专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明专利

JP2006015045A Surgical operation assisting system 有权
标题翻译：外科手术辅助系统
公开(公告)号：JP2006015045A
公开(公告)日：2006-01-19
申请号：JP2004197758
申请日：2004-07-05
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： KISHI HIROSUKE , TAJIMA FUJIO , SUGA KAZUTOSHI
IPC分类号： A61B19/00 , A61B5/055
摘要： PROBLEM TO BE SOLVED: To simplify the system and to improve the usability of the surgical operation assisting system, enabling the integration of coordination systems of an image diagnosing equipment and a manipulator with a simple processing of control. SOLUTION: The surgical operation assisting system 1 provides the image diagnosing device 101 to take an image of the targeted area in the body cavity including the part to be imaged, an image displaying device 113 to display the image taken by the image diagnosing equipment on the screen, the manipulator 102 to process the imaged part in the body cavity, a control member 131 to control the image to be displayed on the image displaying device 113, and at least three markers located in the area imaged by the image diagnosing device 101 and in three-dimensions on the side where the manipulator 102 is fixed. The control member 131 calculates the positions of the markers with the coordination system of the manipulator, obtains the positions of the markers imaged by the image diagnosing device as the coordination system of the image diagnosing device, and converts the two coordination systems based on the positions of the markers. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了简化系统并提高外科手术辅助系统的可用性，使得能够通过简单的控制处理来整合图像诊断设备和操纵器的协调系统。解决方案：外科手术辅助系统1提供图像诊断装置101拍摄包括要成像的部分的体腔中的目标区域的图像，图像显示装置113，以显示通过图像诊断拍摄的图像屏幕上的设备，用于处理体腔中的成像部分的操纵器102，用于控制要在图像显示装置113上显示的图像的控制构件131和位于通过图像诊断成像的区域中的至少三个标记装置101并且在三维上操纵器102被固定的一侧。控制部件131使用机械手的协调系统计算标记的位置，获得由图像诊断装置成像的标记的位置作为图像诊断装置的协调系统，并且基于位置转换两个协调系统的标记。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2008307311A Surgical device and surgical apparatus 有权
标题翻译：外科手术和外科手术
公开(公告)号：JP2008307311A
公开(公告)日：2008-12-25
申请号：JP2007159884
申请日：2007-06-18
申请人： Hitachi Ltd , Kyushu Univ , 国立大学法人九州大学 , 株式会社日立製作所
发明人： KISHI HIROSUKE , HASHIZUME MAKOTO , TAGAMI KAZUO
IPC分类号： A61B17/06 , A61B17/12 , A61B17/28 , A61B17/32
CPC分类号： A61B17/29 , A61B17/0625 , A61B34/70 , A61B2017/00353 , A61B2017/2923 , A61B2017/2927 , A61B2017/2943 , A61B2017/2947
摘要： PROBLEM TO BE SOLVED: To obtain a plurality of surgical device functions using working pieces in a compact and low-cost surgical device by eliminating the exchange of the surgical devices. SOLUTION: The surgical device 45 includes: a distal end surgical device part 5 having the plurality of working pieces; and a surgical device cylinder 40 for putting through a driving force transmitting means for imparting driving force to the distal end surgical device part 5. The plurality of working pieces include: a first working piece 1 and a second working piece 2 which make a pair and have the first surgical device function; and a third working piece 3 which makes a pair with one or both of the first and second working pieces 1, 2 and has the second surgical device function. The driving force transmitting means include: the first driving force transmitting means for imparting the driving force to the first and second working pieces 1, 2; and the second driving force transmitting means for imparting the driving force to the third working piece 3, which is arranged independently from the first driving force transmitting means. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过消除外科装置的更换来获得使用紧凑且低成本手术装置中的工件的多种手术装置功能。解决方案：手术装置45包括：具有多个工作片的远端手术装置部分5; 以及用于穿过驱动力传递装置的手术装置筒40，用于向远端手术装置部分5施加驱动力。多个工作件包括：第一工件1和第二工件2，具有第一手术器械功能; 以及与第一和第二工件1,2中的一个或两个成对配置的具有第二手术装置功能的第三工件3。驱动力传递装置包括：第一驱动力传递装置，用于将驱动力传递到第一和第二工件1,2; 以及第二驱动力传递装置，用于向与第一驱动力传递装置独立设置的第三工件3施加驱动力。版权所有（C）2009，JPO＆INPIT

