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公开(公告)号:US20100004505A1
公开(公告)日:2010-01-07
申请号:US12559828
申请日:2009-09-15
IPC分类号: A61B1/008
CPC分类号: A61B1/04 , A61B1/018 , A61B34/20 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2034/107 , A61B2034/108 , A61B2034/2055
摘要: When an operation instruction is input by a first (second) control output instruction input device, locus calculation means calculates a locus of movement of a first (second) therapeutic device on the basis of any one of joint sections, which is instructed to operate. On the basis of a calculation result by the locus calculation means, therapeutic device operation control means controls an operation of the first (second) therapeutic device by a first (second) active mechanism. Thereby, there is provided an endoscope apparatus which can improve the operational efficiency and positional precision of the therapeutic device.
摘要翻译: 当由第一(第二)控制输出指令输入装置输入操作指令时,轨迹计算装置根据被指示操作的任一个接合部分计算第一(第二)治疗装置的移动轨迹。 基于轨迹计算装置的计算结果,治疗装置运行控制装置通过第一(第二)活动机构来控制第一(第二)治疗装置的动作。 由此,能够提高治疗装置的操作效率和位置精度的内窥镜装置。
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公开(公告)号:US20090112316A1
公开(公告)日:2009-04-30
申请号:US12260437
申请日:2008-10-29
CPC分类号: A61B34/37 , A61B34/30 , A61B34/71 , A61B90/361 , A61B2017/00314 , A61B2034/306 , A61B2090/064 , B25J9/1633 , B25J9/1643
摘要: A medical device system includes a manipulator including a plurality of joints, a parameter storing portion for storing joint parameters, including a largest available force, of each joint of the plurality of joints, a trajectory inputting portion for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator from a current position and attitude to a target position and attitude, a trajectory setting portion for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.
摘要翻译: 一种医疗装置系统,包括具有多个关节的操纵器,用于存储包括所述多个关节各关节的最大可用力的关节参数的参数存储部,轨迹输入部,作为轨迹计划输入轨迹 用于将操纵器的远端从当前位置和姿态移动到目标位置和姿态;轨迹设置部分,用于为每个关节设置关节角度轨迹,从关节角度轨迹中提供最大可用力,所述关节角度轨迹允许移动到目标 基于存储在参数存储部分和轨迹计划中的每个关节的最大可用力参数,具有最小数量的从动关节的位置和姿态。
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公开(公告)号:US20090259340A1
公开(公告)日:2009-10-15
申请号:US12423289
申请日:2009-04-14
IPC分类号: B25J9/04
CPC分类号: B25J9/1674 , A61B1/0051 , A61B5/065 , G05B19/4062 , G05B2219/37175 , G05B2219/37514 , G05B2219/37522 , G05B2219/42291 , G05B2219/42306 , G05B2219/42329 , G05B2219/45118
摘要: A manipulator includes: a drive section which electrically drives a joint; an instruction input section which executes instruction input; a control section which generates a driving signal in response to the instruction input; a sensor which detects an operation status of the joint or the drive section in time series; a setting section which sets an allowable operation range of the drive section; a determination section which determines whether an operation status signal including a detection signal is within the allowable operation range; and a replacement section which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.
摘要翻译: 机械手包括:电驱动接头的驱动部分; 执行指令输入的指令输入部; 控制部分,其响应于所述指令输入产生驱动信号; 传感器,其以时间序列检测接头或驱动部的动作状态; 设定部,其设定所述驱动部的允许动作范围; 确定部分,其确定包括检测信号的操作状态信号是否在允许的操作范围内; 以及替换部分,在操作状态信号被确定为偏离可允许操作范围的情况下,用刚刚在偏离确定之前获取的先前检测信号代替检测信号,以产生驱动信号。
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公开(公告)号:US20110295063A1
公开(公告)日:2011-12-01
申请号:US13154878
申请日:2011-06-07
CPC分类号: A61B1/008 , A61B1/0016 , A61B1/0052 , A61B1/0057 , G02B23/2476
摘要: A medical system includes a movable portion configured to allow an angle to be changed within a predetermined angular range, an actuator configured to drive the movable portion so as to change the angle of the movable portion when a wire is pulled, a control unit configured to perform drive control of the actuator, a slack detection unit configured to detect a driving condition as to whether or not the wire is slack, a slack adjustment unit configured to adjust slack of the wire based on a detection result produced by the slack detection unit; and a slack adjustment command input unit used to input a command to adjust the slack of the wire, wherein the slack adjustment unit adjusts the slack of the wire to a predetermined state of adjustment in response to the command to adjust the slack of the wire.
