公开(公告)号：US20200078557A1

公开(公告)日：2020-03-12

申请号：US16684646

申请日：2019-11-15

Applicant: OLYMPUS CORPORATION

Inventor： Mitsuaki HASEGAWA

IPC: A61M25/00

Abstract: A medical manipulator includes: an end effector provided at a distal side of the medical manipulator; a proximal housing provided at a proximal side of the medical manipulator; and an elongated portion coupled to both the end effector and the proximal end. The elongated portion includes: a first elongated member coupled to both the end effector and the proximal housing; a second elongated member coupled to only either one of the end effector and the proximal housing, the second elongated member being configured to form by surrounding the first elongated member; and to be slidable in a longitudinal direction relative to the first elongated member; and a third elongated member coupled to both the end effector and the proximal housing, the third elongated member being configured to form an exterior of the elongated portion by surrounding the second elongated member.

公开(公告)号：US20180325607A1

公开(公告)日：2018-11-15

申请号：US16032153

申请日：2018-07-11

Applicant: OLYMPUS CORPORATION

Inventor： Takumi ISODA ,  Mitsuaki HASEGAWA

IPC: A61B34/00 ,  A61B1/00 ,  A61B90/00 ,  H04N5/445

CPC classification number: A61B34/25 ,  A61B1/00009 ,  A61B1/00135 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2034/256 ,  A61B2090/064 ,  G06T7/70 ,  G06T11/001 ,  G06T2210/62 ,  H04N5/44504

Abstract: A medical manipulator system includes: a manipulator having a treating portion at a distal end thereof; an endoscope configured to capture an image showing a state of the treating portion performing treatment; an external-force detecting means for generating data on an external force exerted on the manipulator; a display for an operator; and a controller comprising a hardware including at least one processor. The at least one processor is configured to: receive the data from the external-force detecting means; generate an auxiliary image in which a display form thereof is changed on the basis of the data; receive the image from the endoscope; determine a display position of the auxiliary image in the image on the basis of the data; generate a signal being capable to display a composited image which is superimposed on the auxiliary image on the image on the basis of the display position; and transmit the signal to the display.

公开(公告)号：US20180079089A1

公开(公告)日：2018-03-22

申请号：US15827167

申请日：2017-11-30

Applicant: OLYMPUS CORPORATION

Inventor： Toshihiro YOSHII ,  Mitsuaki HASEGAWA

IPC: B25J17/02 ,  B25J9/10 ,  B25J18/06 ,  A61B34/30

CPC classification number: B25J17/02 ,  A61B17/28 ,  A61B34/30 ,  A61B2034/301 ,  A61B2090/064 ,  B25J9/10 ,  B25J9/104 ,  B25J18/06

Abstract: A manipulator including: an end effector movable about a joint; a motor configured to generate force so as to move the end effector; a wire for transmitting the force from the motor to the end effector; a guide member connected between the end effector and motor. The guide member including: a guide tube comprising at least one lumen extended in a longitudinal direction, the lumen configured to guide the wire; and an outer sheath configured to cover the guide tube in a longitudinal direction and to move relative to the motor in the longitudinal direction, the outer sheath having a rigidity higher than the guide tube. The manipulator further including an adjusting mechanism configured to adjust a position of the proximal end section of the outer sheath relative to the motor in the longitudinal direction of the guide tube so as to adjust a tensile-force generated on the wire.

公开(公告)号：US20160346924A1

公开(公告)日：2016-12-01

申请号：US15236623

申请日：2016-08-15

Applicant: OLYMPUS CORPORATION

Inventor： Mitsuaki HASEGAWA ,  Toshihiro YOSHII

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00725 ,  A61B2034/301 ,  A61B2034/715 ,  G05B2219/45118

Abstract: An initialization method for a manipulator includes: a reference angle maintaining step of setting a rotational angle of a joint part to a reference angle that has been predetermined, and maintaining the reference angle in a state where a driving force relay part is switched to a driving force release state; a drive part coupling step of switching the driving force relay part to a driving force relay state in a state where the joint part is arranged at a position where an initialization operation is performed after the reference angle maintaining step is performed; and an origin setting step of performing matching of a drive origin of a drive part according to a state of the rotational angle.

