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    Endoscope system
    5.
    发明授权
    Endoscope system 有权
    内窥镜系统

    公开(公告)号：US08308635B2

    公开(公告)日：2012-11-13

    申请号：US12330994

    申请日：2008-12-09

    申请人： Hideki Tanaka ,  Jun Hasegawa ,  Toshio Nakamura

    发明人： Hideki Tanaka ,  Jun Hasegawa ,  Toshio Nakamura

    IPC分类号： A61B1/00

    CPC分类号： A61B1/0052 ,  A61B1/0016 ,  A61B5/06 ,  A61B5/065

    摘要： An endoscope system includes an endoscope with a bending portion installed on a distal side of an insertion portion; a bending drive unit which drives and bends the bending portion electrically; a map information storage unit which stores map information digitized by associating an amount of bending and a corresponding three-dimensional position and direction of a distal end of the insertion portion with each other, with a position near a rear end of the bending portion being designated as a reference position; a position and direction detecting unit which detects the position and direction of the distal end of the insertion portion; and a bending control unit which controls the bending drive unit to orient the distal end of the insertion portion into a target direction using the map information.

    摘要翻译： 一种内窥镜系统，包括：内窥镜，其具有安装在插入部的前侧的弯曲部; 弯曲驱动单元，其电动地弯曲弯曲部; 地图信息存储单元，其存储通过将弯曲的量与插入部的前端的对应的三维位置和方向相关联而被数字化的地图信息，在弯曲部的后端附近的位置被指定 作为参考; 位置和方向检测单元，其检测插入部分的远端的位置和方向; 以及弯曲控制单元，其使用所述地图信息来控制所述弯曲驱动单元将所述插入部的前端朝向目标方向。

    Endoscope bending control apparatus and endoscope system
    6.
    发明授权
    Endoscope bending control apparatus and endoscope system 有权
    内窥镜弯曲控制装置及内窥镜系统

    公开(公告)号：US08211009B2

    公开(公告)日：2012-07-03

    申请号：US12764482

    申请日：2010-04-21

    申请人： Hideki Tanaka ,  Jun Hasegawa ,  Toshio Nakamura

    发明人： Hideki Tanaka ,  Jun Hasegawa ,  Toshio Nakamura

    IPC分类号： A61B1/04

    CPC分类号： G02B23/2476 ,  A61B1/0051 ,  A61B5/06 ,  A61B5/062

    摘要： An endoscope bending control apparatus includes: an image feature value calculating section for calculating, based on an endoscopic image, an image feature value related to a luminal dark part; a bending control section for performing bending control on a bending portion in either one of a first bending operation mode in which a position of the luminal dark part is set as an insertion target and a distal end of the insertion portion is directed to the position and a second bending operation mode in which the distal end of the insertion portion is directed in a direction of the position of the luminal dark part; an operation mode switching section for switching an operation mode from one bending operation mode to the other according to a first switching condition based on the calculated image feature value; and a switching condition changing section for changing the first switching condition.

    摘要翻译： 内窥镜弯曲控制装置包括：图像特征量计算部，其根据内窥镜图像计算与管腔暗部相关的图像特征量; 弯曲控制部分，用于在其中将管腔暗部分的位置设置为插入目标的第一弯曲操作模式和插入部分的远端中的任一个中的弯曲部分上进行弯曲控制， 第二弯曲操作模式，其中插入部分的远端沿着管腔暗部位置的方向指向; 操作模式切换部分，用于根据所计算的图像特征值根据第一切换条件将操作模式从一个弯曲操作模式切换到另一个; 以及用于改变第一开关状态的开关条件改变部分。

