公开(公告)号：US11497387B2

公开(公告)日：2022-11-15

申请号：US16456320

申请日：2019-06-28

Applicant: OLYMPUS CORPORATION

Inventor： Shingo Nakayama ,  Kosuke Kishi

IPC: A61B34/00 ,  A61B1/008 ,  A61B1/005 ,  A61B17/00

Abstract: A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.

公开(公告)号：US11298199B2

公开(公告)日：2022-04-12

申请号：US16110586

申请日：2018-08-23

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Keigo Takahashi ,  Kosuke Kishi

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B34/37 ,  B25J3/00 ,  A61B90/00 ,  B25J19/06 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20

Abstract: A manipulator system includes: a manipulator including an elongated flexible section, a movable section provided at a distal end of the flexible section, and a driver that is provided at a proximal end of the flexible section and that drives the movable section; an insertion section having a channel into which the manipulator is inserted; an advancing/retreating section that advances/retreats the manipulator and that causes the movable section of the manipulator to protrude from, and to be withdrawn into, a distal end of the channel; a protrusion-state acknowledgement section that acknowledges a protrusion state in which an entirety of the movable section protrudes from the distal end of the channel; and a restricting section that, when the protrusion state is acknowledged with the protrusion-state acknowledgement section, restricts further retreating motion of the driver performed by the advancing/retreating section.

公开(公告)号：US10660720B2

公开(公告)日：2020-05-26

申请号：US15374139

申请日：2016-12-09

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: A61B34/00 ,  B25J3/00 ,  B25J13/02 ,  A61B17/00 ,  A61B90/00 ,  A61B1/00 ,  A61B46/10

Abstract: A device for operating a surgical manipulator including, at a distal end of an elongate shaft: a rotational joint that is rotatable about a longitudinal axis of the shaft; and a flexing joint that is on a distal-end side of the rotational joint and that can be flexed about an axis that intersects the longitudinal axis. A surgical-manipulator operating device including: a gripping portion that is gripped by an operator; a rotation input portion that is provided with a rotating member attached to the gripping portion in a rotatable manner and with which rotation instructions for the rotational joint are input in accordance with rotational angles of the rotating member; and flexion input portions with which flexion instructions for the flexing joint are input in directions corresponding to fixed circumferential-direction operating positions on the rotating member.

公开(公告)号：US10245111B2

公开(公告)日：2019-04-02

申请号：US14541886

申请日：2014-11-14

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

Abstract: An operation support device includes a manipulation input unit and an operating section to which a surgical instrument is attached and which operates the surgical instrument. The surgical instrument includes a treatment section, a flexible insertion section, and a manipulation section which is fixed to the flexible insertion section. The manipulation input unit further includes a detection body which is attached to the manipulation section, and a detecting device which detects the detection body. The detecting device calculates information which is capable of specifying a position and/or an orientation of the detection body. On the basis of the information which is calculated by the detecting device, a control device controls an operation of the surgical instrument by outputting to the operating section an order of moving the surgical instrument as a manipulation order.

公开(公告)号：US10085620B2

公开(公告)日：2018-10-02

申请号：US14719451

申请日：2015-05-22

Applicant: OLYMPUS CORPORATION

Inventor： Ryohei Ogawa ,  Kosuke Kishi

IPC: A61B1/00 ,  A61B1/05 ,  A61B1/045 ,  A61B34/30 ,  A61B1/307 ,  A61B1/06 ,  A61B1/273 ,  A61B1/005 ,  A61B17/29 ,  A61B90/30 ,  A61B90/00

Abstract: A method of controlling an endoscopic device includes a first field-of-view-moving process of causing an imaging unit to move with respect to a distal end rigid section to a first side with respect to an axis of an insertion unit, an insertion-unit-moving process of bending a bending section to cause the distal end rigid section to move to the first side with respect to the axis of the insertion unit, and a second field-of-view-moving process of causing the imaging unit to move with respect to the distal end rigid section to a second side in an opposite direction of the first side with respect to the axis of the insertion unit.

公开(公告)号：US10010376B2

公开(公告)日：2018-07-03

申请号：US14580383

申请日：2014-12-23

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: B25J17/00 ,  A61B34/00 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/70 ,  A61B34/71 ,  A61B2017/00296 ,  A61B2017/0034 ,  A61B2034/301 ,  A61B2090/062 ,  A61B2090/067 ,  A61B2090/0811

Abstract: This medical manipulator includes a body section, an insertion section, a channel, a movement amount detection section configured to detect an amount of movement of a medical treatment tool inserted through a body-side channel provided in the body section, a distal-end-side contact section provided to be in contact with the medical treatment tool inserted through an insertion-side channel arranged in the insertion section and configured to rotate about its own axis to move the medical treatment tool, a first drive section configured to rotate the distal-end-side contact section. The distal-end-side contact section is rotated so as to move the medical treatment tool with respect to the insertion-side channel by an amount of movement which is the same as the amount of movement detected by the movement amount detection section.

