公开(公告)号：US20110255757A1

公开(公告)日：2011-10-20

申请号：US13166938

申请日：2011-06-23

Applicant: Hirokazu NISHIMURA ,  Tetsuo NONAMI

Inventor： Hirokazu NISHIMURA ,  Tetsuo NONAMI

IPC: G06K9/62

CPC classification number: A61B5/073 ,  A61B1/00016 ,  A61B1/00036 ,  A61B1/00055 ,  A61B1/041 ,  A61B5/7264 ,  A61B5/7267 ,  G06K9/4652 ,  G06T7/0002 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10068 ,  G06T2207/30028 ,  G06T2207/30168

Abstract: A plurality of images inputted in an image signal input portion are divided into a plurality of regions by an image dividing portion, and a feature value in each of the plurality of regions is calculated by a feature value calculation portion and divided into a plurality of subsets by a subset generation portion. On the other hand, a cluster classifying portion classifies a plurality of clusters generated in a feature space into any one of a plurality of classes on the basis of the feature value and occurrence frequency of the feature value. And a classification criterion calculation portion calculates a criterion of classification for classifying images included in one subset on the basis of a distribution state of the feature value in the feature space of each of the images included in the one subset.

公开(公告)号：US20100004505A1

公开(公告)日：2010-01-07

申请号：US12559828

申请日：2009-09-15

Applicant: Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

Inventor： Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

IPC: A61B1/008

CPC classification number: A61B1/04 ,  A61B1/018 ,  A61B34/20 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20090112316A1

公开(公告)日：2009-04-30

申请号：US12260437

申请日：2008-10-29

Applicant: Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

Inventor： Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

IPC: A61F2/02 ,  B25J13/08 ,  B25J9/06 ,  B25J19/02 ,  B25J17/02 ,  G06F19/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2034/306 ,  A61B2090/064 ,  B25J9/1633 ,  B25J9/1643

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20090043164A1

公开(公告)日：2009-02-12

申请号：US12252085

申请日：2008-10-15

Applicant: Jun HASEGAWA ,  Tetsuo NONAMI

Inventor： Jun HASEGAWA ,  Tetsuo NONAMI

IPC: A61B1/00

CPC classification number: A61B1/00002 ,  A61B1/00016 ,  A61B1/0005 ,  A61B1/041 ,  A61B5/06 ,  A61B5/062 ,  A61B5/073 ,  A61B5/6805 ,  A61B2560/0456 ,  G02B23/2461

Abstract: The position of an antenna incorporated in a capsule-type endoscope 3 that moves in a body is estimated using a plurality of antennae, and where the distance dij between two positions Pti and P(t−1)j estimated at adjacent times falls within a predetermined value, pieces of information for these positions are related to each other and stored in a memory as connection information. Subsequently, processing for searching for a route from the connection information stored in the memory and calculating a track is performed.

Abstract translation: 使用多个天线来估计包含在体内移动的胶囊型内窥镜3中的天线的位置，并且在相邻时间估计的两个位置Pti和P（t-1）j之间的距离dij在 预定值，这些位置的信息相互关联并作为连接信息存储在存储器中。 随后，执行从存储在存储器中的连接信息中搜索路线并计算轨道的处理。

公开(公告)号：US20080281154A1

公开(公告)日：2008-11-13

申请号：US12169161

申请日：2008-07-08

Applicant: Kazuhiro Gono ,  Tetsuo Nonami

Inventor： Kazuhiro Gono ,  Tetsuo Nonami

IPC: A61B1/05

CPC classification number: A61B1/0669 ,  A61B1/043 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/0646 ,  A61B5/0071 ,  A61B5/0084

Abstract: An endoscope device obtains tissue information of a desired depth near the tissue surface. A xenon lamp (11) in a light source (4) emits illumination light. A diaphragm (13) controls a quantity of the light that reaches a rotating filter. The rotating filter has an outer sector with a first filter set, and an inner sector with a second filter set. The first filter set outputs frame sequence light having overlapping spectral properties suitable for color reproduction, while the second filter set outputs narrow-band frame sequence light having discrete spectral properties enabling extraction of desired deep tissue information. A condenser lens (16) collects the frame sequence light coming through the rotating filter onto the incident face of a light guide (15). The diaphragm controls the amount of the light reaching the filter depending on which filter set is selected.

