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1. 发明专利

JP2010279631A Method of generating model for operating simulation, operating simulation method and operating simulator 有权
标题翻译：生成模拟操作模型的方法，操作模拟方法和操作模拟器
公开(公告)号：JP2010279631A
公开(公告)日：2010-12-16
申请号：JP2009136898
申请日：2009-06-08
申请人： Mitsubishi Precision Co Ltd , 三菱プレシジョン株式会社
发明人： KUBOTA YOSHINOBU , MAKIYAMA KAZUHIDE , KIKUKAWA TAKAAKI , NAGASAKA MANABU , SAKAMOTO HIDEO , OGATA MASATO
IPC分类号： A61B19/00 , A61B6/03 , G06T17/20 , G09B9/00
CPC分类号： G06T7/204 , A61B2034/105 , G06K9/52 , G06K9/6201 , G06T7/0014 , G06T7/248 , G06T7/74 , G06T13/80 , G06T17/20 , G06T2207/30004 , G09B23/285
摘要： PROBLEM TO BE SOLVED: To provide a method of generating a model for operating simulation according to the operating state from a medical image, an operating simulation method and an operating simulator. SOLUTION: This method of generating a model for operating simulation includes: a first process of acquiring geometric information from the medical image and organizing necessary volume data of an organ; a second process of meshing the organ of the generated volume data after the first process; a third process of forming two or more layers of simulation membranes covering the predetermined organ subjected to meshing in the second process; and a fourth process of extending a virtual line from each node of the surface of the predetermined organ subjected to meshing in the second process in a predetermined direction, forming a membrane surface node by an intersection between the virtual line and the simulation membrane formed in the third process, disposing a virtual inter-membrane spring connecting between each node of the surface of the predetermined organ and the membrane surface node and between the membrane surface nodes in each virtual line, and disposing a surface direction spring to form a mesh between the membrane surface nodes in each simulation membrane surface. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供根据来自医学图像的操作状态，操作模拟方法和操作模拟器来生成用于操作模拟的模型的方法。解决方案：生成操作模拟模型的方法包括：从医学图像获取几何信息并组织器官的必要体积数据的第一过程; 在第一处理之后啮合生成的卷数据的机构的第二过程; 形成覆盖在第二工序中进行啮合的预定机构的两层或更多层模拟膜的第三工序; 以及将第二工序中经过啮合的规定机构的表面的每个节点的预定方向的虚拟线延伸出来的第四工序，通过虚拟线和模拟膜之间形成的模拟膜的交点形成膜面节点在每个虚拟线路中设置连接在预定器官表面的每个节点与膜表面节点之间以及膜表面节点之间的虚拟膜间弹簧，并且设置表面方向弹簧以在膜每个模拟膜表面的表面节点。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2011133830A Simulated operation tool device for setting trocar position 有权
标题翻译：用于设置定位位置的模拟操作工具装置
公开(公告)号：JP2011133830A
公开(公告)日：2011-07-07
申请号：JP2009295602
申请日：2009-12-25
申请人： Mitsubishi Precision Co Ltd , 三菱プレシジョン株式会社
发明人： KUBOTA YOSHINOBU , MAKIYAMA KAZUHIDE , KIKUKAWA TAKAAKI , TERADA HISAFUMI , HONGO ARATA , NAGASAKA MANABU , OGATA MASATO
IPC分类号： G09B23/28 , G09B9/00
摘要： PROBLEM TO BE SOLVED: To enhance the accuracy of training by providing a simulated operation tool device with a position adjusting function in laparoscopic surgery simulation and enabling a user to have preoperative training at a proper position obtained through trocar simulation, and to enhance the operation feeling by conforming the operation of the simulated operation tool to the movement (posture) of the operation tool in the video.
