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1. 发明授权

US07101363B2 Medical manipulator having a plurality of joints 有权
标题翻译：具有多个关节的医疗机械手
公开(公告)号：US07101363B2
公开(公告)日：2006-09-05
申请号：US10675985
申请日：2003-10-02
申请人： Kouji Nishizawa , Fujio Tajima , Kosuke Kishi
发明人： Kouji Nishizawa , Fujio Tajima , Kosuke Kishi
IPC分类号： A61B17/00 , A61B17/28 , A61B17/42 , A61B17/44
CPC分类号： A61B17/062 , A61B34/70 , A61B34/71 , A61B2017/2927 , A61B2017/2939 , A61B2090/064
摘要： A manipulator for medical use having a reduced size and improved controllability. The manipulator includes a surgical tool portion, a grip portion provided on the surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion. The surgical tool can be separated from, and connected to, the driver portion. The surgical tool portion has two rotating members disposed in opposing relation to each other. A driving arrangement is provided for driving one of the rotating members and causing it to revolute the other rotating member, but not rotate by itself. An arrangement is also provided for keeping a distance between rotation centers of the two rotating members constant.
摘要翻译：用于医疗用途的操纵器具有减小的尺寸和改善的可控性。机械手包括手术工具部分，设置在手术工具部分上的把手部分和用于驱动设置在外科手术工具部分上的把手部分的驱动器部分。手术工具的连接部分设置在手术工具部分和驱动器部分之间。手术工具可以与驱动器部分分离并连接到驱动器部分。手术工具部分具有彼此相对设置的两个旋转部件。提供驱动装置，用于驱动旋转构件之一并使其旋转另一个旋转构件，但不会自身旋转。还提供了用于保持两个旋转构件的旋转中心之间的距离恒定的布置。

2. 发明申请

US20070208375A1 Surgical device 审中-公开
标题翻译：手术装置
公开(公告)号：US20070208375A1
公开(公告)日：2007-09-06
申请号：US11359375
申请日：2006-02-23
申请人： Kouji Nishizawa , Takeshi Hoshino , Yukinobu Maruyama
发明人： Kouji Nishizawa , Takeshi Hoshino , Yukinobu Maruyama
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B2017/00424 , A61B2017/00438 , A61B2017/291 , A61B2017/2925 , A61B2017/2927 , A61B2017/2939 , A61B2034/715
摘要： The invention provides a surgical device which can control a position and an attitude of a multi degree of freedom type grip portion (forceps) in a dummy manner on the basis of an operation of an operator in an operating portion. In a surgical device provided with a leading end joint portion having a leading end grip portion, a near-side joint portion having an operation portion, a handle portion supporting the operation portion, and an arm portion storing a wire for linking motions of the leading end joint portion and the near-side joint portion, the leading end joint portion is moved downward and upward by operating the operation portion and the handle portion upward and downward around the near-side joint portion, and the leading end joint portion is moved rightward and leftward by operating the operation portion and the handle portion leftward and rightward, thereby making the leading end joint portion execute a swing motion, and the leading end grip portion is opened and closed by opening and closing finger rests of the operation portion.
摘要翻译：本发明提供一种手术装置，其可以基于操作者在操作部中的操作来以虚拟方式控制多自由度型握持部（镊子）的位置和姿态。在具有前端握持部的前端接头部的手术装置中，具有操作部的近侧接合部，支撑操作部的手柄部和存储用于连接前导部的动作的线的臂部端部接合部和近侧接合部，通过使操作部和手柄部在近侧接合部上周围上下操作而使前端接头部向下下移动，前端接头部向右方移动并且通过操作操作部分和把手部分向左和向右操作，从而使前端接头部分进行摆动，并且通过打开和关闭操作部分的手指来打开和关闭前端把手部分。

