公开(公告)号：US20190105468A1

公开(公告)日：2019-04-11

申请号：US16152317

申请日：2018-10-04

Applicant: Canon U.S.A., Inc. ,  The Brigham and Women's Hospital Inc.

Inventor： Takahisa Kato ,  Yohei Minatoya ,  Yusuke Tanaka ,  Kiyoshi Takagi ,  Oliver Jonas

IPC: A61M25/01 ,  A61B6/03 ,  A61B10/06

Abstract: The subject disclosure is directed to an articulated medical device having a hollow cavity, wherein the device is capable of maneuvering within a patient, and allowing a medical tool to be guided through the hollow cavity for medical procedures, including endoscopes, cameras, and catheters.

公开(公告)号：US11103992B2

公开(公告)日：2021-08-31

申请号：US15901599

申请日：2018-02-21

Applicant: Canon U.S.A. Inc.

Inventor： Yusuke Tanaka ,  Kiyoshi Takagi

IPC: B25J9/06 ,  B25J9/16 ,  B25J18/06 ,  B25J9/10

Abstract: A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members. In addition, the length of the first deforming section is shorter than the length of the second deforming section.

公开(公告)号：US20180243900A1

公开(公告)日：2018-08-30

申请号：US15901599

申请日：2018-02-21

Applicant: Canon U.S.A. Inc.

Inventor： Yusuke Tanaka ,  Kiyoshi Takagi

IPC: B25J9/06 ,  B25J9/16 ,  B25J18/06

CPC classification number: B25J9/065 ,  B25J9/104 ,  B25J9/1625 ,  B25J9/1635 ,  B25J18/06 ,  Y10S901/02 ,  Y10S901/15

Abstract: A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members. In addition, the length of the first deforming section is shorter than the length of the second deforming section.

公开(公告)号：US10687694B2

公开(公告)日：2020-06-23

申请号：US15953245

申请日：2018-04-13

Applicant: Canon U.S.A. Inc.

Inventor： Yusuke Tanaka ,  Ichiro Okumura

IPC: A61B1/005 ,  F16H19/06

Abstract: A linear-member-driven manipulator is provided that includes a bendable member that is bendable along a bending plane and includes a plurality of bendable portions; a linear member used to bend at least one of the bendable portions; a plurality of guiding members that guide the linear member that is driven; and a plurality of support members, each support member extending from one of the guiding members to the bendable member, wherein each guiding member is swingable with respect to the bendable member; and wherein, for each support member, a projection distance between the linear member and the support member on the bending plane is greater than or equal to a projection distance between the linear member and a bending neutral line of the bendable member on the bending plane.

公开(公告)号：US20180310804A1

公开(公告)日：2018-11-01

申请号：US15953245

申请日：2018-04-13

Applicant: Canon U.S.A. Inc.

Inventor： Yusuke Tanaka ,  Ichiro Okumura

IPC: A61B1/005 ,  F16H19/06

CPC classification number: A61B1/0057 ,  A61B1/0055 ,  F16H19/0645 ,  F16H2019/0695

Abstract: A linear-member-driven manipulator is provided that includes a bendable member that is bendable along a bending plane and includes a plurality of bendable portions; a linear member used to bend at least one of the bendable portions; a plurality of guiding members that guide the linear member that is driven; and a plurality of support members, each support member extending from one of the guiding members to the bendable member, wherein each guiding member is swingable with respect to the bendable member; and wherein, for each support member, a projection distance between the linear member and the support member on the bending plane is greater than or equal to a projection distance between the linear member and a bending neutral line of the bendable member on the bending plane.