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1. 发明授权

US06557558B1 Medical treatment apparatus 失效
标题翻译：医疗器械
公开(公告)号：US06557558B1
公开(公告)日：2003-05-06
申请号：US09648453
申请日：2000-08-28
申请人： Fujio Tajima , Masakatsu Fujie , Hiroshi Takeuchi , Etsuji Yamamoto , Koichi Sano , Kazutoshi Kan
发明人： Fujio Tajima , Masakatsu Fujie , Hiroshi Takeuchi , Etsuji Yamamoto , Koichi Sano , Kazutoshi Kan
IPC分类号： A61B1900
CPC分类号： A61B8/565 , A61B17/00 , A61B17/02 , A61B17/0281 , A61B34/10 , A61B34/70 , A61B90/36 , A61B2017/00022 , A61B2017/306 , G06F19/00
摘要： A medical treatment apparatus capable of performing exact medical treatment is provided. The medical treatment apparatus includes detection means for detecting the condition of a human body to be treated, medical treatment means for treating said human body, and display means for displaying results of computing by computing means for computing a plan for said medical treatment on the basis of detection results from said detection means.
摘要翻译：提供能够进行精确医疗的医疗处理装置。医疗处理装置包括检测被检体人的状况的检测单元，对所述人体进行处理的医疗处理单元，以及显示单元，用于显示用于计算用于所述医疗处理的计划的计算单元的计算结果的来自所述检测装置的检测结果。

2. 发明授权

US6094590A Surgical operating apparatus 失效
标题翻译：外科手术器械
公开(公告)号：US6094590A
公开(公告)日：2000-07-25
申请号：US932920
申请日：1997-09-18
申请人： Kazutoshi Kan , Masakatsu Fujie , Ryuichi Shinomura , Koichi Sano , Hiroshi Takeuchi
发明人： Kazutoshi Kan , Masakatsu Fujie , Ryuichi Shinomura , Koichi Sano , Hiroshi Takeuchi
IPC分类号： A61B19/00 , A61B8/00
CPC分类号： A61B90/36 , A61B34/70
摘要： A surgical operating apparatus capable of a high-precision surgical operation while observing a detailed image of an affected part to be subjected to surgical operation and capable of observing a related location of the affected part under surgical operation by means of an image obtained the imaging of a wider range is provided with an operating table provided in an area made an object of measurement by an MRI apparatus so that a surgical operation can be performed by operating an operating manipulator by an operation input device while monitoring a local image from an endoscope and/or a ultrasonic scanner and the observation of a range in the neighborhood of the affected part and wider than an observing area of the endoscope is enabled by the MRI apparatus under surgical operation, thereby providing a high-security surgical operating apparatus.
摘要翻译：一种手术操作装置，其能够在观察要进行外科手术的患部的详细图像的同时进行高精度的外科手术，并且能够通过获得成像的图像观察外科手术下的患部的相关位置更宽的范围设置有设置在由MRI装置进行测量的对象的区域中的手术台，使得可以通过操作输入装置操作操作操纵器来执行外科手术，同时监测来自内窥镜的局部图像和/ 或超声波扫描器，并且通过MRI装置在外科手术下能够观察受影响部位附近的范围并且比内窥镜的观察区域更宽，从而提供高安全性的外科手术装置。

3. 发明授权

US06454776B1 Surgical operating apparatus 失效
标题翻译：外科手术器械
公开(公告)号：US06454776B1
公开(公告)日：2002-09-24
申请号：US09520721
申请日：2000-03-08
申请人： Fujio Tajima , Kazutoshi Kan , Yasuhiro Nemoto , Masakatsu Fujie
发明人： Fujio Tajima , Kazutoshi Kan , Yasuhiro Nemoto , Masakatsu Fujie
IPC分类号： A61B1900
CPC分类号： A61B34/70 , A61B34/76 , A61B90/37 , A61B2017/00044 , A61B2090/065
摘要： A surgical operating apparatus which reduces an adverse influence caused by a diseased portion of a patient while a surgical operation is carried out by the surgical operating apparatus. The surgical operating apparatus includes a disease portion tissue manipulator for treating a treating subject portion of the patient in response to an entered control command, a manipulation inputting unit for inputting a manipulation command to the disease portion manipulating means, and a detector for detecting a repeated movement of a diseased portion of said patient. The surgical operating apparatus adjusts the movement of the disease portion manipulator in response to the detection output from the detector.
摘要翻译：一种手术操作装置，其通过外科手术装置进行手术操作时，减轻由病人的患病部分引起的不良影响。外科手术装置包括：疾病部分组织操纵器，用于响应于输入的控制命令来治疗患者的治疗对象部分;操作输入单元，用于向疾病部分操纵装置输入操作命令;以及检测器，用于检测重复所述患者的疾病部分的运动。外科手术装置响应于来自检测器的检测输出来调整疾病部分机械手的移动。

