公开(公告)号：US09282976B2

公开(公告)日：2016-03-15

申请号：US13582819

申请日：2011-03-03

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B23B45/00 ,  A61B17/16 ,  B23B39/14

CPC分类号： A61B17/1617 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1628 ,  A61B17/1631 ,  A61B17/1642 ,  B23B39/14 ,  B23B45/005

摘要： A remote-controlled actuator assembly includes a guide section (3) of an elongated shape, a distal end member (2) fitted to a tip end of the guide section for alteration in attitude, an operating tool (1) in the distal end member, and a restraining tool (6) for aligning the distal end member straight with the guide section. The distal end member is altered in attitude through advancing/retracting attitude altering members (31) in the guide section by attitude altering drive sources (43), which are controlled by an attitude control unit (62). An advance or retraction position detector (45) detects an advance/retraction position of the attitude altering members while the attitude altering members applying a preload to the distal end member restrained by the restraining tool. The attitude control unit uses the detection value as information on the advance/retraction position corresponding to an initial position-attitude of the distal end member.

摘要翻译： 远程控制致动器组件包括细长形状的引导部分（3），安装在引导部分的顶端的用于改变姿态的远端部件（2），远端部件中的操作工具（1） ，以及用于将前端构件与引导部直线对准的约束工具（6）。 通过由姿态控制单元（62）控制的改变驱动源（43）的姿态改变导向部件中的前进/后退姿势改变构件（31）来改变姿势。 前进或后退位置检测器（45）检测姿态改变构件的前进/后退位置，同时姿势改变构件对由约束工具限制的远端构件施加预载荷。 姿势控制单元使用检测值作为与前端构件的初始位置姿势对应的前进/后退位置的信息。

公开(公告)号：US20130192420A1

公开(公告)日：2013-08-01

申请号：US13878523

申请日：2011-10-03

申请人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： F16H21/54 ,  B25J11/00

CPC分类号： F16H21/54 ,  B25J9/0048 ,  B25J9/0078 ,  B25J11/00 ,  Y10T74/18888

摘要： A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.

摘要翻译： 链接致动装置通过三个或更多个用于姿势改变的连杆机构将输出构件连接到输入构件。 每个连杆机构包括在输入和输出侧的端部连杆构件和中间连杆构件。 链接机构具有这样的形状，即通过直线表示连杆部件的几何模型使得输入和输出侧部分相对于每个中间连接部件的中间部分彼此对称。 在所有连杆机构中提供固定机构，以使输出构件以相对于输入构件的任意姿势固定。 提供一种结构体，用于将输入和输出构件彼此连接，同时与形成在输入和输出构件中的接触部分接触。

公开(公告)号：US08221398B2

公开(公告)日：2012-07-17

申请号：US13116679

申请日：2011-05-26

申请人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano ,  Takayoshi Ozaki

发明人： Hiroshi Isobe ,  Yukihiro Nishio ,  Yoshitaka Nagano ,  Takayoshi Ozaki

IPC分类号： A61B17/16

CPC分类号： B23B39/14 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1642 ,  A61B17/1668 ,  B23B45/005

摘要： A remote-controlled actuator includes a spindle guide section of an elongated shape, a distal end member fitted to a distal end of the spindle guide section for alteration in attitude and rotatably supporting a tool, and a drive unit housing having a base end of the spindle guide section connected therewith. A rotary shaft for transmitting rotation of a tool rotation drive source within the drive unit housing to the tool and an attitude altering member for altering the attitude of the distal end member by the drive of an attitude altering drive source within the drive unit housing are accommodated within the spindle guide section. A cutting force estimator is provided for estimating the magnitude of at least one component force of a principle force, a radial force and a feed force in a cutting force which the tool applies to a work to be processed.

