公开(公告)号：US20070219581A1

公开(公告)日：2007-09-20

申请号：US10582354

申请日：2004-12-13

申请人： Takeyoshi Dohi ,  Nobuhiko Hata ,  Hiromasa Yamashita ,  Akibiro Iimura ,  Toji Nakazawa

发明人： Takeyoshi Dohi ,  Nobuhiko Hata ,  Hiromasa Yamashita ,  Akibiro Iimura ,  Toji Nakazawa

IPC分类号： A61B17/28

CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B2017/003 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/2905 ,  A61B2017/2908

摘要： The front end portion of a bending action member and manipulator is constituted of multi-slider linkage mechanism which starts the operation of a second articulation portion at its rear end side after the bending action of a first articulation portion on the front end side ends. A guide link portion 26 which covers a link member 23 to guide it through a sliding contact is sealed in a hollow portion to prevent leakage of air. In multi-slider linkage mechanism, two frames at a joint portion are formed in forward taper to set the magnitude of a moment required for starting the bending action of a second articulation portion larger than a moment required for the bending action of the first articulation portion. The manipulator is comprised of an actuator portion and a bending forceps portion and capable of engaging/disengaging each other. The actuator portion is provided with a joint arm 13 having a plate containing a fitting hole for connecting the motor with the link member 23. A connecting pin 21 is provided at an end on the engagement/disengagement side of the link member 23 inside the bending forceps portion and fitted to a fitting hole 13c in an elastic body 13a of the joint arm 13, so that the motor and the link member 23 are connectable/separable.

摘要翻译： 弯曲作用构件和操纵器的前端部由多滑块联动机构构成，其在前端侧的第一铰接部的弯曲动作结束后，在其后端侧开始第二铰接部的动作。 覆盖连杆构件23以将其引导通过滑动接触的引导连杆部26被密封在中空部分中以防止空气泄漏。 在多滑块联动机构中，在接合部分处的两个框架形成为向前锥形，以设定开始第二铰接部分的弯曲作用所需的力矩的大小大于第一铰接部分的弯曲作用所需的力矩 。 操纵器由致动器部分和弯曲钳部分组成并且能够彼此接合/分离。 致动器部分设有连接臂13，该连接臂13具有包含用于将马达与连杆部件23连接的嵌合孔的板。连接销21设置在弯曲部分内的连杆部件23的接合/分离侧的一端 镊子部分并且装配到接合臂13的弹性体13a中的装配孔13c，使得电动机和连杆构件23可连接/分离。

公开(公告)号：US20060142738A1

公开(公告)日：2006-06-29

申请号：US10531994

申请日：2003-10-16

申请人： Takeyoshi Dohi ,  Ichiro Sakuma ,  Etsuko Masamune ,  Daeyoung Kim ,  Toji Nakazawa

发明人： Takeyoshi Dohi ,  Ichiro Sakuma ,  Etsuko Masamune ,  Daeyoung Kim ,  Toji Nakazawa

IPC分类号： A61B17/00

CPC分类号： A61B90/50 ,  A61B34/70

摘要： Provided is a unit used in a surgical operation using an endoscope, for example, to position the distal end of a surgical instrument to the region of a human body where medical treatment is required, without spreading a hole formed in the human body for insertion of the surgical instrument. This unit includes first and second output shafts pivotally connected to a movable member of the surgical instrument or the like, the first and second output shafts extending parallel to each other and being capable of reciprocating, and a drive unit for giving the first output shaft an arbitrary amount of advance/retraction and constantly giving the second output shaft an amount of advance/retraction of a constant ratio (#1) with respect to the amount of advance/retraction given to the first output shaft.

摘要翻译： 提供了使用内窥镜的外科手术中使用的单元，例如将外科器械的远端定位在需要医疗的人体的区域，而不会在人体内形成孔，而不会插入 手术器械。 该单元包括可旋转地连接到外科器械等的可动构件的第一和第二输出轴，第一和第二输出轴彼此平行延伸并且能够往复运动，以及用于给予第一输出轴的驱动单元 任意量的前进/后退，并且相对于给予第一输出轴的前进/后退量不断地给予第二输出轴一定量比（＃1）的前进/后退量。

