公开(公告)号：US20160030121A1

公开(公告)日：2016-02-04

申请号：US14821313

申请日：2015-08-07

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B34/71 ,  A61B34/74

Abstract: The invention provides an easy-to-manipulate manipulator comprising a manipulating part, a manual joint part that is driven directly by displacement of the manipulating part, a detection unit for detecting an amount of displacement of the manipulating part, a device that moves depending on the amount of displacement detected at the detection unit, an electric joint part that is driven by the device, and a selection portion for selectively determining whether the electric joint part is driven or not.

Abstract translation: 本发明提供了一种易于操作的操纵器，其包括操纵部件，通过操纵部件的位移直接驱动的手动接合部件，用于检测操纵部件的位移量的检测单元，根据 在检测单元处检测到的位移量，由该装置驱动的电接头部，以及用于选择性地确定电接头部是否被驱动的选择部。

公开(公告)号：US09244524B2

公开(公告)日：2016-01-26

申请号：US14169675

申请日：2014-01-31

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: G06F19/00 ,  G06F3/01 ,  A61B19/00 ,  B25J9/16 ,  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 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B46/23 ,  A61B2017/00119 ,  A61B2017/00477 ,  A61B2017/00482 ,  B25J9/1612 ,  B25J9/1689 ,  B25J13/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/30 ,  Y10T29/49826 ,  Y10T74/18056

Abstract: A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.

Abstract translation: 手术器械包括端部执行器，操纵单元，把手检测单元，驱动单元和控制单元。 当控制单元基于由抓取检测单元获取的信息确定末端执行器向目标施加作用力时，控制单元在第一方向上的第一可移动范围内设定预定范围的作用力增加区域 在第一可移动范围的剩余区域中设置中性区域，控制驱动单元，使得作用力相对于操作单元在作用力增加区域中的操纵量以恒定梯度增加 并且控制驱动单元，使得作用力保持恒定，而与中性区域中的操纵单元的操纵量无关。