-
公开(公告)号：US09050727B2
公开(公告)日：2015-06-09
申请号：US13306154
申请日：2011-11-29
申请人： Kosuke Kishi
发明人： Kosuke Kishi
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B2090/0811 , A61B2560/0487 , B25J3/04 , B25J13/02
摘要： A master operation input device operates a slave manipulator provided with joints adapted to multiple degrees of freedom. The master operation input device includes a grip portion and a first operation portion. The grip portion is variable in position and orientation while being gripped by an operator. The grip portion is configured to give command values regarding the position and orientation of a distal end of the slave manipulator in accordance with the variation in position and orientation. The distal end is the farthest end when the slave manipulator is viewed from a fixed end thereof. The first operation portion is located to be operable by a fingertip of the operator when the grip portion is gripped. The first operation portion is operable independently of the grip portion.
摘要翻译： 主操作输入装置操作设置有适于多个自由度的关节的从动操纵器。 主操作输入装置包括握持部和第一操作部。 抓握部分在被操作者抓住的同时位置和方向是可变的。 把手部分被配置为根据位置和方向的变化来给出关于从操纵器的远端的位置和方向的命令值。 当从其固定端观察从操纵器时，远端是最远端。 第一操作部分被定位成当抓握部分被抓握时由操作者的指尖操作。 第一操作部分可独立于把手部分操作。
-
公开(公告)号：US08758327B2
公开(公告)日：2014-06-24
申请号：US12141199
申请日：2008-06-18
申请人： Teppei Tsujita , Kosuke Kishi , Makoto Hashizume
发明人： Teppei Tsujita , Kosuke Kishi , Makoto Hashizume
IPC分类号： A61M25/082 , A61M25/08
摘要： The invention provides a manipulator which can carry out a treatment having a large moving amount in a manipulator leading end while being compact. The manipulator is provided with a manipulator shaft portion, a first rod supported so as to be capable of linearly moving with respect to the manipulator shaft portion and driven by a driving force of a driving source, a first gear rotatably supported to the first rod, a first rack supported to the manipulator shaft portion, a second rack supported so as to be capable of linearly moving in the same direction as the first rod with respect to the manipulator shaft portion, and a end-effecter driven by the driving force of the second rack. The first rack and the second rack are arranged in such a manner that respective cogged surfaces come face to face. The first gear is pinched between the first rack and the second rack, and is arranged in an engaged state.
摘要翻译： 本发明提供一种能够在紧凑的情况下在机械手前端进行移动量大的处理的机械手。 操纵器设置有操纵器轴部，第一杆被支撑成能够相对于操纵器轴部线性地移动并且由驱动源的驱动力驱动，可旋转地支撑在第一杆上的第一齿轮， 支撑在所述操纵器轴部的第一齿条，被支撑成能够相对于所述机械手轴部在与所述第一杆相同的方向上线性移动的第二齿条，以及由所述第二杆驱动的所述驱动力的终端执行器 第二个机架。 第一齿条和第二齿条被布置成使得相应的齿形表面面对面地布置。 第一齿轮被夹在第一齿条和第二齿条之间，并且布置成接合状态。
-
公开(公告)号：US20120143353A1
公开(公告)日：2012-06-07
申请号：US13306154
申请日：2011-11-29
申请人： Kosuke KISHI
发明人： Kosuke KISHI
IPC分类号： G05B19/18
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B2090/0811 , A61B2560/0487 , B25J3/04 , B25J13/02
摘要： A master operation input device operates a slave manipulator provided with joints adapted to multiple degrees of freedom. The master operation input device includes a grip portion and a first operation portion. The grip portion is variable in position and orientation while being gripped by an operator. The grip portion is configured to give command values regarding the position and orientation of a distal end of the slave manipulator in accordance with the variation in position and orientation. The distal end is the farthest end when the slave manipulator is viewed from a fixed end thereof. The first operation portion is located to be operable by a fingertip of the operator when the grip portion is gripped. The first operation portion is operable independently of the grip portion.
