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1. 发明授权

US08221398B2 Remote-controlled actuator 有权
标题翻译：遥控执行器
公开(公告)号：US08221398B2
公开(公告)日：2012-07-17
申请号：US13116679
申请日：2011-05-26
申请人： Hiroshi Isobe , Yukihiro Nishio , Yoshitaka Nagano , Takayoshi Ozaki
发明人： Hiroshi Isobe , Yukihiro Nishio , Yoshitaka Nagano , Takayoshi Ozaki
IPC分类号： A61B17/16
CPC分类号： B23B39/14 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B17/1668 , B23B45/005
摘要： A remote-controlled actuator includes a spindle guide section of an elongated shape, a distal end member fitted to a distal end of the spindle guide section for alteration in attitude and rotatably supporting a tool, and a drive unit housing having a base end of the spindle guide section connected therewith. A rotary shaft for transmitting rotation of a tool rotation drive source within the drive unit housing to the tool and an attitude altering member for altering the attitude of the distal end member by the drive of an attitude altering drive source within the drive unit housing are accommodated within the spindle guide section. A cutting force estimator is provided for estimating the magnitude of at least one component force of a principle force, a radial force and a feed force in a cutting force which the tool applies to a work to be processed.
摘要翻译：遥控执行器包括细长形状的主轴引导部分，安装在主轴引导部分的远端的远端部件，用于改变姿态并可旋转地支撑工具;以及驱动单元壳体，其具有基端与其连接的主轴引导部。用于将驱动单元壳体内的工具旋转驱动源的旋转传递到工具的旋转轴和用于通过驱动单元壳体内的改变驱动源的姿态来改变远端构件的姿态的姿态改变构件被容纳在主轴引导部分内。提供了一种切削力估算器，用于估计工具对待加工的工件施加的切削力中的主力，径向力和进给力的至少一个分力的大小。

2. 发明申请

US20120067604A1 REMOTE-CONTROLLED ACTUATOR 有权
标题翻译：远程控制执行器
公开(公告)号：US20120067604A1
公开(公告)日：2012-03-22
申请号：US13322739
申请日：2010-05-26
申请人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
发明人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： B23B39/14
CPC分类号： A61B17/1631 , A61B17/32002 , A61B2017/00323 , A61B2017/00327 , B23B39/14
摘要： A remote controlled actuator includes an elongated spindle guide section (3), a distal end member (2) fitted to the distal end thereof for alteration in attitude, and a drive unit housing (4a) connected with a base end of the spindle guide section (3). The distal end member (2) rotatably support a spindle (13) holding a tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting a rotation of the spindle (13) and an attitude altering member (31) for altering the attitude of the distal end member (2) both within an outer shell pipe (25) forming an outer shell. The attitude altering member (31) is reciprocally movably inserted in a guide pipe (30) within the outer shell pipe (25). A guide pipe restraining unit (50) is provided for restraining the guide pipe (30) from moving within the outer shell pipe (25).
摘要翻译：远程控制致动器包括细长主轴引导部分（3），安装在其远端的远端部件（2），用于改变姿态;以及驱动单元壳体（4a），其与主轴引导部分（3）。远端构件（2）可旋转地支撑保持工具（1）的心轴（13）。主轴引导部分（3）包括用于传递心轴（13）的旋转的旋转轴（22）和用于改变远端构件（2）的姿态的姿态改变构件（31），其在外壳管（25）形成外壳。姿态改变构件（31）可往复移动地插入到外壳管（25）内的导管（30）中。引导管限制单元（50）用于限制导管（30）在外壳管（25）内移动。