3. 发明专利

JP2008307310A Manipulator and manipulator apparatus using the same 有权
标题翻译：使用它的操纵器和操纵器装置
公开(公告)号：JP2008307310A
公开(公告)日：2008-12-25
申请号：JP2007159875
申请日：2007-06-18
申请人： Hitachi Ltd , Kyushu Univ , 国立大学法人九州大学 , 株式会社日立製作所
发明人： TSUJITA TEPPEI , KISHI HIROSUKE , HASHIZUME MAKOTO
IPC分类号： A61B19/00 , B25J18/04
CPC分类号： A61B34/70 , A61B34/30 , A61B34/71
摘要： PROBLEM TO BE SOLVED: To provide a small-size manipulator allowing treatment having an enlarged moving distance at the distal end of the manipulator. SOLUTION: This manipulator includes a manipulator shaft section 110, a first rod 109 translatorily supported relative to the manipulator shaft section 110 and actuated by a driving force of a drive source, a first gear 112 rotatably supported relative to the first rod 109, a first rack 113 supported to the manipulator shaft section 110, a second rack 115 supported relative to the manipulator shaft section 110 translatorily in the same direction to that of the first rod 109, and a treatment instrument 400 actuated by the driving force of the second rack 115. The first rack 113 and the second rack 115 are so disposed as to face mutual tooth faces each other. The first gear 112 is clamped between the first rack 113 and the second rack 115 to be disposed in a meshed state. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种允许处理在操纵器的远端处具有放大移动距离的小尺寸操纵器。解决方案：该操纵器包括操纵器轴部分110，相对于操纵器轴部分110平移地支撑并由驱动源的驱动力驱动的第一杆109，相对于第一杆109可旋转地支撑的第一齿轮112 支撑在机械手轴部110的第一齿条113，相对于机械手轴部110以与第一杆109相同的方向平移地支撑的第二齿条115以及由第一杆109的驱动力驱动的处理器具400 第二齿条115.第一齿条113和第二齿条115设置成彼此面对相互的齿面。第一齿轮112被夹持在第一齿条113和第二齿条115之间以被布置成啮合状态。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2008228967A Master-slave manipulator system 有权
标题翻译：主从制操纵器系统
公开(公告)号：JP2008228967A
公开(公告)日：2008-10-02
申请号：JP2007072447
申请日：2007-03-20
申请人： Hitachi Ltd , Kyushu Univ , 国立大学法人九州大学 , 株式会社日立製作所
发明人： KISHI HIROSUKE , HASHIZUME MAKOTO
IPC分类号： A61B19/00
CPC分类号： G05B19/427 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , B25J9/1689 , G05B2219/39389 , G05B2219/40617
摘要： PROBLEM TO BE SOLVED: To allow an operating means to be intuitively operated even when clutch manipulation is performed in a master-slave manipulator system. SOLUTION: A master-slave manipulator system is provided with: a mode switching means 12 for switching between a master-slave mode in which the slave manipulator 1 is controlled and an observation means visual field tracking clutch mode in which transmission of an operation command to the slave manipulator 1 from the operating means 9 is cut off to move the operating means 9 to an arbitrary position and posture; a switcher control unit 14 for reading a signal of the mode switching means 12 to send a mode signal to an operating means control unit 15; and a visual field transformation part 40 for sending a third control command to a manipulator control unit 17 and sending a fourth control command to a visual field change control unit 18 so as to make an agreement between a motion direction of a video of the slave manipulator 1 displayed on the display device 6 and an operation direction of the operation means 9 on the basis of an operation command read by the operating means control unit 15 when in the observation means visual field tracking clutch mode. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使在主从机械手系统中执行离合器操作，也允许操作装置直观地操作。解决方案：主从操纵器系统设置有：模式切换装置12，用于在其中控制从操作器1的主从模式和观察装置视野跟踪离合器模式之间切换，其中，从操作装置9向从动操纵器1的操作命令被切断，以将操作装置9移动到任意位置和姿势; 切换器控制单元14，用于读取模式切换装置12的信号，以向操作装置控制单元15发送模式信号; 以及用于向操纵器控制单元17发送第三控制命令并向视场改变控制单元18发送第四控制命令以使得从机械手的视频的运动方向一致的视野变换部分40 基于在观察装置视野跟踪离合器模式中由操作装置控制单元15读取的操作命令，显示在显示装置6上的操作方法1和操作装置9的操作方向。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2004122286A Manipulator 有权
公开(公告)号：JP2004122286A
公开(公告)日：2004-04-22
申请号：JP2002289359
申请日：2002-10-02
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： NISHIZAWA KOJI , TAJIMA FUJIO , KISHI HIROSUKE
IPC分类号： B25J17/00 , A61B17/04 , A61B17/28 , A61B19/00 , B25J7/00 , B25J17/02
CPC分类号： A61B17/062 , A61B34/70 , A61B34/71 , A61B2017/2927 , A61B2017/2939 , A61B2090/064
摘要： PROBLEM TO BE SOLVED: To miniaturize a medical purpose manipulator and to enhance controllability. SOLUTION: The manipulator has an operation unit part 60 and a driving part 62 for driving a grip part 14 provided on this operation unit part. An operation unit side bonding part 61 is provided between the operation unit part and the driving part and the operation unit is made separable or connectable between the driving part and the operation unit side bonding part. The operation unit part has a joint for rotating the grip part. The joint has two rolling members disposed in opposed to each other; a driving means for not rotating but revolving one rolling member against the other member; and a means for retaining a distance between rotation centers of two rolling members to the constant value. COPYRIGHT: (C)2004,JPO