Abstract translation: 一种机械手的初始化方法包括：将参考角度保持步骤，将接合部的旋转角度设定为预定的基准角度，并将基准角保持在驱动力中继部切换为驾驶的状态 力释放状态; 在执行基准角度维持步骤之后，在将接合部配置在执行初始化动作的位置的状态下将驱动力继电器部切换为驱动力继电器状态的驱动部耦合步骤; 以及原点设定步骤，根据旋转角度的状态进行驱动部的驱动原点的匹配。

公开(公告)号：US20180296290A1

公开(公告)日：2018-10-18

申请号：US16018190

申请日：2018-06-26

Applicant: OLYMPUS CORPORATION

Inventor： Hirotaka NAMIKI ,  Mitsuaki HASEGAWA

IPC: A61B34/00 ,  A61B90/00 ,  B25J9/16 ,  A61B34/10 ,  A61B1/00

Abstract: A medical manipulator system includes: a first manipulator configured to change a position of an imaging section that images a target portion in a body; a second manipulator configured to change a position of an end effector that treats the target portion; a display section configured to display images from the imaging section; an operation section configured to generate an operation command for operating the first manipulator or the second manipulator; and a control section configured to select one of a plurality of control modes and control the first manipulator or the second manipulator based on the operation command.

公开(公告)号：US20180289437A1

公开(公告)日：2018-10-11

申请号：US16005844

申请日：2018-06-12

Applicant: OLYMPUS CORPORATION

Inventor： Kyohei KURIHARA ,  Mitsuaki HASEGAWA ,  Hiroyuki HASHIMOTO

IPC: A61B34/00 ,  A61B34/30

Abstract: A medical manipulator system including: a placement table on which a patient is placed; at least one manipulator configured to support a treatment tool which is configured to treat the patient, the manipulator configured to adjust a position and an orientation of the treatment tool; a base portion configured to support the manipulator; a sensor configured to detect objects which are present in a predetermined area including the manipulator and the placement table; and a controller including at least one processor, wherein the processor is configured to: calculate degrees of proximity between the objects detected by the sensor and the manipulator, and generate, in case that the calculated degrees of proximity exceed a predetermined threshold, a control signal for preventing interference between the objects and the manipulator.

公开(公告)号：US20180125595A1

公开(公告)日：2018-05-10

申请号：US15859981

申请日：2018-01-02

Applicant: OLYMPUS CORPORATION

Inventor： Toshihiro YOSHII ,  Mitsuaki HASEGAWA

IPC: A61B34/00 ,  F16H25/18 ,  B25J9/10

CPC classification number: A61B34/71 ,  A61B17/2909 ,  A61B2017/00398 ,  A61B2017/2903 ,  A61B2017/2915 ,  A61B2017/2917 ,  A61B2017/2923 ,  A61B2017/2927 ,  A61B2034/715 ,  B25J9/1045 ,  B25J17/02 ,  B25J18/06 ,  F16H25/183

Abstract: Provided is a manipulator including: a movable part; a drive unit generating power; an elongated flexible long guide member to which the part is attached at one end thereof and the drive unit is attached at the other end thereof; an elongated tension transmission member passing through a lumen in the long guide member and transmitting the power of the drive unit to the part by means of a tension; a tension adjusting mechanism adjusting the tension of the tension transmission member; and a holding unit to which the drive unit is detachably attached. The mechanism includes: a tensioner, provided in a movable manner in a direction intersecting the longitudinal direction of the tension transmission member, that pulls the tension transmission member; and a pressing member, provided in the holding unit, that moves the tensioner in a state in which the drive unit has been attached to the holding unit.

