公开(公告)号：US5053975A

公开(公告)日：1991-10-01

申请号：US363071

申请日：1989-06-08

申请人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Tatsu Aoki ,  Hiroshi Yamamoto

发明人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Tatsu Aoki ,  Hiroshi Yamamoto

IPC分类号： B25J3/04 ,  B25J3/00 ,  B25J9/18 ,  G05B19/427 ,  G05D3/12

CPC分类号： G05B19/427

摘要： After positional information of the master arm is transformed into first generalized world coordinates corresponding to positional information representing a calculated position of the slave arm, when a signal instructing an interruption of the associated operation between the master arm and the slave arm is received and then the positional relationships between the master arm and the slave arm connected thereto by use of an imaging device are updated, the first generalized world coordinates are transformed into the second generalized world coordinates based on the new positional relationships so as to restart the associated operation therebetween. The optimal control of the manipulator is conducted through matrix operations related to the change-over between imaging devices, the reset operation conducted in an area of the movable range of the master arm, and the alteration of the ratio between the movements of the associated operation.

公开(公告)号：US5105367A

公开(公告)日：1992-04-14

申请号：US421841

申请日：1989-10-16

申请人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Hiroshi Yamamoto ,  Tatsu Aoki

发明人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Hiroshi Yamamoto ,  Tatsu Aoki

IPC分类号： B25J3/04

CPC分类号： B25J9/0018 ,  B25J21/00 ,  B25J3/04

摘要： A master slave manipulator system includes a master arm having six or more axes of motion and an articulated slave arm having six or more axes of motion and being shaped in sharp contrast with the master arm. The master arm has an arm body with three axes perpendicular to each other and a wrist assembly connected to the arm body. The wrist assembly has a gripper disposed in a space of a size large enough for an operator to operate the gripper with his clutched hand in X, Y and Z directions and also has a pitch-axis, a yaw-axis and a roll-axis all disposed outside of the space. The pitch-axis, yaw-axis and roll-axis have output axes directed toward the gripper. The slave arm has an arm body with axes longitudinally stretchable or foldable into parallel positions, and a wrist assembly having three axes disposed in a space of predetermined dimensions in X, Y and Z directions. The output axes of the three axes of the slave arm wrist assembly are directed away from the mounting portions of these axes. The slave arm is so controlled as to follow movements of the master arm.

公开(公告)号：US4906907A

公开(公告)日：1990-03-06

申请号：US175318

申请日：1988-03-30

申请人： Akira Tsuchihashi ,  Shinichi Takarada

发明人： Akira Tsuchihashi ,  Shinichi Takarada

IPC分类号： G05D3/12 ,  B25J9/06 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B25J19/02 ,  B64G4/00

CPC分类号： B64G4/00 ,  B25J13/08 ,  B25J13/085 ,  B25J13/088 ,  B25J19/023 ,  B25J9/06 ,  B25J9/1638

摘要： A robot system in which a force (torque) exerted on an end effector disposed at an end of a robot to hold an object is sensed to achieve a positioning control. The robot system includes a unit to sense an inertial force exerted on the end effector and the sensed result is fed back so as to remove the influence of the inertia force, thereby effecting an accurate positioning control.

摘要翻译： 一种机器人系统，其中感测到施加在设置在机器人的端部处的用于保持物体的端部执行器的力（扭矩）以实现定位控制。 机器人系统包括感测施加在末端执行器上的惯性力的单元，并且将感测结果反馈，以消除惯性力的影响，由此实现精确的定位控制。

公开(公告)号：US20110000170A1

公开(公告)日：2011-01-06

申请号：US12830734

申请日：2010-07-06

申请人： Bernard BURG ,  Masaaki Yamashita ,  Shinichi Takarada ,  Kristen Ingalz ,  Tomohiro Haga

发明人： Bernard BURG ,  Masaaki Yamashita ,  Shinichi Takarada ,  Kristen Ingalz ,  Tomohiro Haga

IPC分类号： G06Q50/00 ,  G06Q10/00 ,  B65B5/04 ,  B65B61/20

CPC分类号： G06Q10/00 ,  A61J7/04 ,  G06F19/3462 ,  G06Q50/22

摘要： A method for generating a medication regimen of a patient is disclosed. The method comprises receiving a plurality of prescriptions for the patient, wherein a prescription of the plurality of prescriptions indicates a medication and a frequency for administering a dose of the medication. The method further comprises mapping a plurality of doses of one or more medications to a prescription calendar based on the frequencies indicated in the plurality of prescriptions and determining a schedule for administering a plurality of doses of different medications corresponding to each prescription of the plurality of prescriptions based on the calendar and constraints regarding administering the plurality of doses.

