公开(公告)号：US10398515B2

公开(公告)日：2019-09-03

申请号：US15134629

申请日：2016-04-21

Applicant: OLYMPUS CORPORATION

Inventor： Noriaki Yamanaka ,  Kosuke Kishi

IPC: A61B1/00 ,  A61B1/05 ,  A61B1/06 ,  A61B1/018 ,  A61B34/20 ,  A61B34/00 ,  A61B34/30 ,  A61B90/13 ,  B25J9/16 ,  A61B17/00

Abstract: A medical manipulator includes an insertion portion, an arm portion, a light irradiation section irradiating a luminous flux having an optical axis parallel to an arm axial line, an imaging section imaging a locus of an optical image, a rotational movement portion rotating the arm portion around a reference axial line, and an initialization control unit performing initialization control to aligning the arm portion with the reference axial line, in which the initialization control unit includes: a locus acquisition control section controlling the light irradiation section, the rotational movement portion, and the imaging section to acquire a locus of the luminous flux, a convergence determination section computing a diameter of the locus and determines whether or not the diameter of the locus has converged, a driving amount correction section obtaining a driving amount of the first redundant joint and performs driving, and a convergence operation control section.

公开(公告)号：US10188473B2

公开(公告)日：2019-01-29

申请号：US15235179

申请日：2016-08-12

Applicant: OLYMPUS CORPORATION

Inventor： Kosuke Kishi

IPC: B25J9/10 ,  F16H3/20 ,  F16H7/08 ,  A61B34/00 ,  F16H3/30 ,  F16H9/10 ,  A61B1/00 ,  A61B34/30 ,  A61B1/005 ,  F16H19/00

Abstract: Provided is a wire driving device including: wires one ends of which are attached to a movable member; pulleys to which the other ends of the individual wires are secured; driven gears that are coaxially secured to the individual pulleys; a drive gear that is connected to a driving source; and movable gears that are disposed between the drive gear and the individual driven gears and that can transmit the motive power of the driving source to the driven gears from the drive gear. The movable gears are provided in a movable manner so that the movable gears engage with the drive gear and the driven gears when the drive gear is rotated in a direction, and so that the engagements of the movable gears with at least one of the drive gear and the driven gears are released when the drive gear is rotated in the other direction.

公开(公告)号：US10098706B2

公开(公告)日：2018-10-16

申请号：US15636067

申请日：2017-06-28

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: A61B34/00 ,  A61B34/30 ,  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.

公开(公告)号：US09737996B2

公开(公告)日：2017-08-22

申请号：US14565863

申请日：2014-12-10

Applicant: OLYMPUS CORPORATION

Inventor： Kosuke Kishi

IPC: B25J19/00 ,  B25J13/02 ,  B25J3/04 ,  G05G5/02 ,  G05G23/02 ,  G05G9/047 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/50

CPC classification number: B25J19/002 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2090/5025 ,  A61B2090/504 ,  B25J3/04 ,  B25J13/02 ,  G05G5/02 ,  G05G9/04737 ,  G05G23/02 ,  Y10T74/20396

Abstract: When the mass of the first moving body is defined as M1, the mass of the second moving body is defined as M2, the distance between a first intersection point of a perpendicular line from a rotation center of the rotation axis to the first moving body and a first gravity center of the first moving body when the distance between the first intersection point and the first gravity center in the first moving body is the shortest is defined as L1, and the distance between a second intersection point of a perpendicular line from the rotation center of the rotation axis to the second moving body and a second gravity center of the second moving body when the distance between the second intersection point and the second gravity center in the second moving body is the shortest is defined as L2, M2=(L1/L2)×M1 is satisfied.

公开(公告)号：US09480536B2

公开(公告)日：2016-11-01

申请号：US14569871

申请日：2014-12-15

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: A61B17/94 ,  B25J9/16 ,  B25J3/00 ,  A61B19/00

CPC classification number: A61B90/50 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/061 ,  A61B2090/067 ,  F04C2270/0421

Abstract: A surgery assistance device includes an operation input section, a motion section which is formed with a channel into which a surgical instrument is insertable and is capable of moving through the channel, a movement amount detection means detecting a treatment section movement amount, a motion section information calculation means calculating motion section information, and a motion control unit controlling motion in the motion section based on a manipulation order.

Abstract translation: 手术辅助装置包括操作输入部，形成有能够插入手术器械并能够移动通过所述通道的通道的运动部，检测治疗部移动量的移动量检测单元，运动部 信息计算装置计算运动部分信息，以及运动控制单元，其基于操作顺序控制运动部分中的运动。

公开(公告)号：US09326824B2

公开(公告)日：2016-05-03

申请号：US14256056

申请日：2014-04-18

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B2034/2059 ,  A61B2090/061 ,  A61B2090/065 ,  A61B2090/0809 ,  A61B2090/0812 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45117

Abstract: A surgical support device includes: a driving member which is moved to transmit a driving force to a target; a first position detection unit and a second position detection unit configured to detect a first and a second moving amounts of the driving member; a difference calculation portion configured to detect a difference in length between the first moving amount and the second moving amount, an operating force computing portion configured to compute a magnitude of a force transmitted to the target from the driving member based on the difference in length; and a breakdown detection portion configured to detect at least one of the first position detection unit and the second position detection unit which has broken down, by use of the first moving amount and the second moving amount.

Abstract translation: 外科支撑装置包括：驱动构件，其被移动以将驱动力传递到目标; 第一位置检测单元和第二位置检测单元，被配置为检测所述驱动构件的第一和第二移动量; 差分计算部，被配置为检测所述第一移动量和所述第二移动量之间的长度差;操作力计算部，被配置为基于所述长度来计算从所述驱动构件传递到所述目标的力的大小; 以及故障检测部，被配置为通过使用第一移动量和第二移动量来检测已经分解的第一位置检测单元和第二位置检测单元中的至少一个。

公开(公告)号：US09259283B2

公开(公告)日：2016-02-16

申请号：US14146187

申请日：2014-01-02

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: G05B19/18 ,  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。

公开(公告)号：US09213402B2

公开(公告)日：2015-12-15

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

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.

公开(公告)号：US09204934B2

公开(公告)日：2015-12-08

申请号：US14147762

申请日：2014-01-06

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: G05B19/18 ,  A61B19/00 ,  B25J3/04 ,  B25J9/16 ,  B25J3/00

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。

公开(公告)号：US11051896B2

公开(公告)日：2021-07-06

申请号：US15657271

申请日：2017-07-24

Applicant: OLYMPUS CORPORATION

Inventor： Ryoji Hyodo ,  Kosuke Kishi

IPC: A61B34/30 ,  A61B34/00 ,  B25J18/06

Abstract: For bending a manipulator without excessive increase in a tensile force acting on a driving power transmitting member, a manipulator is provided with: an end effector; a driving unit; a guide member to which the end effector is attached at one end thereof and the driving unit is attached at the other end thereof; and a driving power transmitting members that transmit the driving power from the driving unit to the end effector, wherein the guide member includes a guide tube that has lumens, and an outer sheath that has a greater rigidity than the guide tube and that covers an outer circumference of the guide tube, and one end of the outer sheath is movable in a longitudinal direction with respect to the end effector or the driving unit.