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1. 发明专利

JP2014064755A Brake mechanism and medical manipulator including the same 有权
标题翻译：制动机构和医疗机器人，包括它们
公开(公告)号：JP2014064755A
公开(公告)日：2014-04-17
申请号：JP2012212061
申请日：2012-09-26
申请人： Terumo Corp , テルモ株式会社 , Suzuki Precion Co Ltd , 株式会社スズキプレシオン
发明人： ISHIDA SHINJI , SANO HIROAKI , SUZUKI YASUSUKE , FUKUDA JUNICHI
IPC分类号： A61B19/00 , A61B17/28 , B25J1/00 , B25J19/00
CPC分类号： A61B17/29 , A61B17/062 , A61B34/70 , A61B34/71 , A61B2017/00398 , A61B2017/2902 , A61B2017/2927 , A61B2017/2929 , A61B2017/2946 , A61B2017/2947 , A61B2090/508 , F16D49/16 , F16D63/006
摘要： PROBLEM TO BE SOLVED: To provide: a brake mechanism capable of obtaining a large brake force while reducing a repulsive force to press a brake shoe against a brake rotor; and a medical manipulator including the brake mechanism.SOLUTION: A medical manipulator 10 includes a brake mechanism 134. The brake mechanism 134 includes a brake rotor 174 and a brake shoe 176 contactable with an outer peripheral part of the brake rotor 174. A first gear 175A is disposed on the outer peripheral part of the brake rotor 174 along a circumferential direction thereof. A second gear 175B engageable with the first gear 175A is disposed at a portion of the brake shoe 176 which is opposed to the outer peripheral part of the brake rotor 174.
摘要翻译：要解决的问题：提供一种制动机构，其能够在减小将制动蹄压靠在制动转子上的推斥力的同时获得大的制动力; 以及包括制动机构的医疗机械手。解决方案：医疗机械手10包括制动机构134.制动机构134包括制动转子174和与制动转子174的外周部分接触的制动蹄片176.第一档 175A沿着其周向设置在制动转子174的外周部上。与第一齿轮175A接合的第二齿轮175B设置在制动蹄片176的与制动转子174的外周部相对的部分。

2. 发明专利

JP2013215507A Medical manipulator 有权
标题翻译：医疗机器人
公开(公告)号：JP2013215507A
公开(公告)日：2013-10-24
申请号：JP2012090800
申请日：2012-04-12
申请人： Terumo Corp , テルモ株式会社 , Suzuki Precion Co Ltd , 株式会社スズキプレシオン
发明人： ISHIDA SHINJI , SANO HIROAKI , SUZUKI YASUSUKE , MUGISHIMA HIROFUMI
IPC分类号： A61B17/28 , A61B19/00
摘要： PROBLEM TO BE SOLVED: To provide a medical manipulator capable of preventing or suppressing the opening degree change of an end effector even in a case that the leading end operation part is bent with respect to a shaft in a state that an object is grasped by the end effector.SOLUTION: A medical manipulator 10 includes an on-off drive transmission part 80 for driving an end effector 12 by performing advance and retreat movement with respect to a shaft 18. The on-off drive transmission part 80 has a pull wire 70 inserted in a joint part 17 between the shaft 18 and the leading end operation part 14 and a pull rod 91 inserted in the shaft 18. A load control mechanism 100 for transmitting the drive force from a lever 24 to the on-off drive transmission part 80 through a compression spring 105A is provided on the power transmission route between the on-off drive transmission part 80 and the lever 24.
摘要翻译：要解决的问题：提供一种能够防止或抑制末端执行器的开度变化的医疗机械手，即使在前端操作部相对于轴弯曲的情况下，在物体被抓住的状态下末端执行器。解决方案：医疗操纵器10包括用于通过相对于轴18进行前进和后退运动来驱动末端执行器12的开关驱动传动部分80.开关驱动传动部分80具有拉线70 插入在轴18和前端操作部14之间的接合部17中，以及插入轴18的拉杆91。一种负载控制机构100，用于将驱动力从杆24传递到开关驱动传递部通过压缩弹簧105A设置在开关驱动传动部80和杆24之间的动力传递路径上。