Abstract translation: 内窥镜装置获取组织表面附近的期望深度的组织信息。 光源（4）中的氙灯（11）发射照明光。 光圈（13）控制到达旋转滤光器的光量。 旋转滤波器具有带有第一滤波器组的外部扇区和具有第二滤波器组的内部扇区。 第一滤波器组输出具有适于颜色再现的重叠光谱特性的帧序列光，而第二滤波器组输出具有能够提取期望的深层组织信息的离散光谱特性的窄带帧序列光。 聚光透镜（16）将通过旋转滤光器的框架序列光收集到光导（15）的入射面上。 根据所选择的滤波器组，光圈控制到达滤光器的光量。

公开(公告)号：US20070179338A1

公开(公告)日：2007-08-02

申请号：US11724967

申请日：2007-03-16

Applicant: Hirokazu Nishimura ,  Tetsuo Nonami

Inventor： Hirokazu Nishimura ,  Tetsuo Nonami

IPC: A61B1/00 ,  A61B1/04

CPC classification number: A61B1/005 ,  A61B1/00009 ,  A61B1/00147

Abstract: At step S1, a red image is acquired from among red, green, and blue images constituting a received endoscopic image. At step S2, M sampling-pixels (where M denotes an integer equal to or larger than 1) are selected from the data of the red image. At step S3, a gradient vector is calculated in order to determine the direction of a gradient in brightness represented by each sampling-pixel. At step S4, the direction of a lumen is detected. At step S5, the detected direction of a lumen is adopted as an inserting direction and arrow information is superposed on an image. The resultant image is displayed on a display device. Control is then returned to step S1, and the same steps are repeated relative to data of the next frame. Consequently, even if the lumen disappears from a field of view for imaging, the inserting direction can be detected.

公开(公告)号：US20070173690A1

公开(公告)日：2007-07-26

申请号：US11725078

申请日：2007-03-16

Applicant: Hirokazu Nishimura ,  Tetsuo Nonami

Inventor： Hirokazu Nishimura ,  Tetsuo Nonami

IPC: A61B1/00

CPC classification number: A61B1/005 ,  A61B1/00009 ,  A61B1/00147

Abstract: At step S1, a red image is acquired from among red, green, and blue images constituting a received endoscopic image. At step S2, M sampling-pixels (where M denotes an integer equal to or larger than 1) are selected from the data of the red image. At step S3, a gradient vector is calculated in order to determine the direction of a gradient in brightness represented by each sampling-pixel. At step S4, the direction of a lumen is detected. At step S5, the detected direction of a lumen is adopted as an inserting direction and arrow information is superposed on an image. The resultant image is displayed on a display device. Control is then returned to step S1, and the same steps are repeated relative to data of the next frame. Consequently, even if the lumen disappears from a field of view for imaging, the inserting direction can be detected.

Abstract translation: 在步骤S1中，从构成接收到的内窥镜图像的红色，绿色和蓝色图像中获取红色图像。 在步骤S2中，从红色图像的数据中选择M个采样像素（其中M表示等于或大于1的整数）。 在步骤S3，计算梯度矢量，以确定由每个采样像素表示的亮度的梯度方向。 在步骤S4，检测管腔的方向。 在步骤S 5中，采用检测出的管腔方向作为插入方向，并且在图像上叠加箭头信息。 所得到的图像显示在显示装置上。 然后控制返回到步骤S1，并且相对于下一帧的数据重复相同的步骤。 因此，即使从成像视野的内腔消失，也能够检测插入方向。

公开(公告)号：US06511417B1

公开(公告)日：2003-01-28

申请号：US09387859

申请日：1999-09-01

Applicant: Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata ,  Tetsuo Nonami

Inventor： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata ,  Tetsuo Nonami

IPC: A61B100

CPC classification number: A61B1/31 ,  A61B1/005 ,  A61B1/05 ,  A61B5/06 ,  A61B5/064 ,  A61B5/7257 ,  A61B34/20 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2034/2072

Abstract: An endoscope shape detection system has a CPU included in a control unit. The CPU performs frequency sampling on digital data to calculate coordinates indicating the spatial positions of source coils incorporated in an insertion unit of an endoscope and of marker coils. An inserted state of the insertion unit of the endoscope is estimated based on the calculated coordinate data indicating the positions of the source coils. Display data based on which shape of the endoscope depicted is produced from the calculated coordinate data indicating the positions of the source coils, and output to a video RAM. Display data based on which marker coils are depicted is produced from the calculated coordinate data indicating the positions of the marker coils, and output to the video RAM. Consequently, the positions of the markers are depicted together with the shape of the endoscope. The positional relationship between the insertion unit of the endoscope and a patient's body can therefore be ascertained.