摘要翻译： 遥控执行器包括细长形状的主轴引导部分，安装在主轴引导部分的远端的远端部件，用于改变姿态并可旋转地支撑工具;以及驱动单元壳体，其具有基端 与其连接的主轴引导部。 用于将驱动单元壳体内的工具旋转驱动源的旋转传递到工具的旋转轴和用于通过驱动单元壳体内的改变驱动源的姿态来改变远端构件的姿态的姿态改变构件被容纳 在主轴引导部分内。 提供了一种切削力估算器，用于估计工具对待加工的工件施加的切削力中的主力，径向力和进给力的至少一个分力的大小。

公开(公告)号：US20120067604A1

公开(公告)日：2012-03-22

申请号：US13322739

申请日：2010-05-26

申请人： Hiroshi Isobe ,  Takayoshi Ozaki ,  Yoshitaka Nagano ,  Yukihiro Nishio

发明人： Hiroshi Isobe ,  Takayoshi Ozaki ,  Yoshitaka Nagano ,  Yukihiro Nishio

IPC分类号： B23B39/14

CPC分类号： A61B17/1631 ,  A61B17/32002 ,  A61B2017/00323 ,  A61B2017/00327 ,  B23B39/14

摘要： A remote controlled actuator includes an elongated spindle guide section (3), a distal end member (2) fitted to the distal end thereof for alteration in attitude, and a drive unit housing (4a) connected with a base end of the spindle guide section (3). The distal end member (2) rotatably support a spindle (13) holding a tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting a rotation of the spindle (13) and an attitude altering member (31) for altering the attitude of the distal end member (2) both within an outer shell pipe (25) forming an outer shell. The attitude altering member (31) is reciprocally movably inserted in a guide pipe (30) within the outer shell pipe (25). A guide pipe restraining unit (50) is provided for restraining the guide pipe (30) from moving within the outer shell pipe (25).

摘要翻译： 远程控制致动器包括细长主轴引导部分（3），安装在其远端的远端部件（2），用于改变姿态;以及驱动单元壳体（4a），其与主轴引导部分 （3）。 远端构件（2）可旋转地支撑保持工具（1）的心轴（13）。 主轴引导部分（3）包括用于传递心轴（13）的旋转的旋转轴（22）和用于改变远端构件（2）的姿态的姿态改变构件（31），其在外壳管 （25）形成外壳。 姿态改变构件（31）可往复移动地插入到外壳管（25）内的导管（30）中。 引导管限制单元（50）用于限制导管（30）在外壳管（25）内移动。

公开(公告)号：US20110203825A1

公开(公告)日：2011-08-25

申请号：US13062711

申请日：2009-09-10

申请人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Hiroshi Isobe ,  Yoshitaka Nagano

IPC分类号： B25F5/00

CPC分类号： B23B51/00 ,  A61B17/16 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1642 ,  A61B2017/00212 ,  B23B39/14 ,  B23B45/005 ,  Y10T74/20

摘要： A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source to the spindle. An attitude altering member inserted in a guide hole is selectively advanced or retracted by an attitude control drive source. An initial attitude hold control unit controls the attitude control drive source so that an initial attitude holding force necessary to maintain the distal end member in the initial attitude can be applied to the attitude altering member. An attitude alteration control unit controls the attitude control drive source so that the attitude of the distal end member can be altered by a force larger than the initial attitude holding force.

摘要翻译： 远程控制致动器包括细长主轴引导部分和安装到其远端的远端部件，用于改变姿态。 远端构件可旋转地支撑用于保持工具的心轴。 主轴引导部分包括用于将工具旋转驱动源的旋转传递到主轴的旋转轴。 插入引导孔中的姿态改变构件通过姿态控制驱动源选择性地前进或后退。 初始姿态保持控制单元控制姿态控制驱动源，使得能够将姿势改变构件应用于将前端构件保持在初始姿态所需的初始姿势保持力。 姿态改变控制单元控制姿态控制驱动源，使得可以通过大于初始姿态保持力的力来改变远端构件的姿态。

公开(公告)号：US20120325508A1

公开(公告)日：2012-12-27

申请号：US13582819

申请日：2011-03-03

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B25B23/145

CPC分类号： A61B17/1617 ,  A61B17/1624 ,  A61B17/1626 ,  A61B17/1628 ,  A61B17/1631 ,  A61B17/1642 ,  B23B39/14 ,  B23B45/005

摘要： A remote-controlled actuator assembly includes a guide section (3) of an elongated shape, a distal end member (2) fitted to a tip end of the guide section for alteration in attitude, an operating tool (1) in the distal end member, and a restraining tool (6) for aligning the distal end member straight with the guide section. The distal end member is altered in attitude through advancing/retracting attitude altering members (31) in the guide section by attitude altering drive sources (43), which are controlled by an attitude control unit (62). An advance or retraction position detector (45) detects an advance/retraction position of the attitude altering members while the attitude altering members applying a preload to the distal end member restrained by the restraining tool. The attitude control unit uses the detection value as information on the advance/retraction position corresponding to an initial position-attitude of the distal end member.