摘要翻译: 一种医疗系统,包括被配置为允许在预定角度范围内改变角度的可移动部分;致动器,被配置为驱动可移动部分,以便当拉线时改变可移动部分的角度;控制单元, 执行所述致动器的驱动控制;松弛检测单元,被配置为检测所述导线是否松弛的驱动条件;松弛调整单元,被配置为基于由所述松弛检测单元产生的检测结果来调节所述导线的松弛; 以及松弛调整指令输入单元,用于输入调整线的松弛的指令,其中,松弛调整单元响应于调节线的松弛的命令,将线的松弛调整到预定的调整状态。
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公开(公告)号:US20100106157A1
公开(公告)日:2010-04-29
申请号:US12652855
申请日:2010-01-06
CPC分类号: A61B18/1492 , A61B1/018 , A61B1/045 , A61B17/22012 , A61B18/1445 , A61B2018/00982
摘要: An active mechanism control apparatus includes a state detecting section which detects an output state of energy supplied to an energy treatment instrument by a status signal from an energy output apparatus. The state detecting section controls an energy output device, an active endoscope control section and an active treatment instrument control section based on the output state of the energy to the energy treatment instrument.
摘要翻译: 主动机构控制装置包括状态检测部,其通过来自能量输出装置的状态信号检测供给能量处理器具的能量的输出状态。 状态检测部基于能量处理器具的输出状态来控制能量输出装置,主动内窥镜控制部和主动治疗仪控制部。
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公开(公告)号:US20110288371A1
公开(公告)日:2011-11-24
申请号:US13162197
申请日:2011-06-16
申请人: Kazuhiko TAKAHASHI
发明人: Kazuhiko TAKAHASHI
IPC分类号: A61B1/018
CPC分类号: A61B1/018 , A61B1/0008 , A61B17/29 , A61B2017/00296 , A61B2017/2929 , A61B2017/293
摘要: An endoscope device includes a treatment instrument, the treatment instrument including a treatment instrument body, a distal treatment portion provided in a distal direction side to the treatment instrument body, and a rotary joint portion configured to rotate the distal treatment portion around an axis relative to the treatment instrument body, and an inner peripheral surface which is provided in the endoscope or in a tubular member separate from the endoscope and which defines a treatment instrument insertion passage to insert the treatment instrument. The endoscope device includes a frictional force application portion configured to apply frictional force to a contact portion between a distal direction side part of the inner peripheral surface and an outer peripheral surface in a distal direction side part of the treatment instrument body when the treatment instrument body is rotated around the axis relative to the endoscope.
摘要翻译: 一种内窥镜装置,包括治疗仪器,所述治疗仪器包括治疗仪器主体,设置在所述治疗仪器主体的远侧方向的远端处置部,以及旋转接头部,所述旋转接头部构造成使所述远端处理部围绕轴线相对旋转 处理器具主体和内周面,其设置在与内窥镜分离的内窥镜或管状构件中,并且限定了用于插入治疗仪器的治疗仪器插入通道。 所述内窥镜装置包括摩擦力施加部,所述摩擦力施加部构造成在所述处理器具主体上对所述内周面的前端侧侧部和所述处理器具主体的远侧方侧的外周面之间的接触部施加摩擦力 相对于内窥镜围绕轴旋转。
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公开(公告)号:US20090292165A1
公开(公告)日:2009-11-26
申请号:US12533525
申请日:2009-07-31
申请人: Yuta SUGIYAMA , Kazuhiko TAKAHASHI
发明人: Yuta SUGIYAMA , Kazuhiko TAKAHASHI
CPC分类号: A61B34/30 , A61B1/018 , A61B18/1492 , A61B34/35 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00203 , A61B2017/0034 , A61B2034/102 , A61B2034/2059 , A61B2034/2065 , A61B2034/301 , A61B2034/742 , Y10T74/20329
摘要: An endoscopic surgical apparatus includes a treatment accessory configured to be inserted through a channel of an endoscope, including a treatment portion with a treatment function, and having a movement function, a setting unit configured to set a reference position as a reference in treatment by the treatment accessory and a reference direction relative to the reference position, a detecting unit configured to detect a movement state of the treatment accessory in the reference direction relative to the reference position, a control unit configured to control the movement function or the treatment function on the basis of the movement state.
