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公开(公告)号：US20180296280A1
公开(公告)日：2018-10-18
申请号：US16010559
申请日：2018-06-18
申请人： OLYMPUS CORPORATION
发明人： Kyohei KURIHARA , Mitsuaki HASEGAWA
摘要： A medical manipulator system includes: an endoscope; a first manipulator equipped with a first treatment tool at a distal end thereof; a second manipulator equipped with a second treatment tool at a distal end thereof; a display for a user to view; and a controller configured to generate an image to be displayed on the display. The controller is configured to: acquire a first image taken by the endoscope, the first image contains the first treatment tool; and in response to determining that the second treatment tool does not exist in the first image: calculate a relative distance and a relative direction between the first treatment tool and the second treatment tool; generate a second image showing the relative distance and the relative direction between the first treatment tool and the second treatment tool; and send the first image and the second image to the display.
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公开(公告)号：US20230157778A1
公开(公告)日：2023-05-25
申请号：US18158865
申请日：2023-01-24
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA
IPC分类号： A61B34/00
CPC分类号： A61B34/70 , A61B2034/301
摘要： The medical manipulator system includes: a treatment tool having a long flexible shaft and a rigid shaft; an access device having a long flexible tube, into which the flexible shaft is inserted, and a rigid sheath, into which the shafts are inserted; and a resistance generating part that is provided on at least one of the rigid shaft and the sheath and that generates resistance to advancing of the rigid shaft through the sheath. The resistance generated by the resistance generating part increases when a distal end of the advancing treatment tool passes through a distal end of the flexible tube or a vicinity thereof, and the resistance generated by the resistance generating part decreases after the distal end of the advancing treatment tool passes through the distal end of the flexible tube or the vicinity thereof.
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公开(公告)号：US20200170738A1
公开(公告)日：2020-06-04
申请号：US16748996
申请日：2020-01-22
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA
摘要： A treatment tool includes an elongated shaft that has a bending mechanism at a distal end thereof; a bending operation part that is connected to a proximal-end side of the shaft in order to operate the bending mechanism; a connection sleeve that is provided at a connection section of the bending operation part where the bending operation part and the shaft are connected, and that rotatably holds the shaft; a rotation operation member that is provided at the proximal-end side of the shaft and that rotates the shaft; and a stopper member that can be made to slide outside the connection sleeve along a direction of a longitudinal axis of the shaft and that is engaged with both the rotation operation member and the connection sleeve at a specific position in a range of movement thereof, thereby locking rotation of the shaft with respect to the connection sleeve.
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公开(公告)号：US20180036090A1
公开(公告)日：2018-02-08
申请号：US15785496
申请日：2017-10-17
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA , Takumi ISODA
CPC分类号： A61B34/74 , A61B34/37 , A61B90/37 , A61B2034/2059 , A61B2090/065 , A61B2090/066 , B25J9/06
摘要： A control unit of a medical manipulator system has a position recognition unit that recognizes the positions of a first manipulator and a second manipulator, an interference prediction unit that predicts whether or not the first manipulator interferes with the second manipulator in a case where the first manipulator is moved along a first movement path, and a mode selection unit that selects any one of a first mode and a second mode such that the first mode is selected in a case where the interference prediction unit predicts that the first manipulator does not interfere with the second manipulator, and the second mode is selected in a case where the interference prediction unit predicts that the first manipulator interferes with the second manipulator, and selects one mode from a plurality of operation modes so as to shift from the first mode or the second mode to a third mode in a case where a torque sensor detects contact between the first manipulator and an obstacle while the control unit is operating in the first mode or the second mode.
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公开(公告)号：US20220409227A1
公开(公告)日：2022-12-29
申请号：US17899753
申请日：2022-08-31
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA
IPC分类号： A61B17/29
摘要： A medical manipulator includes a flexible shaft, a distal-end portion, an operating unit with which the distal-end portion is operated, a wire transmitting a motive force of the unit to the distal-end portion, a coil formed from a material having a greater rigidity than the shaft and one end thereof being secured to the distal-end portion and the other end thereof being secured to the unit, and a tube having a greater bending rigidity than the coil. The unit includes a socket connected to the shaft, a ball relatively rotatable to the socket, and a handle with which the wire is pushed/pulled in the longitudinal direction, the coil is disposed at a position at which the coil covers an area surrounding the wire, and the tube is disposed at a position at which the tube covers an area surrounding the coil in spaces in the socket and the ball.
