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41. 发明授权

US06993413B2 Manipulator and its control apparatus and method 有权
标题翻译：机械手及其控制装置及方法
公开(公告)号：US06993413B2
公开(公告)日：2006-01-31
申请号：US10813110
申请日：2004-03-31
申请人： Takamitsu Sunaoshi
发明人： Takamitsu Sunaoshi
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/70 , G06F19/00 , G16H40/63
摘要： A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes: a function of determining a non-mater/slave operative mode or a master/slave operative mode; a function of calculating a difference between the orientation of the master unit and the orientationof the slave unit; and a function of comparing the absolute value of the difference with a preset reference value; and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in the master/slave operative mode, the transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.
摘要翻译：一种以主/从操作模式操作的操纵器，包括：主单元，命令操作; 具有工作单元的从单元; 检测器，检测主单元的取向和从单元的方向; 以及响应于来自所述主单元的命令来控制所述从单元的控制装置，其中所述控制装置包括：确定非主/从操作模式或主/从操作模式的功能; 计算主单元的取向与从单元的取向之间的差的功能; 以及将差分的绝对值与预设的参考值进行比较的功能; 并且根据比较的结果，在主/从操作模式中确定正常的主/从操作模式或过渡主/从操作模式，过渡主/从操作模式是非主模式的过渡模式 /从站操作模式到主/从操作模式。

42. 发明申请

US20050234434A1 Medical manipulator 审中-公开
标题翻译：医疗机械手
公开(公告)号：US20050234434A1
公开(公告)日：2005-10-20
申请号：US11082938
申请日：2005-03-18
申请人： Takamitsu Sunaoshi
发明人： Takamitsu Sunaoshi
IPC分类号： A61B17/00 , A61B19/00
CPC分类号： A61B34/70
摘要： A medical manipulator including: a rotational assembly configured to transmit driving force; a chassis including a cavity configured to house the rotational assembly; a bearing slot configured to support the rotational assembly; a flush port connecting an outside of the chassis and the cavity; and a channel including openings on a shoulder and a bottom of the bearing slot, the openings being open even if the rotational assembly is fitted into the bearing slot.
摘要翻译：一种医疗机械手，包括：旋转组件，被配置为传递驱动力; 底盘，其包括构造成容纳所述旋转组件的空腔; 轴承槽，构造成支撑旋转组件; 连接底盘外部和空腔的冲洗口; 以及包括在轴承槽的肩部和底部上的开口的通道，即使旋转组件装配到轴承槽中，开口也是敞开的。

43. 发明申请

US20050222587A1 Manipulator apparatus 审中-公开
标题翻译：机械手装置
公开(公告)号：US20050222587A1
公开(公告)日：2005-10-06
申请号：US11090163
申请日：2005-03-28
申请人： Makoto Jinno , Takamitsu Sunaoshi , Kenji Ido , Kei Tomioka
发明人： Makoto Jinno , Takamitsu Sunaoshi , Kenji Ido , Kei Tomioka
IPC分类号： A61B17/00 , A61B17/28 , A61B19/00
CPC分类号： A61B34/70 , A61B34/74 , A61B2017/00398 , A61B2017/0042 , A61B2017/291
摘要： A manipulator apparatus comprises a surgical treatment section to be inserted into a subject body, a supporting section which turnably supports the surgical treatment section around a first axis and a second axis, an arm section having the supporting section connected to a distal end side thereof, a manipulating section provided at a proximal end side of the arm section, a manipulating lever provided at the manipulating section, the manipulating lever being turnably supported around a third axis provided at the proximal end side of the arm section, and a manipulating device provided at the manipulating lever, the manipulating device causing the surgical treatment section to turn around the first axis and the second axis.
摘要翻译：一种机械手装置，包括插入到被检体内的外科治疗部，支承部，其将第一轴和第二轴的外科治疗部可转动地支撑;臂部，其支撑部与前端侧连接，设置在所述臂部的近端侧的操作部，设置在所述操作部的操作杆，所述操作杆围绕设置在所述臂部的基端侧的第三轴线被可转动地支撑;以及操作装置，所述操纵杆，所述操纵装置使得所述外科治疗部分绕所述第一轴线和所述第二轴线转动。

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