公开(公告)号：US5624380A

公开(公告)日：1997-04-29

申请号：US396347

申请日：1995-02-28

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

IPC分类号： A61B1/005 ,  A61B1/008

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.

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。

公开(公告)号：US08517925B2

公开(公告)日：2013-08-27

申请号：US12962708

申请日：2010-12-08

申请人： Toshimasa Kawai

发明人： Toshimasa Kawai

IPC分类号： A61B1/00

CPC分类号： A61B1/0052 ,  A61B1/0016 ,  G02B23/2476 ,  G05B13/044

摘要： In a medical control system, when motors are in a stopped state according to the determination based on an amount of change in an instruction value, the disturbance characteristics is set at high sensitivity in order to keep the detection capability of a disturbance observer section in an enhanced state during a period to the drive start time of the motors, and when the motors are brought into an operating state, a gain of a controller is returned to a normal setting value to maintain the excellent follow-up characteristics.

摘要翻译： 在医疗控制系统中，根据基于指示值的变化量的判定，当电动机处于停止状态时，将干扰特性设定为高灵敏度，以将干扰观察者部的检测能力保持在 在电动机的驱动开始时间期间的增强状态，并且当电动机进入运行状态时，控制器的增益返回到正常设定值以保持优异的跟随特性。

公开(公告)号：US20080221592A1

公开(公告)日：2008-09-11

申请号：US12019375

申请日：2008-01-24

申请人： Toshimasa Kawai

发明人： Toshimasa Kawai

IPC分类号： A61B19/00

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 F/B 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。 基于所提供的远端命令值信息和位置F / B信息，点锁计算部分通过远端链接根坐标位置计算部分和逆运动学计算部分进行计算处理，以获得用于 前端侧连杆部件和除了连杆部件以外的连杆部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。