3. 发明授权

US06496756B1 Master-slave manipulator apparatus and method therefor, further training apparatus for manipulator operation input and method therefor 失效
标题翻译：主从机械手装置及其方法，用于机械手操作输入的进一步训练装置及其方法
公开(公告)号：US06496756B1
公开(公告)日：2002-12-17
申请号：US09441053
申请日：1999-11-16
申请人： Kouji Nishizawa , Kazutoshi Kan , Masakatsu Fujie
发明人： Kouji Nishizawa , Kazutoshi Kan , Masakatsu Fujie
IPC分类号： G05B1500
CPC分类号： B25J9/1689 , G05B19/427 , G05B2219/37344 , G05B2219/40195 , G05B2219/40408 , G05B2219/40415
摘要： A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented, thereby reflecting the operator's intention accurately and correctly, includes a master manipulator for conducting an operation input therewith, a controller for processing the operation input, and a slave manipulator for operating upon drive instruction from the controller, wherein the master manipulator includes a plurality of force detectors, and the controller decides a driver shaft, by comparing an output from a pattern producing means for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.
摘要翻译：一种主从机械手装置及其控制方法，其中防止了操作者不想要的运动，从而反映操作者的意图准确正确地包括用于进行操作输入的主操纵器，用于处理操作输入和用于对来自控制器的驱动指令进行操作的从动操纵器，其中所述主操纵器包括多个力检测器，并且所述控制器通过比较来自用于产生生成模式的生成模式的模式产生装置的输出来决定驱动器轴多个力检测器的输出预先存储在存储装置中的图案，从而去除在主操纵器的操作输入中无意识地引起的操作输入。

4. 发明申请

US20060190034A1 Surgical instrument 审中-公开
标题翻译：手术器械
公开(公告)号：US20060190034A1
公开(公告)日：2006-08-24
申请号：US11362140
申请日：2006-02-27
申请人： Kouji Nishizawa , Takeshi Hoshino , Yukinobu Maruyama
发明人： Kouji Nishizawa , Takeshi Hoshino , Yukinobu Maruyama
IPC分类号： A61B17/28
CPC分类号： A61B17/29 , A61B17/2909 , A61B34/70 , A61B34/71 , A61B2017/00424 , A61B2017/2902 , A61B2017/292 , A61B2017/2923 , A61B2017/2927 , A61B2017/2929 , A61B2017/2932
摘要： A surgical instrument comprising a tip end joint part having an openable and closeable gripper, an operating part including a hand grip and a plurality of operating dials, and an arm part that accommodates a wire for cooperation of actions of the operating part and the tip end joint part. A first operating dial is arranged above the hand grip and on an upper inclined surface of the operating part, second and third operating dials are arranged above the hand grip and on a front surface of the operating part, the first operating dial is operated by a thumb and the second operating dial is operated by a forefinger whereby the tip end joint part is operated vertically and operated laterally to perform a swinging action, and the third operating dial is operated by a forefinger whereby the tip end gripper is operated to open and close.
摘要翻译：一种手术器械，包括具有可开启和闭合的夹持器的前端接头部分，包括手柄和多个操作拨盘的操作部分，以及容纳用于配合操作部和末端的动作的线的臂部联合部分。第一操作拨盘布置在手柄上方并且在操作部分的上倾斜表面上，第二操作拨盘和第三操作拨盘布置在手柄上方并且在操作部件的前表面上，第一操作拨盘由拇指和第二操作拨盘由食指操作，由此尖端接头部分垂直操作并且横向操作以执行摆动动作，并且第三操作拨盘由食指操作，由此前端夹具被操作以打开和关闭。