3. 发明授权

US08939345B2 Remote-controlled actuator 有权
标题翻译：遥控执行器
公开(公告)号：US08939345B2
公开(公告)日：2015-01-27
申请号：US13322739
申请日：2010-05-26
申请人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
发明人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： A61B17/04 , A61B17/10 , A61B17/16 , B23B39/14 , A61B17/32 , A61B17/00
CPC分类号： A61B17/1631 , A61B17/32002 , A61B2017/00323 , A61B2017/00327 , B23B39/14
摘要： A remote controlled actuator includes an elongated spindle guide section (3), a distal end member (2) fitted to the distal end thereof for alteration in attitude, and a drive unit housing (4a) connected with a base end of the spindle guide section (3). The distal end member (2) rotatably support a spindle (13) holding a tool (1). The spindle guide section (3) includes a rotary shaft (22) for transmitting a rotation of the spindle (13) and an attitude altering member (31) for altering the attitude of the distal end member (2) both within an outer shell pipe (25) forming an outer shell. The attitude altering member (31) is reciprocally movably inserted in a guide pipe (30) within the outer shell pipe (25). A guide pipe restraining unit (50) is provided for restraining the guide pipe (30) from moving within the outer shell pipe (25).
摘要翻译：远程控制致动器包括细长主轴引导部分（3），安装在其远端的远端部件（2），用于改变姿态;以及驱动单元壳体（4a），其与主轴引导部分（3）。远端构件（2）可旋转地支撑保持工具（1）的心轴（13）。主轴引导部分（3）包括用于传递心轴（13）的旋转的旋转轴（22）和用于改变远端构件（2）的姿态的姿态改变构件（31），其在外壳管（25）形成外壳。姿态改变构件（31）可往复移动地插入到外壳管（25）内的导管（30）中。引导管限制单元（50）用于限制导管（30）在外壳管（25）内移动。

4. 发明申请

US20110230868A1 REMOTE-CONTROLLED ACTUATOR 有权
标题翻译：远程控制执行器
公开(公告)号：US20110230868A1
公开(公告)日：2011-09-22
申请号：US13116679
申请日：2011-05-26
申请人： Hiroshi Isobe , Yukihiro Nishio , Yoshitaka Nagano , Takayoshi Ozaki
发明人： Hiroshi Isobe , Yukihiro Nishio , Yoshitaka Nagano , Takayoshi Ozaki
IPC分类号： A61B17/00
CPC分类号： B23B39/14 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B17/1668 , B23B45/005
摘要： A remote-controlled actuator includes a spindle guide section of an elongated shape, a distal end member fitted to a distal end of the spindle guide section for alteration in attitude and rotatably supporting a tool, and a drive unit housing having a base end of the spindle guide section connected therewith. A rotary shaft for transmitting rotation of a tool rotation drive source within the drive unit housing to the tool and an attitude altering member for altering the attitude of the distal end member by the drive of an attitude altering drive source within the drive unit housing are accommodated within the spindle guide section. A cutting force estimator is provided for estimating the magnitude of at least one component force of a principle force, a radial force and a feed force in a cutting force which the tool applies to a work to be processed.
摘要翻译：遥控执行器包括细长形状的主轴引导部分，安装在主轴引导部分的远端的远端部件，用于改变姿态并可旋转地支撑工具;以及驱动单元壳体，其具有基端与其连接的主轴引导部。用于将驱动单元壳体内的工具旋转驱动源的旋转传递到工具的旋转轴和用于通过驱动单元壳体内的改变驱动源的姿态来改变远端构件的姿态的姿态改变构件被容纳在主轴引导部分内。提供了一种切削力估算器，用于估计工具对待加工的工件施加的切削力中的主力，径向力和进给力的至少一个分力的大小。

5. 发明授权

US08511195B2 Remote-controlled actuator 有权
标题翻译：遥控执行器
公开(公告)号：US08511195B2
公开(公告)日：2013-08-20
申请号：US13080806
申请日：2011-04-06
申请人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
发明人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , A61B17/14 , A61B17/32
CPC分类号： A61B17/1628 , A61B17/1617 , A61B17/1624 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B2017/00327 , A61B2017/1651 , A61B2017/1653 , B23B39/14 , B23B45/005 , Y10T74/18056 , Y10T74/20305
摘要： A remote controlled actuator includes a spindle guide section of an elongated configuration, a distal end member fitted to a tip end of the spindle guide section for alteration in attitude, and a drive unit housing to which a base end of the spindle guide section is connected. The distal end member rotatably supports a spindle then holding a tool. The spindle guide section includes a hollow outer shell pipe, a rotary shaft and a guide pipe, and an attitude altering member for altering an attitude of the distal end member is inserted within the guide pipe. A hollow of the outer shell pipe includes a round hole portion at a center and a grooved portion depressed radially outwardly from the round hole portion. The rotary shaft is arranged within the round hole portion whereas the guide pipe is arranged within the grooved portion.
摘要翻译：遥控执行器包括细长构造的主轴引导部分，安装到主轴引导部分的顶端的用于改变姿态的远端部件以及主轴引导部分的基端连接到的驱动单元壳体。远端构件可旋转地支撑主轴然后保持工具。主轴引导部分包括中空的外壳管，旋转轴和引导管，并且用于改变远端构件的姿态的姿势改变构件插入到引导管内。外壳管的中空部包括中心部的圆孔部和从圆孔部向径向外侧凹陷的开槽部。旋转轴设置在圆孔部分内，而导管布置在凹槽部分内。

