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    Manipulator and manipulator system
    1.
    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.

    Medical system
    2.
    发明授权
    Medical system 有权

    公开(公告)号：US10449009B2

    公开(公告)日：2019-10-22

    申请号：US15235396

    申请日：2016-08-12

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya Hatakeyama ,  Masatoshi Iida ,  Hiroshi Wakai

    IPC: A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00

    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.

    Medical manipulator and treatment tool replacement method
    6.
    发明授权
    Medical manipulator and treatment tool replacement method 有权
    医疗机械手和治疗工具更换方法

    公开(公告)号：US09585720B2

    公开(公告)日：2017-03-07

    申请号：US14562898

    申请日：2014-12-08

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya Hatakeyama

    IPC: A61B19/00

    CPC classification number: A61B50/36 ,  A61B34/30 ,  A61B34/37 ,  A61B34/77 ,  A61B2034/306 ,  Y10T29/4973

    Abstract: A medical manipulator includes: an operation member configured to drive so as to operate a treatment tool; a treatment tool side drive shaft configured to rotate about an axis thereof so as to drive the operation member; an operation amount detection member connected to the treatment tool; a treatment tool side detection shaft configured to rotate about an axis thereof in accordance with displacement of the operation amount detection member; a drive unit side drive shaft engaged with the treatment tool side drive shaft; a drive unit side detection shaft engaged with the treatment tool side detection shaft; a shape regulation section configured to regulate a shape of the treatment tool to a predetermined operation state; and a phase setting section configured to set phases in rotational directions of the treatment tool side drive shaft and the treatment tool side detection shaft.

    Abstract translation: 医疗机械手包括：被配置为驱动以操作治疗工具的操作构件; 处理工具侧驱动轴，其构造成围绕其轴线旋转以驱动操作构件; 连接到处理工具的操作量检测构件; 处理工具侧检测轴，其构造成根据操作量检测构件的位移围绕其轴线旋转; 与治疗工具侧驱动轴接合的驱动单元侧驱动轴; 与治疗工具侧检测轴接合的驱动单元侧检测轴; 形状调节部，其将所述处理工具的形状调整为规定的动作状态; 以及相位设定部，被配置为设置处理工具侧驱动轴和处理工具侧检测轴的旋转方向的相位。

    Manipulator
    7.
    发明授权
    Manipulator 有权
    机械手

    公开(公告)号：US09550293B2

    公开(公告)日：2017-01-24

    申请号：US14842115

    申请日：2015-09-01

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya Hatakeyama

    IPC: B25J17/00 ,  B25J9/06 ,  B25J9/10 ,  A61B17/00

    CPC classification number: B25J9/06 ,  A61B34/30 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00296 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/306 ,  A61B2034/715 ,  A61B2090/0818 ,  A61B2090/3612 ,  B25J9/104 ,  Y10T74/20323

    Abstract: A manipulator includes an elongated main unit, a bending portion, and a distal end portion that are disposed in this order from a basal end; a plurality of main bending mechanisms having main linear members that extend from the distal end portion to the main unit, main motive-power generating portions), and main motive-power transmitting portions that transmit motive powers generated by the main motive-power generating portions to the main linear members in the form of linear motions in the longitudinal direction; a plurality of auxiliary bending mechanisms that are provided so as to form pairs with the respective main bending mechanisms and parallel thereto and that exert a pressing force and a tensile force on the distal end portion; and switching portions that selectively actuate either the main bending mechanisms or the auxiliary bending mechanisms, which are paired.

    Abstract translation: 机械手包括从基端依次设置的细长主体，弯曲部和远端部， 多个主弯曲机构，其具有从前端部向主单元延伸的主线性构件，主动力产生部），以及主动力传递部，其将由主动力产生部产生的动力传递 以纵向的线性运动的方式连接到主线性构件; 多个辅助弯曲机构，其设置成与各个主弯曲机构成对并平行，并且对前端部施加按压力和张力; 以及选择性地致动配对的主弯曲机构或辅助弯曲机构的切换部。

    MANIPULATOR SYSTEM
    8.
    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。

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