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    Medical manipulator
    1.
    发明授权
    Medical manipulator 有权
    医疗机械手

    公开(公告)号：US08154239B2

    公开(公告)日：2012-04-10

    申请号：US12570403

    申请日：2009-09-30

    申请人： Ryohei Katsuki ,  Hiroaki Sano

    发明人： Ryohei Katsuki ,  Hiroaki Sano

    IPC分类号： A61B17/28

    CPC分类号： G05B23/0256 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/067

    摘要： A medical manipulator includes an actuator block having a motor, a coupler detachably mounted on the actuator block and having a rotor connected to a rotatable shaft of the motor, a distal-end working unit mounted on a distal end of a joint shaft, which extends from the coupler and is operatively connected to the rotor by a wire, an encoder for detecting an angular displacement of the motor, and a controller for reading a signal from the encoder and comparing the read signal with an operation command value for energizing the motor through a feedback loop. The controller outputs a signal having a level greater than the resolution of the encoder and a lower operation limit of the motor within a range in which the distal-end working unit remains still, and monitors the angular displacement of the motor for thereby determining whether the feedback loop is malfunctioning or not.

    摘要翻译： 医疗机械手包括具有马达的致动器块，可拆卸地安装在致动器块上并且具有连接到马达的可旋转轴的转子的联接器，安装在关节轴的远端上的远端工作单元，其延伸 并且通过线可操作地连接到转子，用于检测电动机的角位移的编码器，以及用于从编码器读取信号的控制器，并将读取的信号与用于为电动机通电的操作命令值进行比较 一个反馈回路。 控制器输出具有大于编码器的分辨率的电平的信号，并且在远端工作单元保持静止的范围内电动机的下限操作限制，并且监视电动机的角位移，从而确定是否 反馈回路故障。

    MANIPULATOR SYSTEM AND METHOD OF CONTROLLING MANIPULATOR
    2.
    发明申请
    MANIPULATOR SYSTEM AND METHOD OF CONTROLLING MANIPULATOR 审中-公开
    操纵器系统及其控制方法

    公开(公告)号：US20090163948A1

    公开(公告)日：2009-06-25

    申请号：US12340818

    申请日：2008-12-22

    申请人： Takamitsu Sunaoshi ,  Makoto Jinno ,  Ryohei Katsuki

    发明人： Takamitsu Sunaoshi ,  Makoto Jinno ,  Ryohei Katsuki

    IPC分类号： A61B17/29

    CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2034/742

    摘要： A medical manipulator system includes a manipulator including a working unit having a distal-end working unit, the attitude of which can be changed by a motor, and a controller for controlling the manipulator. When the controller performs an origin return process for moving a gripper of the distal-end working unit to an origin position at an end of an operating range thereof, the controller issues a first control target value to the motor indicative of a virtual position beyond the origin. Thereafter, the controller issues a second control target value to the motor indicative of the origin. The first control target value represents a position, which is over from the origin P0 by a distance greater than a value corresponding to an error ε between a control target position for the gripper and the actual position thereof.

    摘要翻译： 医疗机械手系统包括操纵器，其包括具有远端工作单元的作业单元，其姿态可以由马达改变，以及用于控制操纵器的控制器。 当控制器执行用于将远端工作单元的夹持器移动到其工作范围的结束处的原点位置的原点返回处理时，控制器向指示虚拟位置的电动机发出第一控制目标值， 起源。 此后，控制器向指示原点的电动机发出第二控制目标值。 第一控制目标值表示从原点P0超过对应于用于夹持器的控制目标位置与其实际位置之间的误差ε的值的距离的位置。

    MEDICAL MANIPULATOR SYSTEM
    5.
    发明申请
    MEDICAL MANIPULATOR SYSTEM 审中-公开
    医疗操纵系统

    公开(公告)号：US20110218677A1

    公开(公告)日：2011-09-08

    申请号：US13037677

    申请日：2011-03-01

    申请人： Makoto JINNO ,  Ryohei Katsuki

    发明人： Makoto JINNO ,  Ryohei Katsuki

    IPC分类号： B25J13/00

    CPC分类号： B25J13/00

    摘要： A medical manipulator system includes a manipulator including a working unit having a distal end at which an end effector for carrying out working is provided and an operating unit including an operating input unit for being operated for an input and a driving source for operating in response to contents of an operation of the operating input unit to drive the end effector, the working unit being removably attached to the operating unit. A controller to which the operating unit can be connected controls at least the driving source. A use history retaining unit is adapted to retain use history data for each working unit.

    摘要翻译： 医疗机械手系统包括操纵器，其包括具有远端的工作单元，在该远端处提供用于进行工作的端部执行器，以及操作单元，其包括用于输入的操作输入单元和用于响应于 所述操作输入单元的操作的内容以驱动所述末端执行器，所述工作单元可移除地附接到所述操作单元。 可以连接操作单元的控制器至少控制驱动源。 使用历史保留单元适于保留每个工作单元的使用历史数据。

    MEDICAL MANIPULATOR
    6.
    发明申请
    MEDICAL MANIPULATOR 有权
    医疗机器人

    公开(公告)号：US20100079099A1

    公开(公告)日：2010-04-01

    申请号：US12570403

    申请日：2009-09-30

    申请人： Ryohei KATSUKI ,  Hiroaki SANO

    发明人： Ryohei KATSUKI ,  Hiroaki SANO

    IPC分类号： G05B23/02 ,  G06F19/00

    CPC分类号： G05B23/0256 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/067

    摘要： A medical manipulator includes an actuator block having a motor, a coupler detachably mounted on the actuator block and having a rotor connected to a rotatable shaft of the motor, a distal-end working unit mounted on a distal end of a joint shaft, which extends from the coupler and is operatively connected to the rotor by a wire, an encoder for detecting an angular displacement of the motor, and a controller for reading a signal from the encoder and comparing the read signal with an operation command value for energizing the motor through a feedback loop. The controller outputs a signal having a level greater than the resolution of the encoder and a lower operation limit of the motor within a range in which the distal-end working unit remains still, and monitors the angular displacement of the motor for thereby determining whether the feedback loop is malfunctioning or not.

    摘要翻译： 医疗机械手包括具有马达的致动器块，可拆卸地安装在致动器块上并且具有连接到马达的可旋转轴的转子的联接器，安装在关节轴的远端上的远端工作单元，其延伸 并且通过线可操作地连接到转子，用于检测电动机的角位移的编码器，以及用于从编码器读取信号的控制器，并将读取的信号与用于为电动机通电的操作命令值进行比较 一个反馈回路。 控制器输出具有大于编码器的分辨率的电平的信号，并且在远端工作单元保持静止的范围内电动机的下限操作限制，并且监视电动机的角位移，从而确定是否 反馈回路故障。