or smaller than the threshold, carries out a second motion for approaching the joint to the operating system angle if the deviation exceeds the threshold, and stops the motion for approaching the joint to the operating system angle when the command is released when the deviation exceeds the threshold.
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公开(公告)号：US20160354170A1
公开(公告)日：2016-12-08
申请号：US15244228
申请日：2016-08-23
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Masaru YANAGIHARA , Kosuke KISHI
CPC classification number: A61B34/74 , A61B34/30 , A61B34/70 , A61B90/98 , A61B2017/00212 , A61B2034/301 , A61B2090/0803 , A61B2090/0805 , A61B2090/0806
Abstract: Provided is a surgical manipulator system including: a manipulator provided with a treatment tool having at least one joint and a drive portion that is attached to the treatment tool to drive the treatment tool; a manipulation input portion with which manipulation for causing, by driving the drive portion, the treatment tool to perform a desired operation is input; and a control portion that controls the drive portion on the basis of the manipulation that has been input via the manipulation input portion, wherein the treatment tool is provided with an identification-information retaining portion that retains identification information of the treatment tool, the manipulation input portion is provided with a manipulation-side reading portion that performs short-distance communication with the identification-information retaining portion, thus reading the identification information of the treatment tool, and the control portion controls the drive portion based on the read identification information of the treatment tool.
Abstract translation: 提供了一种外科手术器械系统，包括：机械手，其设置有具有至少一个接头的治疗工具和附接到治疗工具以驱动治疗工具的驱动部分; 输入用于通过驱动驱动部分处理工具执行所需操作的操作的操作输入部分; 以及控制部，其基于经由所述操作输入部输入的操作来控制所述驱动部，其中，所述治疗工具设置有保持所述治疗工具的识别信息的识别信息保持部，所述操作输入 部分设置有与识别信息保持部分进行短距离通信的操纵侧读取部分，从而读取治疗工具的识别信息，并且控制部分基于读取的识别信息的识别信息来控制驱动部分 治疗工具。
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公开(公告)号：US20160193000A1
公开(公告)日：2016-07-07
申请号：US15070226
申请日：2016-03-15
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Kosuke KISHI
IPC: A61B34/00
CPC classification number: A61B34/70 , A61B1/0052 , A61B18/1492 , A61B34/30 , A61B34/74 , A61B34/77 , A61B2017/00212 , A61B2017/2927 , A61B2017/2929 , A61B2034/301 , A61B2034/742
Abstract: A method of controlling a manipulator system that includes a manipulator having an end effector and a joint portion and a manipulation input device for inputting a movement direction of the end effector by using a manipulation member, wherein the joint portion has a first joint being pivotable about a first axis parallel to an arrangement direction of the end effector and the joint portion and a second joint being pivotable about a second axis perpendicular to the first axis, in this order from a base side, the method including receiving the movement direction, rotating the first joint based on the movement direction, flexing the second joint based on the movement direction, and shifting from the rotating to the flexing in accordance with changes in the magnitude of a physical amount of manipulation applied to the manipulation member.
Abstract translation: 一种控制机械手系统的方法，所述机械手系统包括具有末端执行器和关节部分的操纵器和用于通过使用操纵构件输入末端执行器的移动方向的操纵输入装置，其中，所述关节部分具有可围绕 平行于端部执行器和关节部分的排列方向的第一轴线以及从基部侧依次绕与第一轴线垂直的第二轴线枢转的第二关节，所述方法包括接收移动方向， 基于移动方向的第一关节，基于运动方向挠曲第二关节，并且根据施加到操作构件的物理操作量的大小的变化从旋转移动到弯曲。
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Patent Agency Ranking
公开(公告)号：US20140114481A1
公开(公告)日：2014-04-24
申请号：US14146187
申请日：2014-01-02
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Kosuke KISHI
IPC: A61B19/00
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/37 , A61B2034/2055 , A61B2090/372
Abstract: A medical master slave manipulator system includes a master input device configured to send an operation command, a slave manipulator operated by the master input device, a control unit configured to transmit an operation signal to the slave manipulator based on the operation command, a display unit configured to display an image of an object, and an image selection device configured to select the image displayed on the display unit, wherein the control unit transforms the operation command associated with the image selected by the image selection device.
