公开(公告)号：US20080319474A1

公开(公告)日：2008-12-25

申请号：US12141125

申请日：2008-06-18

申请人： Kosuke Kishi ,  Makoto Hashizume ,  Kazuo Tanoue

发明人： Kosuke Kishi ,  Makoto Hashizume ,  Kazuo Tanoue

IPC分类号： A61B17/28 ,  A61B17/00

CPC分类号： A61B17/29 ,  A61B17/0625 ,  A61B34/70 ,  A61B2017/00353 ,  A61B2017/2923 ,  A61B2017/2927 ,  A61B2017/2943 ,  A61B2017/2947

摘要： Provided is a surgical tools having multiple functions exhibited by end effector parts, which is small-sized and inexpensive, and which can eliminate the necessity of replacement of surgical tools. The surgical tools incorporating: a tip end portion having a plurality of end effector parts, and a tool sleeve through which a transmission mechanism of driving force for applying driving force to the tip end portion is led. The plurality of end effector parts comprise a pair of a first end effector part and a second end effector part so as to have a first tool function, and a third end effector part mated with one or both of the first end effector part and the second end effector part so as to have a second tool function. The transmission mechanism of driving force comprises a first transmission mechanism of driving force for applying a driving force to the first end effector part and the second end effector part, and a second transmission mechanism of driving force for applying a driving force to the third end effector part, independent from the first transmission mechanism of driving force.

摘要翻译： 本发明提供一种手术工具，其具有由端部执行器部件展示的多种功能，其尺寸小且便宜，并且可以消除更换手术工具的必要性。 所述手术工具包括：具有多个端部执行器部分的末端部分和工具套筒，通过所述工具套筒引导用于向前端部分施加驱动力的驱动力的传动机构。 多个末端执行器部分包括一对第一端部执行器部分和第二端部执行器部分，以具有第一工具功能，并且第三端部执行器部分与第一端部执行器部分和第二端部执行器部分中的一个或两个配合 末端执行器部分以具有第二工具功能。 驱动力的传递机构包括用于向第一末端执行器部分和第二末端执行器部分施加驱动力的驱动力的第一传动机构和用于向第三端部执行器施加驱动力的驱动力的第二传动机构 部分，独立于驱动力的第一传动机构。

公开(公告)号：US08758327B2

公开(公告)日：2014-06-24

申请号：US12141199

申请日：2008-06-18

申请人： Teppei Tsujita ,  Kosuke Kishi ,  Makoto Hashizume

发明人： Teppei Tsujita ,  Kosuke Kishi ,  Makoto Hashizume

IPC分类号： A61M25/082 ,  A61M25/08

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B34/71

摘要： The invention provides a manipulator which can carry out a treatment having a large moving amount in a manipulator leading end while being compact. The manipulator is provided with a manipulator shaft portion, a first rod supported so as to be capable of linearly moving with respect to the manipulator shaft portion and driven by a driving force of a driving source, a first gear rotatably supported to the first rod, a first rack supported to the manipulator shaft portion, a second rack supported so as to be capable of linearly moving in the same direction as the first rod with respect to the manipulator shaft portion, and a end-effecter driven by the driving force of the second rack. The first rack and the second rack are arranged in such a manner that respective cogged surfaces come face to face. The first gear is pinched between the first rack and the second rack, and is arranged in an engaged state.

摘要翻译： 本发明提供一种能够在紧凑的情况下在机械手前端进行移动量大的处理的机械手。 操纵器设置有操纵器轴部，第一杆被支撑成能够相对于操纵器轴部线性地移动并且由驱动源的驱动力驱动，可旋转地支撑在第一杆上的第一齿轮， 支撑在所述操纵器轴部的第一齿条，被支撑成能够相对于所述机械手轴部在与所述第一杆相同的方向上线性移动的第二齿条，以及由所述第二杆驱动的所述驱动力的终端执行器 第二个机架。 第一齿条和第二齿条被布置成使得相应的齿形表面面对面地布置。 第一齿轮被夹在第一齿条和第二齿条之间，并且布置成接合状态。

公开(公告)号：US08002694B2

公开(公告)日：2011-08-23

申请号：US12019668

申请日：2008-01-25

申请人： Kosuke Kishi ,  Makoto Hashizume

发明人： Kosuke Kishi ,  Makoto Hashizume

IPC分类号： A61B17/00

CPC分类号： G05B19/427 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  B25J9/1689 ,  G05B2219/39389 ,  G05B2219/40617

摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.