摘要翻译： 主操作输入装置操作设置有适于多个自由度的关节的从动操纵器。 主操作输入装置包括握持部和第一操作部。 抓握部分在被操作者抓住的同时位置和方向是可变的。 把手部分被配置为根据位置和方向的变化来给出关于从操纵器的远端的位置和方向的命令值。 当从其固定端观察从操纵器时，远端是最远端。 第一操作部分被定位成当抓握部分被抓握时由操作者的指尖操作。 第一操作部分可独立于把手部分操作。
-
公开(公告)号：US20120059519A1
公开(公告)日：2012-03-08
申请号：US13074667
申请日：2011-03-29
申请人： Kosuke KISHI
发明人： Kosuke KISHI
IPC分类号： B25J13/06
CPC分类号： B25J13/02 , A61B34/30 , A61B34/37 , A61B34/74 , A61B2034/2048 , A61B2034/742 , B25J3/04 , B25J9/1689
摘要： A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.
摘要翻译： 主从操纵器包括远程操纵装置，从动操纵器和控制单元。 作为主机的远程操作装置给出对应于多个自由度的操作命令。 从动操纵器包括对应于自由度的多个关节。 从动操纵器包括接头之间的冗余接头。 控制单元根据操作命令控制接头的操作。 控制单元按照规定的时间间隔，根据操作指令来计算远程操作装置的方位变化，并根据取向变化来选择并驱动关节之间的冗余关系中的一个关节。
-
公开(公告)号：US20110234484A1
公开(公告)日：2011-09-29
申请号：US12943456
申请日：2010-11-10
申请人： Ryohei OGAWA , Kosuke KISHI
发明人： Ryohei OGAWA , Kosuke KISHI
IPC分类号： G09G5/00
CPC分类号： A61B1/00131 , A61B1/00039
摘要： Unintended motion of a displayed object is prevented by rapidly detecting a state in which an operator becomes unable to operate an operating unit. Provided is an operation input unit including a display; a head-mounted unit; an operating unit to which an operating signal for a displayed object displayed on the display is input; a relative-position detecting section that detects the relative position between the head-mounted unit and the operating unit; and a control unit that controls the displayed object by switching between a first control mode in which the motion of the displayed object is controlled in accordance with an operating signal input to the operating unit and a second control mode in which the motion of the displayed object is controlled by limiting an operating signal input to the operating unit on the basis of the relative position detected by the relative-position detecting section.
摘要翻译： 通过快速检测操作者不能操作操作单元的状态来防止显示对象的非预期动作。 提供了包括显示器的操作输入单元; 头戴式装置; 输入显示在显示器上的显示对象的操作信号的操作单元; 相对位置检测部，其检测头戴装置与操作单元之间的相对位置; 以及控制单元，其通过根据输入到操作单元的操作信号来控制显示对象的运动的第一控制模式和所显示的对象的运动的第二控制模式之间切换来控制所显示的对象 基于由相对位置检测部检测到的相对位置来限制输入到操作单元的操作信号。
-
公开(公告)号：US08002694B2
公开(公告)日：2011-08-23
申请号：US12019668
申请日：2008-01-25
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： A61B17/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.
摘要翻译： 在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。 主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间切换的模式切换装置，其中操作命令从从操纵器向 切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令 设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。
-
公开(公告)号：US20080234866A1
公开(公告)日：2008-09-25
申请号：US12019668
申请日：2008-01-25
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： G05B19/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.
摘要翻译： 在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。 主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间进行切换的模式切换装置，其中操作命令从从操纵器向 切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令 设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。
-
公开(公告)号：US07101363B2
公开(公告)日：2006-09-05
申请号：US10675985
申请日：2003-10-02
申请人： Kouji Nishizawa , Fujio Tajima , Kosuke Kishi
发明人： Kouji Nishizawa , Fujio Tajima , Kosuke Kishi
CPC分类号： A61B17/062 , A61B34/70 , A61B34/71 , A61B2017/2927 , A61B2017/2939 , A61B2090/064
摘要： A manipulator for medical use having a reduced size and improved controllability. The manipulator includes a surgical tool portion, a grip portion provided on the surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion. The surgical tool can be separated from, and connected to, the driver portion. The surgical tool portion has two rotating members disposed in opposing relation to each other. A driving arrangement is provided for driving one of the rotating members and causing it to revolute the other rotating member, but not rotate by itself. An arrangement is also provided for keeping a distance between rotation centers of the two rotating members constant.