Abstract translation: 一种医疗主从动操纵器系统，包括配置为发送操作命令的主输入装置，由主输入装置操作的从动操纵器，配置为基于操作命令将操作信号发送到从动操纵器的控制单元，显示单元 被配置为显示对象的图像;以及图像选择装置，被配置为选择显示在显示单元上的图像，其中控制单元转换与由图像选择装置选择的图像相关联的操作命令。
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公开(公告)号：US20130063580A1
公开(公告)日：2013-03-14
申请号：US13669801
申请日：2012-11-06
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Kosuke KISHI
IPC: G09G3/00
CPC classification number: G09G3/001 , A61B1/00 , A61B34/20 , A61B34/30 , A61B34/74 , A61B2034/2048 , A61B2034/2055 , A61B2034/2057 , A61B2090/3612 , A61B2090/368 , A61B2090/502 , B25J9/1689 , B25J13/02 , G05B2219/35482 , G05B2219/45117 , G06F3/011 , G06F3/012
Abstract: With a simple configuration, a area in which an operating unit can move is prevented from being limited. Provided is an operation input device including a display; an operating unit that operates a display object displayed on the display; a head-mounted unit that is mounted on the head of an operator; relative position sensors that detect a relative position and a relative orientation of one of the head-mounted unit and the operating unit with respect to the other; and a control unit that actuates the display object displayed on the display on the basis of changes in the relative position and the relative orientation detected by the relative position sensors.
Abstract translation: 通过简单的配置，可以防止操作单元能够移动的区域被限制。 提供了包括显示器的操作输入装置; 操作显示器上显示的显示对象的操作单元; 安装在操作者的头部上的头戴装置; 相对位置传感器，其检测所述头戴式装置单元和所述操作单元之一相对于另一个的相对位置和相对定向; 以及控制单元，其基于相对位置传感器检测到的相对位置和相对方向的变化来致动显示在显示器上的显示对象。
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公开(公告)号：US20240321434A1
公开(公告)日：2024-09-26
申请号：US18612092
申请日：2024-03-21
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Hidetoshi NISHIMURA , Genri INAGAKI , Mariko OTAGIRI , Yuji SAKAMOTO , Nao INOUE , Shohei HEMMI
CPC classification number: G16H30/40 , G06T3/60 , G06T5/50 , G06T2207/10068 , G06T2207/10132 , G06T2207/20221
Abstract: An information processing system includes a processor including hardware. The processor acquires an endoscope image from an endoscope in which a papillary portion appears in the endoscope image, corrects the endoscope image based on correction information which is identified by an organ structure, and determines route information of a lumen based on the corrected endoscope image.
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公开(公告)号：US20180360551A1
公开(公告)日：2018-12-20
申请号：US16110586
申请日：2018-08-23
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Keigo TAKAHASHI , Kosuke KISHI
Abstract: A manipulator system includes: a manipulator including an elongated flexible section, a movable section provided at a distal end of the flexible section, and a driver that is provided at a proximal end of the flexible section and that drives the movable section; an insertion section having a channel into which the manipulator is inserted; an advancing/retreating section that advances/retreats the manipulator and that causes the movable section of the manipulator to protrude from, and to be withdrawn into, a distal end of the channel; a protrusion-state acknowledgement section that acknowledges a protrusion state in which an entirety of the movable section protrudes from the distal end of the channel; and a restricting section that, when the protrusion state is acknowledged with the protrusion-state acknowledgement section, restricts further retreating motion of the driver performed by the advancing/retreating section.
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20.发明申请公开(公告)号：US20160324589A1
公开(公告)日：2016-11-10
申请号：US15215701
申请日：2016-07-21
Applicant: OLYMPUS CORPORATION
Inventor： Ryohei OGAWA , Masaru YANAGIHARA , Kosuke KISHI
CPC classification number: A61B34/76 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B2017/00477 , A61B2017/2906 , A61B2034/301
Abstract: Provided is a surgical-manipulator manipulating device for manipulating a surgical manipulator including a treatment-tool distal-end portion having at least one electrically manipulated joint disposed at a distal end of an inserted portion of a flexible endoscope and a manual moving mechanism that moves the position of the treatment-tool distal-end portion, the surgical-manipulator manipulating device including a manual manipulating portion that manipulates a moving mechanism and an electric manipulating portion that manipulates the joint of the treatment-tool distal-end portion, wherein the manual manipulating portion includes a movable portion that moves the treatment-tool distal-end portion in accordance with the amount of displacement, and the electric manipulating portion includes manipulation input portions that drive the joint, and can be secured to the movable portion.
Abstract translation: 提供了一种用于操纵外科手术操纵装置的外科手术操纵装置，其包括具有设置在柔性内窥镜的插入部分的远端处的至少一个电操作关节的治疗工具远端部分和移动柔性内窥镜的手动移动机构 处理工具前端部的位置，外科手术操纵装置包括操作移动机构的手动操作部和操纵处理工具前端部的关节的电动操作部，其中，手动操纵 部分包括根据位移量移动治疗工具远端部分的可移动部分，并且电操作部分包括驱动关节的操作输入部分，并且可以固定到可动部分。
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