公开(公告)号：US20170135710A1

公开(公告)日：2017-05-18

申请号：US15420608

申请日：2017-01-31

Applicant: OLYMPUS CORPORATION

Inventor： Mitsuaki HASEGAWA ,  Toshihiro YOSHII

IPC: A61B17/29 ,  A61B90/00 ,  A61B34/00 ,  A61B17/28 ,  A61B34/37

CPC classification number: A61B17/29 ,  A61B17/0469 ,  A61B17/062 ,  A61B17/28 ,  A61B17/2841 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00371 ,  A61B2017/00398 ,  A61B2017/2903 ,  A61B2017/2905 ,  A61B2017/2938 ,  A61B2017/2943 ,  A61B2034/301 ,  A61B2034/302

Abstract: A medical treatment instrument of the present invention includes: a pair of opening and closing pieces; an opening and closing shaft section configured to hold the pair of opening and closing pieces so that the pair of opening and closing pieces are able to pivot relative to each other; a first gear fixed to either of the pair of opening and closing pieces to pivot about the opening and closing shaft section; a second gear which is able to rotate to transmit a rotational force to the first gear; a rotatable member fixed to the second gear coaxially with the second gear and having a diameter larger than a diameter of the second gear; and a power transmission member provided around an outer circumference of the rotatable member and configured to rotate the rotatable member.

公开(公告)号：US20160374772A1

公开(公告)日：2016-12-29

申请号：US15236513

申请日：2016-08-15

Applicant: OLYMPUS CORPORATION

Inventor： Mitsuaki HASEGAWA ,  Toshihiro YOSHII

IPC: A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B1/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2034/301 ,  A61B2034/306 ,  B25J9/1689

Abstract: A manipulator system initialization method includes: a joint angle setting step of bringing a driving force relay part into a driving force release state, inserting a bending joint and a pair of shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting a joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to a driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of a drive part after the drive part coupling step is performed.

Abstract translation: 机械手系统初始化方法包括：关节角度设定步骤，使驱动力继电器部件进入驱动力释放状态，将弯曲接头和通过弯曲接头联接的一对轴状部件插入具有 形状限定部，其将所述弯曲接头的关节角度设定为规定值，将所述弯曲接头的关节角度设定为所述规定值。 相对于设置有关节角度的弯曲接头，将驱动力中继部切换到驱动力中继状态的驱动部联接步骤; 以及原点设定步骤，在执行驱动部分耦合步骤之后，将弯曲接头的关节角度的状态与驱动部件的驱动原点相关联。

公开(公告)号：US20140148817A1

公开(公告)日：2014-05-29

申请号：US14168525

申请日：2014-01-30

Applicant: OLYMPUS CORPORATION

Inventor： Mitsuaki HASEGAWA ,  Kosuke KISHI

IPC: A61B19/00

CPC classification number: G06F3/01 ,  A61B17/068 ,  A61B17/29 ,  A61B17/32002 ,  A61B18/1402 ,  A61B34/30 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B46/27 ,  A61B2017/00119 ,  A61B2017/00477 ,  A61B2017/00482 ,  B25J13/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/30 ,  Y10T29/49826 ,  Y10T74/18056

Abstract: A medical manipulator including a base section at which a support surface is formed, a movable part movably supported on the support surface, when a reference direction parallel to the support surface is defined, between a distal end position, which is a distal end side in the reference direction with respect to the base section, and a proximal end position, which is a proximal end side in the reference direction, a positioning mechanism configured to position the movable part at the distal end position with respect to the base section, a holding section movably supported in the reference direction with respect to the movable part and configured to detachably hold a proximal end portion of a treatment tool, and a driving unit configured to move the holding section in the reference direction with respect to the movable part.

Abstract translation: 一种医用机械手，其特征在于，在形成有支撑面的基部时，在与支承面平行的基准方向上，可移动地支承在支承面上的可动部， 相对于基部的基准方向和作为基准方向的近端侧的基端位置，配置为将可动部相对于基部定位在远端位置的定位机构，保持 相对于可移动部件在参考方向上可移动地支撑，并且被构造成可拆卸地保持治疗工具的近端部分;以及驱动单元，其构造成使保持部分相对于可移动部件沿参考方向移动。