5. 发明申请

US20050075739A1 Operation input device, telecontrol system and telecontrol method 有权
标题翻译：操作输入装置，遥控系统和遥控方式
公开(公告)号：US20050075739A1
公开(公告)日：2005-04-07
申请号：US10774533
申请日：2004-02-10
申请人： Kouji Nishizawa
发明人： Kouji Nishizawa
IPC分类号： B25J3/00 , A61B19/00 , B25J9/10 , B25J13/02 , B25J19/00 , G05B19/18 , G05G1/01 , G06F19/00
CPC分类号： B25J13/02 , B25J9/1065 , G05G9/047
摘要： In the operation input device of the prior art, the input of a position and the input of an attitude are mixed up and both the position and attitude may be changed by the result of the input of a change in attitude. Therefore, the intention of an operator cannot be reflected accurately. To solve the above problem, an operation input device of the present invention has a first movement detection unit for detecting the position and attitude of a first operation input unit and a second movement detection unit, connected to the first movement detection unit, for detecting the position and attitude of a second operation input unit to separate a part for inputting a position from a part for inputting an attitude.
摘要翻译：在现有技术的操作输入装置中，姿势的输入和姿态的输入被混合，并且位置和姿态可以通过输入姿态变化的结果而改变。因此，操作者的意图无法准确反映。为了解决上述问题，本发明的操作输入装置具有第一移动检测单元，用于检测与第一移动检测单元连接的第一操作输入单元和第二移动检测单元的位置和姿态，用于检测第二操作输入单元的位置和姿态，用于将用于输入位置的部分与用于输入姿势的部分分离。

6. 发明授权

US07671249B2 Operation input device, telecontrol system and telecontrol method 有权
标题翻译：操作输入装置，遥控系统和遥控方式
公开(公告)号：US07671249B2
公开(公告)日：2010-03-02
申请号：US10774533
申请日：2004-02-10
申请人： Kouji Nishizawa
发明人： Kouji Nishizawa
IPC分类号： A61F13/15 , H04L12/28 , H04J3/06 , G05D16/00
CPC分类号： B25J13/02 , B25J9/1065 , G05G9/047
摘要： In the operation input device of the prior art, the input of a position and the input of an attitude are mixed up and both the position and attitude may be changed by the result of the input of a change in attitude. Therefore, the intention of an operator cannot be reflected accurately.To solve the above problem, an operation input device of the present invention has a first movement detection unit for detecting the position and attitude of a first operation input unit and a second movement detection unit, connected to the first movement detection unit, for detecting the position and attitude of a second operation input unit to separate a part for inputting a position from a part for inputting an attitude.
摘要翻译：在现有技术的操作输入装置中，姿势的输入和姿态的输入被混合，并且位置和姿态可以通过输入姿态变化的结果而改变。因此，操作者的意图无法准确反映。为了解决上述问题，本发明的操作输入装置具有第一移动检测单元，用于检测与第一移动检测单元连接的第一操作输入单元和第二移动检测单元的位置和姿态，用于检测第二操作输入单元的位置和姿态，用于将用于输入位置的部分与用于输入姿势的部分分离。

7. 发明授权

US06770026B2 Operating instrument insertion apparatus and operation supporting apparatus 失效
标题翻译：操作仪器插入装置及操作辅助装置
公开(公告)号：US06770026B2
公开(公告)日：2004-08-03
申请号：US10180030
申请日：2002-06-27
申请人： Kazutoshi Kan , Kouji Nishizawa , Yasuhiro Nemoto
发明人： Kazutoshi Kan , Kouji Nishizawa , Yasuhiro Nemoto
IPC分类号： A61B104
CPC分类号： A61B17/0218 , A61B10/06 , A61B17/3417 , A61B90/361 , A61B2017/3445 , A61B2090/08021
摘要： There is provided an operating instrument insertion apparatus capable of easily inserting an operating instrument into the tissue. The operating instrument insertion apparatus includes a hollow tubular member for receiving an operating instrument therein, and a plurality of scoop-like members provided at a distal end of the hollow tubular member. The plurality of scoop-like members can be opened in such a manner that distal ends of the scoop-like members are moved away from each other in a direction transverse to an axial direction of said hollow tubular member, and the plurality of scoop-like members can be closed in such a manner that the distal ends of the scoop-like members are moved toward each other in this transverse direction, wherein the scoop-shape members in the opened condition cooperate so that an outside diameter formed thereby is no greater than an outside diameter of the hollow tube member.
摘要翻译：提供了能够容易地将操作仪器插入到组织中的操作仪器插入装置。操作仪器插入装置包括用于接收操作器具的中空管状构件和设置在中空管状构件的远端处的多个勺状构件。多个勺状构件可以以这样的方式打开，使得勺状构件的远端在横向于所述中空管状构件的轴向的方向上彼此远离，并且多个勺状构件可以以使得勺形构件的远端在该横向方向上彼此移动的方式被关闭，其中处于打开状态的勺形构件协作，使得由此形成的外径不大于中空管构件的外径。

