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公开(公告)号：US20250162134A1
公开(公告)日：2025-05-22
申请号：US18841309
申请日：2023-02-23
Applicant: Kiyoshi TAKAGI , CANON U.S.A., INC.
Inventor： Kiyoshi Takagi
Abstract: An apparatus includes a bendable body including at least a distal bending portion and a proximal bending portion, a first driving mechanism for bending the distal bending portion, a second driving mechanism for bending the proximal bending portion, a controller that controls the first driving mechanism to bend the distal bending portion and controls the second driving mechanism to bend the proximal bending portion, and a receiving unit that receives a command on an amount of bending of part or all of the bending portions. The controller is configured to switch between first control for bending only the distal bending portion according to the command received by the receiving unit and second control for bending the distal bending portion and the proximal bending portion so that the distal bending portion and the proximal bending portion have constant curvature according to the command received by the receiving unit.
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公开(公告)号：US11096552B2
公开(公告)日：2021-08-24
申请号：US15741171
申请日：2015-06-30
Applicant: CANON U.S.A., INC. , THE BRIGHAM AND WOMEN'S HOSPITAL INC. , Nobuhiko Hata , Takahisa Kato , Kiyoshi Takagi , Hidekazu Kose
Inventor： Nobuhiko Hata , Takahisa Kato , Kiyoshi Takagi , Hidekazu Kose
Abstract: The present invention provides a method and an apparatus for controlling a flexible manipulator including a plurality of bendable mechanisms via a control apparatus. The control apparatus includes a drive-mode selecting unit allows for the selection of a movement mode which may provide a bending movement, an angled view movement, or a remote center movement.
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公开(公告)号：US20150088161A1
公开(公告)日：2015-03-26
申请号：US14491796
申请日：2014-09-19
Applicant: CANON U.S.A., INC. , The Brigham and Women's Hospital, Inc
Inventor： Nobuhiko Hata , Takahisa Kato , Ichiro Okumura , Kiyoshi Takagi , Hidekazu Kose
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B1/0016 , A61B1/0055 , A61B1/0057 , A61B34/71 , A61B2017/00323 , A61B2034/301
Abstract: An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.
Abstract translation: 一种包括腱驱动装置的装置，例如内窥镜，其包括可弯曲本体，附接并延伸所述主体的长度的腱，以及将基于来自控制器的控制信号致动所述腱的致动器。 控制器被配置为将所述控制信号发送到所述致动器并且包括估计角位移的前向运动学映射单元，其中所述运动映射单元被配置为：提供所述腱的张力值以获得期望的角位移 其中所述张力与基于摩擦信息的所需角位移具有非线性关系，其中所述张力大于将被计算的张力，而不包括摩擦的影响。 摩擦系数随着时间的推移可以确定。
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公开(公告)号：US20250152284A1
公开(公告)日：2025-05-15
申请号：US18835305
申请日：2023-02-06
Applicant: Canon U.S.A., Inc. , CANON KABUSHIKI KAISHA
Inventor： Brian Ninni , Takahisa Kato , Fumitaro Masaki , Charles George Hwang , HuaLei Shelley Zhang , Kiyoshi Takagi
Abstract: A continuum robot having at least two independently manipulatable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus including a ‘relax mode’ capable of relaxing at least one of the bendable sections, allowing the bendable section to conform to the surrounding anatomy.
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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
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.
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Patent Agency Ranking
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
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.
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公开(公告)号：US11051892B2
公开(公告)日：2021-07-06
申请号：US14491796
申请日：2014-09-19
Applicant: CANON U.S.A., INC. , The Brigham and Women's Hospital, Inc
Inventor： Nobuhiko Hata , Takahisa Kato , Ichiro Okumura , Kiyoshi Takagi , Hidekazu Kose
Abstract: An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.
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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
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.
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公开(公告)号：US20250160627A1
公开(公告)日：2025-05-22
申请号：US18834993
申请日：2023-01-31
Applicant: Canon U.S.A., Inc. , CANON KABUSHIKI KAISHA
Inventor： HuaLei Shelley Zhang , Takahisa Kato , Fumitaro Masaki , Brian Ninni , Kiyoshi Takagi
Abstract: A continuum robot having independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus for transitioning between modes for ease of use by a physician, as well as a transitional park mode for ensuring correct manipulation of the continuum robot.
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公开(公告)号：US11278366B2
公开(公告)日：2022-03-22
申请号：US15959800
申请日：2018-04-23
Applicant: Canon U.S.A. Inc.
Inventor： Hidekazu Kose , Kiyoshi Takagi
IPC: A61B34/00
Abstract: The present application relates to a flexible manipulator including at least one flexible member (bend) controlled by an input device in the form of a joystick. Specifically, to prevent the flexible manipulator inserted into a narrow space from contacting surrounding objects, the flexible manipulator according to the present invention is configured to maintain the shape when the operator releases the joystick. However, when the flexible manipulator is shaped to be at a target position and subsequently needs to be returned to the original shape, the operator manipulates the joystick using complicated and time consuming manipulation techniques. A control device in communication with the flexible manipulator is configured to allow the operator to select an input method for maintaining the shape of the flexible manipulator after the joystick is released. In addition, an input method for returning the flexible manipulator to the original shape may be selected. This enables the operator to use an appropriate input method in accordance with the purpose of a medical procedure.
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