Abstract translation: 内窥镜形状检测系统具有包括在控制单元中的CPU。 CPU对数字数据执行频率采样，以计算指示结合在内窥镜的插入单元中的源极线圈和标记线圈的空间位置的坐标。 基于计算出的表示源极线圈的位置的坐标数据来估计内窥镜的插入单元的插入状态。 根据计算出的表示源极线圈的位置的坐标数据，生成所描绘的内窥镜的形状的显示数据，并输出到视频RAM。 根据计算出的表示标记线圈的位置的坐标数据产生基于标记线圈的显示数据，并输出到视频RAM。 因此，标记的位置与内窥镜的形状一起被描绘。 因此可以确定内窥镜的插入单元与患者身体之间的位置关系。

公开(公告)号：US4935810A

公开(公告)日：1990-06-19

申请号：US376460

申请日：1989-07-07

Applicant: Tetsuo Nonami ,  Kazuo Sonobe

Inventor： Tetsuo Nonami ,  Kazuo Sonobe

IPC: A61B1/00 ,  A61B5/107 ,  G01B11/02 ,  G06F3/0481 ,  G06F3/0484 ,  G06T7/00 ,  H04N13/00

CPC classification number: G01B11/02 ,  A61B1/00193 ,  A61B5/1076 ,  G06F3/04812 ,  G06F3/04842 ,  G06T7/0075 ,  H04N13/004 ,  H04N13/0239 ,  H04N13/0275 ,  H04N13/044 ,  G06T2207/10012 ,  H04N13/0003 ,  H04N13/0051 ,  H04N13/0055 ,  H04N13/0059 ,  H04N13/0285 ,  H04N2013/0081

Abstract: This three-dimensional measuring apparatus comprises an imaging apparatus imaging a plurality of images having parallaxes, a displaying apparatus displaying on a plurality of pictures the plurality of images obtained by the imaging apparatus, a first object point designating apparatus designating a first object point corresponding to the measuring object point in the space on the first image of the plurality of images displayed by the displaying apparatus, a second object point designating apparatus designating a second object point corresponding to the measuring object point in the space on the second image of the plurality of images displayed by the displaying apparatus, an object point designating auxiliary apparatus making an auxiliary process relating to the second object point designation by the second object point designating apparatus after the first object point designation by the first object point designating apparatus and an operating apparatus making a measuring operation relating to the three-dimensional position of the measuring object point specified by the first object point designated by the first object point designating apparatus and the second object point designated by the second object point designating apparatus.

Abstract translation: 该三维测量装置包括对具有视差的多个图像进行成像的成像装置，在多个图像上显示由成像装置获得的多个图像的显示装置，指定与第一对象点对应的第一对象点的第一对象点指定装置 由显示装置显示的多个图像的第一图像上的空间中的测量对象点，指定对应于多个图像中的第二图像上的空间中的测量对象点的第二对象点的第二对象点指定装置 显示装置显示的图像，由第一对象点指定装置在第一对象点指定之后由第二对象点指定装置进行与第二对象点指定相关的辅助处理的对象点指定辅助装置，以及使第一对象点指定装置的操作装置 测量操作 涉及由第一对象点指示装置指定的第一对象点所指定的测量对象点的三维位置和由第二对象点指定装置指定的第二对象点。

公开(公告)号：US4862873A

公开(公告)日：1989-09-05

申请号：US199212

申请日：1988-05-26

Applicant: Akihiko Yajima ,  Tetsuo Nonami ,  Masahiko Sasaki ,  Masao Uehara ,  Takashi Tsukaya ,  Kenichi Kikuchi ,  Hiroki Hibino ,  Takao Tsuruoka ,  Hiromasa Suzuki

Inventor： Akihiko Yajima ,  Tetsuo Nonami ,  Masahiko Sasaki ,  Masao Uehara ,  Takashi Tsukaya ,  Kenichi Kikuchi ,  Hiroki Hibino ,  Takao Tsuruoka ,  Hiromasa Suzuki

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/055 ,  G02B23/24 ,  G02B23/26 ,  H04N5/225 ,  H04N13/00 ,  H04N15/00

CPC classification number: H04N13/0239 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/042 ,  A61B1/0646 ,  A61B1/0669 ,  A61B1/07 ,  G02B23/2415 ,  H04N13/0048 ,  H04N13/0296 ,  H04N13/0438 ,  H04N13/0003 ,  H04N13/0051 ,  H04N13/0055 ,  H04N13/0253 ,  H04N13/0497 ,  H04N2005/2255

Abstract: An apparatus is disclosed which includes a first and a second optical guides inserted in an elongated insertion portion thereof, and which can transmit an optical image, and an optical system with a function of imaging at the end surface of the optical guide. By transmitting an illuminating light from the other end surface to the portion to be observed through one of the optical guides, the portion to be observed is illuminated. While, the optical image transmitted through the other optical guide is introduced into an ocular system or an imaging system. By changing the functions performed by these optical guides, the stereoscopic observation and stereoscopic imaging can be realized.

Abstract translation: 公开了一种装置，其包括插入其细长插入部分中并且可以透射光学图像的第一和第二光学引导件以及具有在光学引导件的端面成像功能的光学系统。 通过将另一端面的照明光通过其中一个光导传送到待观察的部分，照射被观察的部分。 而通过另一个光导传输的光学图像被引入到眼睛系统或成像系统中。 通过改变由这些光导执行的功能，可以实现立体观察和立体成像。