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    Method of manufacturing a multi-degree-of-freedom manipulator
    2.
    发明授权
    Method of manufacturing a multi-degree-of-freedom manipulator 失效
    制造多自由度机械手的方法

    公开(公告)号：US5679216A

    公开(公告)日：1997-10-21

    申请号：US518260

    申请日：1995-08-23

    申请人： Shuichi Takayama ,  Takeaki Nakamura ,  Tatsuya Yamaguchi ,  Akio Nakada ,  Yasuhiro Ueda ,  Hideyuki Adachi ,  Katsunori Sakiyama ,  Yasukazu Tatsumi ,  Koji Fujio ,  Masaaki Hayashi ,  Shinji Kaneko ,  Yasuo Hirata ,  Toshimasa Kawai

    发明人： Shuichi Takayama ,  Takeaki Nakamura ,  Tatsuya Yamaguchi ,  Akio Nakada ,  Yasuhiro Ueda ,  Hideyuki Adachi ,  Katsunori Sakiyama ,  Yasukazu Tatsumi ,  Koji Fujio ,  Masaaki Hayashi ,  Shinji Kaneko ,  Yasuo Hirata ,  Toshimasa Kawai

    IPC分类号： A61B1/005 ,  H01L21/00

    CPC分类号： A61B1/0058

    摘要： A multi-degree-of-freedom manipulator includes a flexible tube having a plurality of flex portions provided therealong, a plurality of actuators made of shape memory alloy and respectively provided near the flex portions to correspond to the flex portions, for flexing the flex portions, two common energy transmission paths, extending along the flexible tube, for transmitting an energy to the actuators, and selective energy supply members, provided between the common energy transmission paths and the actuators in series, for controlling the energy supplied from the common energy transmission path to the actuators, thereby respectively independently driving the actuators to bend the flexible tube. The manipulator is made by forming electronic circuits in a plurality of regions on a semiconductor substrate, forming wiring regions to connect the electronic circuits with flexible wiring portions, and removing a region of the semiconductor substrate other than a region thereof on which the electronic circuits are formed, thereby forming an actuator controlled chip array, used in the manipulator.

    摘要翻译： 多自由度操纵器包括具有设置在其上的多个柔性部分的柔性管，由形状记忆合金制成的多个致动器，并且分别设置在柔性部分附近以对应于柔性部分，用于使柔性部分弯曲 ，沿着柔性管延伸的用于将能量传递到致动器的两个公共能量传输路径，以及设置在公共能量传输路径和致动器之间的选择性能量供应构件，用于控制从公共能量传输提供的能量 从而分别独立地驱动致动器来弯曲柔性管。 机械手是通过在半导体基板上的多个区域中形成电子电路而形成的，形成布线区域以将电子电路与柔性布线部分连接起来，以及除去其上电子电路的区域以外的半导体基板的区域 从而形成用于机械手的致动器控制芯片阵列。

    Position controlling apparatus
    7.
    发明授权
    Position controlling apparatus 失效
    位置控制装置

    公开(公告)号：US4977886A

    公开(公告)日：1990-12-18

    申请号：US428144

    申请日：1989-10-27

    申请人： Sakae Takehana ,  Koji Fujio ,  Yasuhiro Ueda

    发明人： Sakae Takehana ,  Koji Fujio ,  Yasuhiro Ueda

    IPC分类号： A61B1/005 ,  A61F2/00

    CPC分类号： A61B1/0058 ,  A61F2210/0023

    摘要： The position controlling apparatus of this invention is to curve an endoscope insertable part or a catheter and is provided with an actuator having a shape memorizing alloy body. The shape memorizing alloy body is heated or cooled by a driving appartaus and the actuator is displaced by such heating or cooling. The difference between the actual displacement of the actuator driven by the driving apparatus and the objective displacement of the actuator is output by a comparing means which operates the driving apparatus on the basis of this difference. A resistance value detecting circuit detects the resistance value of the shape memorizing alloy body varying when the shape memorizing alloy body is heated or cooled. The detected value detected by the resistance value detecting circuit is input into a controlling apparatus which controls the driving apparatus on the basis of the detected value and the preset used temperature range of the shape memorizing alloy body.

