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    MANIPULATOR FOR MEDICAL USE
    1.
    发明申请
    MANIPULATOR FOR MEDICAL USE 有权
    用于医疗用途的操纵器

    公开(公告)号：US20090112229A1

    公开(公告)日：2009-04-30

    申请号：US11939287

    申请日：2007-11-13

    申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno

    发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno

    IPC分类号： A61B17/29 ,  A61B17/00

    CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2932 ,  A61B2034/742

    摘要： A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator.

    摘要翻译： 一种医疗用机械手，其特征在于，包括前端工作单元，其包括作为末端执行器的夹持器，用于操作所述前端工作单元的操作单元，将所述前端工作单元和所述操作单元相互连接的联接器，以及用于改变姿势 的远端工作单元。 当操作单元由操作者操作时，端部执行器由发送构件机械操作。 姿态改变机构由操作单元操作的弯曲驱动源和旋转驱动源操作。

    MANIPULATOR FOR MEDICAL USE
    2.
    发明申请
    MANIPULATOR FOR MEDICAL USE 审中-公开
    用于医疗用途的操纵器

    公开(公告)号：US20080183193A1

    公开(公告)日：2008-07-31

    申请号：US11923159

    申请日：2007-10-24

    申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B19/00

    CPC分类号： A61B17/29 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00455 ,  A61B2017/2926 ,  A61B2017/2927 ,  A61B2034/742 ,  A61B2090/0811

    摘要： A manipulator comprises a hollow shaft, wires provided on the shaft and a working unit disposed on one end of the shaft and being driven by at least one wire of the wires, the working unit having a tip tool including a rolling mechanism which rotates about an axis Or directed to a distal end thereof. A tip side surface of a proximal end member and a cover of a distal end member are relatively rotated by the rolling mechanism. The cover has a rotation identifier for indicating a degree of relative rotation of the tip side surface. The tip side surface has an alignment indicator for indicating an initial position of the cover.

    摘要翻译： 操纵器包括中空轴，设置在轴上的线和设置在所述轴的一端上并由所述线的至少一根线驱动的工作单元，所述工作单元具有尖端工具，所述尖端工具包括滚动机构， 或指向其远端。 近端构件的前端侧表面和远端构件的盖通过滚动机构相对旋转。 盖具有用于指示尖端侧表面的相对旋转度的旋转标识符。 尖端侧表面具有用于指示盖的初始位置的对准指示器。

    MANIPULATOR
    4.
    发明申请
    MANIPULATOR 审中-公开
    操纵器

    公开(公告)号：US20080091072A1

    公开(公告)日：2008-04-17

    申请号：US11870849

    申请日：2007-10-11

    申请人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    发明人： Shigeru Omori ,  Shuichi Uenohara ,  Makoto Jinno ,  Takamitsu Sunaoshi

    IPC分类号： A61B1/012

    CPC分类号： A61B17/29 ,  A61B17/062 ,  A61B17/2909 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B2017/00199 ,  A61B2017/00367 ,  A61B2017/00424 ,  A61B2017/2925 ,  A61B2017/2929 ,  A61B2017/2939 ,  A61B2034/742

    摘要： A manipulator includes an operation command unit to be gripped by a hand, a composite input unit operable by a finger, a connector shaft extending from the operation command unit, and a working unit disposed on a distal end of the connector shaft. The working unit includes a yawing mechanism, a rolling mechanism, and an opening and closing mechanism. The composite input unit has a shuttle ring for actuating the rolling mechanism, and a pad for actuating the yawing mechanism. The shuttle ring is an angularly movable member having two knobs disposed in respective left and right positions. The pad is disposed inside of the shuttle ring.

    摘要翻译： 机械手包括用手抓握的操作指令单元，由手指操作的复合输入单元，从操作命令单元延伸的连接器轴以及设置在连接器轴的远端上的工作单元。 工作单元包括偏航机构，滚动机构以及开闭机构。 复合输入单元具有用于致动滚动机构的梭环和用于致动偏航机构的垫。 梭环是具有设置在相应的左右位置的两个旋钮的可角度运动的构件。 垫片设置在梭环内部。

    Manipulator system and control apparatus
    8.
    发明授权
    Manipulator system and control apparatus 有权
    机械手系统及控制装置

    公开(公告)号：US08277473B2

    公开(公告)日：2012-10-02

    申请号：US12061999

    申请日：2008-04-03

    申请人： Takamitsu Sunaoshi ,  Makoto Jinno ,  Shigeru Omori

    发明人： Takamitsu Sunaoshi ,  Makoto Jinno ,  Shigeru Omori

    IPC分类号： A61B17/32

    CPC分类号： A61B90/96 ,  A61B34/70 ,  A61B34/71 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00482 ,  A61B2090/0811

    摘要： A manipulator has an operation command unit and an exchangeable working unit. The working unit comprises an end effector operable under actions of a control apparatus, and an ID retaining section holding an ID for individualized discrimination of the working unit. The control apparatus includes an ID identification section for identifying the ID and for determining whether the working unit is connected to the operation command unit, an origin point recognition section for recognizing whether the end effector is in a prescribed origin point position or in a non-origin point position, and a warning section which generates a detachment warning when it is determined that the end effector has been detached from the operation command unit, in the event it is determined that the end effector is in a non-origin point position.