SOLUTION: A plurality of holes for fixing the operation tool are formed on a port plate, and each of the holes has a gap connecting with at least any one of other holes so that the operation tool can move between the plurality of holes.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了通过在腹腔镜手术模拟中提供具有位置调整功能的模拟操作工具装置来提高训练的准确性，并且使得用户能够在通过套管针模拟获得的适当位置进行术前训练，并且增强通过将模拟操作工具的操作与视频中的操作工具的移动（姿势）相一致的操作感觉。解决方案：用于固定操作工具的多个孔形成在端口板上，并且每个孔具有与至少任一个其他孔连接的间隙，使得操作工具能够在多个孔之间移动。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2008292534A Method and device for simulating cutting motion in operation, method and device for determining contact in simulated operation, and database structure for simulating cutting motion in operation 有权
标题翻译：用于模拟操作中的切割运动的方法和装置，用于在模拟操作中确定接触的方法和装置以及用于模拟操作中的切割运动的数据库结构
公开(公告)号：JP2008292534A
公开(公告)日：2008-12-04
申请号：JP2007135022
申请日：2007-05-22
申请人： Mitsubishi Precision Co Ltd , 三菱プレシジョン株式会社
发明人： KIKUKAWA TAKAAKI , NAGASAKA MANABU , OGATA MASATO
IPC分类号： G09B9/00 , G06T17/20
摘要： PROBLEM TO BE SOLVED: To simulate cutting without largely changing the number of dimensions of node and matrix of finite elements and without slowing down the processing when cutting is simulated by using internal organ data for simulation.
SOLUTION: Each internal organ in which physical characteristic data are set and which is to be provided in a prescribed region in a living body is divided into finite elements. By using the data acquired by the division, the motions of the reaction force caused by the contact of an operation tool and a simulated living body, and of the reaction of the simulated living body are calculated. At this time, in a relational expression of the forces, a total rigidity matrix obtained by superposing submatrices of element rigidity, and displacement, the submatrices of element rigidity at a contacting part are deleted. Or, in place of the cut element, the portion is replaced by a standby node which is different from that of the element whose one node near the cut portion is cut. Then, as a new total rigidity matrix, simulated motion calculation is carried out.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过使用内部器官数据进行模拟，模拟切割而不会大幅度地改变有限元的节点和矩阵的尺寸，并且不会减慢切割时的处理。解决方案：将物理特性数据设定并在生物体的规定区域中设置的内部器官分为有限元件。通过使用由分割获得的数据，计算由操作工具和模拟生物体的接触引起的反作用力以及模拟生物体的反应的运动。此时，在力的关系表达式中，删除了通过将元件刚度和位移的子矩阵叠加在接触部分处的元件刚度的子矩阵而获得的全部刚性矩阵。或者，代替切割元件，该部分被替换为与切割部分附近的一个节点被切割的元件的备用节点不同的备用节点。然后，作为新的全刚度矩阵，进行模拟运动计算。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2008134373A Method and system of preparing biological data for operation simulation, operation simulation method, and operation simulator 审中-公开
标题翻译：用于操作仿真，操作模拟方法和操作模拟器的生物数据准备方法和系统
公开(公告)号：JP2008134373A
公开(公告)日：2008-06-12
申请号：JP2006319623
申请日：2006-11-28
申请人： Mitsubishi Precision Co Ltd , 三菱プレシジョン株式会社
发明人： OGATA MASATO , TERADA HISAFUMI , KIKUKAWA TAKAAKI , HONGO ARATA , NAGASAKA MANABU , TAKANAMI KENTARO
IPC分类号： G09B9/00 , A61B19/00
摘要： PROBLEM TO BE SOLVED: To provide a simulated operation having high sense of reality which permits a simulation training of a high-level operation. SOLUTION: Biological data are obtained as follows: a segmentation part extracts an organ from imaging data obtained by imaging a living body with prescribed intervals in three axis directions; a physical constant setting part sets physical characteristics owned by a prescribed site of each extracted organ; and a finite element part divides the prescribed site in which the physical characteristics has been set into finite elements. In a simulation device, a dynamic device generates a reaction force in accordance with a position of an operation tool operated by an operation simulation operator and a contact position with a simulated living body, and a device for calculating simulated motion and image preparation calculates the movement of the operation tool by means of a haptic device using the obtained biological data, the contact of the operation tool with the simulated living body and the motion of the reaction force between simulated living bodies with a reaction of the simulated living body and prepares a simulated image imaged from a supposed endoscope. An image display device displays a prepared image. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供具有高现实感的模拟操作，其允许高级操作的模拟训练。解决方案：生物学数据如下获得：分割部分从三轴方向以规定间隔对活体成像获得的成像数据提取器官; 物理常数设定部分设置每个提取的器官的规定部位所拥有的身体特征; 有限元部分将物理特性设定为有限元的规定部位进行分割。在模拟装置中，动态装置根据由操作模拟操作者操作的操作工具的位置和与模拟生物体的接触位置产生反作用力，并且用于计算模拟运动和图像准备的装置计算运动通过使用所获得的生物数据的触觉装置，操作工具与模拟生物体的接触以及模拟生物体之间的反作用力与模拟生物体的反应的运动，并且准备模拟的从假想的内窥镜成像的图像。图像显示装置显示准备的图像。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2007264872A Computer using synchronized stack memory and computer system 有权
标题翻译：使用同步存储器和计算机系统的计算机
公开(公告)号：JP2007264872A
公开(公告)日：2007-10-11
申请号：JP2006086989
申请日：2006-03-28
申请人： Mitsubishi Precision Co Ltd , 三菱プレシジョン株式会社
发明人： KIKUKAWA TAKAAKI , SATO NORIO , OGATA MASATO
IPC分类号： G06F7/00 , G06F12/06 , G06F15/80
摘要： PROBLEM TO BE SOLVED: To accelerate stream data processing in a stream processor architecture. SOLUTION: In the constitution of the processor of (n-1) input and 1 output, (n-1) memories out of n memories connected to the processor are connected to the (n-1) input of the processor and one memory is connected to one output. For each process of the processor, the connection of the processor and the memory is successively circularly switched and connected for each memory. At the time, the memory connected to the output in the previous process is connected to the first input of the processor, the memories are successively switched and connected to the second to (n-2)th input, and the memory connected to the (n-1)th input is switched and connected to the output of the processor. The output of the processor is successively held for a plurality of steps, fed back for the plurality of steps for each process and inputted to the next process, and the computer constitution of high-speed processing is easily obtained. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：加速流处理器架构中的流数据处理。解决方案：在（n-1）输入和1输出的处理器的结构中，连接到处理器的n个存储器中的（n-1）个存储器连接到处理器的第（n-1）个输入端，并且一个存储器连接到一个输出。对于处理器的每个处理，处理器和存储器的连接被连续循环地切换并连接到每个存储器。此时，与先前处理中的输出连接的存储器连接到处理器的第一输入端，存储器依次切换并连接到第二至第（n-2）个输入端，存储器连接到 n-1）输入被切换并连接到处理器的输出。处理器的输出被连续保持多个步骤，为每个处理的多个步骤反馈并输入到下一个处理，并且容易地获得计算机构造的高速处理。版权所有（C）2008，JPO＆INPIT

6. 发明专利

JPH0830194A METHOD FOR FORMING GEOSPECIFIC TEXTURE 失效
公开(公告)号：JPH0830194A
公开(公告)日：1996-02-02
申请号：JP18040194
申请日：1994-07-11
申请人： MITSUBISHI PRECISION CO LTD
发明人： KIKUKAWA TAKAAKI , OGATA MASATO
IPC分类号： G09B29/00 , G03B37/00 , G09B29/12
摘要： PURPOSE:To form geospecific texture patterns by executing strain correction of aerial photographs. CONSTITUTION:The states of the plural sample points photographed by a camera when this camera is moved virtually over a map and the plural sample points on an actually taken photograph are compared. The position and attitude of the camera where and at which the photograph is taken are then retrieved. The information on the heights at the plural points more than the reference points is obtd. by interpolating the altitude values of the few reference points. Coordinate conversion to the aerial photograph is executed from the ground surface by assuming that the photograph is taken by the camera of the position and attitude determined by a coordinate conversion system to make the points on the ground surface and the points on the aerial photograph correspondent to each other. The image data of the aerial photograph is stored into a memory made correspondent to the ground surface.

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