摘要翻译： 用于医疗用途的操纵器具有减小的尺寸和改善的可控性。 机械手包括手术工具部分，设置在手术工具部分上的把手部分和用于驱动设置在外科手术工具部分上的把手部分的驱动器部分。 手术工具的连接部分设置在手术工具部分和驱动器部分之间。 手术工具可以与驱动器部分分离并连接到驱动器部分。 手术工具部分具有彼此相对设置的两个旋转部件。 提供驱动装置，用于驱动旋转构件之一并使其旋转另一个旋转构件，但不会自身旋转。 还提供了用于保持两个旋转构件的旋转中心之间的距离恒定的布置。
-
公开(公告)号：US20060155262A1
公开(公告)日：2006-07-13
申请号：US11214877
申请日：2005-08-31
申请人： Kosuke Kishi , Kazuhiro Umekita , Kazutoshi Kan
发明人： Kosuke Kishi , Kazuhiro Umekita , Kazutoshi Kan
IPC分类号： A61B17/00
摘要： A top end portion of a medical manipulator has a surgical device accessible to a diseased area of a patient. In the manipulator, a pair of rolling members opposing to each other is provided. One of the pair of the rolling members is rolled by a flexible wire relative to the other rolling members. A plate maintains a distance between rotation centers of the pair of the rolling members constant. A pair of gears are held coaxially with the pair of the rolling members respectively, and engaged with each other. A link rotates the gear on an opposite side to a surgical device.
摘要翻译： 医疗操纵器的顶端部分具有可接近患者的病变区域的手术装置。 在机械手中设置有一对彼此相对的滚动部件。 一对滚动部件中的一个相对于其它滚动部件通过柔性线卷绕。 板保持一对滚动构件的旋转中心之间的距离恒定。 一对齿轮分别与一对滚动部件同轴地保持并彼此接合。 一个连杆将齿轮在与手术装置相反的一侧旋转。
-
公开(公告)号：US09632573B2
公开(公告)日：2017-04-25
申请号：US13566012
申请日：2012-08-03
申请人： Ryohei Ogawa , Kosuke Kishi
发明人： Ryohei Ogawa , Kosuke Kishi
IPC分类号： G06F3/01 , A61B17/29 , A61B17/32 , A61B18/14 , B25J13/02 , A61B90/50 , A61B34/30 , A61B46/10 , A61B34/37 , A61B17/068 , A61B17/00 , A61B46/23 , A61B34/20 , A61B90/00 , A61B34/00 , A61B90/90
CPC分类号： G06F3/01 , A61B17/068 , A61B17/29 , A61B17/32002 , A61B18/1402 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B46/10 , A61B46/23 , A61B90/50 , A61B90/90 , A61B2017/00119 , A61B2017/00477 , A61B2017/00482 , A61B2034/2055 , A61B2034/2065 , A61B2090/065 , A61B2090/067 , A61B2090/0803 , A61B2090/0813 , A61B2090/0814 , A61B2090/364 , A61B2090/3937 , B25J13/02 , Y10S901/08 , Y10S901/09 , Y10S901/30 , Y10T29/49826 , Y10T74/18056
摘要： In a medical manipulator configured to have a manipulation unit including a first input unit and a second input unit that are exchangeable, a signal generation unit configured to process an input with respect to the manipulation unit based on a predetermined process condition and to generate a manipulation signal, an operating unit configured to be operated by the manipulation signal, and a detection unit configured to recognize a type of a used input unit, the process condition corresponded to the first input unit and the process condition corresponded to the second input unit differ, and the signal generation unit generates the manipulation signal based on the process condition corresponded to the input unit recognized by the detection unit.
-
-
-
-
-
-
-
-
-
搜索结果
26 条记录 (耗时 0.019 秒)