摘要翻译: 一种内窥镜手术装置,具备:处理用配件,其配置为通过内窥镜的通道插入,所述内窥镜的通道包括具有治疗功能的治疗部,具有移动功能,所述设定部被配置为将所述基准位置设定为基准, 处理附件和相对于基准位置的参考方向;检测单元,被配置为检测处理附件相对于基准位置的参考方向的移动状态;控制单元,被配置为控制所述移动功能或治疗功能 运动状态的基础。
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公开(公告)号:US20080296986A1
公开(公告)日:2008-12-04
申请号:US12131411
申请日:2008-06-02
摘要: In a bushing which has a terminal with a bend for connecting a conduit tube and a lead tube, the effect to cool the inner corner of the bend is enhanced. The bushing includes a conductive conduit tube, a conductive lead tube, and a terminal. The terminal has a bend and connects the conduit tube and the lead tube. Electric current and cooling gas flows in these tubes. A cooling means is provided for forced cooling of the inner corner of the bend of the terminal. One example of the cooling means is a guide vane which makes cooling gas flowing in the bushing come closer to the inner corner of the bend. A larger current can flow even when the bushing has the same size as a conventional one.
摘要翻译: 在具有用于连接导管和引线管的弯曲端子的衬套中,提高了对弯曲部的内角进行冷却的效果。 衬套包括导电导管,导电引线管和端子。 端子具有弯曲并连接导管和导管。 电流和冷却气体在这些管中流动。 提供冷却装置用于强制冷却端子的弯曲部的内角。 冷却装置的一个实例是导致在衬套中流动的冷却气体更靠近弯头的内角的导向叶片。 即使当衬套具有与传统衬套相同的尺寸时,也可以流过较大的电流。
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公开(公告)号:US20080238240A1
公开(公告)日:2008-10-02
申请号:US12037957
申请日:2008-02-27
IPC分类号: H02K3/12
CPC分类号: H02K3/28
摘要: A rotary electric machine according to present invention comprises a rotor and a stator disposed around the rotor in which the stator includes a stator core having, along its inner periphery region, a plurality of axially extending stator slots and an armature winding wound through the stator slots. In this rotary electric machine, each stator slot contains four radially layered armature bars; each armature winding is formed by electrically connecting at least one of the armature bars in a first slot and at least one of the armature bars in a second slot to each other; and the armature bars of a pair specified in accordance with a required output voltage of the rotary electric machine are connected to each other with a connecting piece.
摘要翻译: 根据本发明的旋转电机包括转子和绕转子设置的定子,其中定子包括定子芯,定子芯沿着其内周边区域具有多个轴向延伸的定子槽和缠绕在定子槽上的电枢绕组 。 在该旋转电机中,每个定子槽包含四个径向分层的电枢棒; 每个电枢绕组通过将第一槽中的至少一个电枢杆和第二槽中的至少一个电枢杆彼此电连接而形成; 并且根据旋转电机的所需输出电压指定的一对电枢棒通过连接件相互连接。
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公开(公告)号:US20090326319A1
公开(公告)日:2009-12-31
申请号:US12549779
申请日:2009-08-28
IPC分类号: A61B1/018
CPC分类号: A61B17/00234 , A61B1/00133 , A61B1/018 , A61B17/29 , A61B18/1492 , A61B34/70 , A61B34/72 , A61B34/74 , A61B2017/003 , A61B2017/00353 , A61B2090/0811
摘要: An endoscope apparatus includes an accessory including an actuation portion configured to be actuated, an operating unit for operating the actuation portion, an endoscope including an accessory insertion pass wherein the accessory is adapted to be inserted through the accessory insertion pass from a proximal end portion of the accessory insertion pass to a distal end portion of the accessory insertion pass, and projected from and retracted into the distal end portion of the accessory insertion pass, a detecting unit configured to detect a condition of a part of the accessory, which is projected from the distal end portion of the accessory insertion pass, and a control unit configured to control an actuation of the actuation portion by an operation to the operating detecting unit.
摘要翻译: 一种内窥镜装置,包括:附件,包括构造成被致动的致动部分,用于操作致动部分的操作单元,包括附件插入通道的内窥镜,其中所述附件适于通过所述附件插入通道从所述附件插入通道的近端部分 所述附件插入通过所述附件插入路径的前端部,并且从所述附件插入路径的前端部突出并缩回到所述附件插入路径的前端部,所述检测单元被配置为检测所述附件的一部分的状态, 附件插入通道的远端部分,以及控制单元,其被配置为通过对操作检测单元的操作来控制致动部分的致动。
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