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1. 发明申请

US20080180392A1 MASTER-SLAVE MANIPULATOR SYSTEM 有权
标题翻译：主从制操纵器系统
公开(公告)号：US20080180392A1
公开(公告)日：2008-07-31
申请号：US12016231
申请日：2008-01-18
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： G09G5/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , G05B2219/40161 , G05B2219/40307 , G05B2219/45118
摘要： In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system is provided with a manipulator, a camera, a monitor, an operation input device, a manipulator controller and a master controller. The master controller is provided with an operation an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by the operation input device, an acquirement information division portion dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information. The manipulator controller controls the position and orientation of the manipulator on the basis of the position moving command compensation information and the orientation reference data.
摘要翻译：在主从操纵器系统中，可以通过简单的结构实现直观的操作，其中监视器和操作输入装置的布局不受限制。主从操纵器系统设有操纵器，相机，监视器，操作输入装置，操纵器控制器和主控制器。主控制器设置有操作信息获取部分，用于操作命令基于操作输入装置的命令获取操作参考数据;获取信息划分部分，将操作参考数据分割为位置移动参考数据;以及取向基准数据，以及移动方向补偿控制器，其基于取向基准数据补偿位置移动基准数据，以输出位置移动指令补偿信息。操纵器控制器基于位置移动指令补偿信息和姿势参考数据来控制操纵器的位置和方位。

2. 发明授权

US08758327B2 Manipulator and manipulation device equipped with it 失效
标题翻译：配备了操纵器和操纵装置
公开(公告)号：US08758327B2
公开(公告)日：2014-06-24
申请号：US12141199
申请日：2008-06-18
申请人： Teppei Tsujita , Kosuke Kishi , Makoto Hashizume
发明人： Teppei Tsujita , Kosuke Kishi , Makoto Hashizume
IPC分类号： A61M25/082 , A61M25/08
CPC分类号： A61B34/70 , A61B34/30 , A61B34/71
摘要： The invention provides a manipulator which can carry out a treatment having a large moving amount in a manipulator leading end while being compact. The manipulator is provided with a manipulator shaft portion, a first rod supported so as to be capable of linearly moving with respect to the manipulator shaft portion and driven by a driving force of a driving source, a first gear rotatably supported to the first rod, a first rack supported to the manipulator shaft portion, a second rack supported so as to be capable of linearly moving in the same direction as the first rod with respect to the manipulator shaft portion, and a end-effecter driven by the driving force of the second rack. The first rack and the second rack are arranged in such a manner that respective cogged surfaces come face to face. The first gear is pinched between the first rack and the second rack, and is arranged in an engaged state.
摘要翻译：本发明提供一种能够在紧凑的情况下在机械手前端进行移动量大的处理的机械手。操纵器设置有操纵器轴部，第一杆被支撑成能够相对于操纵器轴部线性地移动并且由驱动源的驱动力驱动，可旋转地支撑在第一杆上的第一齿轮，支撑在所述操纵器轴部的第一齿条，被支撑成能够相对于所述机械手轴部在与所述第一杆相同的方向上线性移动的第二齿条，以及由所述第二杆驱动的所述驱动力的终端执行器第二个机架。第一齿条和第二齿条被布置成使得相应的齿形表面面对面地布置。第一齿轮被夹在第一齿条和第二齿条之间，并且布置成接合状态。

3. 发明授权

US08002694B2 Master-slave manipulator system 有权
标题翻译：主从机械手系统
公开(公告)号：US08002694B2
公开(公告)日：2011-08-23
申请号：US12019668
申请日：2008-01-25
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： A61B17/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.
摘要翻译：在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间切换的模式切换装置，其中操作命令从从操纵器向切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。

4. 发明申请

US20080234866A1 MASTER-SLAVE MANIPULATOR SYSTEM 有权
标题翻译：主从制操纵器系统
公开(公告)号：US20080234866A1
公开(公告)日：2008-09-25
申请号：US12019668
申请日：2008-01-25
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： G05B19/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.
摘要翻译：在主从操纵器系统中，即使执行离合器操作，也能够直观地操纵操纵装置。主从操纵器系统包括：用于在其中控制从操作器的主从模式与观察装置视野跟踪离合器模式之间进行切换的模式切换装置，其中操作命令从从操纵器向切断操作装置以将操纵装置移动到可选的位置和方向; 切换单元控制部，其读取所述模式切换装置的信号，以将模式信号转发到所述操纵装置控制部; 以及视野变换部，其将第三控制命令转发给所述机械手控制部，并且在所述观察时基于由所述操作装置控制部读取的操作命令，向所述视野变更控制部转发第四控制指令设备视野跟踪离合器模式，以便使显示在显示装置上的从操作器的图像的运动方向与操作装置的操纵方向一致。