6. 发明申请

US20110179894A1 REMOTE-CONTROLLED ACTUATOR 有权
标题翻译：远程控制执行器
公开(公告)号：US20110179894A1
公开(公告)日：2011-07-28
申请号：US13080806
申请日：2011-04-06
申请人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
发明人： Hiroshi Isobe , Takayoshi Ozaki , Yoshitaka Nagano , Yukihiro Nishio
IPC分类号： F16H25/08
CPC分类号： A61B17/1628 , A61B17/1617 , A61B17/1624 , A61B17/1626 , A61B17/1631 , A61B17/1642 , A61B2017/00327 , A61B2017/1651 , A61B2017/1653 , B23B39/14 , B23B45/005 , Y10T74/18056 , Y10T74/20305
摘要： A remote controlled actuator includes a spindle guide section of an elongated configuration, a distal end member fitted to a tip end of the spindle guide section for alteration in attitude, and a drive unit housing to which a base end of the spindle guide section is connected. The distal end member rotatably supports a spindle then holding a tool. The spindle guide section includes a hollow outer shell pipe, a rotary shaft and a guide pipe, and an attitude altering member for altering an attitude of the distal end member is inserted within the guide pipe. A hollow of the outer shell pipe includes a round hole portion at a center and a grooved portion depressed radially outwardly from the round hole portion. The rotary shaft is arranged within the round hole portion whereas the guide pipe is arranged within the grooved portion.
摘要翻译：远程控制致动器包括细长构造的主轴引导部分，安装到主轴引导部分的顶端的用于改变姿态的远端部件以及主轴引导部分的基端连接到的驱动单元壳体。远端构件可旋转地支撑主轴然后保持工具。主轴引导部分包括中空的外壳管，旋转轴和引导管，并且用于改变远端构件的姿态的姿势改变构件插入到引导管内。外壳管的中空部包括中心部的圆孔部和从圆孔部向径向外侧凹陷的开槽部。旋转轴设置在圆孔部分内，而导管布置在凹槽部分内。

7. 发明申请

US20100234873A1 DRIVE DEVICE, AND MEDICAL APPARATUS AND TRAINING APPARATUS INCLUDING THE SAME 审中-公开
标题翻译：驱动装置，以及包括其中的医疗装置和训练装置
公开(公告)号：US20100234873A1
公开(公告)日：2010-09-16
申请号：US12744420
申请日：2008-10-27
申请人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
发明人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
IPC分类号： A61M25/00 , B66F19/00 , A61M29/00 , G09B23/28
CPC分类号： A61M25/0113 , A61B34/70 , A61B2034/301 , A61M25/09041 , A61M2205/18 , A61M2205/332 , G01L5/0038 , G09B23/285
摘要： A drive device for driving a linear body having flexibility includes a first roller, a motor for feeding the linear body in a direction of extension of the linear body by directly transmitting rotation force to the first roller to rotate the first roller, a motor drive portion for driving the motor by supplying a current to the motor, and a control unit for calculating force applied to the linear body in the direction of extension based on the current supplied to the motor.
摘要翻译：用于驱动具有柔性的直线体的驱动装置包括：第一辊，通过直接将旋转力直接传递到第一辊以使第一辊旋转的马达，用于沿线性体的延伸方向进给直线体;马达驱动部用于通过向电动机提供电流来驱动电动机;以及控制单元，用于基于提供给电动机的电流来计算在延伸方向上施加到线状体的力。