摘要翻译： 在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。 主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间切换的模式切换装置，其中操作命令从从操纵器向 切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令 设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。

公开(公告)号：US20080234866A1

公开(公告)日：2008-09-25

申请号：US12019668

申请日：2008-01-25

申请人： Kosuke Kishi ,  Makoto Hashizume

发明人： Kosuke Kishi ,  Makoto Hashizume

IPC分类号： G05B19/00

CPC分类号： G05B19/427 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  B25J9/1689 ,  G05B2219/39389 ,  G05B2219/40617

摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.

摘要翻译： 在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。 主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间进行切换的模式切换装置，其中操作命令从从操纵器向 切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令 设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。

公开(公告)号：US20080180392A1

公开(公告)日：2008-07-31

申请号：US12016231

申请日：2008-01-18

申请人： Kosuke Kishi ,  Makoto Hashizume

发明人： Kosuke Kishi ,  Makoto Hashizume

IPC分类号： G09G5/00

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  G05B2219/40161 ,  G05B2219/40307 ,  G05B2219/45118

摘要： In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system is provided with a manipulator, a camera, a monitor, an operation input device, a manipulator controller and a master controller. The master controller is provided with an operation an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by the operation input device, an acquirement information division portion dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information. The manipulator controller controls the position and orientation of the manipulator on the basis of the position moving command compensation information and the orientation reference data.

摘要翻译： 在主从操纵器系统中，可以通过简单的结构实现直观的操作，其中监视器和操作输入装置的布局不受限制。 主从操纵器系统设有操纵器，相机，监视器，操作输入装置，操纵器控制器和主控制器。 主控制器设置有操作信息获取部分，用于操作命令基于操作输入装置的命令获取操作参考数据;获取信息划分部分，将操作参考数据分割为位置移动参考数据;以及 取向基准数据，以及移动方向补偿控制器，其基于取向基准数据补偿位置移动基准数据，以输出位置移动指令补偿信息。 操纵器控制器基于位置移动指令补偿信息和姿势参考数据来控制操纵器的位置和方位。

公开(公告)号：US20080310945A1

公开(公告)日：2008-12-18

申请号：US12141199

申请日：2008-06-18

申请人： Teppei Tsujita ,  Kosuke Kishi ,  Makoto Hashizume

发明人： Teppei Tsujita ,  Kosuke Kishi ,  Makoto Hashizume

IPC分类号： B66C1/10

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B34/71

摘要： The invention provides a manipulator which can carry out a treatment having a large moving amount in a manipulator leading end while being compact. The manipulator is provided with a manipulator shaft portion, a first rod supported so as to be capable of linearly moving with respect to the manipulator shaft portion and driven by a driving force of a driving source, a first gear rotatably supported to the first rod, a first rack supported to the manipulator shaft portion, a second rack supported so as to be capable of linearly moving in the same direction as the first rod with respect to the manipulator shaft portion, and a end-effecter driven by the driving force of the second rack. The first rack and the second rack are arranged in such a manner that respective cogged surfaces come face to face. The first gear is pinched between the first rack and the second rack, and is arranged in an engaged state.