5. 发明申请

US20080310945A1 Manipulator and Manipulation Device Equipped with It 失效
标题翻译：机械手和操纵装置配备
公开(公告)号：US20080310945A1
公开(公告)日：2008-12-18
申请号：US12141199
申请日：2008-06-18
申请人： Teppei Tsujita , Kosuke Kishi , Makoto Hashizume
发明人： Teppei Tsujita , Kosuke Kishi , Makoto Hashizume
IPC分类号： B66C1/10
CPC分类号： A61B34/70 , A61B34/30 , A61B34/71
摘要： The invention provides a manipulator which can carry out a treatment having a large moving amount in a manipulator leading end while being compact. The manipulator is provided with a manipulator shaft portion, a first rod supported so as to be capable of linearly moving with respect to the manipulator shaft portion and driven by a driving force of a driving source, a first gear rotatably supported to the first rod, a first rack supported to the manipulator shaft portion, a second rack supported so as to be capable of linearly moving in the same direction as the first rod with respect to the manipulator shaft portion, and a end-effecter driven by the driving force of the second rack. The first rack and the second rack are arranged in such a manner that respective cogged surfaces come face to face. The first gear is pinched between the first rack and the second rack, and is arranged in an engaged state.
摘要翻译：本发明提供一种能够在紧凑的情况下在机械手前端进行移动量大的处理的机械手。操纵器设置有操纵器轴部，第一杆被支撑成能够相对于操纵器轴部线性移动并且由驱动源的驱动力驱动，可旋转地支撑在第一杆上的第一齿轮，支撑在所述操纵器轴部的第一齿条，被支撑成能够相对于所述机械手轴部在与所述第一杆相同的方向上线性移动的第二齿条，以及由所述第二杆驱动的所述驱动力的终端执行器第二个机架。第一齿条和第二齿条被布置成使得相应的齿形表面面对面地布置。第一齿轮被夹在第一齿条和第二齿条之间，并且布置成接合状态。

6. 发明授权

US08009140B2 Master-slave manipulator system 有权
标题翻译：主从机械手系统
公开(公告)号：US08009140B2
公开(公告)日：2011-08-30
申请号：US12016231
申请日：2008-01-18
申请人： Kosuke Kishi , Makoto Hashizume
发明人： Kosuke Kishi , Makoto Hashizume
IPC分类号： G09G5/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , G05B2219/40161 , G05B2219/40307 , G05B2219/45118
摘要： In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system is provided with a manipulator, a camera, a monitor, an operation input device, a manipulator controller and a master controller. The master controller is provided with an operation an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by the operation input device, an acquirement information division portion dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information. The manipulator controller controls the position and orientation of the manipulator on the basis of the position moving command compensation information and the orientation reference data.
摘要翻译：在主从操纵器系统中，可以通过简单的结构实现直观的操作，其中监视器和操作输入装置的布局不受限制。主从操纵器系统设有操纵器，相机，监视器，操作输入装置，操纵器控制器和主控制器。主控制器设置有操作信息获取部分，用于操作命令基于操作输入装置的命令获取操作参考数据;获取信息划分部分，将操作参考数据分割为位置移动参考数据;以及取向基准数据，以及移动方向补偿控制器，其基于取向基准数据补偿位置移动基准数据，以输出位置移动指令补偿信息。操纵器控制器基于位置移动指令补偿信息和姿势参考数据来控制操纵器的位置和方位。

7. 发明申请

US20080319474A1 Surgical Tools and Operation System 审中-公开
标题翻译：手术工具和操作系统
公开(公告)号：US20080319474A1
公开(公告)日：2008-12-25
申请号：US12141125
申请日：2008-06-18
申请人： Kosuke Kishi , Makoto Hashizume , Kazuo Tanoue
发明人： Kosuke Kishi , Makoto Hashizume , Kazuo Tanoue
IPC分类号： A61B17/28 , A61B17/00
CPC分类号： A61B17/29 , A61B17/0625 , A61B34/70 , A61B2017/00353 , A61B2017/2923 , A61B2017/2927 , A61B2017/2943 , A61B2017/2947
摘要： Provided is a surgical tools having multiple functions exhibited by end effector parts, which is small-sized and inexpensive, and which can eliminate the necessity of replacement of surgical tools. The surgical tools incorporating: a tip end portion having a plurality of end effector parts, and a tool sleeve through which a transmission mechanism of driving force for applying driving force to the tip end portion is led. The plurality of end effector parts comprise a pair of a first end effector part and a second end effector part so as to have a first tool function, and a third end effector part mated with one or both of the first end effector part and the second end effector part so as to have a second tool function. The transmission mechanism of driving force comprises a first transmission mechanism of driving force for applying a driving force to the first end effector part and the second end effector part, and a second transmission mechanism of driving force for applying a driving force to the third end effector part, independent from the first transmission mechanism of driving force.
摘要翻译：本发明提供一种手术工具，其具有由端部执行器部件展示的多种功能，其尺寸小且便宜，并且可以消除更换手术工具的必要性。所述手术工具包括：具有多个端部执行器部分的末端部分和工具套筒，通过所述工具套筒引导用于向前端部分施加驱动力的驱动力的传动机构。多个末端执行器部分包括一对第一端部执行器部分和第二端部执行器部分，以具有第一工具功能，并且第三端部执行器部分与第一端部执行器部分和第二端部执行器部分中的一个或两个配合末端执行器部分以具有第二工具功能。驱动力的传递机构包括用于向第一末端执行器部分和第二末端执行器部分施加驱动力的驱动力的第一传动机构和用于向第三端部执行器施加驱动力的驱动力的第二传动机构部分，独立于驱动力的第一传动机构。