8. 发明授权

US09351735B2 Insertion device and insertion method of coil 有权
标题翻译：线圈插入装置和插入方法
公开(公告)号：US09351735B2
公开(公告)日：2016-05-31
申请号：US12995113
申请日：2009-03-18
申请人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
发明人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
IPC分类号： A61M29/00 , A61B17/12 , A61M25/01 , A61M25/09 , A61B17/00
CPC分类号： A61B17/12022 , A61B5/0048 , A61B5/0053 , A61B5/0057 , A61B17/12113 , A61B17/1214 , A61B34/70 , A61B2017/00398 , A61B2017/1205 , A61B2090/061 , A61B2090/064 , A61M25/01 , A61M25/0105 , A61M25/0113 , A61M25/09041
摘要： An insertion device of a coil includes a delivery wire driving unit, a secondary catheter driving unit, and a control circuit. A platinum coil for coil embolization is attached to the tip of a delivery wire. The delivery wire driving unit is provided in the proximity of the entrance of a Y connector such that the delivery wire is advanced and moved back. The secondary catheter driving unit is provided in the proximity of the entrance of a Y connector such that the secondary catheter is advanced and moved back. The control circuit controls the delivery wire driving unit so as to insert the delivery wire by a predetermined insertion force. If the delivery wire cannot be inserted, the control circuit controls the secondary catheter driving unit such that the secondary catheter is advanced after being moved back, and then controls the delivery wire driving unit so as to insert the delivery wire.
摘要翻译：线圈的插入装置包括输送线驱动单元，二次导管驱动单元和控制电路。用于线圈栓塞的铂线圈附接到输送线的末端。输送线驱动单元设置在Y连接器的入口附近，使得输送线前进并向后移动。第二导管驱动单元设置在Y连接器的入口附近，使得二次导管前进并向后移动。控制电路控制输送线驱动单元，以便以预定的插入力插入输送线。如果输送线不能插入，则控制电路控制二次导管驱动单元，使得二次导管在移回后前进，然后控制输送线驱动单元以插入输送线。

9. 发明申请

US20100292566A1 LOAD DETECTION DEVICE AND LOAD DETECTION METHOD 有权
标题翻译：负载检测装置和负载检测方法
公开(公告)号：US20100292566A1
公开(公告)日：2010-11-18
申请号：US12808125
申请日：2008-12-04
申请人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
发明人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
IPC分类号： A61B5/103 , A61B6/00 , G09B23/28 , A61B17/00
CPC分类号： A61B17/12 , A61B5/6885 , A61B17/12113 , A61B17/1214 , A61B90/06 , A61B90/361 , A61B2017/00115 , A61B2017/1205 , A61B2034/102 , A61B2034/2061 , A61B2034/301 , A61B2090/064 , A61B2090/065 , A61B2090/376
摘要： According to this load detection method, load (Fi) in insertion of a linear body having flexibility in an inlet of a hollow tube inserted in a bending vessel in a body is detected, an image of the hollow tube or the linear body is taken, a degree of bending of the hollow tube or the linear body is detected based on the image, and load (Fo) at a tip end of the linear body is calculated based on the detected insertion load (Fi) and the degree of bending. Therefore, the load (Fo) at the tip end of the thin linear body can readily be detected.
摘要翻译：根据该负载检测方法，检测在插入体内的弯曲容器的中空管的入口处插入具有柔性的线状体的负载（Fi），取出中空管或线状体的图像，基于图像检测中空管或线状体的弯曲程度，并且基于检测到的插入载荷（Fi）和弯曲度来计算线状体的末端处的负载（Fo）。因此，能够容易地检测薄线状体的前端的负荷（Fo）。

10. 发明授权

US08725233B2 Load detection device and load detection method 有权
标题翻译：负载检测装置和负载检测方法
公开(公告)号：US08725233B2
公开(公告)日：2014-05-13
申请号：US12808125
申请日：2008-12-04
申请人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
发明人： Yoshitaka Nagano , Yukihiro Nishio , Takayoshi Ozaki
IPC分类号： A61B5/05 , A61B5/103 , A61M29/00
CPC分类号： A61B17/12 , A61B5/6885 , A61B17/12113 , A61B17/1214 , A61B90/06 , A61B90/361 , A61B2017/00115 , A61B2017/1205 , A61B2034/102 , A61B2034/2061 , A61B2034/301 , A61B2090/064 , A61B2090/065 , A61B2090/376
摘要： According to this load detection method, load (Fi) in insertion of a linear body having flexibility in an inlet of a hollow tube inserted in a bending vessel in a body is detected, an image of the hollow tube or the linear body is taken, a degree of bending of the hollow tube or the linear body is detected based on the image, and load (Fo) at a tip end of the linear body is calculated based on the detected insertion load (Fi) and the degree of bending. Therefore, the load (Fo) at the tip end of the thin linear body can readily be detected.
摘要翻译：根据该负载检测方法，检测在插入体内的弯曲容器的中空管的入口处插入具有柔性的线状体的负载（Fi），取出中空管或线状体的图像，基于图像检测中空管或线状体的弯曲程度，并且基于检测到的插入载荷（Fi）和弯曲度来计算线状体的末端处的负载（Fo）。因此，能够容易地检测薄线状体的前端的负荷（Fo）。

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