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    MANIPULATOR SYSTEM AND METHOD OF CONTROLLING THE SAME
    1.
    发明申请
    MANIPULATOR SYSTEM AND METHOD OF CONTROLLING THE SAME 审中-公开
    操纵器系统及其控制方法

    公开(公告)号：US20160338784A1

    公开(公告)日：2016-11-24

    申请号：US15229419

    申请日：2016-08-05

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya HATAKEYAMA ,  Masatoshi IIDA ,  Hiroshi WAKAI

    IPC: A61B34/30 ,  A61B5/06 ,  A61B34/00

    CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0055 ,  A61B5/062 ,  A61B34/71 ,  A61B2017/00305 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306

    Abstract: Provided is a manipulator system including: a flexible inserted portion; a manipulator that has a joint portion that is driven at the distal end of the inserted portion; a drive portion that drives the joint portion on the basal-end side of the inserted portion; a shape estimating portion that estimates the shape of the inserted portion; and a control portion that controls the drive portion based on the shape of the estimated inserted portion, wherein the shape estimating portion is provided with detection targets that are arranged, with spaces therebetween, in the inserted portion in the longitudinal direction thereof, a position detection portion that detects three-dimensional positions of the detection targets, and a shape calculating portion that calculates, on the basis of the three-dimensional positions of the detected detection targets, the shape of the inserted portion by dividing the inserted portion into sections in the longitudinal direction thereof.

    Abstract translation: 提供了一种机械手系统，包括：柔性插入部分; 操纵器，其具有在所述插入部的前端被驱动的接合部; 驱动部，驱动所述插入部的基端侧的接合部; 估计插入部分的形状的形状估计部分; 以及控制部，其基于估计插入部的形状来控制驱动部，其特征在于，所述形状估计部设置有沿其长度方向插入的部分中具有间隙的检测对象，位置检测 检测目标的三维位置的部分，以及形状计算部，其基于检测出的检测对象的三维位置，通过将插入部分分割为 其纵向方向。

    ELECTRIC ENDOSCOPE CONTROL DEVICE AND ELECTRIC ENDOSCOPE SYSTEM
    2.
    发明申请
    ELECTRIC ENDOSCOPE CONTROL DEVICE AND ELECTRIC ENDOSCOPE SYSTEM 审中-公开

    公开(公告)号：US20190274517A1

    公开(公告)日：2019-09-12

    申请号：US16420413

    申请日：2019-05-23

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya HATAKEYAMA

    IPC: A61B1/00 ,  A61B1/005

    Abstract: An electric endoscope control device that changes a bending angle of a bending section of an endoscope by driving a motor according to an amount of manipulation, the electric endoscope control device includes: a storage that stores, for different types of operation state, a plurality of tables that each show the relationship between the amount of manipulation and the rotation angle of the motor, the electric endoscope control device configured to: perform an operation-state determining that determines the operation state of the bending section of the endoscope; and perform a drive-signal generating that generates a drive signal for the motor on a basis of one of the tables, which are stored in the storage, depending on the determined operation state.

    MANIPULATOR-CALIBRATING METHOD, MANIPULATOR, AND MANIPULATOR SYSTEM
    3.
    发明申请
    MANIPULATOR-CALIBRATING METHOD, MANIPULATOR, AND MANIPULATOR SYSTEM 审中-公开
    操纵器校准方法，操纵器和操纵器系统

    公开(公告)号：US20160361819A1

    公开(公告)日：2016-12-15

    申请号：US15246677

    申请日：2016-08-25

    Applicant: OLYMPUS CORPORATION

    Inventor： Hiroshi WAKAI ,  Masatoshi IIDA ,  Naoya HATAKEYAMA

    IPC: B25J9/16 ,  A61B1/00 ,  A61B34/00 ,  B25J13/08 ,  A61B34/37

    CPC classification number: B25J9/1692 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00057 ,  A61B1/00087 ,  A61B1/00133 ,  A61B1/00149 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00725 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/064 ,  B25J13/085 ,  G05B2219/39024

    Abstract: A method of calibrating a manipulator including a joint portion, a drive unit that generates a driving force for driving the joint portion, and a driving force transmission member that is inserted into a tubular member and transmits the driving force generated from the drive unit to the joint portion includes: an arrangement step of arranging the manipulator in a usable state; a load-measuring step of issuing an operation command based on a predetermined calibrating drive pattern to the drive unit and measuring a load generated in the manipulator at that time; and a control parameter-setting step of setting a main-driving control parameter based on the load measured in the load-measuring step.