8. 发明授权

US09632573B2 Medical manipulator and method of controlling the same 有权
公开(公告)号：US09632573B2
公开(公告)日：2017-04-25
申请号：US13566012
申请日：2012-08-03
申请人： Ryohei Ogawa , Kosuke Kishi
发明人： Ryohei Ogawa , Kosuke Kishi
IPC分类号： G06F3/01 , A61B17/29 , A61B17/32 , A61B18/14 , B25J13/02 , A61B90/50 , A61B34/30 , A61B46/10 , A61B34/37 , A61B17/068 , A61B17/00 , A61B46/23 , A61B34/20 , A61B90/00 , A61B34/00 , A61B90/90
CPC分类号： G06F3/01 , A61B17/068 , A61B17/29 , A61B17/32002 , A61B18/1402 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B46/10 , A61B46/23 , A61B90/50 , A61B90/90 , A61B2017/00119 , A61B2017/00477 , A61B2017/00482 , A61B2034/2055 , A61B2034/2065 , A61B2090/065 , A61B2090/067 , A61B2090/0803 , A61B2090/0813 , A61B2090/0814 , A61B2090/364 , A61B2090/3937 , B25J13/02 , Y10S901/08 , Y10S901/09 , Y10S901/30 , Y10T29/49826 , Y10T74/18056
摘要： In a medical manipulator configured to have a manipulation unit including a first input unit and a second input unit that are exchangeable, a signal generation unit configured to process an input with respect to the manipulation unit based on a predetermined process condition and to generate a manipulation signal, an operating unit configured to be operated by the manipulation signal, and a detection unit configured to recognize a type of a used input unit, the process condition corresponded to the first input unit and the process condition corresponded to the second input unit differ, and the signal generation unit generates the manipulation signal based on the process condition corresponded to the input unit recognized by the detection unit.

9. 发明授权

US08681095B2 Operation input unit and manipulator system 有权
标题翻译：操作输入单元和机械手系统
公开(公告)号：US08681095B2
公开(公告)日：2014-03-25
申请号：US12943456
申请日：2010-11-10
申请人： Ryohei Ogawa , Kosuke Kishi
发明人： Ryohei Ogawa , Kosuke Kishi
IPC分类号： G09G5/00 , A61B1/00
CPC分类号： A61B1/00131 , A61B1/00039
摘要： Unintended motion of a displayed object is prevented by rapidly detecting a state in which an operator becomes unable to operate an operating unit. Provided is an operation input unit including a display; a head-mounted unit; an operating unit to which an operating signal for a displayed object displayed on the display is input; a relative-position detecting section that detects the relative position between the head-mounted unit and the operating unit; and a control unit that controls the displayed object by switching between a first control mode in which the motion of the displayed object is controlled in accordance with an operating signal input to the operating unit and a second control mode in which the motion of the displayed object is controlled by limiting an operating signal input to the operating unit on the basis of the relative position detected by the relative-position detecting section.
摘要翻译：通过快速检测操作者不能操作操作单元的状态来防止显示对象的非预期动作。提供了包括显示器的操作输入单元; 头戴式装置; 输入显示在显示器上的显示对象的操作信号的操作单元; 相对位置检测部，其检测头戴装置与操作单元之间的相对位置; 以及控制单元，其通过根据输入到操作单元的操作信号来控制显示对象的运动的第一控制模式和所显示的对象的运动的第二控制模式之间切换来控制所显示的对象基于由相对位置检测部检测到的相对位置来限制输入到操作单元的操作信号。

10. 发明授权

US07391177B2 Master-slave manipulator system and this operation input devices 有权
标题翻译：主从机械手系统和此操作输入装置
公开(公告)号：US07391177B2
公开(公告)日：2008-06-24
申请号：US11434900
申请日：2006-05-17
申请人： Kosuke Kishi , Kazuhiro Umekita
发明人： Kosuke Kishi , Kazuhiro Umekita
IPC分类号： G05B19/10
CPC分类号： B25J3/04 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J9/1676 , B25J9/1689 , B25J13/02 , B25J19/0004 , G05B2219/39088 , G05B2219/39114 , G05B2219/40161 , G05B2219/40181 , G05B2219/40212 , G05B2219/40478 , G05B2219/45118
摘要： In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.
摘要翻译：在能够在操作输入装置中不使用电动机的情况下作为力反馈呈现障碍物和操作范围的限制的主从操纵器系统，具有高可靠性，小尺寸和良好的可操作性的系统包括具有臂的操纵器，用于移动操纵器的臂的操作输入装置和用于控制操纵器和操作输入装置的控制器，并且操作输入装置设置在具有三个模式转换机构的关节上模式：其中，在第一模式中，不发送电力; 在第二模式中，功率在一个方向上传输并且不沿其反向传输; 并且在第三模式中，功率在相反方向上发送，并且不沿一个方向发送，选择上述模式之一并且从一种模式切换到所选择的模式。

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