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    Manipulator control method, manipulator, and manipulator system
    5.
    发明授权
    Manipulator control method, manipulator, and manipulator system 有权

    公开(公告)号：US10150220B2

    公开(公告)日：2018-12-11

    申请号：US15368834

    申请日：2016-12-05

    Applicant: OLYMPUS CORPORATION

    Inventor： Masatoshi Iida ,  Ryuichi Yorimoto

    IPC: G05B15/00 ,  G05B19/00 ,  G06F19/00 ,  B25J18/06 ,  A61B90/00 ,  A61B34/37 ,  A61B34/00 ,  B25J13/08 ,  B25J9/10 ,  B25J9/16 ,  A61B34/30

    Abstract: A method for controlling a manipulator includes a joint structure portion having one or more joints connected to a distal end of an insertion portion, a power transmission member inserted into the insertion portion to transmit driving force to the joint structure portion, and a driving portion that drives the power transmission member and which is guided to an application site by being inserted into the channel member. When the manipulator is operated in an insertion control mode for inserting the joint structure portion into the channel member, the method includes detecting a load amount generated in the power transmission member or the driving portion; and creating a bending state in which the joint structure portion follows the channel member by controlling a driving amount of the power transmission member by the driving portion such that the load amount becomes within a predetermined target control range.

    MANIPULATOR SYSTEM
    7.
    发明申请
    MANIPULATOR SYSTEM 审中-公开
    操纵器系统

    公开(公告)号：US20160135662A1

    公开(公告)日：2016-05-19

    申请号：US15001509

    申请日：2016-01-20

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya Hatakeyama ,  Hiroshi Wakai ,  Masatoshi Iida

    IPC: A61B1/00 ,  A61B1/005 ,  A61B34/37

    CPC classification number: A61B1/0016 ,  A61B1/00006 ,  A61B1/00057 ,  A61B1/00133 ,  A61B1/00135 ,  A61B1/00149 ,  A61B1/0051 ,  A61B34/30 ,  A61B34/37 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/301 ,  B25J9/1689 ,  B25J18/06

    Abstract: Provided is a manipulator system including: a manipulator that has a treatment tool, an insertion portion having a plurality of channels, and treatment-tool driving parts that move the treatment tool forward/backward and/or rotate the treatment tool in the corresponding channel; an operation input unit to which an operation instruction is input; a channel-in-use detecting part that detects the channel into which the treatment tool has been inserted; a compensation-value setting unit that sets a compensation value on the basis of the channel detected by the channel-in-use detecting part; and a control unit that generates a control signal according to the operation instruction, compensates the generated control signal by using the compensation value, and sends the compensated control signal to the treatment-tool driving part.

    Abstract translation: 本发明提供一种机械手系统，包括：具有治疗工具的机械手，具有多个通道的插入部以及使所述治疗工具向前/向后移动和/或使所述治疗工具在相应通道内旋转的治疗工具驱动部; 输入操作指令的操作输入单元; 用于检测处理工具被插入到其中的通道的通道使用检测部分; 补偿值设定单元，其基于由使用频道检测部检测出的频道设定补偿值; 以及根据操作指令生成控制信号的控制单元，通过使用补偿值来补偿生成的控制信号，并将补偿的控制信号发送到治疗工具驱动部。

    Surgical assistant system
    8.
    发明授权
    Surgical assistant system 有权

    公开(公告)号：US09158373B2

    公开(公告)日：2015-10-13

    申请号：US14168551

    申请日：2014-01-30

    Applicant: OLYMPUS CORPORATION

    Inventor： Takahiro Komuro ,  Masatoshi Iida

    IPC: A61B1/00 ,  A61B1/04 ,  G06F3/01 ,  A61B19/00 ,  A61B17/29 ,  A61B17/32 ,  A61B18/14 ,  A61B19/08 ,  B25J13/02 ,  A61B17/068 ,  A61B19/10 ,  A61B17/00

    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.

    Medical treatment tool
    9.
    发明授权
    Medical treatment tool 有权

    公开(公告)号：US11253281B2

    公开(公告)日：2022-02-22

    申请号：US16376685

    申请日：2019-04-05

    Applicant: OLYMPUS CORPORATION

    Inventor： Kayuri Kimura ,  Masatoshi Iida ,  Noriaki Yamanaka ,  Shuya Jogasaki ,  Yoshiyuki Kumada

    IPC: A61B17/29 ,  A61B17/00 ,  A61B34/00

    Abstract: A medical treatment tool includes an elongated insertion section; a grasper supported by a distal end of the insertion section so as to be openable and closable; a generator disposed at a proximal end of the insertion section and generating a force to drive the grasper; a transmitter transmitting the force generated by the generator to the distal end of the insertion section; an amplifier amplifying the force transmitted through the transmitter; and a toggle amplifying and converting the force amplified by the amplifier into a force directed to open or close the grasper.

    Manipulator and manipulator system
    10.
    发明授权
    Manipulator and manipulator system 有权

    公开(公告)号：US10085624B2

    公开(公告)日：2018-10-02

    申请号：US15006422

    申请日：2016-01-26

    Applicant: OLYMPUS CORPORATION

    Inventor： Takumi Isoda ,  Naoya Hatakeyama ,  Masatoshi Iida ,  Sadahiro Watanabe

    IPC: A61B1/005 ,  A61B1/04 ,  A61B1/00 ,  B25J3/04 ,  B25J9/16 ,  A61B1/06 ,  A61B34/00 ,  A61B1/018

    Abstract: The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly.The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2, a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3, and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.

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