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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。

    Intra-tube traveling apparatus
    5.
    发明授权
    Intra-tube traveling apparatus 失效
    管内行走装置

    公开(公告)号：US5144848A

    公开(公告)日：1992-09-08

    申请号：US608573

    申请日：1990-11-02

    申请人： Nobuaki Uenishi ,  Mitsugu Nagayoshi ,  Hirofumi Miyanaga ,  Tomoaki Sato ,  Katsunori Sakiyama ,  Yasuhiro Ueda ,  Hideyuki Adachi

    发明人： Nobuaki Uenishi ,  Mitsugu Nagayoshi ,  Hirofumi Miyanaga ,  Tomoaki Sato ,  Katsunori Sakiyama ,  Yasuhiro Ueda ,  Hideyuki Adachi

    IPC分类号： F16L55/34 ,  G02B6/44 ,  G02B23/24

    CPC分类号： F16L55/34 ,  G02B23/2476 ,  G02B6/4464

    摘要： An intra-tube traveling apparatus includes a moving unit to which an endoscope is held and which is self-driven to travel in a pipe path, and a movement control section for controlling movement of the moving unit. The moving unit includes an elastic actuator which is extended/contracted in the radial direction and axial directions of the pipe path upon reception of the pressurized fluid, balloons attached to the front and rear ends of the elastic actuator. Each of the balloons is radially expanded/deformed upon reception of the pressurized fluid therein to be locked to the inner surface of the pipe path. The movement control section includes a pressurized fluid supply unit, a switching control section, a stop signal output switch for outputting a stop signal for stopping a movement operation of the moving unit, and a unit fixing portion for supplying the pressurized fluid to the balloons upon reception of the stop signal from the stop signal output switch to expand/deform the lock portions, thereby fixing the moving unit to the inner surface of the pipe path.

    摘要翻译： 管内行进装置包括：内窥镜被保持并且自行驱动地在管路中行进的移动单元，以及用于控制移动单元的移动的移动控制部。 移动单元包括弹性致动器，该弹性致动器在接收到加压流体时，沿着管路的径向方向和轴向方向延伸/收缩，附接到弹性致动器的前端和后端的气囊。 每个气囊在其中接收加压流体时径向膨胀/变形，以锁定到管路的内表面。 运动控制部分包括加压流体供应单元，切换控制部分，用于输出用于停止移动单元的移动操作的停止信号的停止信号输出开关，以及用于将加压流体供应到气球的单元固定部分 接收来自停止信号输出开关的停止信号以使锁定部分膨胀/变形，从而将移动单元固定到管道的内表面。

    Endoscope apparatus
    7.
    发明授权
    Endoscope apparatus 失效
    内窥镜装置

    公开(公告)号：US5035231A

    公开(公告)日：1991-07-30

    申请号：US186332

    申请日：1988-04-25

    申请人： Hiroaki Kubokawa ,  Takashi Tsukaya ,  Yasuhiro Ueda ,  Yutaka Ohshima ,  Takeaki Nakamura ,  Hiroki Hibino ,  Shuichi Takayama ,  Tadao Hagino

    发明人： Hiroaki Kubokawa ,  Takashi Tsukaya ,  Yasuhiro Ueda ,  Yutaka Ohshima ,  Takeaki Nakamura ,  Hiroki Hibino ,  Shuichi Takayama ,  Tadao Hagino

    IPC分类号： A61B1/005 ,  A61B1/015 ,  A61B1/018 ,  G01R33/28

    CPC分类号： A61B1/0008 ,  A61B1/00082 ,  A61B1/0055 ,  A61B1/015 ,  A61B1/018 ,  G01R33/285 ,  A61B17/32056

    摘要： This endoscope apparatus adapted to meter NMR (nuclear magnetic resonance) is provided with an endoscope having a channel and an NMR metering probe insertable through the channel. The endoscope has an elongate insertable part having an observing window and illuminating window in the tip part, an observing system for observing an object to be imaged by receiving a light from the object entering through the observing window, an illuminating light output system emitting an illuminating light through the illuminating window and a hollow channel formed within the insertable part and opening in the tip part. Preferably, at least the tip side of the insertable part if formed of a non-ferromagnetic characteristic material. The NMR metering probe has a signal transmitting member insertable through the channel of the endoscope, connected at one end to the NMR metering apparatus and able to transmit high frequency signals and a loop-like antenna part connected to the other end of the signal transmitting member and projected out of the opening of the channel.

    摘要翻译： 适于测量NMR（核磁共振）的内窥镜装置设置有具有通过通道插入的通道和NMR计量探针的内窥镜。 内窥镜具有细长的可插入部分，其具有在尖端部分中的观察窗口和照明窗口，观察系统，用于通过接收来自通过观察窗口进入的物体的光来观察待成像对象;照明光输出系统，发射照明 通过照明窗口的光线和形成在可插入部分内的中空通道和在尖端部分中的开口。 优选地，如果由非铁磁特性材料形成，则至少可插入部分的末端侧。 NMR计量探针具有通过内窥镜的通道插入的信号传递构件，其一端连接到NMR计量装置并且能够传输高频信号和连接到信号传输构件的另一端的环状天线部分 并投射出渠道的开放。

    Bending actuator having a coil sheath with a fixed distal end and a free proximal end
    8.
    发明授权
    Bending actuator having a coil sheath with a fixed distal end and a free proximal end 失效
    弯曲致动器具有具有固定远端和自由近端的线圈护套

    公开(公告)号：US5531664A

    公开(公告)日：1996-07-02

    申请号：US280564

    申请日：1994-07-25

    申请人： Hideyuki Adachi ,  Sakae Takehana ,  Yasuhiro Ueda ,  Yasuo Hirata ,  Kazuhiro Takahashi

    发明人： Hideyuki Adachi ,  Sakae Takehana ,  Yasuhiro Ueda ,  Yasuo Hirata ,  Kazuhiro Takahashi

    IPC分类号： A61B1/005 ,  A61B1/00 ,  A61B1/12

    CPC分类号： A61B1/0058 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057

    摘要： A bending drive member to bend a bending member is arranged to extend in the direction of length of an elongate tube having flexibility, and attached to near the distal end of the tube with the distal end of the bending drive member being restricted in its position. The bending member drive member comprises a shape memory member formed by bundling together a plurality of wire-like shape memory materials each having a length, that spans from the position of one end to the other end, reversibly changed upon heating/cooling. The length of the shape memory member is changed dependent on a drive signal from a unit with a capability of heating. A non-compressive coil sheath through which the bending drive member extends is fixed at a distal end thereof to the elongate tube while the proximal end of the coil sheath is a free end with respect to the elongate tube.

    摘要翻译： 用于弯曲弯曲构件的弯曲驱动构件被布置成沿着具有柔性的细长管的长度方向延伸，并且在弯曲驱动构件的远端被限制在其位置的情况下附接到管的远端附近。 弯曲构件驱动构件包括通过将多个线状形状记忆材料捆扎在一起而形成的形状记忆部件，每个线状形状记忆材料具有从一端位置到另一端的长度，在加热/冷却时可逆地改变。 形状记忆部件的长度根据来自具有加热能力的部件的驱动信号而变化。 弯曲驱动构件延伸穿过的非压缩线圈护套固定在其远端处于细长管上，而线圈护套的近端相对于细长管是自由端。