3. 发明专利

JP2010268844A Medical manipulator 审中-公开
标题翻译：医疗机器人
公开(公告)号：JP2010268844A
公开(公告)日：2010-12-02
申请号：JP2009120933
申请日：2009-05-19
申请人： Terumo Corp , テルモ株式会社
发明人： KATSUKI RYOHEI , SANO HIROAKI
IPC分类号： A61B19/00
摘要： PROBLEM TO BE SOLVED: To provide a medical manipulator having a working unit that is usable up to at least a limited number of use (N) and urges to stop using a working unit before it is used excessively when the working unit is continuously used subsequently. SOLUTION: The medical manipulator 10 includes an operational unit 14 and the working unit 16. A controller 27 recognizes the connection of a connecting unit 15 of the working unit 16 to an actuator block 30 of the operational unit 14 (S2) and performs start checkup operation for temporarily applying a prescribed load to a wire 54b. In the start checkup operation, a prescribed amount of tension is applied to the wire 54b by rotating an ellipsoidal cylindrical body 400 by a motor 40d (S6), and the wire 54b is operated by a prescribed amount by a motor 40b (S7). After the load of the tension is released, the motor 40b is operated by a prescribed amount to verify the breakage of the wire 54b from a load current at the time (S8). COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种具有工作单元的医疗机械手，其至少能够使用有限数量的使用（N），并且在工作单元是随后不断使用。解决方案：医疗操纵器10包括操作单元14和作业单元16.控制器27识别工作单元16的连接单元15与操作单元14（S2）的致动器块30的连接，以及执行用于暂时对线54b施加规定负荷的开始检查操作。在开始检查操作中，通过马达40d（S6）旋转椭圆柱形体400，向线54b施加规定量的张力，并且通过马达40b使线54b操作规定量（S7）。在张力的载荷被释放之后，马达40b被操作规定的量，以验证线54b在时刻的负载电流的断裂（S8）。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2010022414A Medical manipulator 审中-公开
标题翻译：医疗机器人
公开(公告)号：JP2010022414A
公开(公告)日：2010-02-04
申请号：JP2008183882
申请日：2008-07-15
申请人： Terumo Corp , テルモ株式会社
发明人： SANO HIROAKI , UENOHARA SHUICHI
IPC分类号： A61B19/00 , B25J3/00
摘要： PROBLEM TO BE SOLVED: To confirm the operation state of a medical manipulator on a monitor screen. SOLUTION: The medical manipulator 10 includes: an actuator block 30 provided with motors 40a, 40b and 40c; a connection part 15 freely attachable and detachable to/from the actuator block 30 and provided with pulleys 50a, 50b and 50c connected to the rotary shafts of the motors 40a, 40b and 40c; a distal end operation part 12 provided on the distal end of a connection shaft 48 extended from the connection part 15 and linked with the pulleys 50a, 50b and 50c through wires 54a, 54b and 54c; an LED 103 provided on the connection surface 30a of the actuator block 30; and an optical fiber 49 provided inside the connection shaft 48, for guiding the light of the LED 103 to the vicinity part of the distal end operation part 12. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：在监视器屏幕上确认医疗机械手的操作状态。医疗机械手10包括：具有马达40a，40b和40c的致动器块30; 连接部分15可自由地安装到驱动器块30上并与驱动器块30分离，并且设置有连接到电动机40a，40b和40c的旋转轴的滑轮50a，50b和50c; 远端部操作部12，其设置于从连接部15延伸并且通过线54a，54b，54c与滑轮50a，50b，50c连接的连接轴48的前端; 设置在致动器块30的连接面30a上的LED103; 以及设置在连接轴48内部的光纤49，用于将LED103的光引导到远端操作部12的附近。（C）2010，JPO＆INPIT

