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    MANIPULATOR SYSTEM AND METHOD OF CONTROLLING THE SAME
    1.
    发明申请
    MANIPULATOR SYSTEM AND METHOD OF CONTROLLING THE SAME 审中-公开
    操纵器系统及其控制方法

    公开(公告)号：US20160338784A1

    公开(公告)日：2016-11-24

    申请号：US15229419

    申请日：2016-08-05

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya HATAKEYAMA ,  Masatoshi IIDA ,  Hiroshi WAKAI

    IPC: A61B34/30 ,  A61B5/06 ,  A61B34/00

    CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0055 ,  A61B5/062 ,  A61B34/71 ,  A61B2017/00305 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306

    Abstract: Provided is a manipulator system including: a flexible inserted portion; a manipulator that has a joint portion that is driven at the distal end of the inserted portion; a drive portion that drives the joint portion on the basal-end side of the inserted portion; a shape estimating portion that estimates the shape of the inserted portion; and a control portion that controls the drive portion based on the shape of the estimated inserted portion, wherein the shape estimating portion is provided with detection targets that are arranged, with spaces therebetween, in the inserted portion in the longitudinal direction thereof, a position detection portion that detects three-dimensional positions of the detection targets, and a shape calculating portion that calculates, on the basis of the three-dimensional positions of the detected detection targets, the shape of the inserted portion by dividing the inserted portion into sections in the longitudinal direction thereof.

    Abstract translation: 提供了一种机械手系统，包括：柔性插入部分; 操纵器，其具有在所述插入部的前端被驱动的接合部; 驱动部，驱动所述插入部的基端侧的接合部; 估计插入部分的形状的形状估计部分; 以及控制部，其基于估计插入部的形状来控制驱动部，其特征在于，所述形状估计部设置有沿其长度方向插入的部分中具有间隙的检测对象，位置检测 检测目标的三维位置的部分，以及形状计算部，其基于检测出的检测对象的三维位置，通过将插入部分分割为 其纵向方向。

    MEDICAL SYSTEM AND TREATMENT TOOL CALIBRATING METHOD
    4.
    发明申请
    MEDICAL SYSTEM AND TREATMENT TOOL CALIBRATING METHOD 审中-公开
    医疗系统和治疗工具的校准方法

    公开(公告)号：US20160360947A1

    公开(公告)日：2016-12-15

    申请号：US15245269

    申请日：2016-08-24

    Applicant: OLYMPUS CORPORATION

    Inventor： Masatoshi IIDA ,  Naoya HATAKEYAMA ,  Hiroshi WAKAI

    IPC: A61B1/00 ,  A61B1/05 ,  A61B34/20 ,  A61B1/005 ,  B25J9/16 ,  A61B34/37

    CPC classification number: A61B1/00006 ,  A61B1/00009 ,  A61B1/00045 ,  A61B1/00057 ,  A61B1/00059 ,  A61B1/00087 ,  A61B1/0051 ,  A61B1/05 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00725 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/364 ,  B25J9/1692 ,  G02B23/2476

    Abstract: A medical system includes a treatment tool including a treatment portion, a joint portion, a flexible tube portion, and a drive unit; an endoscope device including an outer sheath that holds the treatment tool and an imaging unit that is capable of acquiring an image including at least the joint portion; and a control unit that controls an operation of the treatment tool. The control unit includes a table that has a parameter for causing the joint portion to move, a controller that issues a command for controlling the drive unit based on the parameter to the drive unit, an image processing unit that calculates at least one of a position and an orientation of the joint portion based on the image, and a compensation value calculating unit that detects displacement of the joint portion, generates a compensation value, and incorporates the compensation value into the parameter.