    摘要翻译： 本发明的位置控制装置是对内窥镜可插入部件或导管进行弯曲，并具有形状记忆合金体的致动器。 形状记忆合金体由驱动方式加热或冷却，致动器通过这种加热或冷却而移位。 由驱动装置驱动的致动器的实际位移与致动器的目标位移之间的差异由基于该差异来操作驱动装置的比较装置输出。 电阻值检测电路检测当形状记忆合金体被加热或冷却时变形的形状记忆合金体的电阻值。 由电阻值检测电路检测到的检测值被输入到根据检测值和形状记忆合金体的预设使用温度范围来控制驱动装置的控制装置。

    Litholysis apparatus provided with safe stop function
    8.
    发明授权
    Litholysis apparatus provided with safe stop function 失效
    裂解装置具有安全停止功能

    公开(公告)号：US5213571A

    公开(公告)日：1993-05-25

    申请号：US557850

    申请日：1990-07-26

    申请人： Koji Fujio ,  Naomi Sekino

    发明人： Koji Fujio ,  Naomi Sekino

    IPC分类号： A61B17/00 ,  A61B17/22 ,  A61M1/00

    CPC分类号： A61M1/0058 ,  A61B2017/00123 ,  A61B2017/22084

    摘要： A treatment apparatus for removing a coagulum such as a calculus or the like produced in an organism by dissolving it comprises irrigation with a medical fluid by using an irrigation pump and suction of the medical fluid by using a suction pump. In this apparatus, when a switch for stopping treatment is operated, the apparatus is not immediately stopped, but the apparatus is stopped after the medical fluid introduced into the organism has been completely discharged so that no medical fluid harmful to the organism remains in the organism.

    摘要翻译： 用于除去生物体中产生的结石等的凝结物的溶解的处理装置包括使用冲洗泵用医用液体进行冲洗，并通过使用抽吸泵抽吸医用流体。 在该装置中，当操作用于停止治疗的开关时，装置不会立即停止，但是在导入生物体的医用流体已经完全排出之后停止装置，使得在生物体内不存在对生物体有害的医疗液体 。

    Reference position detection method of vehicle rear wheel steering apparatus
    9.
    发明授权
    Reference position detection method of vehicle rear wheel steering apparatus 失效
    车辆后轮转向装置的参考位置检测方法

    公开(公告)号：US5193638A

    公开(公告)日：1993-03-16

    申请号：US717070

    申请日：1991-06-18

    申请人： Koji Fujio ,  Yutaka Tagashira ,  Hiroshi Ogawa ,  Hirotaka Kanazawa ,  Hiroki Yoshioka

    发明人： Koji Fujio ,  Yutaka Tagashira ,  Hiroshi Ogawa ,  Hirotaka Kanazawa ,  Hiroki Yoshioka

    IPC分类号： B62D7/15

    CPC分类号： B62D7/159

    摘要： A reference position detection method of a vehicle rear wheel steering apparatus in the present invention, is provided with steps of setting an input shaft and the yoke assembly at arbitrary angular positions rotating the input shaft by an arbitrary angle to pass a neutral angular position measuring a rotational angle .theta. of the input shaft and a moving amount .delta.1 of an output rod assembly upon rotation of the input shaft rotating the yoke assembly to pass a neutral angular position so that the output rod assembly is stroke-moved by a moving amount -.delta.1 from a stroke position defined by the moving amount .delta.1 of the output rod assembly rotating the input shaft by an angle -.theta. after rotating the yoke assembly, and measuring a moving amount .delta.2 of the output rod assembly; and determining, as a reference position of the yoke assembly, an angular position obtained by rotating the yoke assembly from the rotated state of the input shaft so that the output rod assembly is displaced by -.delta.2.sup.2 /(.delta.1+.delta.2).

    Rear wheel turning system for vehicle and method of neutral adjustment of the same
    10.
    发明授权
    Rear wheel turning system for vehicle and method of neutral adjustment of the same 失效
    车辆后轮车削系统及其中性调整方法

    公开(公告)号：US5351777A

    公开(公告)日：1994-10-04

    申请号：US883488

    申请日：1992-05-15

    申请人： Koji Fujio ,  Yutaka Tagashira

    发明人： Koji Fujio ,  Yutaka Tagashira

    IPC分类号： B62D7/15 ,  B62D7/14

    CPC分类号： B62D7/1536 ,  B62D7/159

    摘要： When incorporating a rear wheel turning system having a mechanical system and hydraulic system, an end of the displacement transmission member, which transmits displacement of the output member of the rear wheel turning system to the hydraulic system and the rear wheel turning shaft, is fixed to the vehicle body in such a position that the leftward maximum displacement of the rear wheel turning shaft is equal to the rightward maximum displacement of the rear wheel turning shaft when the input shaft of the rear wheel turning system is rotated in one direction and the other by the same angles.

    摘要翻译： 当结合具有机械系统和液压系统的后轮转向系统时，将后轮转向系统的输出构件向液压系统和后轮转动轴传递的位移传递构件的端部固定到 在后轮转向系统的输入轴沿一个方向旋转的情况下，后轮转向轴的向左最大位移与后轮转动轴的向右最大位移相等的位置的车体， 相同的角度