    摘要翻译： 操纵器具有操作指令单元和可更换工作单元。 工作单元包括在控制装置的动作下操作的端部执行器，以及保持用于对工作单元进行个体化辨别的ID的ID保持部。 控制装置包括ID识别部，用于识别ID并确定工作单​​元是否连接到操作命令单元;原点识别部分，用于识别末端执行器是否在规定的原点位置， 在确定末端执行器处于非原点位置的情况下，当确定末端执行器已经从操作命令单元分离时，产生分离警告的警告部分。

    MANIPULATOR SYSTEM
    9.
    发明申请
    MANIPULATOR SYSTEM 审中-公开
    操纵器系统

    公开(公告)号：US20080262654A1

    公开(公告)日：2008-10-23

    申请号：US11923124

    申请日：2007-10-24

    申请人： Shigeru Omori ,  Hiroaki Sano ,  Masao Hitotsuyanagi ,  Makoto Jinno

    发明人： Shigeru Omori ,  Hiroaki Sano ,  Masao Hitotsuyanagi ,  Makoto Jinno

    IPC分类号： B25J13/00

    CPC分类号： A61B90/96 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/361 ,  A61B90/37 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/00482 ,  A61B2090/0803 ,  A61B2090/0805 ,  A61B2090/309

    摘要： A manipulator comprises an actuator block and a working unit attachable to and detachable from the actuator block. The actuator block has a motor, the working unit has a connecting shaft and an end working portion disposed at the distal end thereof, and the end working portion is rotated in conjunction with the motor. The working unit further has a two-dimensional code holding an identification signal, and the actuator block further has an infrared camera for recognizing the identification signal in the code and supplying it to a controller, is the camera being not in contact with the code. The controller controls the working unit based on the supplied identification signal.

    摘要翻译： 操纵器包括致动器块和可附接到致动器块并可从驱动器块拆卸的工作单元。 致动器块具有电动机，工作单元具有连接轴和设置在其远端的端部工作部分，并且端部工作部分与电动机一起旋转。 工作单元还具有保持识别信号的二维码，并且致动器块还具有用于识别代码中的识别信号并将其提供给控制器的红外摄像机，照相机是否与代码不接触。 控制器根据提供的识别信号控制工作单元。

    Working mechanical device and manipulator
    10.
    发明授权
    Working mechanical device and manipulator 有权
    工作机械装置和机械手

    公开(公告)号：US07942895B2

    公开(公告)日：2011-05-17

    申请号：US11833023

    申请日：2007-08-02

    申请人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    发明人： Makoto Jinno ,  Takamitsu Sunaoshi ,  Shigeru Omori

    IPC分类号： A61B17/00

    CPC分类号： A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/2936 ,  A61B2017/2939

    摘要： A working unit comprises a gear body rotatable in a direction perpendicular to a reference axis, a gear ring including a proximal end surface held in contact with the gear body and rotatable about the reference axis to change the direction of rotation of the gear body, a first end effector body held in contact with an axially distal end surface of the gear ring at an upper portion thereof, and rotatable about a rotational axis perpendicular to the reference axis to change the direction of rotation of the gear ring, and a second end effector body held in contact with the axially distal end surface of the gear ring at a lower portion thereof, and rotatable in a direction opposite to the direction in which the first end effector body rotates, about the rotational axis. The first end effector body and the second end effector body are openable and closable symmetrically with respect to the reference axis.

    摘要翻译： 工作单元包括：齿轮体，其可沿垂直于基准轴线的方向旋转;齿圈，其包括保持与齿轮体接触并可围绕参考轴线旋转的近端表面，以改变齿轮体的旋转方向; 第一末端执行器主体在其上部保持与齿圈的轴向远端表面接触，并且能够绕垂直于参考轴线的旋转轴线旋转以改变齿圈的旋转方向，并且第二末端执行器 主体在其下部保持与齿圈的轴向远端表面接触，并且能够沿与第一端部执行器主体的旋转方向相反的方向围绕旋转轴线旋转。 第一末端执行器主体和第二末端执行器主体相对于参考轴线对称地打开和关闭。