    Abstract translation: 医疗系统包括处理工具，其包括处理部分，接合部分，柔性管部分和驱动单元; 内窥镜装置，其包括保持所述治疗工具的外护套和能够获取至少包括所述接合部的图像的摄像部; 以及控制单元，其控制所述治疗工具的操作。 所述控制单元包括具有用于使所述接合部移动的参数的表，基于所述驱动单元的参数发出用于控制所述驱动单元的指令的控制器，图像处理单元，其计算位置 以及基于图像的接合部的取向，以及补偿值计算单元，其检测接合部的位移，生成补偿值，并将补偿值并入参数。

    MANIPULATOR-CALIBRATING METHOD, MANIPULATOR, AND MANIPULATOR SYSTEM
    6.
    发明申请
    MANIPULATOR-CALIBRATING METHOD, MANIPULATOR, AND MANIPULATOR SYSTEM 审中-公开
    操纵器校准方法，操纵器和操纵器系统

    公开(公告)号：US20160361819A1

    公开(公告)日：2016-12-15

    申请号：US15246677

    申请日：2016-08-25

    Applicant: OLYMPUS CORPORATION

    Inventor： Hiroshi WAKAI ,  Masatoshi IIDA ,  Naoya HATAKEYAMA

    IPC: B25J9/16 ,  A61B1/00 ,  A61B34/00 ,  B25J13/08 ,  A61B34/37

    CPC classification number: B25J9/1692 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00057 ,  A61B1/00087 ,  A61B1/00133 ,  A61B1/00149 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00725 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/064 ,  B25J13/085 ,  G05B2219/39024

    Abstract: A method of calibrating a manipulator including a joint portion, a drive unit that generates a driving force for driving the joint portion, and a driving force transmission member that is inserted into a tubular member and transmits the driving force generated from the drive unit to the joint portion includes: an arrangement step of arranging the manipulator in a usable state; a load-measuring step of issuing an operation command based on a predetermined calibrating drive pattern to the drive unit and measuring a load generated in the manipulator at that time; and a control parameter-setting step of setting a main-driving control parameter based on the load measured in the load-measuring step.

    Abstract translation: 一种校准包括接合部分的机械手的方法，产生用于驱动接合部分的驱动力的驱动单元以及插入到管状部件中并将从驱动单元产生的驱动力传递到驱动单元的驱动力传递部件 关节部分包括：将所述操纵器布置在可用状态的布置步骤; 负载测量步骤，基于预定的校准驱动模式向驱动单元发出操作命令，并测量此时在操作器中产生的负载; 以及控制参数设定步骤，其基于在所述负载测量步骤中测量的负载来设定主驱动控制参数。

    VARIABLE SPECTRUM ELEMENT
    7.
    发明申请
    VARIABLE SPECTRUM ELEMENT 有权
    可变光谱元件

    公开(公告)号：US20140036344A1

    公开(公告)日：2014-02-06

    申请号：US13955658

    申请日：2013-07-31

    Applicant: OLYMPUS CORPORATION

    Inventor： Hiroshi WAKAI

    IPC: G02F1/01

    CPC classification number: G02F1/0121 ,  A61B1/00186 ,  G01J3/26 ,  G02B26/001

    Abstract: A variable spectrum element includes: first and third sensors which are placed at positions at which the first and third sensors are symmetrical with respect to a line connecting the centers of mass of the surfaces of a pair of optical substrates opposite to each other, respectively; second and fourth sensors which are placed at positions at which the second and fourth sensors are symmetrical with respect to the line connecting the centers of mass, respectively; and first to fourth actuators which are placed on lines running from the center of mass of the surface of each of the pair of the optical substrates opposite to each other to the centers of the first to fourth sensors respectively, respectively.

    Abstract translation: 可变光谱元件包括：第一和第三传感器，其位于第一和第三传感器相对于连接彼此相对的一对光学基板的表面的质心的线对称的位置处; 第二传感器和第四传感器分别位于第二传感器和第四传感器相对于连接质心的线对称的位置; 以及第一至第四致动器，其分别从分别相对的一对光学基板的表面的质心移动到第一至第四传感器的中心。

    ENERGY TREATMENT TOOL
    8.
    发明申请
    ENERGY TREATMENT TOOL 有权

    公开(公告)号：US20210145469A1

    公开(公告)日：2021-05-20

    申请号：US17163758

    申请日：2021-02-01

    Applicant: OLYMPUS CORPORATION

    Inventor： Hiroshi WAKAI ,  Keisuke TSURIMOTO

    IPC: A61B17/29

    Abstract: An energy treatment tool includes: a first gripping piece and second gripping piece that are coupled so as to be relatively opened and closed, the first and second gripping pieces respectively having a first gripping surface and a second gripping surface that are opposed to each other in a closed state and treating, by energy, living tissue gripped between the first and second gripping surfaces; and an alignment part that is provided on the first and second gripping pieces and that aligns the first and second gripping surfaces with each other in a process of closing the first and second gripping pieces, wherein at least one of the first and second gripping surfaces includes a treatment surface that emits energy, and the alignment part is provided at a position other than the treatment surface.