5. 发明专利

JP2004187737A Tube joining device 有权
公开(公告)号：JP2004187737A
公开(公告)日：2004-07-08
申请号：JP2002356073
申请日：2002-12-06
申请人： Nisca Corp , Terumo Corp , テルモ株式会社 , ニスカ株式会社
发明人： ISHIDA SHINJI , SANO HIROAKI , YAMANUSHI SATOSHI
IPC分类号： A61J1/14 , A61M1/14 , A61M39/02 , B29C65/20 , B29C65/78 , B29L23/00
CPC分类号： B29C65/2046 , B29C65/2061 , B29C65/2076 , B29C65/7802 , B29C65/7841 , B29C66/1142 , B29C66/5221 , B29C66/71 , B29C66/7373 , B29C66/73921 , B29C66/81427 , B29C66/857 , B29K2027/06
摘要： PROBLEM TO BE SOLVED: To provide a tube joining device capable of stably and surely joining tubes filled with liquid to each other. SOLUTION: The tube joining device is provided with a first clamp 6 for holding and flatly pressurizing two tubes and a second clamp roughly in the same shape as the first clamp 6. The clamps are provided with an upper jaw part and a lower jaw part and a tube push-in member 10 for flatly pressurizing the tube is disposed between the two clamps. The tube is cut by a wafer 41 held by a wafer holder 140 and cut end parts are joined with each other by the movement of the first clamp 6. The tube push-in member 10 is positioned and locked at a withdrawn position by a latch 250 at the time of cutting and joining the tubes and restored to an initial state by releasing a locked state by the latch 250 by a roller 206 when joining is completed. Stable cutting and joining are secured and workability is improved. COPYRIGHT: (C)2004,JPO&NCIPI

6. 发明专利

JP2013220107A Medical manipulator 有权
标题翻译：医疗机器人
公开(公告)号：JP2013220107A
公开(公告)日：2013-10-28
申请号：JP2012091264
申请日：2012-04-12
申请人： Terumo Corp , テルモ株式会社 , Suzuki Precion Co Ltd , 株式会社スズキプレシオン
发明人： ISHIDA SHINJI , SANO HIROAKI , SUZUKI YASUSUKE , MUGISHIMA HIROFUMI
IPC分类号： A61B19/00 , A61B18/12 , B25J3/00
摘要： PROBLEM TO BE SOLVED: To improve operability of an end effector performing treatment to an object to be treated.SOLUTION: A manipulator 10 includes a shaft 16, a distal end operation section 14 having a gripper 12 for performing electrical treatment to an object to be treated X, a wire 60 capable of supplying power to the gripper 12, and a handle 18 for operating the gripper 12. The distal end operation section 14 includes: a bending section 34 provided between the gripper 12 and the shaft 16 and bending the distal end operation section 14 in a direction different from the axial direction of the shaft 16 by operating force in a bending direction transmitted from the handle 18; and a hollow tube 82 provided at a position overlapping the bending section 34, and capable of bending following the operation of the bending section 34. The hollow tube 82 has a hollow section 82a where the wire 60 is disposed, and is capable of transmitting operating force transmitted from the handle 18 to the gripper 12.
摘要翻译：要解决的问题：提高对待处理物体进行处理的末端执行器的可操作性。解决方案：机械手10包括轴16，远端操作部14，其具有用于对物体进行电处理的夹持器12 处理过的X，能够向夹具12供电的线60以及用于操作夹持器12的手柄18.远端操作部14包括：设置在夹持器12和轴16之间的弯曲部34，通过从手柄18传递的弯曲方向上的操作力，沿与轴16的轴向不同的方向结束操作部14; 以及设置在与弯曲部分34重叠的位置处的中空管82，并且能够在弯曲部分34的操作之后弯曲。中空管82具有中空部分82a，其中布线60布置，并且能够传送操作从把手18传递到夹具12的力。