摘要翻译： 公开了一种用于产生患者的药物治疗方案。 所述方法包括接收患者的多个处方，其中所述多个处方的处方指示用于给药所述药物剂量的药物和频率。 该方法还包括基于多个处方中指示的频率将多个剂量的一种或多种药物映射到处方日历，并且确定用于施用对应于多个处方的每个处方的多个剂量的不同药物的时间表 基于关于施用多个剂量的日历和约束。

公开(公告)号：US20100000899A1

公开(公告)日：2010-01-07

申请号：US12415168

申请日：2009-03-31

申请人： Bernard Burg ,  Ira Nydick ,  Patrick Suel ,  Kristen Ingalz ,  Takako Aparicio ,  Masaaki Yamashita ,  Shinichi Takarada

发明人： Bernard Burg ,  Ira Nydick ,  Patrick Suel ,  Kristen Ingalz ,  Takako Aparicio ,  Masaaki Yamashita ,  Shinichi Takarada

IPC分类号： B65D83/04 ,  B65D51/24

CPC分类号： B65D83/0463 ,  A61J7/0409 ,  A61J7/0436 ,  A61J2205/20

摘要： A personal medication package is provided with an embedded user interface. The medication package includes an array of storage compartments for storing medication as well as visual indicia that is integrated into the medication package. The visual indicia are formed from color changing ink that is deposited onto the medication package. Consequently, the medication package can be manufactured and disposed of in an ecologically friendly manner.

摘要翻译： 个人用药包提供嵌入式用户界面。 药物包装包括用于储存药物的储存室阵列以及集成到药物包装中的视觉标记。 视觉标记由沉积在药物包装上的变色油墨形成。 因此，药物包装可以以生态友好的方式制造和处置。

公开(公告)号：US20050201600A1

公开(公告)日：2005-09-15

申请号：US11073711

申请日：2005-03-08

申请人： Shinichi Takarada

发明人： Shinichi Takarada

IPC分类号： G06K9/00

CPC分类号： H04N5/23254 ,  G01N15/1475 ,  G06T7/248 ,  G06T2207/30072

摘要： Provided is an imaging apparatus which can detect an occurrence of a vibration using imaged images without a new constituent such as a vibration sensor being added thereto, wherein when imaging a position reference image for checking positions of observation targets on the image and a plurality of luminance reference images for checking the spectral distributions of the observation targets, a first vibration detection unit detects a vibration for the position reference image, a mask image for checking the positions is created on the basis of the position reference image for which no vibration is detected, and the luminance reference image is compared with the mask image every time the luminance reference image is imaged, thereby to judge whether positions deviate or not, and in a case where the positions deviate, the position reference image is re-imaged, thereby eliminating the image imaged with a vibration occurring.

摘要翻译： 提供一种成像装置，其可以使用成像图像来检测振动的发生，而没有添加诸如振动传感器的新成分，其中当对用于检查图像上的观察目标的位置的多个亮度的位置参考图像进行成像时 用于检查观察目标的光谱分布的参考图像，第一振动检测单元检测位置参考图像的振动，基于没有检测到振动的位置参考图像创建用于检查位置的掩模图像， 并且每当亮度参考图像成像时将亮度参考图像与掩模图像进行比较，从而判断位置是否偏离，并且在位置偏离的情况下，重新成像位置参考图像，从而消除 图像成像与振动发生。

公开(公告)号：US06617972B2

公开(公告)日：2003-09-09

申请号：US09959349

申请日：2002-01-29

申请人： Shinichi Takarada ,  Hiromasa Mizuki

发明人： Shinichi Takarada ,  Hiromasa Mizuki

IPC分类号： G08B2100

CPC分类号： G08B21/0484

摘要： An object of the invention is to provide a monitor system for detecting occurrence of abnormal situation on the elderly living alone and the like, by using an inexpensive table tap alone, without modifying an electric appliance and a plug which are currently used. A table tap (100) contains an ammeter (103), a judgement unit (104), and a communication unit (105). After connecting an electric appliance which is currently used to the table tap, when the judgement unit (104) decides that the power consumption detected by the ammeter (103) is unusual, the communication unit (105) notifies a base station (109) that an abnormal situation occurs.

