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1. 发明授权

US08602968B2 Endoscope apparatus 有权
标题翻译：内窥镜装置
公开(公告)号：US08602968B2
公开(公告)日：2013-12-10
申请号：US12559828
申请日：2009-09-15
申请人： Yoshitaka Umemoto , Kazuhiko Takahashi , Tetsuo Nonami
发明人： Yoshitaka Umemoto , Kazuhiko Takahashi , Tetsuo Nonami
IPC分类号： A61B1/00
CPC分类号： A61B1/04 , A61B1/018 , A61B34/20 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2034/107 , A61B2034/108 , A61B2034/2055
摘要： When an operation instruction is input by a first (second) control output instruction input device, locus calculation means calculates a locus of movement of a first (second) therapeutic device on the basis of any one of joint sections, which is instructed to operate. On the basis of a calculation result by the locus calculation means, therapeutic device operation control means controls an operation of the first (second) therapeutic device by a first (second) active mechanism. Thereby, there is provided an endoscope apparatus which can improve the operational efficiency and positional precision of the therapeutic device.
摘要翻译：当由第一（第二）控制输出指令输入装置输入操作指令时，轨迹计算装置根据被指示操作的任一个接合部分计算第一（第二）治疗装置的移动轨迹。基于轨迹计算装置的计算结果，治疗装置运行控制装置通过第一（第二）活动机构来控制第一（第二）治疗装置的动作。由此，能够提高治疗装置的操作效率和位置精度的内窥镜装置。

2. 发明申请

US20110282154A1 MEDICAL APPARATUS 有权
标题翻译：医疗器械
公开(公告)号：US20110282154A1
公开(公告)日：2011-11-17
申请号：US13088750
申请日：2011-04-18
申请人： Yoshitaka UMEMOTO
发明人： Yoshitaka UMEMOTO
IPC分类号： A61B1/00
CPC分类号： A61B1/0051 , A61B5/065 , A61M25/0144 , A61M25/0147
摘要： A medical apparatus includes a bending portion that is bent via a pulled wire, a drive section that pulls the wire, a detection section and a drive force amount detection section that detect an amount of drive of the drive section and an amount of drive force, a storage section that stores information on a correlation of the amount of drive force and the amount of drive of the drive section beforehand, a bending amount detection section that detects the amount of bending of the bending portion based on the amount of drive and the amount of drive force, and the information of the storage section, a judgment section that judges the presence or absence of looseness of the wire from a detection result of the drive force amount detection section and a correction section that corrects the amount of drive by the drive section based on a judgment result of the judgment section.
摘要翻译：医疗装置包括经由拉线弯曲的弯曲部，牵引线的驱动部，检测驱动部的驱动量和驱动力的检测部和驱动力检测部，预先存储关于驱动力的量与驱动部的驱动量的相关性的信息的存储部，基于驱动量和量的量来检测弯曲部的弯曲量的弯曲量检测部驱动力的信息和存储部分的信息，判断部分根据驱动力检测部分的检测结果来判断线的松动是否存在;以及校正部，其校正驱动器的驱动量基于判断部的判断结果。

3. 发明授权

US08497898B2 Endoscope system and low visibility determining method 有权
标题翻译：内窥镜系统和低能见度确定方法
公开(公告)号：US08497898B2
公开(公告)日：2013-07-30
申请号：US13357738
申请日：2012-01-25
申请人： Hiroki Moriyama , Yoshitaka Umemoto
发明人： Hiroki Moriyama , Yoshitaka Umemoto
IPC分类号： H04N7/18
CPC分类号： A61B1/00009 , A61B1/00006 , A61B1/05
摘要： An endoscope system includes an image pickup section, provided in an endoscope, which performs image pickup, a determining section that determines whether a specific observation object exists inside an image pickup region of the image pickup section, a recognizing section that determines whether the specific observation object can be recognized as an image from the picked-up image in the image pickup region picked up by the image pickup section, a low visibility determination output section that determines, when the determining section determines that the specific observation object exists inside the image pickup region and the recognizing section cannot recognize the specific observation object as an image, that the image pickup section is in a low visibility condition and outputs a low visibility determination result, and an obstacle estimation section that estimates an obstacle or a type of obstacle which causes the low visibility according to the low visibility determination result.
摘要翻译：一种内窥镜系统，包括设置在内窥镜中的图像拾取部，所述摄像部进行图像拾取;确定部，确定特定观察对象是否存在于所述摄像部的摄像区域内;识别部，其判定所述特定观察物体可以被识别为由图像拾取部拾取的图像拾取区域中的拾取图像的图像;低可见度判定输出部，其确定当确定部确定特定观察对象存在于图像拾取器内时区域，并且识别部分不能将特定观察对象识别为图像，图像拾取部分处于低可见度条件并输出低可见度确定结果;以及障碍物估计部件，其估计导致的障碍物或障碍物的类型根据低可见度确定结果的低可见度。

