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。

公开(公告)号：US20160339586A1

公开(公告)日：2016-11-24

申请号：US15229340

申请日：2016-08-05

Applicant: OLYMPUS CORPORATION

Inventor： Takahiro KOMURO ,  Masatoshi IIDA

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

CPC classification number: B25J9/1682 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/0016 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/301 ,  B25J9/1676 ,  G05B2219/39083 ,  G05B2219/45118

Abstract: A manipulator-device controlling method including: a step of receiving manipulation signals for manipulators; a step of calculating a target position of a joint on the basis of the manipulation signals; steps of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step of comparing the maximum distance with a predetermined threshold; a step of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.

Abstract translation: 一种操纵器装置控制方法，包括：接收操纵器的操作信号的步骤; 基于操作信号计算关节的目标位置的步骤; 当将假设放置在目标位置时计算操纵器之间的最大距离的步骤; 将最大距离与预定阈值进行比较的步骤; 在最大距离等于或小于预定阈值的情况下将关节移动到目标位置的步骤; 以及在最大距离大于预定阈值的情况下停止关节的移动的步骤。

公开(公告)号：US20160213224A1

公开(公告)日：2016-07-28

申请号：US15006433

申请日：2016-01-26

Applicant: OLYMPUS CORPORATION

Inventor： Naoya HATAKEYAMA ,  Takumi ISODA ,  Masatoshi IIDA ,  Sadahiro WATANABE

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/31 ,  A61B1/008 ,  A61B1/018 ,  A61B1/005 ,  A61B1/06

CPC classification number: A61B1/00006 ,  A61B1/00045 ,  A61B1/00105 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B1/31 ,  A61B34/70 ,  A61B34/71 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/306 ,  A61B2034/715 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/35417 ,  G05B2219/39439 ,  G05B2219/45118 ,  G05B2219/49253

Abstract: A manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part. The manipulator includes an operating part operated by an operator, a moving part operated by the operating part, a transmitting part for coupling the operating part to the moving part to transmit driving force of the operating part to the moving part, a transmission compensating part for making up for a dynamic surplus occurring in the transmitting part in association with the operation of the operating part, an input part for acquiring a state of at least one of the operating, moving and transmitting part, and a control unit for controlling the transmission compensating part depending on the state acquired by the input part.

Abstract translation: 一种操纵器和操纵器系统，其中动态剩余被快速移除并且移动部件与操作部件的操作相关联地快速致动。 操纵器包括由操作者操作的操作部分，由操作部分操作的移动部分，用于将操作部分连接到移动部分以将操作部件的驱动力传递到移动部件的传送部件，用于 与运算部的动作相对应地发送在发送部中的动态剩余，用于获取操作，移动和发送部中的至少一个的状态的输入部以及用于控制发送补偿的控制部 部分取决于输入部分获取的状态。

公开(公告)号：US20190167239A1

公开(公告)日：2019-06-06

申请号：US16266167

申请日：2019-02-04

Applicant: OLYMPUS CORPORATION

Inventor： Hiroshi OKABE ,  Masahiro FUJII ,  Masatoshi IIDA ,  Yoshiyuki KUMADA

IPC: A61B17/00

Abstract: A surgical-device rotation mechanism according to the present invention includes: a long member; a rotation member rotatably supported by a distal end of the long member and rotates around a longitudinal axis of the long member; an end effector that is fixed to the rotating member; a tension converting member disposed inside the long member along the longitudinal axis and has a distal end to which the rotation member is fixed, and converts tension into rotation around the longitudinal axis; and a rotation restriction mechanism disposed between the long member and the tension converting member and increases or decreases friction between the rotation restriction mechanism and at least one of an inner surface of the long member and an outer surface of the tension converting member so as to restrict or not restrict relative rotation between the long member and the tension converting member around the longitudinal axis.

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。

公开(公告)号：US20140148818A1

公开(公告)日：2014-05-29

申请号：US14168551

申请日：2014-01-30

Applicant: OLYMPUS CORPORATION

Inventor： Takahiro KOMURO ,  Masatoshi IIDA

IPC: A61B19/00

CPC classification number: G06F3/01 ,  A61B17/068 ,  A61B17/29 ,  A61B17/32002 ,  A61B18/1402 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  A61B2017/00119 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/364 ,  A61B2090/3937 ,  B25J13/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/30 ,  Y10T29/49826 ,  Y10T74/18056

Abstract: A surgical assistant system includes: an operation unit configured to give an input; an arm unit on which a treatment tool is mounted; an operation imaging unit configured to acquire an operation image that is an image including the operation unit; an endoscope configured to acquire an internal-body image; a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode; a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode; a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and a display unit configured to display the synthetic image.

Abstract translation: 手术辅助系统包括：操作单元，被配置为给出输入; 安装有治疗工具的臂单元; 操作成像单元，被配置为获取作为包括所述操作单元的图像的操作图像; 被配置为获取内部身体图像的内窥镜; 模式控制单元，具有多个操作模式，并且被配置为使多个操作模式中的一个能够被设置为设置操作模式; 驱动单元，其被配置为基于由所述操作单元给出的输入和所述设置操作模式来使所述臂单元被操作; 合成图像创建单元，被配置为基于所述设置操作模式使用至少所述操作图像来合成图像以创建合成图像; 以及显示单元，被配置为显示合成图像。

公开(公告)号：US20190200999A1

公开(公告)日：2019-07-04

申请号：US16297821

申请日：2019-03-11

Applicant: OLYMPUS CORPORATION

Inventor： Keisuke TSURIMOTO ,  Masatoshi IIDA ,  Kayuri KIMURA

IPC: A61B17/115

CPC classification number: A61B17/1155 ,  A61B17/115 ,  A61B2017/07257 ,  A61B2017/07285

Abstract: A stapler according to the present invention is provided with: a holder provided with an accommodating portion that accommodates a plurality of staples with tips thereof, which pass through a suturing target, directed in one direction; a plurality of pushers that push out the staples accommodated in the accommodating portion in accordance with a plurality of groups thereof; an anvil that presses and deforms the staples pushed out from the accommodating portion by the pushers; driving-force transmitting mechanisms that are respectively connected to the individual pushers, in which the movement thereof in directions other than the directions in which the staples are pushed out is restricted at the individual connection portions, and that transmit driving forces that move the individual pushers toward the anvil.

公开(公告)号：US20170325905A1

公开(公告)日：2017-11-16

申请号：US15665462

申请日：2017-08-01

Applicant: OLYMPUS CORPORATION

Inventor： Shuya JOGASAKI ,  Masatoshi IIDA ,  Noriaki YAMANAKA ,  Mitsuhiro HARA

IPC: A61B34/00 ,  B25J9/10 ,  B25J18/06

CPC classification number: A61B34/74 ,  A61B34/70 ,  A61B2017/2903 ,  A61B2017/2927 ,  A61B2017/2929 ,  B25J9/102 ,  B25J9/1045 ,  B25J18/06

Abstract: A medical manipulator including: a rotating joint that rotates an end effector disposed at a distal end thereof about a first axis; a flexing joint that is disposed on a base-end side of the rotating joint and that pivots the end effector about a second axis that intersects the first axis; a drive portion that generates a rotational driving force; a motive-power transmitting member that transmits the rotational driving force generated by the drive portion to the rotating joint by passing through the flexing joint; and a speed-reduction portion that transmits the rotational driving force transmitted thereto by the motive-power transmitting member to the end effector after performing speed-reduction.

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。

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 。