公开(公告)号：US10582976B2

公开(公告)日：2020-03-10

申请号：US16055394

申请日：2018-08-06

Applicant: OLYMPUS CORPORATION

Inventor： Masaru Yanagihara ,  Kosuke Kishi

IPC: G06F19/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

Abstract: Provided is a manipulator system including: a driver provided at a proximal end of a flexible elongated guide member to drive a distal end of the elongated guide member, a slider that is fixed to the proximal end of the elongated guide member and that is movable with respect to the driver in a longitudinal direction of the elongated guide member, and a controller that is configured to control the driver so as to change a moving amount of the slider in accordance with a bending state of the elongated guide member.

公开(公告)号：US10575912B2

公开(公告)日：2020-03-03

申请号：US16220851

申请日：2018-12-14

Applicant: OLYMPUS CORPORATION

Inventor： Kosuke Kishi

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

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：US10342624B2

公开(公告)日：2019-07-09

申请号：US15657252

申请日：2017-07-24

Applicant: OLYMPUS CORPORATION

Inventor： Takami Shibazaki ,  Kosuke Kishi

IPC: G06F19/00 ,  A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  A61B34/30 ,  G16H40/67 ,  G16H20/40 ,  A61B17/00 ,  A61B90/90 ,  A61B90/00

Abstract: Provided is a medical manipulator system including: a manipulator including an end effector configured to treat a patient and a driver configured to drive the end effector; an operation input unit configured to generate an operation command for the manipulator; a storage configured to store a history information of each operator; and a controller comprising one or more processors, the one or more processors configured to: receive identification information of an operator by inputting of the operation input unit; get the history information of the operator from the storage based on the identification information; estimate a skill of the operator based on the history information; set a maximum operating speed of the manipulator and/or an operating range of the manipulator in proportion to the skill; qualify the operation command based on the maximum operating speed and/or the operating range; and control the driver based on the qualified operation command.

公开(公告)号：US10335243B2

公开(公告)日：2019-07-02

申请号：US15804025

申请日：2017-11-06

Applicant: OLYMPUS CORPORATION

Inventor： Masaru Yanagihara ,  Kosuke Kishi

IPC: B32B3/24 ,  A61B46/10 ,  A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/29 ,  B25J3/00 ,  B25J13/02 ,  A61B18/14 ,  A61B90/50 ,  A61B17/00 ,  A61B17/34 ,  A61B34/30 ,  A61M25/00 ,  A61L2/20 ,  B32B3/26 ,  A61B18/00 ,  A61M39/08

Abstract: To keep a clean area separated from an unclean area, a drape unit for separating the manipulator that has a treatment section at a distal end of an elongated section and that has at a proximal end a proximal-end drive unit from the base including, on a substantially horizontal top surface, a drive source to which the proximal-end drive unit is detachably connected, the drape unit includes: a drape main body that has an opening from which the drive source is exposed; and an adaptor that is interposed between the drive source and the proximal-end drive unit, that is disposed with a gap vertically above the opening, and that covers the entire opening, the adaptor includes a force transmission unit for transmitting the driving force from the drive source to the proximal-end drive unit.

公开(公告)号：US10321965B2

公开(公告)日：2019-06-18

申请号：US15597341

申请日：2017-05-17

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi ,  Keigo Takahashi

IPC: A61B34/00 ,  B25J3/00 ,  G06F3/01 ,  B25J9/16 ,  A61B34/30 ,  A61B1/00 ,  A61B17/00 ,  A61B90/00

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.

公开(公告)号：US10307212B2

公开(公告)日：2019-06-04

申请号：US14721447

申请日：2015-05-26

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: A61B1/00 ,  A61B1/31 ,  A61B1/018 ,  A61B18/14 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: A medical manipulator includes: an insertion section having a main movable section and a distal end rigid section; a manipulator at which a treatment section is provided; an auxiliary movable section configured to move the treatment section; an imaging section configured to acquire an image in a field-of-vision range; a manipulation unit configured to output an instruction that specifies a position to which the treatment section is moved; a display configured to display the image; a determination unit configured to determine whether a condition is a partial movement condition or an entire movement condition when the determination unit receives the instruction; and a driving unit configured to drive the auxiliary movable section, the main movable section, and the imaging section based on determination of the determination unit.

