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公开(公告)号：US20160213224A1
公开(公告)日：2016-07-28
申请号：US15006433
申请日：2016-01-26
申请人： OLYMPUS CORPORATION
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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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：US20140107674A1
公开(公告)日：2014-04-17
申请号：US14140892
申请日：2013-12-26
申请人： OLYMPUS CORPORATION
发明人： Ken FUJISAKI , Takumi ISODA , Hirotaka NAMIKI
IPC分类号： A61B17/04
CPC分类号： A61B17/0469 , A61B17/0401 , A61B17/0487 , A61B17/06 , A61B17/062 , A61B17/12009
摘要： Provided is a tissue ligation device for ligating tissues. The tissue ligation device includes a suture thread, and a hook-like member having a connecting portion connected to a suture thread-side of the connecting portion of the suture thread and a groove whose inner wall has a locking surface disposed so as to face the suture thread-side connecting portion and allowed to be brought into contact with the suture thread.
摘要翻译： 提供了用于连接组织的组织结扎装置。 组织结扎装置包括缝合线和钩状构件，其具有连接部分连接到缝合线的连接部分的缝合线侧，并且其内壁具有设置成面向 缝合线侧连接部分并允许其与缝合线接触。
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公开(公告)号：US20180325607A1
公开(公告)日：2018-11-15
申请号：US16032153
申请日：2018-07-11
申请人： OLYMPUS CORPORATION
发明人： Takumi ISODA , Mitsuaki HASEGAWA
CPC分类号： A61B34/25 , A61B1/00009 , A61B1/00135 , A61B34/20 , A61B34/37 , A61B34/71 , A61B90/06 , A61B2034/256 , A61B2090/064 , G06T7/70 , G06T11/001 , G06T2210/62 , H04N5/44504
摘要： A medical manipulator system includes: a manipulator having a treating portion at a distal end thereof; an endoscope configured to capture an image showing a state of the treating portion performing treatment; an external-force detecting means for generating data on an external force exerted on the manipulator; a display for an operator; and a controller comprising a hardware including at least one processor. The at least one processor is configured to: receive the data from the external-force detecting means; generate an auxiliary image in which a display form thereof is changed on the basis of the data; receive the image from the endoscope; determine a display position of the auxiliary image in the image on the basis of the data; generate a signal being capable to display a composited image which is superimposed on the auxiliary image on the image on the basis of the display position; and transmit the signal to the display.
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公开(公告)号：US20160135914A1
公开(公告)日：2016-05-19
申请号：US15004073
申请日：2016-01-22
申请人： OLYMPUS CORPORATION
发明人： Takumi ISODA
IPC分类号： A61B34/00
CPC分类号： A61B34/72 , A61B34/70 , A61B34/71 , A61B34/74 , A61B2017/0003 , A61B2017/00084 , A61B2017/00314 , A61B2017/00327 , A61B2017/00477 , A61B2017/2923 , A61B2034/306 , B25J9/104 , B25J18/06
摘要： A medical manipulator comprising a distal end side and a proximal end side, comprising a distal unit including an end effector on the distal end side, a joint assembly located on a proximal end side of the end effector and a first power transmission assembly for transmission in a longitudinal direction of a linear motion force for actuation of the end effector or the joint assembly, and a proximal unit including a driver on the proximal end side for generating power for actuating the end effector or the joint assembly and a second power transmission assembly for transmission of power generated from the driver to the distal end side. The distal unit includes a first linear motion force conversion mechanism linked to the first power transmission assembly to convert power from the second power transmission assembly to a linear motion force.
摘要翻译： 一种包括远端侧和近端侧的医疗机械手，包括远端单元，该远端单元包括在远端侧的端部执行器，位于末端执行器的近端侧的接头组件和用于传输的第一动力传递组件 用于致动末端执行器或接头组件的直线运动力的纵向方向，以及包括在近端侧的驱动器的近端单元，用于产生用于致动末端执行器或接头组件的动力;以及第二动力传递组件， 从驾驶员发送到远端侧的动力。 远端单元包括连接到第一动力传递组件以将来自第二动力传动组件的动力转换成线性运动力的第一直线运动力转换机构。
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公开(公告)号：US20160135663A1
公开(公告)日：2016-05-19
申请号：US15006422
申请日：2016-01-26
申请人： OLYMPUS CORPORATION
CPC分类号： A61B1/0057 , A61B1/00006 , A61B1/00045 , A61B1/0052 , A61B1/018 , A61B1/04 , A61B1/06 , A61B34/70 , A61B34/71 , A61B2034/715 , B25J3/04 , B25J9/1689 , G05B2219/35417 , G05B2219/39439 , G05B2219/45118 , G05B2219/49253
摘要： 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.