6. 发明专利

JP2004337994A Manipulator and rotary joint mechanism 审中-公开
公开(公告)号：JP2004337994A
公开(公告)日：2004-12-02
申请号：JP2003134061
申请日：2003-05-13
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： KISHI HIROSUKE , TAJIMA FUJIO , SUGA KAZUTOSHI
IPC分类号： B25J17/02 , A61B19/00
摘要： PROBLEM TO BE SOLVED: To provide a small manipulator of high operability equipped with a rotary joint mechanism. SOLUTION: This manipulator 1 is provided with an arm 50 having a plurality of joint mechanisms 10, 20, and a plurality of wires 410-440 guided in the arm 50. The rotary joint mechanism 10 is used as the tip side joint mechanism out of the plurality of joint mechanisms. A support side link 320 and its tip side link 120 constituting the rotary joint mechanism 10 are provided with a plurality of wire guides 131-134, 331-334 for supporting the wires 410-440. The respective wire guides 131-134, 331-334 of the rotary joint mechanism 10 are arranged on a circumference with respect to the joint shaft center. The rotary joint mechanism 10 is constituted such that the tip side link 120 is rotatable relative to the support side link 320 and movable in the joint shaft direction. COPYRIGHT: (C)2005,JPO&NCIPI

7. 发明专利

JP2004129782A Surgical manipulator and its operation input apparatus 有权
公开(公告)号：JP2004129782A
公开(公告)日：2004-04-30
申请号：JP2002296307
申请日：2002-10-09
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： TAJIMA FUJIO , NISHIZAWA KOJI , KISHI HIROSUKE , KAWAI TOSHIKAZU , MOMOI YASUYUKI , SUGA KAZUTOSHI
IPC分类号： B25J3/00 , A61B19/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To enable an operation suited to a surgical instrument used for an operation and an operator performing the operation in a surgical manipulator. SOLUTION: The surgical manipulator 10 is provided with an operation manipulator 13 comprising the detachable surgical instrument 13a and a body part 13b, an operation input device 11 and a control device 12. The operation input device 11 is provided with a base part 102 and an operation part 101 detachably attached thereto. The base part 102 is provided with a base part input mechanism 102a having a freedom degree and a base part sensor detecting its motion. The operation part 101 is provided with an operation part input mechanism 101a having a freedom degree, an operation part sensor detecting its motion, an operation grip part 119 and an information storage part 111. The base part 102 and the operation part 101 are connected via mechanical connection parts 114 and 115, electric connection parts 116 and 117, and information connection parts 112 and 113. The control device 12 controls an operation manipulator 13 based on information from the respective sensors and the information storage part 111. COPYRIGHT: (C)2004,JPO