公开(公告)号：US09630323B2

公开(公告)日：2017-04-25

申请号：US14718404

申请日：2015-05-21

Applicant: OLYMPUS CORPORATION

Inventor： Kosuke Kishi

IPC: G06F19/00 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B90/00

CPC classification number: B25J9/1697 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/306 ,  B25J9/1643 ,  G05B2219/39425 ,  Y10S901/02

Abstract: An operation support system performing treatment on a target tissue while observing using an image capturing unit, using a treatment unit installed at a distal end side of a manipulator, a distal end seen from a fixing end of the manipulator, includes: the manipulator having joints corresponding to degrees of freedom and including at least two redundant joints having a redundant relationship among the joints; an operating unit configured to provide operating information corresponding to the degrees of freedom; a positional relationship calculation unit calculating a switching positional relationship between the target tissue or the treatment unit and the image capturing unit; and a control unit controlling an operation of the joint according to the operating information. The control unit controls the manipulator using one redundant joint as a driving joint and the other redundant joints as a fixing joint based on the switching positional relationship.

公开(公告)号：US20160135913A1

公开(公告)日：2016-05-19

申请号：US15002515

申请日：2016-01-21

Applicant: OLYMPUS CORPORATION

Inventor： Kosuke Kishi ,  Shingo Nakayama

IPC: A61B34/00

CPC classification number: A61B34/72 ,  A61B1/0055 ,  A61B1/008

Abstract: Provided is a manipulator including a distal-end joint group and a proximal-end joint group that are arranged adjacent to each other in a distal-end section of an insertion part in a longitudinal axis direction and that are configured to bend the distal-end section. The proximal-end joint group includes a plurality of proximal-end bending joints bendable about axes that are lined-up side-by-side to bend the distal-end section through 180° or more. The distal-end joint group includes first distal-end bending joints disposed on a distal side of the proximal-end joint group and bendable about axes crossing a plane including the axes of the proximal-end bending joints and the longitudinal axis; and a second distal-end bending joint disposed in the longitudinal axis direction relative to the axes of the first distal-end bending joints and bendable about an axis that is lined-up side-by-side with the axes of the proximal-end bending joints.

Abstract translation: 本发明提供一种机械手，其包括在插入部的纵轴方向的前端部彼此相邻配置的前端关节组和近端关节组，其构造为使前端 部分。 近端关节组包括可围绕轴线弯曲的多个近端弯曲接头，所述接头并排排列以使远端部分弯曲180°以上。 所述前端接头组包括设置在所述近端接头组的远端侧的第一远端弯曲接头，并且可围绕与包括所述近端弯曲接头的轴线和所述纵向轴线的平面交叉的轴线弯曲; 以及第二远端弯曲接头，其相对于所述第一远端弯曲接头的轴线在纵轴方向上配置，并且能够绕所述近端弯曲的轴线并排排列的轴线弯曲 关节。

公开(公告)号：US09244524B2

公开(公告)日：2016-01-26

申请号：US14169675

申请日：2014-01-31

Applicant: OLYMPUS CORPORATION

Inventor： Shintaro Inoue ,  Kosuke Kishi

IPC: G06F19/00 ,  G06F3/01 ,  A61B19/00 ,  B25J9/16 ,  A61B17/29 ,  A61B17/32 ,  A61B18/14 ,  A61B19/08 ,  B25J13/02 ,  A61B17/068 ,  A61B19/10 ,  A61B17/00

CPC classification number: G06F3/01 ,  A61B17/068 ,  A61B17/29 ,  A61B17/32002 ,  A61B18/1402 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B46/23 ,  A61B2017/00119 ,  A61B2017/00477 ,  A61B2017/00482 ,  B25J9/1612 ,  B25J9/1689 ,  B25J13/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/30 ,  Y10T29/49826 ,  Y10T74/18056

Abstract: A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.

Abstract translation: 手术器械包括端部执行器，操纵单元，把手检测单元，驱动单元和控制单元。 当控制单元基于由抓取检测单元获取的信息确定末端执行器向目标施加作用力时，控制单元在第一方向上的第一可移动范围内设定预定范围的作用力增加区域 在第一可移动范围的剩余区域中设置中性区域，控制驱动单元，使得作用力相对于操作单元在作用力增加区域中的操纵量以恒定梯度增加 并且控制驱动单元，使得作用力保持恒定，而与中性区域中的操纵单元的操纵量无关。

公开(公告)号：US08906002B2

公开(公告)日：2014-12-09

申请号：US13802026

申请日：2013-03-13

Applicant: Olympus Corporation

Inventor： Kosuke Kishi ,  Ryoji Hyodo

IPC: A61B17/00 ,  A61B19/00

CPC classification number: A61B17/00 ,  A61B34/70

Abstract: A bending joint mechanism includes a joint section. The joint section includes a shaft section, an actuating section, a coupling member and a rod section. The rod section has an elastic portion which is elastically deformable in directions other than the axial direction of the shaft section.

Abstract translation: 弯曲接头机构包括接合部。 接头部分包括轴部分，致动部分，联接部件和杆部分。 杆部具有能够沿着轴部的轴向以外的方向弹性变形的弹性部。