    MEDICAL SYSTEM
    9.
    发明申请
    MEDICAL SYSTEM 审中-公开
    医疗系统

    公开(公告)号：US20160346054A1

    公开(公告)日：2016-12-01

    申请号：US15235396

    申请日：2016-08-12

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya HATAKEYAMA ,  Masatoshi IIDA ,  Hiroshi WAKAI

    IPC: A61B34/37 ,  A61B90/00 ,  A61B17/00

    CPC classification number: A61B34/37 ,  A61B17/00234 ,  A61B34/30 ,  A61B90/08 ,  A61B2017/00296 ,  A61B2017/00725 ,  A61B2034/301 ,  A61B2090/0811

    Abstract: A medical system includes: a treatment tool including a treatment portion configured to treat a living body, a joint portion configured to move the treatment portion, a first indicator portion provided to correspond to a position of the joint portion, a sheath portion connected to the joint portion, and a driving portion connected to the sheath portion and configured to displace the joint portion; an overtube including a flexible tube portion having a distal end and a proximal end and holding the treatment tool such that the treatment portion is capable of protruding from the distal end, and a second indicator portion provided at the flexible tube portion to identify a predefined space where calibration of the treatment tool is performed; and a calibration mechanism configured to calibrate the treatment tool when the first and second indicator portions have a predetermined positional relationship.

    Abstract translation: 医疗系统包括：处理工具，其包括被配置为处理生物体的处理部，配置成移动处理部的接合部，与接合部的位置对应地设置的第一指示部，与该连接部 连接部分和连接到护套部分并构造成使接合部分移位的驱动部分; 包括具有远端和近端的柔性管部分并且保持治疗工具使得处理部分能够从远端突出的外套管，以及设置在柔性管部分处以识别预定空间的第二指示器部分 其中执行治疗工具的校准; 以及校准机构，被配置为当所述第一和第二指示器部分具有预定的位置关系时校准所述治疗工具。

    MANIPULATOR SYSTEM
    10.
    发明申请
    MANIPULATOR SYSTEM 有权
    操纵器系统

    公开(公告)号：US20160136810A1

    公开(公告)日：2016-05-19

    申请号：US15002721

    申请日：2016-01-21

    Applicant: OLYMPUS CORPORATION

    Inventor： Hiroshi WAKAI ,  Naoya HATAKEYAMA ,  Masatoshi IIDA

    IPC: B25J9/16 ,  A61B1/00 ,  B25J13/06

    CPC classification number: B25J9/1635 ,  A61B1/00059 ,  A61B1/00133 ,  A61B34/30 ,  A61B34/37 ,  A61B90/96 ,  A61B90/98 ,  A61B2017/00022 ,  A61B2017/0034 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  B25J9/1638 ,  B25J9/1689 ,  B25J13/06 ,  B25J18/06 ,  G02B23/2476 ,  G05B2219/40279 ,  Y10S901/09

    Abstract: Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit.

    Abstract translation: 本发明提供一种机械手系统，包括：具有由柔性部和弯曲部构成的插入部的机械手，具有用于驱动弯曲部的弯曲部驱动部; 操作输入单元; 柔性部分形状检测单元和弯曲部分形状检测单元，其分别检测柔性部分和弯曲部分的弯曲形状; 补偿值设定单元，其基于由所述形状检测单元检测出的所述弯曲形状来设定补偿值; 以及控制单元，其根据经由操作输入单元输入的操作指令生成用于驱动所述弯曲部驱动单元的曲率控制信号，并且还使用所述补偿值来校正所述曲率控制信号，并将其传送到所述弯曲部驱动单元 。

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