8. 发明专利

JP2008173724A Master/slave type manipulator system 有权
标题翻译：主/从类型操纵系统
公开(公告)号：JP2008173724A
公开(公告)日：2008-07-31
申请号：JP2007009922
申请日：2007-01-19
申请人： Hitachi Ltd , Kyushu Univ , 国立大学法人九州大学 , 株式会社日立製作所
发明人： KISHI HIROSUKE , HASHIZUME MAKOTO
IPC分类号： B25J3/00 , A61B19/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , G05B2219/40161 , G05B2219/40307 , G05B2219/45118
摘要： PROBLEM TO BE SOLVED: To provide a master/slave type manipulator system intuitively operating with a simple structure which is not restricted on arrangement of a monitor and operation input device. SOLUTION: The master/slave type manipulator system 1 is provided with a manipulator 132, a camera 146, the monitor 152, the operation input device 100, a manipulator controller 122, and a master controller 104. The master controller 122 is provided with: an operation instruction information acquisition part 106 for acquiring operation instruction information based on an instruction by the operation input device 100; an acquisition information separating part 110 for separating the operation instruction information into position movement instruction information and attitude instruction information; and a moving direction compensation controller 116 for correcting the position movement instruction information based on the attitude instruction information and outputting the position movement instruction compensation information. The manipulator controller 122 controls position attitude of the manipulator 134, based on the position movement instruction compensation information and attitude instruction information. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种以简单结构直观操作的主/从型操纵器系统，其不受监视器和操作输入装置的布置的限制。主/从型机械手系统1设置有操纵器132，相机146，监视器152，操作输入装置100，操纵器控制器122和主控制器104.主控制器122是设置有：操作指示信息获取部106，用于基于操作输入装置100的指示获取操作指令信息; 获取信息分离部分110，用于将操作指令信息分离成位置移动指令信息和姿势指令信息; 以及移动方向补偿控制器116，用于根据姿态指令信息校正位置移动指令信息，并输出位置移动指令补偿信息。操纵器控制器122基于位置移动指示补偿信息和姿势指示信息来控制机械手134的位置姿势。版权所有（C）2008，JPO＆INPIT

9. 发明专利

JP2006191939A Surgical instrument and manipulator for use in it 有权
标题翻译：手术仪器和操作器在其中使用
公开(公告)号：JP2006191939A
公开(公告)日：2006-07-27
申请号：JP2005003296
申请日：2005-01-11
申请人： Hitachi Ltd , 株式会社日立製作所
发明人： KISHI HIROSUKE , UMEKITA KAZUHIRO , SUGA KAZUTOSHI
IPC分类号： A61B19/00 , B25J17/00
CPC分类号： A61B34/70 , A61B5/055 , A61B34/30 , A61B34/71 , A61B34/74
摘要： PROBLEM TO BE SOLVED: To reduce the size of a surgical manipulator and to enhance the ease of its maintenance. SOLUTION: A medical manipulator 102 has an operation unit 301 on its front end for approaching an affected area of a patient. A pair of rolling members 309 and 318 are arranged opposingly, and a flexible wire makes one of the pair of rolling members to roll with respect to the other rolling member. The distance between the rotation centers of the pair of rolling members is kept constant by a plate 306. Each of a pair of gears 312 and 315 is held coaxially with the corresponding one of the pair of rolling members. The pair of gears engage with each other, and the gear on the opposite side of the operation unit is rotated by a link. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：减少手术操纵器的尺寸并增强其维护的便利性。解决方案：医疗机械手102在其前端具有操作单元301，以接近患者的受影响区域。一对滚动构件309和318相对地布置，并且柔性线使一对滚动构件中的一个相对于另一个滚动构件滚动。一对滚动构件的旋转中心之间的距离通过板306保持恒定。一对齿轮312和315中的每一个与所述一对滚动构件中的相应一个保持同轴。一对齿轮彼此接合，并且操作单元的相对侧的齿轮通过连杆旋转。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2006321027A MASTER SLAVE TYPE MANIPULATOR SYSTEM AND ITS OPERATION INPUT DEVICE 审中-公开
公开(公告)号：JP2006321027A
公开(公告)日：2006-11-30
申请号：JP2005147786
申请日：2005-05-20
申请人： HITACHI LTD
发明人： KISHI HIROSUKE , UMEKITA KAZUHIRO
IPC分类号： B25J3/00 , A61B19/00 , B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a master slave type manipulator system capable of force-sensuously presenting limits of obstacles and operation ranges without using a motor for an operation input device and having excellent reliability, compactness and improved operability. SOLUTION: This system is provided with manipulators 110 and 130 having arms, the operation input device 190 for moving the arm of the manipulator 130, and controllers 145 and 150 for controlling the manipulators 110 and 130 and the operation input device 190. The operation input device 190 is provided with an operation direction limiting and switching mechanism capable of selecting a power transmission connecting direction by disconnecting or connecting a power transmission from/to the joint. COPYRIGHT: (C)2007,JPO&INPIT

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式