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    MANEUVERING SYSTEM HAVING INNER FORCE SENSE PRESENTING FUNCTION
    2.
    发明申请
    MANEUVERING SYSTEM HAVING INNER FORCE SENSE PRESENTING FUNCTION 审中-公开
    具有内力感测功能的手动系统

    公开(公告)号：US20140222204A1

    公开(公告)日：2014-08-07

    申请号：US14176323

    申请日：2014-02-10

    Applicant: TOKYO INSTITUTE OF TECHNOLOGY

    Inventor： Kenji KAWASHIMA ,  Kotaro TADANO

    IPC: A61B19/00

    CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2017/2929 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/506 ,  B25J3/04 ,  B25J13/02 ,  B25J17/0266 ,  Y10T74/20305

    Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided.When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

    Abstract translation: 提供了具有优异的可操作性和强力反馈功能的紧凑轻巧的操纵系统。 当主操纵器101的手动操作之后的从动操纵器105的自动操作通过通信进行双向控制时，作用在从动操纵器上的力通过主要在电动速度下操作主操纵器而被反馈给主操纵器 控制和从机械手主要在气动驱动力控制下。 因此，在主机械手中，不需要在用户的运动范围内补偿主机械手的动力学和自重，从而允许高精度的宽带位置控制，这是特定于电驱动系统 ，而在从动操纵器中，气动驱动系统特有的非线性特性呈现无源柔软性，提供了高质量 - 输出比，并产生较大的力。

    Endoscopic Operating System and Endoscopic Operation Program
    4.
    发明申请
    Endoscopic Operating System and Endoscopic Operation Program 审中-公开
    内窥镜手术系统和内镜手术方案

    公开(公告)号：US20160037998A1

    公开(公告)日：2016-02-11

    申请号：US14780674

    申请日：2013-03-29

    Applicant: TOKYO INSTITUTE OF TECHNOLOGY

    Inventor： Kenji KAWASHIMA ,  Kotaro TADANO

    IPC: A61B1/00 ,  A61B1/04

    CPC classification number: A61B1/00006 ,  A61B1/00045 ,  A61B1/00055 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/04 ,  A61B34/30 ,  A61B2017/00207 ,  A61B2034/301

    Abstract: Provided is an endoscopic operating system, including: a sensor section for detecting movement of at least one of a head part and an upper body of an operator; a control section for driving one or more actuators, corresponding to the movement detected by the sensor section; a holding arm unit supported to be reciprocatable and rotatable by the actuator and one or more displacing mechanisms connected to the actuator; an image capturing section provided at an arbitrary part of the holding arm unit through a joint section capable of freely change an image capturing angle by the actuator; and a display section for displaying an image captured by the image capturing section on a screen.

    Abstract translation: 提供一种内窥镜操作系统，包括：用于检测操作者的头部和上身中的至少一个的移动的传感器部分; 用于驱动一个或多个致动器的控制部分，对应于由传感器部分检测到的运动; 保持臂单元被支撑为可由所述致动器往复运动并且可旋转，以及连接到所述致动器的一个或多个移位机构; 图像拍摄部，其通过能够通过所述致动器自由地改变图像拍摄角度的接合部设置在所述保持臂单元的任意部分; 以及用于在屏幕上显示由图像捕获部分捕获的图像的显示部分。

    Forceps Manipulator and Forceps System Comprising Forceps Manipulator
    5.
    发明申请
    Forceps Manipulator and Forceps System Comprising Forceps Manipulator 有权
    镊子机械手和镊子系统包括镊子机械手

    公开(公告)号：US20150313619A1

    公开(公告)日：2015-11-05

    申请号：US14439934

    申请日：2013-02-12

    Applicant: TOKYO INSTITUTE OF TECHNOLOGY

    Inventor： Kotaro TADANO ,  Kenji KAWASHIMA ,  Daisuke HARAGUCHI

    IPC: A61B17/29 ,  A61B19/00

    CPC classification number: A61B17/29 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00544 ,  A61B2034/306

    Abstract: The present invention is intended to improve durability and operability of a forceps manipulator, as well as to facilitate roll motions of the forceps manipulator. In the forceps manipulator, a flexible shaft 34 is connected to a rotating joint unit 26 for transmitting a driving force from a vane motor 40 to the rotating joint unit 26 through throughholes 18a, 22a of machined springs 18b, 22b which respectively constitute flexible first and second joints 18, 22.

    Abstract translation: 本发明旨在提高镊子机械手的耐久性和可操作性，以及促进镊子操纵器的滚动运动。 在镊子机械手中，柔性轴34连接到旋转接头单元26，用于通过分别构成柔性的第一和第二机械弹簧18b，22b的通孔18a，22a将来自叶片电动机40的驱动力传递到旋转接头单元26， 第二关节18,22。

    ENDOSCOPE OPERATION SYSTEM
    7.
    发明申请
    ENDOSCOPE OPERATION SYSTEM 审中-公开
    内镜手术系统

    公开(公告)号：US20150342442A1

    公开(公告)日：2015-12-03

    申请号：US14439547

    申请日：2013-02-12

    Applicant: Tokyo Institute of Technology

    Inventor： Kotaro TADANO ,  Kenji KAWASHIMA

    IPC: A61B1/00 ,  A61B5/11 ,  A61B1/005 ,  A61B1/04

    CPC classification number: A61B1/00006 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/00188 ,  A61B1/0051 ,  A61B1/04 ,  A61B5/1116

    Abstract: An endoscope operation system includes an endoscope, a holding arm unit that supports the tip of the endoscope in such a manner that the tip of the endoscope can be moved in up/down, left/right, and front/back directions, and can be rotated on its own axis, a display unit that displays an image based on an image signal supplied from an image pickup unit of the endoscope, a gyroscopic sensor attached to the head of an operator, a gyroscopic sensor attached to the torso of the operator, and a control unit that controls the moving direction and the speed of the tip of the endoscope.

    Abstract translation: 内窥镜操作系统包括：内窥镜，支撑内窥镜的前端的保持臂单元，使得内窥镜的前端能够上下移动左右右前后方向，并且可以是 基于从内窥镜的图像拾取单元提供的图像信号显示图像的显示单元，附接到操作者的头部的陀螺仪传感器，附接到操作者的躯干的陀螺仪传感器， 以及控制单元，其控制内窥镜的尖端的移动方向和速度。

    Maneuvering system having inner force sense presenting function
    8.
    发明申请
    Maneuvering system having inner force sense presenting function 审中-公开

    公开(公告)号：US20140222208A1

    公开(公告)日：2014-08-07

    申请号：US14176318

    申请日：2014-02-10

    Applicant: TOKYO INSTITUTE OF TECHNOLOGY

    Inventor： Kenji KAWASHIMA ,  Kotaro TADANO

    IPC: A61B19/00

    CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2017/2929 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/506 ,  B25J3/04 ,  B25J13/02 ,  B25J17/0266 ,  Y10T74/20305

    Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided.When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

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