公开(公告)号：US20160075013A1

公开(公告)日：2016-03-17

申请号：US14848615

申请日：2015-09-09

Applicant: DENSO CORPORATION ,  KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION

Inventor： Kazutaka TOYODA ,  Hideki OKUDA ,  Toshihiko KOYAMA ,  Makoto HASHIZUME ,  Riichi OOUTIDA

IPC: B25J9/12 ,  B25J9/16

CPC classification number: B25J9/163 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/45117 ,  G05B2219/45167 ,  Y10S901/03 ,  Y10S901/14 ,  Y10S901/28 ,  Y10S901/41

Abstract: In an apparatus for controlling the positioning of an object having a specified point, a first limiter establishes a movable range of the specified point of the object, and limits movement of the specified point of the object within the movable range. The movable range includes a line connecting the position of the specified point of the object and a target position for the specified point of the object. A second limiter limits change of a specified orientation of the object from increasing an angular difference between the specified orientation of the object a target orientation for the specified orientation of the object.

Abstract translation: 在用于控制具有指定点的物体的定位的装置中，第一限制器建立物体的指定点的可移动范围，并且限制物体的指定点在可移动范围内的移动。 可移动范围包括连接对象的指定点的位置和对象的指定点的目标位置的线。 第二限制器限制对象的指定方向的改变，以增加对象的指定取向之间的角度差异，以使对象的指定取向的目标方向。

公开(公告)号：US20130316298A1

公开(公告)日：2013-11-28

申请号：US13893437

申请日：2013-05-14

Applicant: KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION ,  DENSO CORPORATION

Inventor： Tatsuya IKEGAMI ,  Toshihiko KOYAMA ,  Hideki OKUDA ,  Tadao OHOKA ,  Makoto HASHIZUME ,  Riichi OUCHIDA ,  Kazutaka TOYODA ,  Byunghyun CHO

IPC: A61B6/03 ,  A61B1/00 ,  A61C8/00 ,  A61B6/00 ,  A61B6/14 ,  A61B1/24

CPC classification number: A61B6/032 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/24 ,  A61B6/14 ,  A61B6/506 ,  A61B6/52 ,  A61B6/5217 ,  A61B2090/364 ,  A61B2090/3762 ,  A61C1/084 ,  A61C8/0089 ,  A61C13/0004

Abstract: In a method and apparatus for supporting dental implantation surgery, a three-dimensional CT image of jaws of an object is acquired. A reference site of the jaws and an implantation position of a gum in the jaws are set in the three-dimensional CT image. The implant is implanted at the implantation position. A three-dimensional optical image of an inside of an oral cavity of the object is then produced. The reference site is positionally set in the three-dimensional optical image through recognition of a shape of the reference site in the three-dimensional optical image. A surgical tool is positionally controlled to the implantation position in the oral cavity, based on i) a relationship between the position of the reference site and the implantation position of the gum in the three-dimensional CT image and ii) the position of the reference site in the three-dimensional optical image.

Abstract translation: 在用于支撑牙科植入手术的方法和装置中，获取物体的爪的三维CT图像。 颌的参考部位和牙龈在颚骨中的植入位置被设置在三维CT图像中。 植入物植入植入位置。 然后产生物体的口腔内部的三维光学图像。 通过识别三维光学图像中的参考部位的形状，将参考位置定位在三维光学图像中。 基于i）参考部位的位置和牙龈在三维CT图像中的植入位置之间的关系，以及ii）参考的位置，将手术工具位置地控制到口腔中的植入位置 现场在三维光学图像中。

公开(公告)号：US20170120450A1

公开(公告)日：2017-05-04

申请号：US15291151

申请日：2016-10-12

Applicant: DENSO CORPORATION

Inventor： Kazutaka TOYODA ,  Tsuyoshi UEYAMA ,  Go MUKUMOTO

IPC: B25J13/08 ,  B25J9/16

CPC classification number: B25J13/085 ,  B25J9/0081 ,  B25J9/1666 ,  G05B2219/40476

Abstract: A robot device includes an arm, a force sensor, and an adjustment portion. The force sensor is provided at a front end portion of the arm and has a force detecting portion that detects an externally exerted force. The adjustment portion performs a zero point adjustment by setting a reference point of the force detected by the force sensor based on a detection result by the force sensor. The detection result is obtained when the force detecting portion of the force sensor is in a protected condition. The protected condition is a condition in which no load is applied on the force detecting portion of the force sensor. According to this robot device, a technology for accurately setting the reference point of the force detected by the force sensor can be provided.