摘要翻译： 本发明提供一种能够在紧凑的情况下在机械手前端进行移动量大的处理的机械手。 操纵器设置有操纵器轴部，第一杆被支撑成能够相对于操纵器轴部线性移动并且由驱动源的驱动力驱动，可旋转地支撑在第一杆上的第一齿轮， 支撑在所述操纵器轴部的第一齿条，被支撑成能够相对于所述机械手轴部在与所述第一杆相同的方向上线性移动的第二齿条，以及由所述第二杆驱动的所述驱动力的终端执行器 第二个机架。 第一齿条和第二齿条被布置成使得相应的齿形表面面对面地布置。 第一齿轮被夹在第一齿条和第二齿条之间，并且布置成接合状态。

公开(公告)号：US08009140B2

公开(公告)日：2011-08-30

申请号：US12016231

申请日：2008-01-18

申请人： Kosuke Kishi ,  Makoto Hashizume

发明人： Kosuke Kishi ,  Makoto Hashizume

IPC分类号： G09G5/00

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  G05B2219/40161 ,  G05B2219/40307 ,  G05B2219/45118

摘要： In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system is provided with a manipulator, a camera, a monitor, an operation input device, a manipulator controller and a master controller. The master controller is provided with an operation an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by the operation input device, an acquirement information division portion dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information. The manipulator controller controls the position and orientation of the manipulator on the basis of the position moving command compensation information and the orientation reference data.

摘要翻译： 在主从操纵器系统中，可以通过简单的结构实现直观的操作，其中监视器和操作输入装置的布局不受限制。 主从操纵器系统设有操纵器，相机，监视器，操作输入装置，操纵器控制器和主控制器。 主控制器设置有操作信息获取部分，用于操作命令基于操作输入装置的命令获取操作参考数据;获取信息划分部分，将操作参考数据分割为位置移动参考数据;以及 取向基准数据，以及移动方向补偿控制器，其基于取向基准数据补偿位置移动基准数据，以输出位置移动指令补偿信息。 操纵器控制器基于位置移动指令补偿信息和姿势参考数据来控制操纵器的位置和方位。

公开(公告)号：US09468381B2

公开(公告)日：2016-10-18

申请号：US13877979

申请日：2011-09-06

申请人： Toru Chiba ,  Yoshimi Obara ,  Makoto Hashizume ,  Takayuki Matsumoto ,  Kozo Konishi ,  Morimasa Tomikawa ,  Masaharu Murata

发明人： Toru Chiba ,  Yoshimi Obara ,  Makoto Hashizume ,  Takayuki Matsumoto ,  Kozo Konishi ,  Morimasa Tomikawa ,  Masaharu Murata

IPC分类号： A61B6/00 ,  A61B1/06 ,  A61B5/00 ,  G06T7/00

CPC分类号： A61B5/0084 ,  A61B1/0638 ,  A61B1/0646 ,  A61B5/0075 ,  A61B5/4238 ,  A61B5/4283 ,  G06T7/0012 ,  G06T2207/10024 ,  G06T2207/10068 ,  G06T2207/30092 ,  G06T2207/30096

摘要： A diagnostic system comprises a spectral image shooting means that shoots a spectral image within a predetermined wavelength range in a body cavity and obtains spectral image data, an image processing means that obtains the spectral image data and calculates an indicator indicating an area having a high possibility of a diseased portion from the spectral image data, and a monitor on which the indicator is displayed, and wherein the image processing means calculates, as the indicator, a ratio between an accumulated value of intensity values of all spectral images in the predetermined wavelength range and an intensity value of spectral images in a particular wavelength band, for each coordinate in the spectral image.

摘要翻译： 诊断系统包括：光谱图像拍摄装置，其在体腔内拍摄预定波长范围内的光谱图像并获得光谱图像数据;图像处理装置，其获得光谱图像数据，并计算指示具有高可能性的区域的指示符 从所述光谱图像数据得到的病变部分，以及显示所述指示符的监视器，并且其中，所述图像处理装置计算所述预定波长范围内的所有光谱图像的强度值的累加值之间的比率作为指标， 以及对于频谱图像中的每个坐标的特定波长带中的光谱图像的强度值。