    Abstract translation: 一种校准包括接合部分的机械手的方法，产生用于驱动接合部分的驱动力的驱动单元以及插入到管状部件中并将从驱动单元产生的驱动力传递到驱动单元的驱动力传递部件 关节部分包括：将所述操纵器布置在可用状态的布置步骤; 负载测量步骤，基于预定的校准驱动模式向驱动单元发出操作命令，并测量此时在操作器中产生的负载; 以及控制参数设定步骤，其基于在所述负载测量步骤中测量的负载来设定主驱动控制参数。

    ENDOSCOPE SYSTEM, PROCEDURE SUPPORT METHOD, AND RECORDING MEDIUM
    5.
    发明申请
    ENDOSCOPE SYSTEM, PROCEDURE SUPPORT METHOD, AND RECORDING MEDIUM 有权

    公开(公告)号：US20250009213A1

    公开(公告)日：2025-01-09

    申请号：US18897470

    申请日：2024-09-26

    Applicant: OLYMPUS CORPORATION ,  National Cancer Center

    Inventor： Naoya HATAKEYAMA ,  Masafumi HARAGUCHI ,  Masaaki ITO ,  Shigehiro KOJIMA ,  Daichi KITAGUCHI ,  Hiro HASEGAWA ,  Yuki FURUSAWA

    IPC: A61B1/045 ,  A61B1/00

    Abstract: An endoscope system includes: an endoscope including an elongated portion in which an imaging optical system is arranged; an arm supporting the endoscope; and a unit capable of changing a field-of-view direction of the endoscope, wherein each library data stored in a storage includes a parameter related to relative position and attitude between the imaging optical system and an observation object, the parameter includes a first parameter or a second parameter, the first parameter determined by a sum of an inclination of a longitudinal axis of the elongated portion and an amount of curvature of the changing unit on base coordinates, the first parameter related to an orientation of the imaging optical system on the base coordinates, the second parameter indicating an orientation of the imaging optical system as viewed from a coordinate of the observation object, and the unit or the arm based on the library data is controlled.

    MANIPULATOR
    7.
    发明申请
    MANIPULATOR 有权
    操纵器

    公开(公告)号：US20150367508A1

    公开(公告)日：2015-12-24

    申请号：US14842115

    申请日：2015-09-01

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya HATAKEYAMA

    IPC: B25J9/06 ,  B25J9/10

    CPC classification number: B25J9/06 ,  A61B34/30 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00296 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/306 ,  A61B2034/715 ,  A61B2090/0818 ,  A61B2090/3612 ,  B25J9/104 ,  Y10T74/20323

    Abstract: A manipulator includes an elongated main unit, a bending portion, and a distal end portion that are disposed in this order from a basal end; a plurality of main bending mechanisms having main linear members that extend from the distal end portion to the main unit, main motive-power generating portions), and main motive-power transmitting portions that transmit motive powers generated by the main motive-power generating portions to the main linear members in the form of linear motions in the longitudinal direction; a plurality of auxiliary bending mechanisms that are provided so as to form pairs with the respective main bending mechanisms and parallel thereto and that exert a pressing force and a tensile force on the distal end portion; and switching portions that selectively actuate either the main bending mechanisms or the auxiliary bending mechanisms, which are paired.