4. 发明授权

US08403833B2 Medical apparatus 有权
标题翻译：医疗器械
公开(公告)号：US08403833B2
公开(公告)日：2013-03-26
申请号：US13088750
申请日：2011-04-18
申请人： Yoshitaka Umemoto
发明人： Yoshitaka Umemoto
IPC分类号： A61B1/00
CPC分类号： A61B1/0051 , A61B5/065 , A61M25/0144 , A61M25/0147
摘要： A medical apparatus includes a bending portion that is bent via a pulled wire, a drive section that pulls the wire, a detection section and a drive force amount detection section that detect an amount of drive of the drive section and an amount of drive force, a storage section that stores information on a correlation of the amount of drive force and the amount of drive of the drive section beforehand, a bending amount detection section that detects the amount of bending of the bending portion based on the amount of drive and the amount of drive force, and the information of the storage section, a judgment section that judges the presence or absence of looseness of the wire from a detection result of the drive force amount detection section and a correction section that corrects the amount of drive by the drive section based on a judgment result of the judgment section.
摘要翻译：医疗装置包括经由拉线弯曲的弯曲部，牵引线的驱动部，检测驱动部的驱动量和驱动力的检测部和驱动力检测部，预先存储关于驱动力的量与驱动部的驱动量的相关性的信息的存储部，基于驱动量和量的量来检测弯曲部的弯曲量的弯曲量检测部驱动力的信息和存储部分的信息，判断部分根据驱动力检测部分的检测结果来判断线的松动是否存在;以及校正部，其校正驱动器的驱动量基于判断部的判断结果。

5. 发明申请

US20120182409A1 ENDOSCOPE SYSTEM AND LOW VISIBILITY DETERMINING METHOD 有权
标题翻译：内窥镜系统和低可见性确定方法
公开(公告)号：US20120182409A1
公开(公告)日：2012-07-19
申请号：US13357738
申请日：2012-01-25
申请人： Hiroki MORIYAMA , Yoshitaka UMEMOTO
发明人： Hiroki MORIYAMA , Yoshitaka UMEMOTO
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： A61B1/00009 , A61B1/00006 , A61B1/05
摘要： An endoscope system includes an image pickup section, provided in an endoscope, which performs image pickup, a determining section that determines whether a specific observation object exists inside an image pickup region of the image pickup section, a recognizing section that determines whether the specific observation object can be recognized as an image from the picked-up image in the image pickup region picked up by the image pickup section, a low visibility determination output section that determines, when the determining section determines that the specific observation object exists inside the image pickup region and the recognizing section cannot recognize the specific observation object as an image, that the image pickup section is in a low visibility condition and outputs a low visibility determination result, and an obstacle estimation section that estimates an obstacle or a type of obstacle which causes the low visibility according to the low visibility determination result.
摘要翻译：一种内窥镜系统，包括设置在内窥镜中的图像拾取部，所述摄像部进行图像拾取;确定部，确定特定观察对象是否存在于所述摄像部的摄像区域内;识别部，其判定所述特定观察物体可以被识别为由图像拾取部拾取的图像拾取区域中的拾取图像的图像;低可见度判定输出部，其确定当确定部确定特定观察对象存在于图像拾取器内时区域，并且识别部分不能将特定观察对象识别为图像，图像拾取部分处于低可见度条件并输出低可见度确定结果;以及障碍物估计部件，其估计导致的障碍物或障碍物的类型根据低可见度确定结果的低可见度。