    Endoscope system
    7.
    发明授权
    Endoscope system 有权
    内窥镜系统

    公开(公告)号：US08147402B2

    公开(公告)日：2012-04-03

    申请号：US12763514

    申请日：2010-04-20

    申请人： Hideki Tanaka ,  Jun Hasegawa ,  Toshio Nakamura

    发明人： Hideki Tanaka ,  Jun Hasegawa ,  Toshio Nakamura

    IPC分类号： A61B1/00 ,  A61B1/04

    CPC分类号： G02B23/2476 ,  A61B1/0005 ,  A61B1/0051 ,  A61B1/0052 ,  A61B1/042 ,  A61B5/065 ,  H04N7/185

    摘要： An endoscope system of the invention includes: an endoscope including an insertion portion, a distal end portion provided on a distal end side of the insertion portion, and a bending portion which is capable of changing a position and an orientation of the distal end portion; a position detecting section for acquiring position information on a position where the distal end portion is located; a passing target position setting section for setting a passing target position for the distal end portion; a path estimating section for estimating a path through which the distal end portion is to be passed; a bending control target position setting section for setting a bending control target position such that the distal end portion reaches the passing target position along the path; and a bending control information calculating section for calculating an amount of bending and a bending direction of the bending portion.

    摘要翻译： 本发明的内窥镜系统包括：内窥镜，具有插入部，设置在所述插入部的前端侧的前端部和能够改变前端部的位置和姿态的弯曲部; 位置检测部分，用于获取关于所述远端部分所在位置的位置信息; 通过目标位置设定部，用于设定前端部的通过目标位置; 路径估计部，用于估计要通过所述远端部的路径; 弯曲控制对象位置设定部，其设定使所述前端部沿着所述路径到达所述通过目标位置的弯曲控制对象位置; 以及弯曲控制信息计算部分，用于计算弯曲部分的弯曲量和弯曲方向。

    Multijoint manipulator and endoscope system having the same
    10.
    发明授权
    Multijoint manipulator and endoscope system having the same 有权
    具有相同的多节点机械手和内窥镜系统

    公开(公告)号：US08376934B2

    公开(公告)日：2013-02-19

    申请号：US13092702

    申请日：2011-04-22

    申请人： Kazuhiko Takahashi ,  Toshio Nakamura

    发明人： Kazuhiko Takahashi ,  Toshio Nakamura

    IPC分类号： A61B1/00 ,  A61B1/04 ,  G06F3/033

    CPC分类号： B25J9/06 ,  A61B1/00147 ,  A61B1/0052 ,  A61B1/0055 ,  A61B5/065 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2059 ,  A61B2034/306 ,  A61B2090/064

    摘要： A multijoint manipulator apparatus includes a tubular-member, linear-motion-transmission-members, a drive-unit, a position-detector, a tension-detector, an operation-unit, and a movement-degree-calculation-unit. The linear-members are inserted in the tubular-member, one end and the other end of each of the linear-members being fixed to the vicinity of a joint of the tubular-member and the drive-unit, respectively. The drive-unit moves the linear-members. The position-detector and the tension-detector detect positions and tension of the linear-members, respectively. A desired position/posture of a point of interest is input to the operation-unit. The calculation-unit calculates a current position/posture of the point, a weighting factor serving to give priority to and move the linear-members the tension of which is relatively low among the linear-members, and movement degrees of the linear-members to move the point to the desired position/posture, and causes the drive-unit to pull the linear-members.

    摘要翻译： 多关节机械手装置包括管状构件，直线运动传递构件，驱动单元，位置检测器，张力检测器，操作单元和移动程度计算单元。 线性构件插入管状构件中，每个线性构件的一端和另一端分别固定在管状构件和驱动单元的接头附近。 驱动单元移动线性元件。 位置检测器和张力检测器分别检测线性元件的位置和张力。 将感兴趣点的期望位置/姿势输入到操作单元。 计算单元计算点的当前位置/姿势，用于优先使线性构件中的线性构件的张力相对较低的直线构件的加权系数和线性构件的移动度向 将点移动到期望的位置/姿势，并且使驱动单元拉动线性构件。