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21. 发明申请

US20120160050A1 REMOTE-CONTROLLED ACTUATOR AND PLASTIC FORMING METHOD FOR ATTITUDE ALTERING MEMBER 审中-公开
标题翻译：远程控制执行器和塑性成型方法
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。

22. 发明申请

US20120203168A1 INSERTION DEVICE, TRAINING DEVICE, AND RECORDING SYSTEM 审中-公开
标题翻译：插入装置，训练装置和记录系统
公开(公告)号：US20120203168A1
公开(公告)日：2012-08-09
申请号：US13502026
申请日：2010-10-01
申请人： Hideo Fujimoto , Shigeru Miyachi , Yoshitaka Nagano , Takayoshi Ozaki
发明人： Hideo Fujimoto , Shigeru Miyachi , Yoshitaka Nagano , Takayoshi Ozaki
IPC分类号： A61M25/092 , G09B23/28 , A61B17/22
CPC分类号： A61B17/12113 , A61B17/12022 , A61B17/1214 , A61B34/70 , A61B2017/0034 , A61B2017/1205 , A61B2034/301 , A61B2090/064 , A61M25/0105 , A61M25/0113 , G01L1/04 , G01L5/101 , G01L5/105 , G09B23/285
摘要： This insertion device is an insertion device for inserting a medical linear body in a vessel in a body, and it includes a drive device for moving the medical linear body in a direction of a longitudinal axis, a measurement device for measuring compressive force and pulling force in the direction of the longitudinal axis applied to the medical linear body, and a notification device for notifying an operator of compressive force and pulling force measured with the measurement device.
摘要翻译：该插入装置是用于将医用线状体插入体内的容器的插入装置，其包括用于沿纵轴方向移动医用直线体的驱动装置，用于测量压缩力和拉力的测定装置在施加于医用直线体的纵轴方向上设有通知装置，用于通知操作者使用测量装置测量的压力和拉力。

23. 发明授权

US09249869B2 Link actuating device 有权
标题翻译：链接启动装置
公开(公告)号：US09249869B2
公开(公告)日：2016-02-02
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： G05B15/00 , G05B19/00 , F16H21/54 , B25J11/00 , B25J9/00
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。

24. 发明授权

US09126270B2 Device for detecting tool tip position of remote-controlled actuator 有权
标题翻译：用于检测遥控执行器的刀尖位置的装置
公开(公告)号：US09126270B2
公开(公告)日：2015-09-08
申请号：US13390600
申请日：2010-08-19
申请人： Yukihiro Nishio , Yoshitaka Nagano
发明人： Yukihiro Nishio , Yoshitaka Nagano
IPC分类号： G01B5/30 , B23B39/14 , A61B17/16 , A61B19/00
CPC分类号： B23B39/14 , A61B17/1631 , A61B17/1668 , A61B34/20 , A61B2034/102 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61B2090/064 , A61B2090/066 , A61B2090/067 , A61B2090/0818 , G01B5/30
摘要： A tool tip position detecting device for a remote controlled actuator having an elongated spindle guide, a tool fitted to a tip thereof and a main body housing having a base end of the spindle guide connected thereto. The device includes an external force free position detector for detecting the tip position of the tool from a detection value thereof, a strain detector for detecting a strain of the spindle guide, and a corrector for correcting the tip position of the tool, which has been detected by the external force free position detector, with the use of a detected strain value of the strain detector.
摘要翻译：一种用于遥控致动器的刀尖位置检测装置，其具有细长主轴引导件，安装到其顶端的工具和具有与其连接的主轴引导件的基端的主体壳体。该装置包括外部无力位置检测器，用于从其检测值检测工具的尖端位置，用于检测主轴引导件的应变的应变检测器和用于校正工具的尖端位置的校正器通过使用检测到的应变检测器的应变值由外力自由位置检测器检测。

25. 发明授权

US08439899B2 Remote-controlled actuator 有权
标题翻译：遥控执行器
公开(公告)号：US08439899B2
公开(公告)日：2013-05-14
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： A61B17/16
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态保持力。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。