4. 发明授权

US06402737B1 Surgical apparatus 失效
标题翻译：手术器械
公开(公告)号：US06402737B1
公开(公告)日：2002-06-11
申请号：US09272784
申请日：1999-03-19
申请人： Fujio Tajima , Kazutoshi Kan , Yasuhiro Nemoto , Masakatsu Fujie
发明人： Fujio Tajima , Kazutoshi Kan , Yasuhiro Nemoto , Masakatsu Fujie
IPC分类号： A61B1700
CPC分类号： A61B34/70 , A61B34/35 , A61B34/76 , A61B90/36 , G06F19/00
摘要： A surgical apparatus for automatically and dynamically changing the constitution of a system and the operation of respective elements. The surgical apparatus includes a plurality of devices respectively, a supervisory controller having a transmission path among the plurality of devices for supervisorily controlling the devices and an operational procedure description store for storing an operational procedure description describing operational procedures of the plurality of devices in which the supervisory controller includes a detector for detecting constitutions of the devices and for transmitting the operational procedure description necessary for the devices detected by the detector to the respective devices via the transmission path.
摘要翻译：一种用于自动和动态地改变系统的构造和各个元件的操作的手术装置。手术装置分别包括多个装置，具有用于监督装置的多个装置之间的传输路径的监督控制器和用于存储说明多个装置的操作程序的操作程序描述的操作程序描述存储器，其中，监视器控制器包括用于检测设备的结构的检测器，以及用于经由传输路径将由检测器检测到的设备所需的操作过程描述传送到各个设备。

5. 发明授权

US5855553A Remote surgery support system and method thereof 失效
标题翻译：远程手术支持系统及其方法
公开(公告)号：US5855553A
公开(公告)日：1999-01-05
申请号：US601356
申请日：1996-02-16
申请人： Fujio Tajima , Masakatsu Fujie , Isao Nakajima , Hiroshi Takeuchi , Toshihiko Wada
发明人： Fujio Tajima , Masakatsu Fujie , Isao Nakajima , Hiroshi Takeuchi , Toshihiko Wada
IPC分类号： B25J3/00 , A61B5/055 , A61B8/00 , A61B17/00 , A61B19/00 , A61B5/00
CPC分类号： A61B34/70 , A61B34/76 , A61B34/77
摘要： A remote surgery supporting system and a method thereof produces a presentation of realism control data generated by realism control data generating means 101 from image data obtained from work environment data detecting means 104 and measurement data processing means 118 and from force and proximity data. While viewing this presentation, the surgical operator inputs actions through action command inputting means 114 and thereafter, diseased tissue manipulating means 102 executes a procedure on diseased part 125. The manipulation force of each surgical operator received from manipulation command generating means 103 and force reflection from the diseased part 125 are combined and presented to the action command inputting means 114. Thereby, a plurality of surgical operators can perform a surgerical operation while viewing the realism control data and sensing the manipulation force of other surgical operators and the force reflection from the diseased part. Thus, a master/slave type remote surgery supporting system which allows a plurality of surgical operators to perform a surgical operation which requires many degrees of freedom can be provided.
摘要翻译：远程手术辅助系统及其方法根据从工作环境数据检测装置104和测量数据处理装置118以及强制和邻近数据获得的图像数据产生由实际控制数据产生装置101产生的现实控制数据的呈现。在观察该呈现时，外科手术者通过动作指令输入装置114输入动作，此后，患病组织操作装置102执行患病部分125上的过程。从操作指令发生装置103接收到的每个外科手术操作者的操纵力，患病部125被组合并被呈现给动作指令输入装置114.由此，多个外科手术操作者可以在观察实际控制数据并感测其他外科手术操作者的操纵力和来自病变的力反射的同时执行手术操作部分。因此，可以提供允许多个外科手术操作者执行需要许多自由度的外科手术的主/从类型的远程手术支持系统。

