公开(公告)号：US09554827B2

公开(公告)日：2017-01-31

申请号：US12819522

申请日：2010-06-21

申请人： Shigeru Omori

发明人： Shigeru Omori

IPC分类号： A61B19/00 ,  A61B17/42 ,  A61B17/00

CPC分类号： A61B17/4241 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2017/00464 ,  A61B2034/742

摘要： Provided is a medical robot system which includes a medical manipulator capable of handling organs such as a uterine of different shapes and sizes. The medical robot system includes a robot arm, a medical manipulator which is detachably provided in the robot arm and supports an organ to a predetermined position, and a controller unit operable by an operator to control the robot arm and the medical manipulator. The medical manipulator also includes a first arm portion in a base side thereof, a second arm portion in a front side thereof for supporting the organ, and a connection portion connecting the first arm portion with the second arm portion. The control unit adjusts a relative direction of the second arm portion and the first arm portion and a length of the second arm portion in a telescopic manner thereby being suitable for organs of various shapes and sizes.

摘要翻译： 提供了一种医疗机器人系统，其包括能够处理诸如不同形状和尺寸的子宫的器官的医疗操纵器。 医疗机器人系统包括机器人手臂，可拆卸地设置在机器人臂中并将器官支撑在预定位置的医疗操纵器，以及由操作者操作以控制机器人手臂和医疗操纵器的控制器单元。 医疗机械手还包括其基部侧的第一臂部，其前侧的用于支撑器官的第二臂部，以及将第一臂部与第二臂部连接的连接部。 控制单元以伸缩方式调节第二臂部分和第一臂部分的相对方向和第二臂部分的长度，从而适合于各种形状和尺寸的器官。

公开(公告)号：US08157793B2

公开(公告)日：2012-04-17

申请号：US11874522

申请日：2007-10-18

申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

IPC分类号： A61B17/00

CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00017 ,  A61B2017/00199 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2034/742 ,  A61B2090/0811

摘要： In a manipulator, an actuator block contains motors and rotary shafts extending from the motors. A working unit of the manipulator contains a connecting portion, attachable to and detachable from the actuator block. The connecting portion has pulleys connectable to ends of the rotary shafts, and has a locking plate movable by alignment pins. The locking plate has slits, which are engaged with plate-shaped portions formed on the upper ends of the pulleys. A coil spring is placed between the locking plate and a top plate.

摘要翻译： 在机械手中，执行器块包含电动机和从电动机延伸的旋转轴。 操纵器的工作单元包含连接部分，该连接部分可附接到致动器块和从致动器块拆卸。 连接部具有可连接到旋转轴的端部的滑轮，并且具有可通过对准销移动的锁定板。 锁定板具有狭缝，其与形成在滑轮的上端的板状部分接合。 螺旋弹簧被放置在锁定板和顶板之间。

公开(公告)号：US07942895B2

公开(公告)日：2011-05-17

申请号：US11833023

申请日：2007-08-02

申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

IPC分类号： A61B17/00

CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2936 ,  A61B2017/2939

摘要： A working unit comprises a gear body rotatable in a direction perpendicular to a reference axis, a gear ring including a proximal end surface held in contact with the gear body and rotatable about the reference axis to change the direction of rotation of the gear body, a first end effector body held in contact with an axially distal end surface of the gear ring at an upper portion thereof, and rotatable about a rotational axis perpendicular to the reference axis to change the direction of rotation of the gear ring, and a second end effector body held in contact with the axially distal end surface of the gear ring at a lower portion thereof, and rotatable in a direction opposite to the direction in which the first end effector body rotates, about the rotational axis. The first end effector body and the second end effector body are openable and closable symmetrically with respect to the reference axis.