    Abstract translation: 机械手包括从基端依次设置的细长主体，弯曲部和远端部， 多个主弯曲机构，其具有从前端部向主单元延伸的主线性构件，主动力产生部），以及主动力传递部，其将由主动力产生部产生的动力传递 以纵向的线性运动的方式连接到主线性构件; 多个辅助弯曲机构，其设置成与各个主弯曲机构成对并平行，并且对前端部施加按压力和张力; 以及选择性地致动配对的主弯曲机构或辅助弯曲机构的切换部。

    ENDOSCOPE SYSTEM, CONTROL METHOD, AND RECORDING MEDIUM
    8.
    发明申请
    ENDOSCOPE SYSTEM, CONTROL METHOD, AND RECORDING MEDIUM 有权

    公开(公告)号：US20240374115A1

    公开(公告)日：2024-11-14

    申请号：US18776375

    申请日：2024-07-18

    Applicant: OLYMPUS CORPORATION

    Inventor： Masafumi HARAGUCHI ,  Naoya HATAKEYAMA

    IPC: A61B1/00

    Abstract: An endoscope system includes: an endoscope acquiring a captured image; and a processor configured to: detect a region of interest in the captured image; select a portion of the captured image as a display area and generate an observation image from the display area; and cooperatively execute digital tracking processing and physical tracking processing. The digital tracking processing is processing in which a first target region in the display area is made to track the region of interest by changing a position of the display area in the captured image. The physical tracking processing is processing in which a second target region in the captured image is made to track the region of interest by moving a visual field of the endoscope. The processor is configured to stop the digital tracking processing when the first target region reaches the region of interest, and execute only the physical tracking processing thereafter.

    MEDICAL MANIPULATOR SYSTEM AND MANIPULATOR CURVED-SHAPE ESTIMATION METHOD
    9.
    发明申请
    MEDICAL MANIPULATOR SYSTEM AND MANIPULATOR CURVED-SHAPE ESTIMATION METHOD 审中-公开

    公开(公告)号：US20190029762A1

    公开(公告)日：2019-01-31

    申请号：US16148256

    申请日：2018-10-01

    Applicant: OLYMPUS CORPORATION

    Inventor： Masatoshi IIDA ,  Naoya HATAKEYAMA

    IPC: A61B34/20 ,  A61B17/29 ,  A61B34/00

    Abstract: A medical manipulator system includes: an elongated manipulator that has an insertion portion; a shape sensor that is provided so as to be movable along the longitudinal direction of a path in which the manipulator is to be disposed and that detects shape information of the path at respective positions; a shape estimating unit that is configured to estimate a curved shape of the manipulator on the basis of the shape information detected by the shape sensor and longitudinal-direction position information of the shape sensor in the path; and a controller that is configured to control the manipulator on a basis of the curved shape of the manipulator estimated by the shape estimating unit.

    FLEXIBLE-MANIPULATOR CONTROL DEVICE AND MEDICAL MANIPULATOR SYSTEM
    10.
    发明申请
    FLEXIBLE-MANIPULATOR CONTROL DEVICE AND MEDICAL MANIPULATOR SYSTEM 审中-公开

    公开(公告)号：US20180000500A1

    公开(公告)日：2018-01-04

    申请号：US15706978

    申请日：2017-09-18

    Applicant: OLYMPUS CORPORATION

    Inventor： Naoya HATAKEYAMA

    IPC: A61B17/28 ,  B25J9/10 ,  B25J9/16 ,  B25J18/06

    CPC classification number: A61B17/28 ,  A61B1/0051 ,  A61B34/30 ,  A61B90/90 ,  A61B2034/301 ,  B25J9/10 ,  B25J9/1602 ,  B25J18/06

    Abstract: A flexible-manipulator control device that controls, according to a control parameter, a drive of a flexible manipulator having a movable part at a distal end of a flexible insertion portion to be inserted into the body and having, at a proximal end thereof, the drive for driving the movable part, includes: a physical-information storage unit that stores physical information of a patient into which the insertion portion is inserted; a position-information input unit to which is input position information of the movable part in a state in which it is inserted into the patient; and a parameter adjustment unit that adjusts the control parameter on the basis of the physical information stored in the physical-information storage unit and the position information input to the position-information input unit.

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