7. 发明专利

JP2013215508A Medical manipulator 有权
标题翻译：医疗机器人
公开(公告)号：JP2013215508A
公开(公告)日：2013-10-24
申请号：JP2012090802
申请日：2012-04-12
申请人： Terumo Corp , テルモ株式会社 , Suzuki Precion Co Ltd , 株式会社スズキプレシオン
发明人： ISHIDA SHINJI , SANO HIROAKI , SUZUKI YASUSUKE , MUGISHIMA HIROFUMI
IPC分类号： A61B19/00
摘要： PROBLEM TO BE SOLVED: To provide a medical manipulator capable of preventing the generation of interference operation when a leading end operation part is operated on the basis of an electromotive operation part.SOLUTION: A tilting wheel 26 as a manual operation part, a roll switch 28 as an electromotive operation part and a motor 38 operated on the basis of the operation to the roll switch 28 are provided to the handle of a medical manipulator 10. An one-direction power transmission mechanism 176 constituted so as to transmit the power toward the leading end operation part 14 from the manual operation part but not to transmit the power in the reverse direction is provided on the way of the power transmission route between the tilting wheel 26 and the leading end operation part 14. This one-direction power transmission mechanism 176 comprises a worm gear 144 and a worm wheel 147.
摘要翻译：要解决的问题：提供一种能够在基于电动操作部件操作前端操作部时防止产生干扰动作的医疗机械手。解决方案：作为手动操作部的倾斜轮26，滚动开关作为电动操作部件的马达38和基于对滚动开关28的操作而操作的马达38设置在医疗机械手10的把手上。一个单向动力传递机构176构造成将动力传递到在倾斜轮26和前端操作部14之间的动力传递路径的路径上，设置来自手动操作部的前端操作部14，而不是向相反方向传递动力。该单向动力传递机构 176包括蜗轮144和蜗轮147。

8. 发明专利

JP2009050288A Work mechanism of medical manipulator 审中-公开
标题翻译：医疗机器人的工作机制
公开(公告)号：JP2009050288A
公开(公告)日：2009-03-12
申请号：JP2007216893
申请日：2007-08-23
申请人： Terumo Corp , テルモ株式会社
发明人： SAKAGUCHI SATOSHI , SANO HIROAKI
IPC分类号： A61B19/00 , A61B17/16 , A61B17/28 , A61B17/34
CPC分类号： A61B34/70 , A61B34/71 , A61B2017/0046 , A61B2017/2902 , A61B2090/0807
摘要： PROBLEM TO BE SOLVED: To provide the work mechanism of a medical manipulator capable of simply and accurately judging the state of a wire member for transmitting power. SOLUTION: The work part 16 of the manipulator is equipped with a hollow connection shaft 48, the wires 52, 54 and 56 of the power transmission member provided to the connecting shaft 48, and the leading end operation part 12 provided to one end of the connection shaft 48 and operated by the wires 52, 54 and 56. The wires 52, 54 and 56 are wound around a cylindrical body by the leading end operation part 12. A visual recognizing hole 49 capable of visually recognizing the wires 52, 54 and 56 is provided to the left and right side surfaces in the vicinity of the leading end of the connection shaft 48. This visual recognizing hole 49 is provided at a position where the cylindrical body is exposed. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供能够简单且准确地判断用于发送电力的线材的状态的医疗机械手的工作机构。解决方案：机械手的工作部件16配备有中空连接轴48，设置在连接轴48上的动力传递部件的线52,54和56以及设置在连接轴48上的前端操作部12 连接轴48的端部并且由导线52,54和56操作。线52,54和56通过前端操作部分12卷绕在圆柱体上。能够视觉识别线52的视觉识别孔49 ，54和56设置在连接轴48的前端附近的左右侧表面。该视觉识别孔49设置在筒体露出的位置。版权所有（C）2009，JPO＆INPIT