摘要翻译： 工作单元包括：齿轮体，其可沿垂直于基准轴线的方向旋转;齿圈，其包括保持与齿轮体接触并可围绕参考轴线旋转的近端表面，以改变齿轮体的旋转方向; 第一末端执行器主体在其上部保持与齿圈的轴向远端表面接触，并且能够绕垂直于参考轴线的旋转轴线旋转以改变齿圈的旋转方向，并且第二末端执行器 主体在其下部保持与齿圈的轴向远端表面接触，并且能够沿与第一端部执行器主体的旋转方向相反的方向围绕旋转轴线旋转。 第一末端执行器主体和第二末端执行器主体相对于参考轴线对称地打开和关闭。

公开(公告)号：US20090192519A1

公开(公告)日：2009-07-30

申请号：US12175520

申请日：2008-07-18

申请人： Shigeru Omori

发明人： Shigeru Omori

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2090/365 ,  A61B2090/378 ,  G06F19/00 ,  Y10S901/15 ,  Y10S901/16

摘要： A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.

摘要翻译： 手术系统对具有操纵器和内窥镜的患者执行外科手术。 手术系统具有显示单元，用于同时显示包括由内窥镜捕获的内窥镜图像的多个信息项，以及无线图像处理器，用于向显示单元发送信息并处理要由显示单元显示的多个信息项 显示单元。 关于内窥镜图像的信息通过包括基于无线通信的至少一部分的链路从内窥镜发送到无线图像处理器。

公开(公告)号：US20090036901A1

公开(公告)日：2009-02-05

申请号：US12178082

申请日：2008-07-23

申请人： Shigeru OMORI

发明人： Shigeru OMORI

IPC分类号： A61B19/00

CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B2017/00115 ,  A61B2017/0046 ,  A61B2090/0807

摘要： A medical manipulator system includes a medical manipulator, an operating unit for inputting operation commands, motors for driving a working unit, a controller for driving the motors based on operation commands supplied from the operating unit, and an LED that displays an operational state. The controller carries out controls for distinguishing between an operational mode in which the operation command is validated and the motors are driven, and a stopped mode in which the motors are halted regardless of whether the operation command is present or not. An illumination state of the LED is switched dependent on whether the system is in the operational mode or the stopped mode. The LED is disposed in the center of an upper surface of a bridge, which interconnects a grip handle and an actuator block.

摘要翻译： 医疗机械手系统包括医疗操纵器，用于输入操作命令的操作单元，用于驱动工作单元的马达，用于基于从操作单元提供的操作命令来驱动马达的控制器和显示操作状态的LED。 控制器执行用于区分操作命令被验证的操作模式和电动机被驱动的控制，以及停止模式，其中电动机停止，而不管操作命令是否存在。 LED的照明状态取决于系统是处于工作模式还是停止模式。 LED设置在桥的上表面的中心，桥的上表面将握把柄和致动器块相互连接。

公开(公告)号：US20080091072A1

公开(公告)日：2008-04-17

申请号：US11870849

申请日：2007-10-11

申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

IPC分类号： A61B1/012

CPC分类号： A61B17/29 ,  A61B17/062 ,  A61B17/2909 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B2017/00199 ,  A61B2017/00367 ,  A61B2017/00424 ,  A61B2017/2925 ,  A61B2017/2929 ,  A61B2017/2939 ,  A61B2034/742

摘要： A manipulator includes an operation command unit to be gripped by a hand, a composite input unit operable by a finger, a connector shaft extending from the operation command unit, and a working unit disposed on a distal end of the connector shaft. The working unit includes a yawing mechanism, a rolling mechanism, and an opening and closing mechanism. The composite input unit has a shuttle ring for actuating the rolling mechanism, and a pad for actuating the yawing mechanism. The shuttle ring is an angularly movable member having two knobs disposed in respective left and right positions. The pad is disposed inside of the shuttle ring.