26. 发明授权

US08425465B2 Drive device for linear body 有权
标题翻译：直线体驱动装置
公开(公告)号：US08425465B2
公开(公告)日：2013-04-23
申请号：US12934203
申请日：2009-03-06
申请人： Yoshitaka Nagano , Yukihiro Nishio
发明人： Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： A61M5/20
CPC分类号： A61M25/0113 , A61B17/12113 , A61B17/1214 , A61B2017/1205 , A61M25/09041
摘要： There is provided a drive device for a linear body, that allows a treatment to be immediately, manually resumed when an emergency arises. A drive device for a linear body includes a securing portion capable of securing a Y connector having a through hole, and an actuator including a driving roller and a driven roller moving the linear body that is inserted in the through hole of the Y connector in the longitudinal direction of the linear body. The drive device allows the linear body and the Y connector to be integrally, manually attached to and detached from the securing portion.
摘要翻译：提供了一种用于线性体的驱动装置，其能够在紧急情况下立即手动恢复治疗。一种用于线状体的驱动装置，包括：固定部，其能够固定具有贯通孔的Y型连接器;以及致动器，其具有驱动辊和从动辊，所述驱动辊和从动辊将插入到所述Y型连接器的贯通孔的直线体移动到直线体的纵向。驱动装置允许线性主体和Y连接器一体地，手动地附接到固定部分并从固定部分拆下。

27. 发明申请

US20110319912A1 NAVIGATION SYSTEM FOR REMOTE-CONTROLLED ACTUATOR 审中-公开
标题翻译：远程控制执行器导航系统
公开(公告)号：US20110319912A1
公开(公告)日：2011-12-29
申请号：US13138531
申请日：2010-02-26
申请人： Yukihiro Nishio , Yoshitaka Nagano
发明人： Yukihiro Nishio , Yoshitaka Nagano
IPC分类号： A61B19/00
CPC分类号： B23Q17/22 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B17/1668 , A61B34/20 , A61B34/70 , A61B2034/102 , A61B2034/2055 , G05B19/402 , G05B2219/37097
摘要： A remote controlled actuator (5) includes an actuator main body (10), a distal end member (2) fitted to a distal end of a spindle guide section (3) of the actuator main body (10) for alteration in attitude, and a tool (1) rotatably supported by the distal end member (2). The navigation system includes a tool processing member position estimator (55) for estimating the position of a processing member (1a) of the tool (1) from information on the position and attitude of a marker (7A), fitted to the actuator main body (10), that are detected by a marker detecting unit (8), information on the attitude of the distal end member (2) relative to the actuator main body (10), information on the relative position of the distal end member (2) relative to the marker (7A), and information on the shape of the tool (1).
摘要翻译：远程控制致动器（5）包括致动器主体（10），安装在致动器主体（10）的主轴引导部（3）的前端的用于改变姿态的远端部件（2），以及由所述远端构件（2）可旋转地支撑的工具（1）。导航系统包括：工具处理构件位置估计器（55），用于根据关于装配到致动器主体的标记（7A）的位置和姿态的信息来估计工具（1）的处理构件（1a）的位置（10）通过标记检测单元（8）检测到关于远端构件（2）相对于致动器主体（10）的姿势的信息，关于远端构件（2）的相对位置的信息）和关于工具（1）的形状的信息。