摘要翻译： 远程控制致动器组件包括细长形状的引导部分（3），安装在引导部分的顶端的用于改变姿态的远端部件（2），远端部件中的操作工具（1） ，以及用于将前端构件与引导部直线对准的约束工具（6）。 通过由姿态控制单元（62）控制的改变驱动源（43）的姿态改变导向部件中的前进/后退姿势改变构件（31）来改变姿势。 前进或后退位置检测器（45）检测姿态改变构件的前进/后退位置，同时姿势改变构件对由约束工具限制的远端构件施加预载荷。 姿势控制单元使用检测值作为与前端构件的初始位置姿势对应的前进/后退位置的信息。

公开(公告)号：US20120160050A1

公开(公告)日：2012-06-28

申请号：US13394371

申请日：2010-09-22

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： B25J13/00 ,  B29C39/02

CPC分类号： B23B39/14 ,  A61B17/1631 ,  A61B17/1642 ,  A61B17/1668 ,  A61B2034/301 ,  Y10T74/20323

摘要： A remote controlled actuator includes an elongated guide section (3) of a curved shape, a distal end member (2) fitted to a tip of the guide section for alteration in attitude, and a work tool (1) provided in the distal end member. A drive shaft (22) for transmitting a driving force of a work tool drive source (41) to the work tool and a curved guide hole (30a) extending to its opposite ends are accommodated inside the guide section. A wire-like attitude altering member (31) is inserted within the guide hole for selective advance or retraction and then is driven by an attitude altering drive source (42) to alter the attitude of the distal end member. The attitude altering member has a curved shape identical with the curved shape of the guide hole under a natural condition while it has not yet been inserted into the guide hole.

摘要翻译： 远程控制致动器包括弯曲形状的细长引导部分（3），安装在导向部分的尖端以改变姿态的远端部件（2）和设置在远端部件中的作业工具（1） 。 用于将作业工具驱动源（41）的驱动力传递到作业工具的驱动轴（22）和延伸到其相对端部的弯曲导向孔（30a）容纳在引导部分内。 线状姿势改变构件（31）插入导向孔内用于选择性前进或后退，然后由姿态改变驱动源（42）驱动以改变远端构件的姿态。 姿态改变构件在尚未插入导孔中的情况下，在自然条件下具有与导孔的弯曲形状相同的弯曲形状。

公开(公告)号：US20100234873A1

公开(公告)日：2010-09-16

申请号：US12744420

申请日：2008-10-27

申请人： Yoshitaka Nagano ,  Yukihiro Nishio ,  Takayoshi Ozaki

发明人： Yoshitaka Nagano ,  Yukihiro Nishio ,  Takayoshi Ozaki

IPC分类号： A61M25/00 ,  B66F19/00 ,  A61M29/00 ,  G09B23/28

CPC分类号： A61M25/0113 ,  A61B34/70 ,  A61B2034/301 ,  A61M25/09041 ,  A61M2205/18 ,  A61M2205/332 ,  G01L5/0038 ,  G09B23/285

摘要： A drive device for driving a linear body having flexibility includes a first roller, a motor for feeding the linear body in a direction of extension of the linear body by directly transmitting rotation force to the first roller to rotate the first roller, a motor drive portion for driving the motor by supplying a current to the motor, and a control unit for calculating force applied to the linear body in the direction of extension based on the current supplied to the motor.

