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    • 116. 发明授权
    • Multijoint manipulator and endoscope system having the same
    • 具有相同的多节点机械手和内窥镜系统
    • US08376934B2
    • 2013-02-19
    • US13092702
    • 2011-04-22
    • Kazuhiko TakahashiToshio Nakamura
    • Kazuhiko TakahashiToshio Nakamura
    • A61B1/00A61B1/04G06F3/033
    • B25J9/06A61B1/00147A61B1/0052A61B1/0055A61B5/065A61B34/30A61B34/37A61B2034/2059A61B2034/306A61B2090/064
    • A multijoint manipulator apparatus includes a tubular-member, linear-motion-transmission-members, a drive-unit, a position-detector, a tension-detector, an operation-unit, and a movement-degree-calculation-unit. The linear-members are inserted in the tubular-member, one end and the other end of each of the linear-members being fixed to the vicinity of a joint of the tubular-member and the drive-unit, respectively. The drive-unit moves the linear-members. The position-detector and the tension-detector detect positions and tension of the linear-members, respectively. A desired position/posture of a point of interest is input to the operation-unit. The calculation-unit calculates a current position/posture of the point, a weighting factor serving to give priority to and move the linear-members the tension of which is relatively low among the linear-members, and movement degrees of the linear-members to move the point to the desired position/posture, and causes the drive-unit to pull the linear-members.
    • 多关节机械手装置包括管状构件,直线运动传递构件,驱动单元,位置检测器,张力检测器,操作单元和移动程度计算单元。 线性构件插入管状构件中,每个线性构件的一端和另一端分别固定在管状构件和驱动单元的接头附近。 驱动单元移动线性元件。 位置检测器和张力检测器分别检测线性元件的位置和张力。 将感兴趣点的期望位置/姿势输入到操作单元。 计算单元计算点的当前位置/姿势,用于优先使线性构件中的线性构件的张力相对较低的直线构件的加权系数和线性构件的移动度向 将点移动到期望的位置/姿势,并且使驱动单元拉动线性构件。
    • 118. 发明授权
    • Radiation imaging apparatus and method for driving the same
    • 辐射成像装置及其驱动方法
    • US08194824B2
    • 2012-06-05
    • US12437381
    • 2009-05-07
    • Kazuhiko Takahashi
    • Kazuhiko Takahashi
    • H05G1/44
    • A61B6/00A61B6/542
    • A radiation imaging apparatus irradiates a subject with a radioactive ray emitted from a radiation generation unit to capture a radiographic image based on a radioactive ray that has penetrated through the subject. The radiation imaging apparatus includes a histogram calculation unit configured to calculate a histogram resulting from pixel values of the radiographic image, and a radiation irradiation condition determination unit configured to determine radiation irradiation conditions for a radioactive ray to be emitted from the radiation generation unit in such a way as to flatten a distribution of the histogram.
    • 放射线成像设备用辐射发生单元发射的放射线照射被检体,以基于穿过被检体的放射线照射摄影图像。 所述放射线摄像装置包括:直方图计算部,被配置为计算由所述放射线照相图像的像素值得到的直方图;以及放射线照射条件确定单元,其被配置为确定从所述放射线产生单元发射的放射线的辐射照射条件 一种平直直方图分布的方法。
    • 119. 发明授权
    • Medical apparatus
    • 医疗器械
    • US08187169B2
    • 2012-05-29
    • US12257924
    • 2008-10-24
    • Yuta SugiyamaKazuhiko Takahashi
    • Yuta SugiyamaKazuhiko Takahashi
    • A61B1/00
    • A61B1/2736A61B1/00098A61B1/00133A61B1/0051A61B1/018
    • A medical apparatus includes a first medical device, a second medical device, an integrated inputting device, and an integrated control device. The first medical device includes an insertion portion having a bending portion that is bent by a first driving portion and a first control device controlling the first driving portion. The second medical device includes an external force applying portion applying an external force to the insertion portion, a second driving portion allowing the external force applying portion to be operated, and a second control device controlling the second driving portion. The integrated inputting device instructs a distal end of the insertion portion to be moved to a target position or a target posture or in a target direction. Integrated control device controls at least one of the first driving portion and the second driving portion on the basis of an instruction from the integrated inputting device.
    • 医疗设备包括第一医疗设备,第二医疗设备,集成输入设备和集成控制设备。 第一医疗装置包括具有由第一驱动部弯曲的弯曲部的插入部和控制第一驱动部的第一控制装置。 第二医疗装置包括对插入部施加外力的外力施加部,允许外力施加部被操作的第二驱动部,以及控制第二驱动部的第二控制装置。 集成输入装置指示插入部分的远端移动到目标位置或目标姿势或目标方向。 集成控制装置根据来自集成输入装置的指示来控制第一驱动部和第二驱动部中的至少一个。