公开(公告)号：US10213263B2

公开(公告)日：2019-02-26

申请号：US15180139

申请日：2016-06-13

Applicant: OLYMPUS CORPORATION

Inventor： Ryoji Hyodo ,  Kosuke Kishi ,  Noriaki Yamanaka

IPC: A61B34/00 ,  A61B34/30

Abstract: A flexible-manipulator guide member is provided in an inserted portion of a flexible manipulator including the elongated flexible inserted portion, the movable portion disposed at the distal end of the inserted portion, a drive portion disposed at the base end of the inserted portion, and the elongated driving-force transmitting member that transmits motive power of the drive portion to the movable portion, and is provided with a lumen through which the driving-force transmitting member passes in the longitudinal direction, wherein the lumen has a twisted shape about the longitudinal axis of the inserted portion.

公开(公告)号：US10143453B2

公开(公告)日：2018-12-04

申请号：US14607322

申请日：2015-01-28

Applicant: OLYMPUS CORPORATION

Inventor： Ryoji Hyodo ,  Kosuke Kishi

IPC: A61B17/00 ,  A61B34/37 ,  A61B17/29 ,  A61B34/30

Abstract: In a surgical tool, the treatment tool piece operating joint includes a first operating rotation member which is coupled to the moving member and is rotated around a predetermined rotation center; a second operating rotation member which is coupled to the first operating rotation member so as to relatively rotate around a rotation center coaxial with the second bending rotary shaft in a rotation direction opposite to a rotation direction of the first operating rotation member or around a rotation center that is a position closer to the first bending rotary shaft than the second bending rotary shaft in a rotation direction opposite to a rotation direction of the first operating rotation member; and a link which converts a rotational force of the second operating rotation member into the operation of the treatment tool piece.

公开(公告)号：US10117716B2

公开(公告)日：2018-11-06

申请号：US15375374

申请日：2016-12-12

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: A61B17/00 ,  A61B46/10 ,  A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/29 ,  B25J3/00 ,  B25J13/02 ,  A61B18/14 ,  A61B90/50 ,  A61B17/34 ,  A61B34/30 ,  B32B3/26 ,  A61B18/00

Abstract: A medical manipulator system including: a manipulator provided with an elongated portion, a movable portion which has one or more joints, and a driving portion which is disposed at a proximal end of the elongated portion and which drives the movable portion; a medical device having a channel that can accommodate at least a portion of the elongated portion and the movable portion; a manipulation input portion that generates an operation instruction for moving the manipulator between a treatment state in which the movable portion protrudes from a distal end of the channel and an accommodated state in which the movable portion is accommodated in the channel in accordance with a manipulation instruction input; and a notifying portion that notifies a situation in which the manipulator is shifting from the treatment state to the accommodated state.

公开(公告)号：US10085813B2

公开(公告)日：2018-10-02

申请号：US15002515

申请日：2016-01-21

Applicant: OLYMPUS CORPORATION

Inventor： Kosuke Kishi ,  Shingo Nakayama

IPC: A61B34/00 ,  A61B1/008 ,  A61B1/005

Abstract: Provided is a manipulator including a distal-end joint group and a proximal-end joint group that are arranged adjacent to each other in a distal-end section of an insertion part in a longitudinal axis direction and that are configured to bend the distal-end section. The proximal-end joint group includes a plurality of proximal-end bending joints bendable about axes that are lined-up side-by-side to bend the distal-end section through 180° or more. The distal-end joint group includes first distal-end bending joints disposed on a distal side of the proximal-end joint group and bendable about axes crossing a plane including the axes of the proximal-end bending joints and the longitudinal axis; and a second distal-end bending joint disposed in the longitudinal axis direction relative to the axes of the first distal-end bending joints and bendable about an axis that is lined-up side-by-side with the axes of the proximal-end bending joints.