6. 发明申请

US20110295063A1 MEDICAL SYSTEM AND CONTROL METHOD 有权
标题翻译：医疗系统与控制方法
公开(公告)号：US20110295063A1
公开(公告)日：2011-12-01
申请号：US13154878
申请日：2011-06-07
申请人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI
发明人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI
IPC分类号： A61B1/008 , A61B1/04
CPC分类号： A61B1/008 , A61B1/0016 , A61B1/0052 , A61B1/0057 , G02B23/2476
摘要： A medical system includes a movable portion configured to allow an angle to be changed within a predetermined angular range, an actuator configured to drive the movable portion so as to change the angle of the movable portion when a wire is pulled, a control unit configured to perform drive control of the actuator, a slack detection unit configured to detect a driving condition as to whether or not the wire is slack, a slack adjustment unit configured to adjust slack of the wire based on a detection result produced by the slack detection unit; and a slack adjustment command input unit used to input a command to adjust the slack of the wire, wherein the slack adjustment unit adjusts the slack of the wire to a predetermined state of adjustment in response to the command to adjust the slack of the wire.
摘要翻译：一种医疗系统，包括被配置为允许在预定角度范围内改变角度的可移动部分;致动器，被配置为驱动可移动部分，以便当拉线时改变可移动部分的角度;控制单元，执行所述致动器的驱动控制;松弛检测单元，被配置为检测所述导线是否松弛的驱动条件;松弛调整单元，被配置为基于由所述松弛检测单元产生的检测结果来调节所述导线的松弛; 以及松弛调整指令输入单元，用于输入调整线的松弛的指令，其中，松弛调整单元响应于调节线的松弛的命令，将线的松弛调整到预定的调整状态。

7. 发明申请

US20100106157A1 MEDICAL MANIPULATION APPARATUS 审中-公开
标题翻译：医疗操作装置
公开(公告)号：US20100106157A1
公开(公告)日：2010-04-29
申请号：US12652855
申请日：2010-01-06
申请人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI
发明人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI
IPC分类号： A61B18/14 , A61B1/04
CPC分类号： A61B18/1492 , A61B1/018 , A61B1/045 , A61B17/22012 , A61B18/1445 , A61B2018/00982
摘要： An active mechanism control apparatus includes a state detecting section which detects an output state of energy supplied to an energy treatment instrument by a status signal from an energy output apparatus. The state detecting section controls an energy output device, an active endoscope control section and an active treatment instrument control section based on the output state of the energy to the energy treatment instrument.
摘要翻译：主动机构控制装置包括状态检测部，其通过来自能量输出装置的状态信号检测供给能量处理器具的能量的输出状态。状态检测部基于能量处理器具的输出状态来控制能量输出装置，主动内窥镜控制部和主动治疗仪控制部。

8. 发明申请

US20100004505A1 ENDOSCOPE APPARATUS 有权
标题翻译：内窥镜装置
公开(公告)号：US20100004505A1
公开(公告)日：2010-01-07
申请号：US12559828
申请日：2009-09-15
申请人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI , Tetsuo NONAMI
发明人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI , Tetsuo NONAMI
IPC分类号： A61B1/008
CPC分类号： A61B1/04 , A61B1/018 , A61B34/20 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2034/107 , A61B2034/108 , A61B2034/2055
摘要： When an operation instruction is input by a first (second) control output instruction input device, locus calculation means calculates a locus of movement of a first (second) therapeutic device on the basis of any one of joint sections, which is instructed to operate. On the basis of a calculation result by the locus calculation means, therapeutic device operation control means controls an operation of the first (second) therapeutic device by a first (second) active mechanism. Thereby, there is provided an endoscope apparatus which can improve the operational efficiency and positional precision of the therapeutic device.
摘要翻译：当由第一（第二）控制输出指令输入装置输入操作指令时，轨迹计算装置根据被指示操作的任一个接合部分计算第一（第二）治疗装置的移动轨迹。基于轨迹计算装置的计算结果，治疗装置运行控制装置通过第一（第二）活动机构来控制第一（第二）治疗装置的动作。由此，能够提高治疗装置的操作效率和位置精度的内窥镜装置。