公开(公告)号：US08092402B2

公开(公告)日：2012-01-10

申请号：US11910211

申请日：2006-03-31

申请人： Junichiro Iwaki ,  Toji Nakazawa

发明人： Junichiro Iwaki ,  Toji Nakazawa

IPC分类号： A61H1/00

CPC分类号： A61H1/0237 ,  A61H2001/0203 ,  A61H2201/0173 ,  G05D15/01

摘要： Power assist control capable of responding to feeling and sensibility when a man applies force to an object is performed. The power assist control outputs an assist force F or a speed F on the basis of an assist target force X detected by a force sensor 114 for detecting force applied to the object. The relationship between the assist target force X and the assist force F or the speed F to be outputted is F∝f(X) on the basis of a function f(X) having the assist target force X as a variable. The function f(X) is assumed to be a non-linear function which is an increasing function and whose derivative f′(X) is a decreasing function. The function f(X) is a (1/n)-th order function or a logarithmic function. Moreover, a function fup(X) when the assist target force X is increased is different from a function fdown(X) when the assist target force X is decreased.

摘要翻译： 执行当人对物体施加力时能够响应感觉和感觉的动力辅助控制。 动力辅助控制基于由力传感器114检测的辅助目标力X输出辅助力F或速度F，用于检测施加到物体的力。 基于作为变量的辅助目标力X的函数f（X），辅助目标力X与辅助力F或输出速度F之间的关系为Fαf（X）。 假设函数f（X）是作为递增函数的非线性函数，其导数f'（X）是递减函数。 函数f（X）是（1 / n）阶函数或对数函数。 此外，当辅助目标力X增加时的功能fup（X）与辅助目标力X减小时的功能fdown（X）不同。

公开(公告)号：US20080039892A1

公开(公告)日：2008-02-14

申请号：US10582885

申请日：2004-12-14

申请人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Jumpei Arata ,  Toji Nakazawa

发明人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Jumpei Arata ,  Toji Nakazawa

IPC分类号： A61B17/28

CPC分类号： A61B34/70 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2090/0813

摘要： A bending forceps 1 has at least three degrees of freedom including relative opening/closing of a pair of gripping members 11a, 11b, rotation of both the gripping members around a first axis 15 and rotation of both the gripping members around a second axis 42 existing on an imaginary plane substantially perpendicular to the first axis 15. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanisms 5, 6 and 7. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means.

摘要翻译： 弯曲钳1具有至少三个自由度，包括一对夹持构件11a，11b的相对打开/关闭，两个夹持构件围绕第一轴线15的旋转以及两个夹持构件围绕第二轴线的旋转 42存在于基本上垂直于第一轴线15的虚拟平面上。来自致动器的驱动力被转换为夹持构件的打开/关闭的每个运动，其围绕第一轴线的旋转和围绕第二轴线的旋转首先 到第三连杆机构5,6和7.本发明通过采用连杆机构作为驱动力传递装置，能够提高耐久性和控制精度。 此外，本发明有助于对驱动装置进行灭菌，清洁和附接/拆卸。

公开(公告)号：US07819894B2

公开(公告)日：2010-10-26

申请号：US10582885

申请日：2004-12-14

申请人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Jumpei Arata ,  Toji Nakazawa

发明人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Jumpei Arata ,  Toji Nakazawa

IPC分类号： A61B17/00

CPC分类号： A61B34/70 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2090/0813

摘要： A bending forceps 1 has at least three degrees of freedom including relative opening/closing of a pair of gripping members 11a, 11b, rotation of both the gripping members around a first axis 15 and rotation of both the gripping members around a second axis 42 existing on an imaginary plane substantially perpendicular to the first axis 15. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanisms 5, 6 and 7. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means.

摘要翻译： 弯曲钳1具有至少三个自由度，包括一对夹持构件11a，11b的相对打开/关闭，两个夹持构件围绕第一轴线15的旋转和两个夹持构件围绕存在的第二轴线42的旋转 在基本上垂直于第一轴线15的虚拟平面上。来自致动器的驱动力被转换为夹持构件的打开/关闭的每个运动，其围绕第一轴线的旋转和围绕第二轴线的旋转第一至第三 连杆机构5,6和7.本发明通过采用连杆机构作为驱动力传递装置，能够提高耐久性和控制精度。 此外，本发明有助于对驱动装置进行灭菌，清洁和附接/拆卸。

公开(公告)号：US20070185418A1

公开(公告)日：2007-08-09

申请号：US10557543

申请日：2004-05-21

申请人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Kazuo Yonenobu ,  Nobuhiko Sugano ,  Tatsuya Ishizuka ,  Toji Nakazawa