摘要翻译： 机械手包括用手抓握的操作指令单元，由手指操作的复合输入单元，从操作命令单元延伸的连接器轴以及设置在连接器轴的远端上的工作单元。 工作单元包括偏航机构，滚动机构以及开闭机构。 复合输入单元具有用于致动滚动机构的梭环和用于致动偏航机构的垫。 梭环是具有设置在相应的左右位置的两个旋钮的可角度运动的构件。 垫片设置在梭环内部。

公开(公告)号：US06658194B1

公开(公告)日：2003-12-02

申请号：US09511538

申请日：2000-02-23

申请人： Shigeru Omori

发明人： Shigeru Omori

IPC分类号： H04N593

CPC分类号： G11B27/34 ,  G11B27/024 ,  G11B27/032 ,  G11B27/034 ,  G11B2220/90

摘要： An editing device and editing method are capable of remarkably shortening editing time. In the case where the edited video and audio obtained as a result of editing have any parts that cannot be transported at a specified output rate, only the untransportable parts are extracted and subjected to the editing processing before the actual transmission so as to cope with the output rate. In this way, an editing device and editing method capable of remarkably shortening the editing time can be realized.

摘要翻译： 编辑装置和编辑方法能够显着地缩短编辑时间。 在作为编辑结果获得的编辑视频和音频具有不能以指定输出速率传输的部分的情况下，仅提取不可运输的部分并在实际传输之前进行编辑处理，以便处理 输出率。 以这种方式，可以实现能够显着缩短编辑时间的编辑装置和编辑方法。

公开(公告)号：US09662131B2

公开(公告)日：2017-05-30

申请号：US11939287

申请日：2007-11-13

申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno

发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno

IPC分类号： A61B17/29 ,  A61B17/00 ,  A61B34/00

CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2932 ,  A61B2034/742

摘要： A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator.

公开(公告)号：US09271718B2

公开(公告)日：2016-03-01

申请号：US12543102

申请日：2009-08-18

申请人： Magdy P. Milad ,  Pari Shimoyama ,  Shigeru Omori ,  Deanna Hirzel

发明人： Magdy P. Milad ,  Pari Shimoyama ,  Shigeru Omori ,  Deanna Hirzel

IPC分类号： A61B17/04 ,  A61B17/062

CPC分类号： A61B17/0469 ,  A61B17/0491 ,  A61B17/062

摘要： In a suturing and ligating method, a suture strand is wound around a gripper a predetermined number of times by turning a proximal end portion of a curved needle with a rolling mechanism. The gripper then grips the portion of the suture strand, which has not been inserted into the tissue. The gripper is then withdrawn through loops of the suture strand, which are wound around the gripper. The distal-end working unit and the gripper are then moved relatively to each other in order to form a knot across the incision.

摘要翻译： 在缝合和结扎方法中，通过用滚动机构转动弯曲针的近端部分，将缝合线缠绕在夹持器上预定次数。 然后，夹具夹住尚未插入组织的缝合线的部分。 然后通过缠绕在夹持器上的缝合线的环将夹持器取出。 然后，远端工作单元和夹持器相对移动以便在切口上形成结。

公开(公告)号：US08002784B2

公开(公告)日：2011-08-23

申请号：US11743222

申请日：2007-05-02

申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

IPC分类号： A61B17/32

CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2934 ,  A61B2017/2936 ,  A61B2017/2939

摘要： A manipulator has a working unit in which when at least a first end effector finger and a second end effector finger are maximally closed on each other, at least the distance between a third joint axis and a first joint axis is greater than the distance between the first joint axis and a distal end of the second end effector finger, or the distance between the third joint axis and the first joint axis is greater than the distance between third joint axis and a second joint axis, or the angle formed between a direction from the third joint axis to the first joint axis and a direction from the third joint axis to the second joint axis is not π.

摘要翻译： 操纵器具有工作单元，其中当至少第一末端执行器指状物和第二末端执行器指状物彼此最大程度地闭合时，至少第三关节轴线与第一关节轴线之间的距离大于 或者第三关节轴线与第一关节轴线之间的距离大于第三关节轴线和第二关节轴线之间的距离，或者第一关节轴线与第二关节轴线的方向之间形成的角度， 与第一关节轴线的第三关节轴线和从第三关节轴线到第二关节轴线的方向不是＆pgr。