9. 发明申请

US20090112316A1 MANIPULATOR APPARATUS AND MEDICAL DEVICE SYSTEM 有权
标题翻译：操纵器装置和医疗装置系统
公开(公告)号：US20090112316A1
公开(公告)日：2009-04-30
申请号：US12260437
申请日：2008-10-29
申请人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI , Tetsuo NONAMI
发明人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI , Tetsuo NONAMI
IPC分类号： A61F2/02 , B25J13/08 , B25J9/06 , B25J19/02 , B25J17/02 , G06F19/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/71 , A61B90/361 , A61B2017/00314 , A61B2034/306 , A61B2090/064 , B25J9/1633 , B25J9/1643
摘要： A medical device system includes a manipulator including a plurality of joints, a parameter storing portion for storing joint parameters, including a largest available force, of each joint of the plurality of joints, a trajectory inputting portion for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator from a current position and attitude to a target position and attitude, a trajectory setting portion for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.
摘要翻译：一种医疗装置系统，包括具有多个关节的操纵器，用于存储包括所述多个关节各关节的最大可用力的关节参数的参数存储部，轨迹输入部，作为轨迹计划输入轨迹用于将操纵器的远端从当前位置和姿态移动到目标位置和姿态;轨迹设置部分，用于为每个关节设置关节角度轨迹，从关节角度轨迹中提供最大可用力，所述关节角度轨迹允许移动到目标基于存储在参数存储部分和轨迹计划中的每个关节的最大可用力参数，具有最小数量的从动关节的位置和姿态。

10. 发明申请

US20090104418A1 ISOTROPIC FIBER-REINFORCED THERMOPLASTIC RESIN SHEET, AND PROCESS FOR PRODUCTION AND MOLDED PLATE THEREOF 有权
标题翻译： ISOTROPIC光纤增强热塑性树脂片及其生产和成型板的工艺
公开(公告)号：US20090104418A1
公开(公告)日：2009-04-23
申请号：US12063191
申请日：2006-08-14
申请人： Takeru Ohki , Takeshi Naito , Yoshitaka Umemoto
发明人： Takeru Ohki , Takeshi Naito , Yoshitaka Umemoto
IPC分类号： B29C70/06 , B32B27/04
CPC分类号： B29C70/502 , B29C43/003 , B29C70/12 , B29K2101/12 , B29K2105/0854 , B29K2307/00 , C08J5/042 , C08J5/24 , C08J2377/02 , Y10T428/2495 , Y10T428/249948
摘要： An isotropic fiber-reinforced thermoplastic resin sheet wherein a chopped strand prepreg comprising a thermoplastic resin and a reinforcing fiber is layered so that the fiber orientation is random, the prepreg having a fiber volume fraction (Vf) of 20% to 50%, a length in the fiber axis direction of 15 to 45 mm, and a thickness of no greater than 0.13 mm, and the layered material is molded into sheet form by heating and pressing, and a molded plate obtained from the isotropic fiber-reinforced thermoplastic resin sheet. Even if the volume fraction of the reinforcing fiber is relatively low, a fiber-reinforced thermoplastic resin sheet and a molded plate that are excellent in terms of mechanical properties and their uniformity can be obtained.
摘要翻译：一种各向同性纤维增强热塑性树脂片，其中将包含热塑性树脂和增强纤维的短切预浸料坯层压成纤维取向是随机的，预浸料坯的纤维体积分数（Vf）为20％至50％，长度在纤维轴方向上为15〜45mm，厚度为0.13mm以下，通过加热加压成型为片状，由各向同性纤维强化热塑性树脂片形成的成形板。即使增强纤维的体积分数相对较低，也可以获得在机械性能和均匀性方面优异的纤维增强热塑性树脂片和模制板。

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