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1. 发明公开

EP2925250A1 OPERATION SUPPORT SYSTEM AND CONTROL METHOD OF OPERATION SUPPORT SYSTEM 失效转让
标题翻译： BETRIEBSUNTERSTÜTZUNGSSYSTEM
公开(公告)号：EP2925250A1
公开(公告)日：2015-10-07
申请号：EP13858865.2
申请日：2013-11-27
申请人： Olympus Corporation
发明人： KISHI Kosuke
IPC分类号： A61B19/00 , B25J13/00
CPC分类号： B25J9/1697 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/306 , B25J9/1643 , G05B2219/39425 , Y10S901/02
摘要： An operation support system performing treatment on a target tissue while observing using an image capturing unit, using a treatment unit installed at a distal end side of a manipulator, a distal end seen from a fixing end of the manipulator, includes: the manipulator having joints corresponding to degrees of freedom and including at least two redundant joints having a redundant relationship among the joints; an operating unit configured to provide operating information corresponding to the degrees of freedom; a positional relationship calculation unit calculating a switching positional relationship between the target tissue or the treatment unit and the image capturing unit; and a control unit controlling an operation of the joint according to the operating information. The control unit controls the manipulator using one redundant joint as a driving joint and the other redundant joints as a fixing joint based on the switching positional relationship.
摘要翻译：一种操作支持系统，在使用图像拍摄单元进行观察的同时对目标组织进行处理，使用安装在操纵器的远端侧的处理单元，从所述操纵器的固定端看的远端，包括：所述操作器具有关节对应于自由度并且包括在关节之间具有冗余关系的至少两个冗余关节; 操作单元，被配置为提供与所述自由度相对应的操作信息; 位置关系计算单元，计算所述目标组织或所述处理单元与所述图像捕获单元之间的切换位置关系; 以及控制单元，其根据操作信息控制接头的操作。控制单元基于切换位置关系，使用一个冗余接头作为驱动接头和其他冗余接头作为固定接头来控制机械手。

2. 发明公开

EP2862680A1 LINEAR MOTION MECHANISM WITH GRAVITY COMPENSATION, OPERATION INPUT DEVICE AND SURGERY ASSISTANCE SYSTEM 无效转让
标题翻译： LINEARVERSCHIEBEMECHANISMUS MIT SCHWERKRAFTKOMPENSATION，OPERATIONSEINGABEVORRICHTUNG UND CHIRURGIEASSISTENZSYSTEM
公开(公告)号：EP2862680A1
公开(公告)日：2015-04-22
申请号：EP13804124.9
申请日：2013-06-13
申请人： Olympus Corporation
发明人： KISHI Kosuke
IPC分类号： B25J19/00 , B25J13/02
CPC分类号： B25J19/002 , A61B34/30 , A61B34/37 , A61B34/74 , A61B2090/5025 , A61B2090/504 , B25J3/04 , B25J13/02 , G05G5/02 , G05G9/04737 , G05G23/02 , Y10T74/20396
摘要： A linear driving mechanism with self-weight compensation includes a holding member that holds a first moving body to which an object is attached, a second moving body provided with a weight, and a coupling portion that couples the first moving body to the second moving body so that the weight moves with a directional component in a direction opposite to a movement direction of the first moving body. The holding member has a rotation axis that allows the holding member to rotate therearound. When the mass of the first moving body in a state where the object is attached is defined as M1, the mass of the second moving body is defined as M2, the distance between a first intersection point of a perpendicular line from a rotation center of the rotation axis to the first moving body and a first gravity center of the first moving body when the distance between the first intersection point and the first gravity center in the first moving body is the shortest is defined as L1, and the distance between a second intersection point of a perpendicular line from the rotation center of the rotation axis to the second moving body and a second gravity center of the second moving body when the distance between the second intersection point and the second gravity center in the second moving body is the shortest is defined as L2, M2 = (L1/L2) x M1 is satisfied.
摘要翻译：具有自重补偿的线性驱动机构包括保持构件，其保持安装有物体的第一移动体，设置有重物的第二移动体和将第一移动体联接到第二移动体的联接部使得重量以与第一移动体的移动方向相反的方向上的方向分量移动。保持构件具有允许保持构件绕其旋转的旋转轴线。当将安装有物体的状态下的第一移动体的质量定义为M1时，第二移动体的质量被定义为M2，垂直线与第一移动体的旋转中心的第一交点当第一移动体中的第一交点和第一重心之间的距离最短时，第一移动体的旋转轴和第一移动体的第一重心被定义为L1，并且第二交点当第二移动体中的第二交点和第二重心之间的距离最短时，从旋转轴的旋转中心到第二移动体的垂直线的点是第二移动体的第二重心，定义为L2，M2 =（L1 / L2）×M1。