9. 发明专利

JP2005022341A Tube joining device 有权
标题翻译：管接合装置
公开(公告)号：JP2005022341A
公开(公告)日：2005-01-27
申请号：JP2003192370
申请日：2003-07-04
申请人： Nisca Corp , Terumo Corp , テルモ株式会社 , ニスカ株式会社
发明人： SANO HIROAKI , NAGASHIMADA MASARU , ISHIDA SHINJI , FUJIWARA HIDEYA , YAMANUSHI SATOSHI
IPC分类号： A61M5/14 , A61M1/14 , A61M1/28 , A61M39/02 , A61M39/14 , B29C65/00 , B29C65/20 , B29L22/00 , B29L23/00
CPC分类号： B29C65/203 , A61M39/146 , B29C65/2046 , B29C65/2076 , B29C65/7802 , B29C65/7841 , B29C66/1142 , B29C66/5221 , B29C66/71 , B29C66/7373 , B29C66/8167 , B29C66/818 , B29C66/857 , B29C66/872 , B29C66/876 , B29C66/91213 , B29C66/91231 , B29C66/91421 , B29C66/91431 , B29C66/91651 , B29C66/919 , B29C66/942 , B29C66/96 , B29C66/961 , B29L2031/7148 , Y10T156/1054 , Y10T156/12 , Y10T156/1313 , Y10T156/1326 , B29K2027/06
摘要： PROBLEM TO BE SOLVED: To provide a safe tube joining device capable of restoring spontaneously without damaging the device even in the case when power supply is interrupted during operation of joining the tube. SOLUTION: The tube joining device is equipped with EEPROM storing the information on the state of a tube joining process. A restoration processing is executed when the power is turned on and when the power supply is judged to be interrupted in the course of joining the tube from the information on the state of the joining process of the tube stored in the EEPROM and the result of detection of a wafer 41 of a wafer position detecting sensor 421. In the restoration processing, the wafer is reheated to melt the tube fixed to the wafer (S614, 616) and the operation is restarted to complete the joining operation (S620-632), while an error indication is made in an LCD indicating part so as to assure a joining strength and others (S634). The safety is ensured by not resetting a cooling time locking state (S628-632) after heating of the wafer is stopped. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：即使在连接管的操作期间电源被中断的情况下，提供一种能够自发恢复而不损坏装置的安全的管接合装置。
解决方案：管接合装置配备有存储关于管接合过程的状态的信息的EEPROM。当接通电源时，在连接管的过程中判定电源中断的信息与存储在EEPROM中的管的接合过程的状态信息和检测结果之间执行恢复处理晶片位置检测传感器421的晶片41.在恢复处理中，再次加热晶片以熔化固定在晶片上的管（S614,616），并重新启动操作以完成接合操作（S620-632），同时在LCD指示部分进行错误指示，以确保接合强度等（S634）。在晶片加热停止后，通过不复位冷却时间锁定状态（S628-632）来确保安全。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2013220109A Medical manipulator 有权
标题翻译：医疗机器人
公开(公告)号：JP2013220109A
公开(公告)日：2013-10-28
申请号：JP2012091271
申请日：2012-04-12
申请人： Terumo Corp , テルモ株式会社 , Suzuki Precion Co Ltd , 株式会社スズキプレシオン
发明人： ISHIDA SHINJI , SANO HIROAKI , SUZUKI YASUSUKE , MUGISHIMA HIROFUMI
IPC分类号： A61B18/12 , A61B18/04
摘要： PROBLEM TO BE SOLVED: To improve operability of an end effector which performs treatment to an object to be treated.SOLUTION: A manipulator 10 includes a shaft 16, a distal end operation section 14 having a gripper 12, and a handle 18 for operating the gripper 12. The shaft 16 includes an outer cylinder 84 mounted on and fixed to the handle 18, and an inner cylinder 86 inserted in the outer cylinder 84. The handle 18 includes a forward and backward movement mechanism 98 for moving the inner cylinder 86 in distal end and proximal end directions relative to the outer cylinder 84, and a rotation mechanism 88 for rotating the inner cylinder 86 relative to the outer cylinder 84 between a position at which the inner cylinder 86 is moved to a distal end side and a position at which it is moved to a proximal end side by the forward and backward movement mechanism 98.
摘要翻译：要解决的问题：提高对待处理物体进行处理的端部执行器的可操作性。解决方案：操纵器10包括轴16，具有夹持器12的远端操作部14和用于操作轴16包括安装在手柄18上并固定到手柄18上的外筒84和插入外筒84中的内筒86.手柄18包括用于使内筒86移动的前后运动机构98 相对于外筒84的远端和近端方向;以及旋转机构88，用于使内筒86相对于外筒84在内筒86移动到远端侧的位置和其通过前后移动机构98移动到近端侧。

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