公开(公告)号：US20180185103A1

公开(公告)日：2018-07-05

申请号：US15740120

申请日：2016-06-09

Applicant: DENSO CORPORATION

Inventor： Go MUKUMOTO ,  Tsuyoshi UEYAMA ,  Kazutaka TOYODA

IPC: A61B34/30 ,  A61C1/08 ,  A61C8/00 ,  A61C19/04 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B90/03 ,  A61B90/37 ,  A61B2017/00119 ,  A61B2034/306 ,  A61B2090/0807 ,  A61B2090/3762 ,  A61C1/084 ,  A61C8/0089 ,  A61C9/0046 ,  A61C19/04 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/47 ,  Y10S901/49

Abstract: A medical treatment assisting apparatus includes a multi-joint robot, a position specification unit, an abnormality determination unit, and a control unit. The multi-joint robot has a multi-joint arm in which a plurality of arms are connected through a joint. The position specification unit specifies a treatment position that is the position of a portion of a patient to be subjected to a medical treatment in a real space. The abnormality determination unit determines whether or not a state of the treatment position based on the displacement of the treatment position specified by the position specification unit is in an abnormal state, which is predefined to indicate an abnormality. The control unit performs a safety control which increases the safety of the medical treatment when a determination result of the abnormality determination unit indicates that the state of the treatment position is in the abnormal state.

公开(公告)号：US20170196654A1

公开(公告)日：2017-07-13

申请号：US15393293

申请日：2016-12-29

Applicant: DENSO CORPORATION

Inventor： Kazutaka TOYODA ,  Tsuyoshi UEYAMA ,  Go MUKUMOTO

IPC: A61B90/50 ,  A61B34/00 ,  A61G15/16 ,  A61C1/00 ,  A61B17/16 ,  A61C8/00

CPC classification number: A61B90/50 ,  A61B17/1673 ,  A61B34/77 ,  A61B2017/00123 ,  A61B2034/2059 ,  A61B2090/064 ,  A61C1/0015 ,  A61C8/0089 ,  A61G15/16

Abstract: A medical support device includes an arm having a drill attached at a tip part of the arm, a first position obtainer obtaining a representative position of the drill attached to the arm, a second position obtainer obtaining a bury start position, and a controller. The controller controls the arm and applies a burying reaction force to the drill in a burying direction, i.e., a direction from the bury start position to an inside of a implant area, when the representative position of the drill obtained by the first position obtainer is at the inside of the implant area relative to the bury start position.

公开(公告)号：US20160091885A1

公开(公告)日：2016-03-31

申请号：US14867093

申请日：2015-09-28

Applicant: DENSO CORPORATION ,  KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION

Inventor： Kazutaka TOYODA ,  Toshihiko KOYAMA ,  Makoto HASHIZUME ,  Riichi OOUTIDA

IPC: G05B19/19

CPC classification number: G05B19/19 ,  G05B2219/37404 ,  G05B2219/45129

Abstract: In a machining apparatus, a tool has a specified point for machining a workpiece, and a support supports the tool while a position and an orientation of the specified point of the tool are changeable. A actuator actuates the support to move the tool, and a sensor measures a magnitude and an orientation of force upon the force being applied to the tool. A determiner determines, upon the force being applied to the tool, a target orientation of the specified point of the tool according to the magnitude and the orientation of the force measured by the sensor. The force applied to the tool having an orientation to separate the tool from the workpiece. A controller controls the actuator to move the tool according to the determined target orientation.

Abstract translation: 在加工装置中，工具具有用于加工工件的指定点，并且支撑件支撑工具，同时工具的指定点的位置和取向可变。 致动器致动支撑件以移动工具，并且传感器测量施加到工具上的力的大小和取向。 根据由传感器测量的力的大小和方向，确定器确定在施加到工具上的力时工具的指定点的目标取向。 施加到具有将工具与工件分离的取向的工具的力。 控制器控制致动器根据确定的目标方向移动刀具。