3. 发明授权

EP2739235B1 OPERATION SUPPORT DEVICE AND ASSEMBLY METHOD THEREOF 有权转让
公开(公告)号：EP2739235B1
公开(公告)日：2018-11-28
申请号：EP12820017.7
申请日：2012-08-03
申请人： Olympus Corporation
发明人： KISHI Kosuke
IPC分类号： A61B90/50 , A61B34/00 , A61B46/10 , A61B34/30 , A61B17/00
CPC分类号： G06F3/01 , A61B17/068 , A61B17/29 , A61B17/32002 , A61B18/1402 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B46/10 , A61B46/23 , A61B90/50 , A61B2017/00119 , A61B2017/00477 , A61B2017/00482 , B25J13/02 , Y10S901/08 , Y10S901/09 , Y10S901/30 , Y10T29/49826 , Y10T74/18056
摘要： An operation support device having a surgical instrument unit and a surgical instrument unit support section, includes: an intermediate member connected to the surgical instrument support section and configured to hold the surgical instrument unit; a shielding member having a hole portion engaged with the intermediate member; and a driving force supply unit installed at the surgical instrument support section. A first space and a second space are formed by an assembly constituted by the shielding member and the intermediate member engaged with the hole portion as a boundary. The intermediate member is connected to the surgical instrument support section at a side of the first space, and holds the surgical instrument unit at a side of the second space. The driving force supply unit and the surgical instrument support section are disposed in the first space.

4. 发明授权

EP2740435B1 MANIPULATOR FOR MEDICAL USE AND SURGERY SUPPORT DEVICE 有权转让
公开(公告)号：EP2740435B1
公开(公告)日：2018-10-24
申请号：EP12820758.6
申请日：2012-08-03
申请人： Olympus Corporation
发明人： HASEGAWA Mitsuaki , KISHI Kosuke
IPC分类号： A61B34/30
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 , 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： A medical manipulator (20A) includes: a holding portion (21A) whose proximal end portion (22A) is fixed to a base (16); a positioning portion (24A) that has a fixing portion (51A) that is fixed to a distal end portion (23A) of the holding portion, and that is formed such that a treatment portion (303) of a surgical instrument (200) is capable of moving relative to the fixing portion; a reference orientation detecting portion (27A) that detects an orientation of a reference position on the positioning portion; a drive section (28A) that is used to move the treatment portion relative to the fixing portion; and a displacement detecting section that detects an amount of movement, including angular displacement, of the treatment portion relative to the reference position, and that calculates as the orientation on the treatment portion an orientation that is different by an amount of angular displacement which has detected by the displacement detecting section from the orientation on the reference position detected by the reference orientation detecting portion.

5. 发明授权

EP2739233B1 MEDICAL MANIPULATOR 有权转让
标题翻译：医疗机械手
公开(公告)号：EP2739233B1
公开(公告)日：2016-11-23
申请号：EP12819672.2
申请日：2012-08-03
申请人： Olympus Corporation
发明人： HASEGAWA Mitsuaki , KISHI Kosuke
IPC分类号： A61B34/30 , A61B46/10 , A61B34/37 , A61B17/00
CPC分类号： G06F3/01 , A61B17/068 , A61B17/29 , A61B17/32002 , A61B18/1402 , A61B34/30 , A61B34/37 , A61B46/10 , A61B46/23 , A61B46/27 , A61B2017/00119 , A61B2017/00477 , A61B2017/00482 , B25J13/02 , Y10S901/08 , Y10S901/09 , Y10S901/30 , Y10T29/49826 , Y10T74/18056

6. 发明公开

EP2739233A1 MEDICAL MANIPULATOR 有权转让
标题翻译：医药师操作员
公开(公告)号：EP2739233A1
公开(公告)日：2014-06-11
申请号：EP12819672.2
申请日：2012-08-03
申请人： Olympus Corporation
发明人： HASEGAWA Mitsuaki , KISHI Kosuke
IPC分类号： A61B19/00
CPC分类号： G06F3/01 , A61B17/068 , A61B17/29 , A61B17/32002 , A61B18/1402 , A61B34/30 , A61B34/37 , A61B46/10 , A61B46/23 , A61B46/27 , A61B2017/00119 , A61B2017/00477 , A61B2017/00482 , B25J13/02 , Y10S901/08 , Y10S901/09 , Y10S901/30 , Y10T29/49826 , Y10T74/18056
摘要： The medical manipulator (20) including a base section (25) at which a support surface (28a) is formed, a movable part (36) movably supported on the support surface, when a reference direction (X) parallel to the support surface is defined, between a distal end position (PI), which is a distal end side in the reference direction with respect to the base section, and a proximal end position, which is a proximal end side in the reference direction, a positioning mechanism configured to position the movable part at the distal end position with respect to the base section, a holding section (37) movably supported in the reference direction with respect to the movable part and configured to detachably hold a proximal end portion of a treatment tool (D10) such that a longitudinal direction of the treatment tool having an elongated shape is substantially parallel to the reference direction, and a driving unit (40) configured to move the holding section in the reference direction with respect to the movable part.
摘要翻译：一种医疗机械手，其包括形成有支撑面的基部，在与所述支撑面平行的基准方向形成有可移动地支撑在所述支撑面上的可动部，在所述前端位置相对于基部的基准方向和作为基准方向的近端侧的基端位置，配置为将可动部相对于基部定位在远端位置的定位机构，相对于可移动部分在参考方向可移动地支撑，并且构造成可拆卸地保持治疗工具的近端部分，以及驱动单元，其构造成使保持部分相对于可动部分沿参考方向移动。