摘要翻译： 本发明的目的是提供一种操纵器和操纵器系统，其中快速移除动态剩余，并且移动组件与操作组件的操作相关联地快速致动。 操纵器1包括由操作者操作的操作组件2，由操作组件2操作的移动组件3，用于将操作组件2联接到移动组件3的传动组件4，以将操作组件2的驱动力传递到 移动组件3和传动补偿组件6，用于补偿与操作组件2的操作相关联地在发送组件4中发生的动态剩余。
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公开(公告)号：US20190069764A1
公开(公告)日：2019-03-07
申请号：US16172957
申请日：2018-10-29
申请人： OLYMPUS CORPORATION
发明人： Takumi ISODA , Tatsutoshi HASHIMOTO
摘要： A medical overtube includes a long insertion unit having distal and proximal end portions; a bending unit connected to the distal end portion; an operation unit disposed at a proximal end side of the insertion unit; and a linear member having a distal end fixed to a distal end side of the bending unit and disposed movably along a longitudinal axis of the insetion and bending units. The bending unit is bent by the linear member being pulled toward the proximal end portion in response to an operation of the operation unit, the bending unit has a plurality of channels through which medical devices are passed, and the linear member in the insertion unit is disposed at a position shifted in a circumferential direction and inward in a radial direction with respect to a position of the linear member disposed in at least a part of the bending unit.
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公开(公告)号：US20180071034A1
公开(公告)日：2018-03-15
申请号：US15815974
申请日：2017-11-17
申请人： OLYMPUS CORPORATION
发明人： Takumi ISODA
CPC分类号： A61B34/25 , A61B1/00006 , A61B1/00009 , A61B1/00059 , A61B1/00133 , A61B1/00149 , A61B1/018 , A61B5/6835 , A61B34/20 , A61B34/30 , A61B34/77 , A61B90/37 , A61B2017/3492 , A61B2090/062
摘要： A medical manipulator system including an endoscope; a manipulator, the manipulator comprising a through-hole configured to hold the endoscope, wherein the manipulator is configured to move the endoscope; an operating unit configured to output an operating command; and a controller comprising one or more processors, the one or more processors configured to: acquire an image of the endoscope in a first configuration, the first configuration being a configuration of the endoscope at least partially inserted into the through-hole, the image comprising an inner surface of the through-hole; recognize a type of the endoscope based on the image; assign the endoscope to a recognized type of endoscope; receive an operating command from the operating unit; change the operating command based on the recognized type of endoscope to a changed operating command; and control the manipulator under the changed operating command.
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公开(公告)号：US20170049302A1
公开(公告)日：2017-02-23
申请号：US15345732
申请日：2016-11-08
申请人： OLYMPUS CORPORATION
发明人： Takumi ISODA
CPC分类号： A61B1/00133 , A61B1/00087 , A61B1/00098 , A61B1/00101 , A61B1/0014 , A61B1/018 , A61B17/29 , A61B2017/00292 , A61B2017/00296 , A61B2017/00323 , A61B2017/00327 , A61B2017/0034 , A61B2017/2927
摘要： A treatment-tool adaptor including: an adaptor body that is secured to the tip of an insertion portion of an endoscope; a movable member that is disposed along the longitudinal direction of the insertion portion and that supports the tip portion of a treatment-tool channel member through which a treatment tool is passed; and a moving mechanism that causes the movable member to translationally move relative to the adaptor body in a direction intersecting the longitudinal axis of the treatment-tool channel member supported by the movable member.
摘要翻译： 一种处理工具适配器，包括：固定到内窥镜的插入部分的尖端的适配器主体; 沿着所述插入部的长度方向配置并支撑处理工具通道部件的前端部的移动部件，通过该处理工具通道部件通过处理工具; 以及移动机构，其使可动构件相对于适配器主体在与由可动构件支撑的处理工具通道构件的纵向轴线相交的方向上平移地移动。
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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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