发明人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Kazuo Yonenobu ,  Nobuhiko Sugano ,  Tatsuya Ishizuka ,  Toji Nakazawa

IPC分类号： A61H1/02

CPC分类号： A61H1/0237 ,  A61F5/04 ,  A61H2201/5061

摘要： Tow forces can be measured only by providing one force sensor in a device structure, and a drive system is driven so as to assist an external force by detecting it. A value at a force sensor (114) at the moment when a foot switch (121) is set as the original point (detection reference) of a force to be assisted. Variations of the force after the original point setting is measured by the force sensor (114) the difference between the measured value and the assist original point is obtained, and a force to be assisted is detected. Depending on the magnitude of the force to be assisted, assist operation is performed by causing a drive force to act on a foot such that the force to be assisted is reduced. When the force is assisted reaches zero, the assist operation is completed. Then, two forces, or “a force acting on a patient's foot” and “a force applied to the foot” from the outside, are detected by the one force sensor (114).

摘要翻译： 可以仅通过在装置结构中设置一个力传感器来测量牵引力，并且驱动系统被驱动以便通过检测驱动系统来辅助外力。 当脚踏开关（121）被设定为要辅助的力的原点（检测基准）时的力传感器（114）处的值。 通过力传感器（114）测量原点设定后的力的变化，获得测量值和辅助原点之间的差，并且检测到要辅助的力。 根据要辅助的力的大小，通过使驱动力作用在脚上来进行辅助操作，从而减小辅助力。 当辅助力达到零时，辅助操作完成。 然后，一个力传感器（114）检测到两个力，或者“外力作用在脚上的力”和“施加到脚上的力”。

公开(公告)号：US07878992B2

公开(公告)日：2011-02-01

申请号：US10557543

申请日：2004-05-21

申请人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Kazuo Yonenobu ,  Nobuhiko Sugano ,  Tatsuya Ishizuka ,  Toji Nakazawa

发明人： Mamoru Mitsuishi ,  Shinichi Warisawa ,  Kazuo Yonenobu ,  Nobuhiko Sugano ,  Tatsuya Ishizuka ,  Toji Nakazawa

IPC分类号： A61H1/02

CPC分类号： A61H1/0237 ,  A61F5/04 ,  A61H2201/5061

摘要： Tow forces can be measured only by providing one force sensor in a device structure, and a drive system is driven so as to assist an external force by detecting it. A value at a force sensor (114) at the moment when a foot switch (121) is set as the original point (detection reference) of a force to be assisted. Variations of the force after the original point setting is measured by the force sensor (114) the difference between the measured value and the assist original point is obtained, and a force to be assisted is detected. Depending on the magnitude of the force to be assisted, assist operation is performed by causing a drive force to act on a foot such that the force to be assisted is reduced. When the force is assisted reaches zero, the assist operation is completed. Then, two forces, or “a force acting on a patient's foot” and “a force applied to the foot” from the outside, are detected by the one force sensor (114).

摘要翻译： 可以仅通过在装置结构中设置一个力传感器来测量牵引力，并且驱动系统被驱动以便通过检测驱动系统来辅助外力。 当脚踏开关（121）被设定为要辅助的力的原点（检测基准）时的力传感器（114）处的值。 通过力传感器（114）测量原点设定后的力的变化，获得测量值和辅助原点之间的差，并且检测到要辅助的力。 根据要辅助的力的大小，通过使驱动力作用在脚上来进行辅助操作，从而减小辅助力。 当辅助力达到零时，辅助操作完成。 然后，一个力传感器（114）检测到两个力，或者从外部施加到患者脚上的力和“施加到脚上的力”。

公开(公告)号：US20090149855A1

公开(公告)日：2009-06-11

申请号：US11910211

申请日：2006-03-31

申请人： Junichiro Iwaki ,  Toji Nakazawa

发明人： Junichiro Iwaki ,  Toji Nakazawa

IPC分类号： A61B17/00 ,  G05D17/02

CPC分类号： A61H1/0237 ,  A61H2001/0203 ,  A61H2201/0173 ,  G05D15/01

摘要： Power assist control capable of responding to feeling and sensibility when a man applies force to an object is performed. The power assist control outputs an assist force F or a speed F on the basis of an assist target force X detected by a force sensor 114 for detecting force applied to the object. The relationship between the assist target force X and the assist force F or the speed F to be outputted is F∞f(X) on the basis of a function f(X) having the assist target force X as a variable. The function f(X) is assumed to be anon-linear function which is an increasing function and whose derivative f′(X) is a decreasing function. The function f(X) is a (1/n)-th order function or a logarithmic function. Moreover, a function fup(X) when the assist target force X is increased is different from a function fdown(X) when the assist target force X is decreased.