公开(公告)号：US08886435B2

公开(公告)日：2014-11-11

申请号：US13277600

申请日：2011-10-20

申请人： Kiyoshi Nagami ,  Masatake Ichikawa ,  Makoto Hashizume

发明人： Kiyoshi Nagami ,  Masatake Ichikawa ,  Makoto Hashizume

IPC分类号： B60T7/12 ,  B60K1/00 ,  F16D33/00 ,  F16H61/14 ,  F16H59/14 ,  F16H59/18 ,  F16H59/46

CPC分类号： F16H61/143 ,  F16H2059/147 ,  F16H2059/183 ,  F16H2059/467 ,  F16H2061/145

摘要： A lock-up device supplies hydraulic pressure to a lock-up clutch when lock-up capacity becomes insufficient with increasing accelerator operation amount during slip control. The lock-up device (1) sets a hydraulic unit pressure command value corresponding to drive source torque so rotational speed difference becomes target slip speed when a variation in accelerator operation amount is in a predefined range, and deriving an estimated drive source output torque corresponding to the accelerator operation amount to set the pressure command value corresponding to the estimated drive source torque so the rotational speed difference becomes target slip speed when accelerator operation amount variation exceeds the range's upper limit, and (2) controls the hydraulic unit to supply hydraulic pressure corresponding to hydraulic pressure command value to the lock-up clutch.

摘要翻译： 锁定装置在滑动控制期间随着加速器操作量的增加而在锁定能力变得不足时向锁止离合器供给液压。 锁定装置（1）设定与驱动源扭矩对应的液压单元压力指令值，当加速器操作量的变化在预定范围内时，转速差成为目标滑移速度，并且推定相应的推定驱动源输出转矩 加速器操作量，以设定与推定驱动源扭矩对应的压力指令值，使得当加速器操作量变化超过该范围的上限时，转速差成为目标滑移速度，以及（2）控制液压单元以提供液压 对应于锁定离合器的液压指令值。

公开(公告)号：US20110077127A1

公开(公告)日：2011-03-31

申请号：US12735859

申请日：2009-03-03

申请人： Hiroshi Ishii ,  Kouichi Ohno ,  Kazuo Yuge ,  Masahiro Katou ,  Sachihide Iwamoto ,  Makoto Hashizume ,  Hajime Kenmotsu ,  Shinichiro Takasugi

发明人： Hiroshi Ishii ,  Kouichi Ohno ,  Kazuo Yuge ,  Masahiro Katou ,  Sachihide Iwamoto ,  Makoto Hashizume ,  Hajime Kenmotsu ,  Shinichiro Takasugi

IPC分类号： A63B71/00

CPC分类号： A63B24/0006 ,  A63B21/0058 ,  A63B21/0084 ,  A63B21/0088 ,  A63B21/023 ,  A63B21/06 ,  A63B21/154 ,  A63B21/4034 ,  A63B21/4045 ,  A63B23/0205 ,  A63B23/0233 ,  A63B23/03525 ,  A63B23/0405 ,  A63B23/1209 ,  A63B24/0084 ,  A63B69/06 ,  A63B71/0622 ,  A63B2024/0012 ,  A63B2071/0625 ,  A63B2071/0647 ,  A63B2208/0238 ,  A63B2220/13 ,  A63B2220/30 ,  A63B2220/803 ,  G06F19/00 ,  G06F19/3481

摘要： A training support system (S) allows an exerciser to practice training exercises safely and effectively with high motivation. The training support system (S) comprises a display means (4) which conducts display relating to training for the exerciser who uses a training machine (1) for muscle training, and a controller (3). The controller (3) allows dynamic display of reference motion and training motion on the display means (4) and variation of the display on the display means (4) according to the difference between the reference motion and the training motion.

摘要翻译： 培训支持系统（S）允许锻炼者以高动机安全有效地练习训练。 所述训练支援系统（S）包括显示装置（4），所述显示装置（4）对使用训练机（1）进行肌肉训练的运动员的培训进行显示，以及控制器（3）。 控制器（3）允许根据参考运动和训练运动之间的差异，在显示装置（4）上动态地显示参考运动和训练运动以及显示装置（4）上显示的变化。