28. 发明申请

US20110295263A1 Navigation System For Remote-Controlled Actuator 审中-公开
标题翻译：遥控执行器导航系统
公开(公告)号：US20110295263A1
公开(公告)日：2011-12-01
申请号：US13138386
申请日：2010-02-12
申请人： Yukihiro Nishio , Yoshitaka Nagano
发明人： Yukihiro Nishio , Yoshitaka Nagano
IPC分类号： A61B17/56
CPC分类号： A61B17/1642 , A61B17/1668 , A61B34/20 , A61B2017/00725 , A61B2034/2055 , A61B2090/067 , A61B2090/0811 , B23B39/14
摘要： A remote controlled actuator (5) includes a distal end member (2) fitted to a distal end of a spindle guide section (3) for alteration in attitude, and a tool (1) rotatably supported by the distal end member. The navigation system includes a tool and tool marker relative position storage section (54) for storing the relative position of a processing member of the tool relative to the tool marker, and a relative relation storage section (55) having recorded therein the relative position and attitude of the tool marker relative to a main body marker (7A) for each angle of rotation of the distal end member, and a tool processing member position estimator (56) estimates the position of the processing member of the tool from the attitude and position of the main body marker during the actual procedure and the angle of rotation of the distal end member.
摘要翻译：远程控制致动器（5）包括安装到用于改变姿态的主轴引导部分（3）的远端的远端构件（2）和由远端构件可旋转地支撑的工具（1）。导航系统包括用于存储工具相对于工具标记的处理构件的相对位置的工具和工具标记相对位置存储部分，以及相对关系存储部分，其中记录有相对位置和刀具标记相对于主体标记（7A）对于远端构件的每个旋转角度的姿态，以及工具处理构件位置估计器（56）从姿态和位置估计工具的处理构件的位置在实际程序中的主体标记和远端构件的旋转角度。

29. 发明申请

US20110046553A1 DRIVE DEVICE FOR LINEAR BODY 有权
标题翻译：用于线性体的驱动装置
公开(公告)号：US20110046553A1
公开(公告)日：2011-02-24
申请号：US12934203
申请日：2009-03-06
申请人： Yoshitaka Nagano , Yukihiro Nishio
发明人： Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： A61M25/08
CPC分类号： A61M25/0113 , A61B17/12113 , A61B17/1214 , A61B2017/1205 , A61M25/09041
摘要： There is provided a drive device for a linear body, that allows a treatment to be immediately, manually resumed when an emergency arises. A drive device for a linear body includes a securing portion capable of securing a Y connector having a through hole, and an actuator including a driving roller and a driven roller moving the linear body that is inserted in the through hole of the Y connector in the longitudinal direction of the linear body. The drive device allows the linear body and the Y connector to be integrally, manually attached to and detached from the securing portion.
摘要翻译：提供了一种用于线性体的驱动装置，其能够在紧急情况下立即手动恢复治疗。一种用于线状体的驱动装置，包括：固定部，其能够固定具有贯通孔的Y型连接器;以及致动器，其具有驱动辊和从动辊，所述驱动辊和从动辊将插入到所述Y型连接器的贯通孔的直线体移动到直线体的纵向。驱动装置允许线性主体和Y连接器一体地，手动地附接到固定部分并从固定部分拆下。

30. 发明授权

US09126339B2 Remote controlled actuator assembly 有权
标题翻译：遥控执行器总成
公开(公告)号：US09126339B2
公开(公告)日：2015-09-08
申请号：US13824741
申请日：2011-09-21
申请人： Hiroshi Isobe , Yoshitaka Nagano
发明人： Hiroshi Isobe , Yoshitaka Nagano
IPC分类号： B25J17/00 , B25J11/00 , A61B19/00 , A61B17/16
CPC分类号： B25J11/00 , A61B17/16 , A61B17/1631 , A61B17/1668 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/50 , A61B2090/508 , A61B2090/571 , Y10S901/02 , Y10T74/20201
摘要： An actuator main body mounted on an operating bench includes a main body base end housing fixed to the operating bench, an elongated spindle guide section having its base end connected with the main body base end housing, a distal end member fitted to a front end thereof for alteration in attitude, and a tool rotatably provided in the distal end member. Within the spindle guide section, a rotary shaft for transmitting a rotation of a tool rotation drive source to the tool and an attitude altering member for altering the attitude of the distal end member are provided. Within the main body base end housing, an attitude altering drive mechanism for selectively advancing or retracting the attitude altering member when driven by an attitude altering drive source is provided.
摘要翻译：安装在操作台上的致动器主体包括固定在操作台上的主体基端壳体，细长主轴引导部分，其基端与主体基端壳体连接，前端部件安装在其前端用于改变姿态，以及可旋转地设置在远端构件中的工具。在主轴引导部分内，设置有用于将工具旋转驱动源的旋转传递到工具的旋转轴和用于改变远端构件的姿态的姿态改变构件。在主体基端壳体内设置有用于通过姿态改变驱动源驱动时选择性地前进或后退姿态改变构件的姿势改变驱动机构。

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