摘要翻译： 用于驱动具有柔性的直线体的驱动装置包括：第一辊，通过直接将旋转力直接传递到第一辊以使第一辊旋转的马达，用于沿线性体的延伸方向进给直线体;马达驱动部 用于通过向电动机提供电流来驱动电动机;以及控制单元，用于基于提供给电动机的电流来计算在延伸方向上施加到线状体的力。

公开(公告)号：US09351735B2

公开(公告)日：2016-05-31

申请号：US12995113

申请日：2009-03-18

申请人： Yoshitaka Nagano ,  Yukihiro Nishio ,  Takayoshi Ozaki

发明人： Yoshitaka Nagano ,  Yukihiro Nishio ,  Takayoshi Ozaki

IPC分类号： A61M29/00 ,  A61B17/12 ,  A61M25/01 ,  A61M25/09 ,  A61B17/00

CPC分类号： A61B17/12022 ,  A61B5/0048 ,  A61B5/0053 ,  A61B5/0057 ,  A61B17/12113 ,  A61B17/1214 ,  A61B34/70 ,  A61B2017/00398 ,  A61B2017/1205 ,  A61B2090/061 ,  A61B2090/064 ,  A61M25/01 ,  A61M25/0105 ,  A61M25/0113 ,  A61M25/09041

摘要： An insertion device of a coil includes a delivery wire driving unit, a secondary catheter driving unit, and a control circuit. A platinum coil for coil embolization is attached to the tip of a delivery wire. The delivery wire driving unit is provided in the proximity of the entrance of a Y connector such that the delivery wire is advanced and moved back. The secondary catheter driving unit is provided in the proximity of the entrance of a Y connector such that the secondary catheter is advanced and moved back. The control circuit controls the delivery wire driving unit so as to insert the delivery wire by a predetermined insertion force. If the delivery wire cannot be inserted, the control circuit controls the secondary catheter driving unit such that the secondary catheter is advanced after being moved back, and then controls the delivery wire driving unit so as to insert the delivery wire.

摘要翻译： 线圈的插入装置包括输送线驱动单元，二次导管驱动单元和控制电路。 用于线圈栓塞的铂线圈附接到输送线的末端。 输送线驱动单元设置在Y连接器的入口附近，使得输送线前进并向后移动。 第二导管驱动单元设置在Y连接器的入口附近，使得二次导管前进并向后移动。 控制电路控制输送线驱动单元，以便以预定的插入力插入输送线。 如果输送线不能插入，则控制电路控制二次导管驱动单元，使得二次导管在移回后前进，然后控制输送线驱动单元以插入输送线。

公开(公告)号：US20130023900A1

公开(公告)日：2013-01-24

申请号：US13639377

申请日：2011-03-28

申请人： Yukihiro Nishio ,  Yoshitaka Nagano

发明人： Yukihiro Nishio ,  Yoshitaka Nagano

IPC分类号： A61B19/00

CPC分类号： B23B39/14 ,  A61B17/1617 ,  A61B17/1626 ,  A61B17/1631 ,  A61B17/1633 ,  A61B17/1642 ,  A61B34/70 ,  A61B2017/003 ,  A61B2017/00398 ,  A61B2017/2904 ,  A61B2017/2927 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2090/371 ,  A61B2090/373

摘要： A remote controlled actuator assembly includes an elongated guide section (3), a distal end member (2) fitted to the guide section (3) for alteration in attitude, and an operating tool (1) retained by the distal end member (2). An attitude altering member (31) within the guide section (3) is reciprocally movably inserted by an attitude altering drive source (43) to alter the attitude of the distal end member (2). The attitude altering drive source (43) is controlled by an attitude altering controller (63). An attitude detection unit (9) detects the attitude of the distal end member (2) relative to the guide section (3). A calibrator (65), by use of the attitude information detected by the attitude detection unit (9), corrects or generates a command value which the attitude altering controller (63) outputs to the attitude altering drive source (43).

摘要翻译： 远程控制致动器组件包括细长引导部分（3），与导向部分（3）配合以用于姿态变化的远端部件（2）和由远端部件（2）保持的操作工具（1） 。 引导部分（3）内的姿态改变部件（31）通过姿态改变驱动源（43）往复运动地插入以改变远端部件（2）的姿态。 改变驱动源（43）的姿势由姿势改变控制器（63）控制。 姿态检测部（9）检测前端部件（2）相对于引导部（3）的姿势。 校准器（65）通过使用由姿态检测单元（9）检测到的姿态信息来校正或产生姿势改变控制器（63）向姿势改变驱动源（43）输出的命令值。