摘要翻译： 执行当人对物体施加力时能够响应感觉和感觉的动力辅助控制。 动力辅助控制基于由力传感器114检测的辅助目标力X输出辅助力F或速度F，用于检测施加到物体的力。 基于作为变量的辅助目标力X的函数f（X），辅助目标力X与辅助力F之间的关系或要输出的速度F成为F∞f（X）。 假设函数f（X）是作为递增函数的非线性函数，其导数f'（X）是递减函数。 函数f（X）是（1 / n）阶函数或对数函数。 此外，当辅助目标力X增加时的功能fup（X）与辅助目标力X减小时的功能fdown（X）不同。

公开(公告)号：US07246390B2

公开(公告)日：2007-07-24

申请号：US10431639

申请日：2003-05-08

申请人： Mamoru Mitsuishi ,  Toji Nakazawa

发明人： Mamoru Mitsuishi ,  Toji Nakazawa

IPC分类号： A47B71/00

CPC分类号： A61H1/0237 ,  A61H1/0255 ,  A61H2001/0203 ,  A61H2203/0456

摘要： The repositioning apparatus of the invention includes a supporting bed for supporting at least a lower body of a patient, who needs repositioning therapy on his/her leg, a lower leg supporting bed for supporting a lower leg of the patient, a first movable table for allowing the lower leg supporting bed to move about a substantially horizontal axis, a first drive unit for driving the first movable table, a second movable table for moving the lower leg supporting bed in the substantially horizontal direction, and a second drive unit for driving the second movable table. Accordingly, the repositioning apparatus can make the lower leg of the patient perform a twisting action and a bending and stretching action, which are inevitable action for repositioning the patient's lower leg.

摘要翻译： 本发明的重新定位装置包括支撑床，用于支撑患者的至少一个下体，需要在他/她的腿上进行重新定位治疗，一个用于支撑病人的小腿的小腿支撑床;第一可移动台，用于 允许小腿支撑床围绕基本上水平的轴线移动，用于驱动第一可移动台的第一驱动单元，用于沿大致水平方向移动小腿支撑床的第二活动台，以及驱动第二驱动单元 第二活动台。 因此，重新定位装置可以使患者的小腿进行扭转动作和弯曲和拉伸动作，这是重新定位患者的小腿的不可避免的动作。

公开(公告)号：US07198758B2

公开(公告)日：2007-04-03

申请号：US10128572

申请日：2002-04-24

申请人： Toji Nakazawa ,  Akihiro Iimura

发明人： Toji Nakazawa ,  Akihiro Iimura

IPC分类号： B01L3/02 ,  G01N1/10

CPC分类号： G01N35/1004 ,  B01J19/0046 ,  B01J2219/00387 ,  B01J2219/00527 ,  B01J2219/00585 ,  B01J2219/0059 ,  B01J2219/00596 ,  B01J2219/00605 ,  B01J2219/00659 ,  B01J2219/00677 ,  B01J2219/00689 ,  B01J2219/00691 ,  B01L3/0244 ,  B01L3/0251 ,  B01L99/00 ,  B82Y30/00 ,  C40B60/14 ,  G01N2035/1037 ,  Y10T436/2575

摘要： A microarraying head 51 has a base portion 57 and a plurality of needles 53. The needles 53 are arranged in parallel with one another on the base portion 57. The needles 53 place a solution on substrates 3 with the top ends of the needles 53 touching substrates 3. Then, the needles 53 retain the solution including biological samples and form spots of the solution on the substrates 3. A space 58 for supplying cleansing fluid or the like is provided in the base portion 57 so as to extend all over the plurality of needles 53. Since the plurality of needles 53 can be all cleansed with substantially uniform pressure applied thereto, all the plurality of needles 53 can cleansed surely in a short time.

摘要翻译： 微阵列头51具有基部57和多个针53。 针53在基部57上彼此平行地布置。 针53将针53的顶端与基片3接触，将溶液放在基片3上。 然后，针53将包含生物样品的溶液保持在基底3上形成溶液的斑点。 用于供应清洁液等的空间58设置在基部57中，以遍布多根针53。 由于多个针53可以全部以施加到其上的基本上均匀的压力进行清洁，因此可以在短时间内可靠地清洁多个针53。