6. 发明授权

US06496756B1 Master-slave manipulator apparatus and method therefor, further training apparatus for manipulator operation input and method therefor 失效
标题翻译：主从机械手装置及其方法，用于机械手操作输入的进一步训练装置及其方法
公开(公告)号：US06496756B1
公开(公告)日：2002-12-17
申请号：US09441053
申请日：1999-11-16
申请人： Kouji Nishizawa , Kazutoshi Kan , Masakatsu Fujie
发明人： Kouji Nishizawa , Kazutoshi Kan , Masakatsu Fujie
IPC分类号： G05B1500
CPC分类号： B25J9/1689 , G05B19/427 , G05B2219/37344 , G05B2219/40195 , G05B2219/40408 , G05B2219/40415
摘要： A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented, thereby reflecting the operator's intention accurately and correctly, includes a master manipulator for conducting an operation input therewith, a controller for processing the operation input, and a slave manipulator for operating upon drive instruction from the controller, wherein the master manipulator includes a plurality of force detectors, and the controller decides a driver shaft, by comparing an output from a pattern producing means for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.
摘要翻译：一种主从机械手装置及其控制方法，其中防止了操作者不想要的运动，从而反映操作者的意图准确正确地包括用于进行操作输入的主操纵器，用于处理操作输入和用于对来自控制器的驱动指令进行操作的从动操纵器，其中所述主操纵器包括多个力检测器，并且所述控制器通过比较来自用于产生生成模式的生成模式的模式产生装置的输出来决定驱动器轴多个力检测器的输出预先存储在存储装置中的图案，从而去除在主操纵器的操作输入中无意识地引起的操作输入。

7. 发明申请

US20120232442A1 GAIT TRAINING DEVICE 审中-公开
标题翻译： GAIT培训设备
公开(公告)号：US20120232442A1
公开(公告)日：2012-09-13
申请号：US13393405
申请日：2010-08-31
申请人： Shuoyu Wang , Kenji Ishida , Hironobu Nagano , Shingo Ino , Masakatsu Fujie
发明人： Shuoyu Wang , Kenji Ishida , Hironobu Nagano , Shingo Ino , Masakatsu Fujie
IPC分类号： A61H1/00
CPC分类号： A61H3/04 , A61H2003/007 , A61H2003/043 , A61H2201/1633 , A61H2201/1635
摘要： [Problem]Provided is a gait training device allowing those who have lost muscle strength to support the upper bodies with severe gait disorder caused by accidents or operations etc. to perform gait training, producing good rehabilitation effect, and moving in a room without any difficulty.[Solution]The gait training device comprises a seat (1) set at the height allowing a user (R) to sit with his feet on the ground, a support member (2) to support said seat, and omnidirectional mobile members (3) attached to said support member (2).
摘要翻译： [问题]提供了一种步态训练装置，其允许那些失去肌肉力量的人支持由于事故或操作等导致的严重步态障碍的上身，以进行步态训练，产生良好的康复效果，并且在没有任何困难的情况下在房间内移动。步骤训练装置包括设置在高度的座位（1），允许使用者（R）坐在地面上，支撑构件（2）支撑所述座椅，以及全向移动构件（3）附接到所述支撑构件（2）。