8. 发明授权

US06666876B2 Forceps and manipulator with using thereof 失效
标题翻译：镊子和操纵器使用它
公开(公告)号：US06666876B2
公开(公告)日：2003-12-23
申请号：US09790633
申请日：2001-02-23
申请人： Toshikazu Kawai , Kazutoshi Kan , Kouji Nishizawa
发明人： Toshikazu Kawai , Kazutoshi Kan , Kouji Nishizawa
IPC分类号： A61B1744
CPC分类号： A61B17/29 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/003 , A61B2017/2902 , A61B2017/2905 , A61B2017/2906 , A61B2017/2932 , A61B2017/2943
摘要： A forceps, comprising: a pair of forceps members, being able to open or close at one end, so as to put an object between them, and being supported at the other end thereof; a driving wire for transferring tension thereon to the forceps members for bringing them to open and close; and a driver portion for giving the tension onto the driving wire, wherein: one of the forceps members is built up with a member (A) 41, being able to open or close at one end, so as to put the object between them, while being supported to freely rotate at the other end, and the other member with a member (B) 42, being able to put the object between them, but being supported fixedly at the other end; the driving wire 44 is wound around a rotary portion at the other end of the member (A) 41, and a portion of the wound portion thereof is fixed onto the rotary portion; and a tension for open and close operation is given from the driver portion to one end of the driving wire 44. Also, this forceps is inserted into inside of a manipulator, to be used therewith.
摘要翻译：一种钳子，包括：能够在一端打开或关闭的一对钳子构件，以便将物体放置在它们之间并在其另一端被支撑; 用于将张力转移到镊子构件以使其打开和关闭的驱动线; 以及用于将张力施加到驱动线上的驱动器部分，其中：一个钳子部件由一个构件（A）41构成，能够在一端打开或关闭，以将物体放在它们之间，同时被支撑以在另一端自由旋转，而另一个构件具有构件（B）42，能够将物体放置在它们之间，但是固定地支撑在另一端; 驱动线44缠绕在构件（A）41的另一端的旋转部分上，并且其卷绕部分的一部分固定在旋转部分上; 并且从驱动器部分向驱动线44的一端提供用于打开和关闭操作的张力。而且，该钳子被插入到与其一起使用的操纵器的内部。

9. 发明授权

US06497651B1 Operating instrument insertion apparatus and operation supporting apparatus 失效
标题翻译：操作仪器插入装置及操作辅助装置
公开(公告)号：US06497651B1
公开(公告)日：2002-12-24
申请号：US09520850
申请日：2000-03-08
申请人： Kazutoshi Kan , Kouji Nishizawa , Yasuhiro Nemoto
发明人： Kazutoshi Kan , Kouji Nishizawa , Yasuhiro Nemoto
IPC分类号： A61B104
CPC分类号： A61B17/0218 , A61B10/06 , A61B17/3417 , A61B90/361 , A61B2017/3445 , A61B2090/08021
摘要： There is provided an operating instrument insertion apparatus capable of easily inserting an operating instrument into the tissue. The operating instrument insertion apparatus includes a hollow tubular member for receiving an operating instrument therein, and a plurality of scoop-like members provided at a distal end of the hollow tubular member. The plurality of scoop-like members can be opened in such a manner that distal ends of the scoop-like members are moved away from each other in a direction transverse to a direction of insertion of the scoop-like members into the tissue, and the plurality of scoop-like members can be closed in such a manner that the distal ends of the scoop-like members are moved toward each other in this transverse direction.
摘要翻译：提供了能够容易地将操作仪器插入到组织中的操作仪器插入装置。操作仪器插入装置包括用于接收操作器具的中空管状构件和设置在中空管状构件的远端处的多个勺状构件。多个勺状构件可以以使得勺状构件的远端在与勺状构件插入到组织中的横向相反的方向上彼此远离的方式打开，并且可以以这样的方式关闭多个勺状构件，使得勺状构件的远端在该横向方向上彼此移动。

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