7. 发明公开

EP2739218A1 OPERATION SUPPORT DEVICE AND ATTACHMENT/DETACHMENT METHOD THEREOF 无效转让
标题翻译：设备技术运营支持和连接/释放过程DFOR
公开(公告)号：EP2739218A1
公开(公告)日：2014-06-11
申请号：EP12820479.9
申请日：2012-08-03
申请人： Olympus Corporation
发明人： KISHI Kosuke
IPC分类号： A61B17/28 , A61B19/00
CPC分类号： G06F3/01 , A61B17/068 , A61B17/29 , A61B17/32002 , A61B18/1402 , A61B34/30 , A61B46/10 , A61B46/23 , A61B2017/00119 , A61B2017/00477 , A61B2017/00482 , A61B2090/0813 , B25J13/02 , Y10S901/08 , Y10S901/09 , Y10S901/30 , Y10T29/49826 , Y10T74/18056
摘要： An operation support device includes a connecting body in which a first support body and a second support body are detachably connected to each other; a first shaft engaging section; a shaft connecting member having a connection engaging section engaged with the first shaft engaging section; and a shaft fixing member. The shaft fixing member is movably installed with respect to a first shaft section or a second shaft section and is configured to selectively form a shaft engagement fixing state in which the connection engaging section is held down to retain an engagement state such that the connection engaging section is engaged with the first shaft engaging section and a second state in which holding down to the connection engaging section is released in accordance with a moved position with a moved position of the shaft fixing member.

8. 发明公开

EP4091530A1 MEDICAL SYSTEM 审中-实审
公开(公告)号：EP4091530A1
公开(公告)日：2022-11-23
申请号：EP21740850.9
申请日：2021-01-15
申请人： Olympus Corporation
发明人： KAMBE Shu , KISHI Kosuke
IPC分类号： A61B1/005
摘要： A medical system according to the present invention comprises: a medical device comprising an insertion part comprising an angulating part, and angulation wires attached to the angulating part; and an actuator, detachably connected to the medical device, that electrically actuates the angulation wires to angulate the angulating part. The angulation wires comprise a first angulation wire and a second angulation wire. When the medical device is not attached to the actuator, the first angulation wire and the second angulation wire are in a mechanically connected looped state. When the medical device is connected to the actuator, the first angulation wire and the second angulation wire are in an antagonistic state in which the two are independently electrically actuated.

9. 发明授权

EP2706944B1 SURGICAL INSTRUMENT DEVICE 有权转让
公开(公告)号：EP2706944B1
公开(公告)日：2018-10-17
申请号：EP12781664.3
申请日：2012-05-11
申请人： Olympus Corporation
发明人： INOUE Shintaro , KISHI Kosuke
IPC分类号： A61B17/28 , B25J3/00 , A61B34/30
CPC分类号： A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2090/061 , A61B2090/064 , A61B2090/0811 , Y10S901/08
摘要： A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit.

10. 发明公开

EP2779919A1 MEDICAL TREATMENT TOOL AND MANIPULATOR INCLUDING THE SAME 无效转让
标题翻译：医疗用处理器具和用操纵
公开(公告)号：EP2779919A1
公开(公告)日：2014-09-24
申请号：EP12849810.2
申请日：2012-11-16
申请人： Olympus Corporation
发明人： HYODO Ryoji , KISHI Kosuke
IPC分类号： A61B17/28 , A61B19/00
CPC分类号： A61B34/71 , A61B34/30 , A61B2017/2919 , A61B2017/2922 , A61B2017/2923 , A61B2017/2938
摘要： Provided is a medical treatment tool, the distance between a first advance and retraction axis, and a tip end is shorter than the length of the first link member, and the length when a line segment connecting the base end and the center of a forceps rotation shaft is projected on the first advance and retraction axis is shorter than the length is projected on the first advance and retraction axis. The distance between a second advance and retraction axis, and a tip end is shorter than the length of the second link member, and the length when a line segment connecting the base end and the center of a forceps rotation shaft is projected on the second advance and retraction axis is shorter than the length projected on the second advance and retraction axis.

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