摘要翻译： 本发明的目的是提供一种用于检测单身老人等异常情况的发生的监视器系统，通过单独使用廉价的台式水龙头，而不改变当前使用的电器和插头。 台式水龙头（100）包含电流表（103），判断单元（104）和通信单元（105）。 在将当前使用的电器连接到表格抽头之后，当判断单元（104）判定由电流表（103）检测到的功耗异常时，通信单元（105）向基站（109）通知 发生异常情况。

公开(公告)号：US20090259486A1

公开(公告)日：2009-10-15

申请号：US12415269

申请日：2009-03-31

申请人： Bernard Burg ,  Kristen Ingalz ,  Masaaki Yamashita ,  Shinichi Takarada

发明人： Bernard Burg ,  Kristen Ingalz ,  Masaaki Yamashita ,  Shinichi Takarada

IPC分类号： G06Q50/00 ,  G06F17/00 ,  G08B23/00

CPC分类号： G06F19/3418 ,  G06F19/3462 ,  G06Q50/22

摘要： A patient centric medication dispensing device is herein disclosed. The dispensing device is configured to close the loop between a patient, a treating physician and a pharmacy by monitoring the medication intake of the patient and reporting information to the physician and/or the pharmacy or pharmaceutical company. The dispensing device is further configured to calculate adverse drug effects that may result if a patient takes a requested medication, based on medication that has already been dispensed and medication that is scheduled to be taken. The dispensing device is also configured to provide the patient with educational information based on the situation the patient has encountered, such as missing a scheduled dosage or suffering from side-effects.

摘要翻译： 本文公开了一种以患者为中心的药物分配装置。 分配装置被配置为通过监测患者的药物摄入并向医师和/或药房或制药公司报告信息来关闭患者，治疗医师和药房之间的循环。 分配装置进一步配置为根据已经分配的药物和被安排采取的药物计算患者服用所需药物可能导致的不良药物作用。 分配装置还被配置为基于患者遇到的情况向患者提供教育信息，例如缺少预定剂量或患有副作用。

公开(公告)号：US07333656B2

公开(公告)日：2008-02-19

申请号：US10992773

申请日：2004-11-22

申请人： Shinichi Takarada

发明人： Shinichi Takarada

IPC分类号： G06K9/00

CPC分类号： G06K9/38

摘要： An image processing method comprises forming a histogram of an entire image, determining a ratio between a reference luminance value and a reference threshold value at a maximum frequency, dividing the image into local areas, forming a histogram of each local area, determining a luminance value at a maximum frequency, multiplying this luminance value by the ratio between the reference luminance value and the reference threshold value to obtain a threshold value of the local area, and performing binarization for the local area using the threshold value. Therefore, it is possible to determine an appropriate threshold value in each local area of a multiple gray-level image, and obtain, using this threshold value, a binarized image which enables accurate separation of an object from a background.

摘要翻译： 图像处理方法包括：形成整个图像的直方图，确定参考亮度值与最大频率处的基准阈值之间的比率，将图像划分为局部区域，形成每个局部区域的直方图，确定亮度值 以最大频率乘以该亮度值与参考亮度值与参考阈值之间的比值，以获得局部区域的阈值，并且使用该阈值对该局部区域进行二值化。 因此，可以在多个灰度级图像的每个局部区域中确定合适的阈值，并且使用该阈值来获得能够将对象与背景准确分离的二值化图像。

公开(公告)号：US20060093235A1

公开(公告)日：2006-05-04

申请号：US11258318

申请日：2005-10-26

申请人： Shinichi Takarada

发明人： Shinichi Takarada

IPC分类号： G06K9/40

CPC分类号： G06T5/002 ,  G06T5/20 ,  G06T2207/20032 ,  G06T2207/20192

摘要： Low-pass filtering is applied only to the borders of an original mage to reduce the noise in the borders of image, thereby preventing errors in extrapolation. Then, an extended region is provided around the image by extrapolation, thereby eliminating the need for border processing in the borders of the image when performing the final low-pass filtering. Finally, low-pass filtering is applied to the regions where the original image exists. Thus, a filtering effect can be obtained in which the regions nearer to the center of the image and the border regions of the image have the same characteristics.

摘要翻译： 低通滤波仅适用于原始法师的边界，以减少图像边界的噪点，从而防止外推误差。 然后，通过外推设置在图像周围的扩展区域，从而在执行最终的低通滤波时不需要图像边界中的边界处理。 最后，对原始图像存在的区域应用低通滤波。 因此，可以获得其中更靠近图像的中心的区域和图像的边界区域具有相同特征的滤波效果。