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公开(公告)号：US20210153727A1
公开(公告)日：2021-05-27
申请号：US17167294
申请日：2021-02-04
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA
摘要： A medical manipulator system is equipped with a treatment tool and an access device that guides the treatment tool. The treatment tool includes a flexible shaft equipped with a treatment unit at a distal end, a rigid shaft connected to a proximal end of the flexible shaft, and an operation unit connected to a proximal end of the rigid shaft and configured to operate the treatment unit. The access device includes a flexible tube into which the flexible shaft is to be inserted, and a rigid unit connected to a proximal end of the flexible tube. The rigid unit includes an insertion hole into which the rigid shaft is to be inserted. An inner surface of the insertion hole has a projection that projects radially inward. The projection faces an outer circumferential surface of the rigid shaft inserted into the insertion hole.
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公开(公告)号：US20190029767A1
公开(公告)日：2019-01-31
申请号：US16145258
申请日：2018-09-28
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA , Ryoji HYODO
摘要： A medical manipulator includes: an elongated flexible portion configured to be inserted into a body; an end effector disposed on a distal end of the elongated flexible portion; a proximal portion coupled to a proximal end of the elongated flexible portion, the proximal portion being configured to generate power for actuating the end effector; at least two wires configured to transmit the power to the end effector; at least two sheaths configured to form a path of each of the wires within the elongated flexible portion; and a rotating mechanism configured such that either a distal end or a proximal end of each of the sheaths rotates relative to the elongated flexible portion about a longitudinal axis of the elongated flexible portion.
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公开(公告)号：US20180256273A1
公开(公告)日：2018-09-13
申请号：US15976099
申请日：2018-05-10
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA , Takumi ISODA
CPC分类号： A61B34/70 , A61B34/37 , A61B34/74 , A61B2017/00477 , A61B2017/00973 , A61B2034/302 , A61B2090/08021 , A61B2090/0811 , B25J9/06 , B25J9/1676 , B25J13/04 , B25J18/007
摘要： A medical manipulator system having: an end effector configured to be controlled to perform a treatment; an arm to which the end effector is attached, wherein the arm has a plurality of movable parts, wherein the plurality of movable parts are configured to be moved under one of a plurality of modes, wherein each of the plurality of modes comprises a combination of: movement by one or more actuators; and movement by an external force; and a controller configured to: control the end effector to perform the treatment; and select the one of the plurality of modes; and effect movement of the plurality of movable parts by controlling the one or more actuators and by permitting movement by the external force in accordance with the one of the plurality of modes selected.
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公开(公告)号：US20170105805A1
公开(公告)日：2017-04-20
申请号：US15396913
申请日：2017-01-03
申请人： OLYMPUS CORPORATION
CPC分类号： A61B34/37 , A61B1/0057 , A61B17/29 , A61B34/30 , A61B34/71 , A61B2017/2905 , A61B2034/301 , A61B2034/715 , A61B2090/064 , B25J3/00 , B25J9/065 , B25J9/1045 , B25J15/0019 , B25J15/0028 , B25J19/00
摘要： A medical instrument according to the present invention includes an end effector that fulfills a predetermined function, a motor unit that generates power for driving the end effector, a transmission member that is connected to the end effector and the motor unit so as to transmit the power to the end effector, a tension holding portion that has a tension generation portion and a tension pulley which is connected to the tension generation portion and which comes into contact with the transmission member the tension pulley being configured to move such that tension applied to the transmission member in a predetermined magnitude, and a switch that can fix a position of the tension pulley.
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公开(公告)号：US20200155257A1
公开(公告)日：2020-05-21
申请号：US16773244
申请日：2020-01-27
申请人： OLYMPUS CORPORATION
发明人： Mitsuaki HASEGAWA
摘要： A treatment tool that includes an elongated shaft, a hollow socket connected to the shaft and having a first spherical surface with a constant radius, a ball inside the socket, and a wire extending through the shaft and causing a bending mechanism to bend. The rotation of the ball about a center point of the socket causes advancing and retreating of the wire. The ball includes a second spherical surface that is formed in a partial region of an outer surface of the ball, and that is configured to slide along the first spherical surface of the socket. The ball also includes a fixing portion attaching the wire to the ball, and a wire sliding surface on which the wire slides due to rotation of the ball.
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