8. 发明授权

US4549208A Picture processing apparatus 失效
标题翻译：图像处理装置
公开(公告)号：US4549208A
公开(公告)日：1985-10-22
申请号：US563789
申请日：1983-12-21
申请人： Kohji Kamejima , Hiroshi Yamamoto , Yoshiyuki Nakano , Masakatsu Fujie , Taro Iwamoto , Kazuo Honma
发明人： Kohji Kamejima , Hiroshi Yamamoto , Yoshiyuki Nakano , Masakatsu Fujie , Taro Iwamoto , Kazuo Honma
IPC分类号： H04N5/222 , G06T3/00 , H04N3/233 , H04N5/225 , H04N7/18
CPC分类号： G06T3/0062 , H04N3/2335 , H04N7/18
摘要： A picture processing apparatus for use in recognizing an ambient environment as a picture in accordance with the invention, includes a picture input for receiving a distorted picture of a wide angle of view, a picture processing unit which corrects the distorted picture of the wide angle of view from the picture input into an undistorted picture of the wide angle of view, and a display for displaying the undistorted picture of the wide angle of view produced by the picture processing unit.
摘要翻译：根据本发明的用于识别作为图像的周围环境的图像处理装置包括用于接收广视角的失真图像的图像输入，校正广角的失真图像的图像处理单元从图像输入中观看广角视角的未失真图像，以及显示器，用于显示由图像处理单元产生的广视角的未失真图像。

9. 发明申请

US20060217686A1 Medical manipulator 审中-公开
标题翻译：医疗机械手
公开(公告)号：US20060217686A1
公开(公告)日：2006-09-28
申请号：US10556875
申请日：2004-05-20
申请人： Masakatsu Fujie , Haruna Okayasu
发明人： Masakatsu Fujie , Haruna Okayasu
IPC分类号： A61B17/00
CPC分类号： A61B17/0218 , A61B34/70 , A61B34/72 , A61B2017/00557 , A61B2017/320048
摘要： A medical manipulator (10), comprising a plurality of manipulator formed bodies (14) to (18) longitudinally connected to each other so as be displaced relative to each other. The manipulator formed bodies (14) to (18) further comprise bases (20) and balloon bodies (21) installed on the bases (20) and providing pressing forces to structures in a living body. The balloon bodies (21) further comprise spaces (48) capable of storing normal saline solution supplied from a device body (12), and installed so that the pressing forces can be controlled by controlling internal pressures in the spaces (48). The manipulator (10) is so formed as to be autonomously moved forward in the living body by the control of the pressing force while the manipulator formed bodies (14) to (18) are displaced relative to each other by a reaction from the structures in the living body.
摘要翻译：一种医疗机械手（10），包括彼此纵向连接以便相对于彼此移位的多个操纵器成形体（14）至（18）。机械手成形体（14）至（18）还包括安装在基座（20）上的底座（20）和气球体（21），并向生物体中的结构提供按压力。球囊体（21）还包括能够储存从装置本体（12）供给的生理盐水溶液的空间（48），并且安装成能够通过控制空间（48）内的内部压力来控制压力。操纵器（10）形成为通过控制按压力而在生物体中自主地向前移动，同时机械手成形体（14）至（18）通过来自其中的结构的反应而相对于彼此位移活体。

10. 发明授权

US4604561A Control apparatus for multi-jointed arm mechanism 失效
标题翻译：多关节臂机构控制装置
公开(公告)号：US4604561A
公开(公告)日：1986-08-05
申请号：US661958
申请日：1984-10-17
申请人： Kohji Kamajima , Yoshiyuki Nakano , Masakatsu Fujie , Yuji Hosoda , Taro Iwamoto , Kazuo Honma
发明人： Kohji Kamajima , Yoshiyuki Nakano , Masakatsu Fujie , Yuji Hosoda , Taro Iwamoto , Kazuo Honma
IPC分类号： G05D3/12 , B25J9/16 , B25J9/18 , B25J13/00 , B25J13/08 , G05B19/414 , G05B19/10
CPC分类号： G05B19/4141 , G05B2219/37572 , G05B2219/42162 , G05B2219/45083 , G05B2219/49143
摘要： In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.
摘要翻译：在具有多个臂元件的多关节臂机构的控制装置中，为了提高每个臂元件的操作速度，臂元件的前端和其目标位置之间的真实的控制误差由臂元件的移动和其预测的控制误差的差异被评估，并且控制臂元件以使差为零。

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