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1. 外观设计

USD529609S1 Forceps for medical robot 失效
标题翻译：医用机器人镊子
公开(公告)号：USD529609S1
公开(公告)日：2006-10-03
申请号：US29210706
申请日：2004-08-05
申请人： Kenji Ido , Kei Tomioka , Susumu Ogiwara , Makoto Jinno , Takamitsu Sunaoshi
设计人： Kenji Ido , Kei Tomioka , Susumu Ogiwara , Makoto Jinno , Takamitsu Sunaoshi

2. 外观设计

USD529610S1 Portion of forceps for medical robot 失效
标题翻译：医疗机器人镊子部分
公开(公告)号：USD529610S1
公开(公告)日：2006-10-03
申请号：US29210711
申请日：2004-08-05
申请人： Kenji Ido , Kei Tomioka , Susumu Ogiwara , Makoto Jinno , Takamitsu Sunaoshi
设计人： Kenji Ido , Kei Tomioka , Susumu Ogiwara , Makoto Jinno , Takamitsu Sunaoshi

3. 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。

4. 外观设计

USD541226S1 Controller for forceps for medical robot 有权
标题翻译：医疗机器人镊子控制器
公开(公告)号：USD541226S1
公开(公告)日：2007-04-24
申请号：US29227426
申请日：2005-04-12
申请人： Yoshinori Wakisaka , Kei Tomioka , Susumu Ogiwara , Makoto Jinno , Takamitsu Sunaoshi
设计人： Yoshinori Wakisaka , Kei Tomioka , Susumu Ogiwara , Makoto Jinno , Takamitsu Sunaoshi

5. 发明授权

US10245058B2 Manipulator for medical use 有权
公开(公告)号：US10245058B2
公开(公告)日：2019-04-02
申请号：US11923159
申请日：2007-10-24
申请人： Shigeru Omori , Shuichi Uenohara , Makoto Jinno , Takamitsu Sunaoshi
发明人： Shigeru Omori , Shuichi Uenohara , Makoto Jinno , Takamitsu Sunaoshi
IPC分类号： A61B17/29 , A61B34/00 , A61B17/00 , A61B34/30 , A61B90/00
摘要： A manipulator comprises a hollow shaft, wires provided on the shaft and a working unit disposed on one end of the shaft and being driven by at least one wire of the wires, the working unit having a tip tool including a rolling mechanism which rotates about an axis Or directed to a distal end thereof. A tip side surface of a proximal end member and a cover of a distal end member are relatively rotated by the rolling mechanism. The cover has a rotation identifier for indicating a degree of relative rotation of the tip side surface. The tip side surface has an alignment indicator for indicating an initial position of the cover.

6. 发明授权

US08512316B2 Manipulator 有权
公开(公告)号：US08512316B2
公开(公告)日：2013-08-20
申请号：US12432511
申请日：2009-04-29
申请人： Makoto Jinno , Takamitsu Sunaoshi
发明人： Makoto Jinno , Takamitsu Sunaoshi
IPC分类号： A61B19/00 , B25J17/02
CPC分类号： A61B34/70 , A61B34/71 , A61B2017/2927 , Y10T74/20335
摘要： A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

7. 发明授权

US08237388B2 Manipulator and control method therefor 有权
标题翻译：机械手及其控制方法
公开(公告)号：US08237388B2
公开(公告)日：2012-08-07
申请号：US12061092
申请日：2008-04-02
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
IPC分类号： G05B11/01
CPC分类号： B25J9/1641 , A61B34/70 , A61B34/72 , A61B2017/2943 , G05B2219/39457 , G05B2219/41195 , G05B2219/41361 , G05B2219/45118 , Y10T74/20 , Y10T74/20207 , Y10T74/20305
摘要： A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.
摘要翻译：操纵器具有工作单元，其包括末端执行器和用于改变操纵器的定向的姿势轴，设置在作业单元上的复合机构和用于分别致动夹持器轴线，偏转轴线和滚动轴线的控制器控制三台电机的运动位置。控制器包括用于检测在夹持器轴上产生扭矩的定时的转矩产生检测器。当控制器检测到在给定电动机的操作下在夹具轴上产生转矩τg'的定时时，多个电动机的移动位置相对于相对于产生干扰转矩的方向被移位和设定偏转轴和滚动轴线，以及相同方向的预定位置。

8. 发明授权

US08137339B2 Working mechanism and manipulator 有权
标题翻译：工作机制和操纵者
公开(公告)号：US08137339B2
公开(公告)日：2012-03-20
申请号：US11832872
申请日：2007-08-02
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B17/00234 , A61B17/062 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/72 , A61B34/74 , A61B2017/2929 , A61B2017/2943 , A61B2034/305 , A61B2034/306
摘要： A working unit includes a gear body disposed forwardly of a tubular member around which a wire is wound and having a rotational axis disposed substantially parallel to the tubular member, and a first gear and a second gear for transmitting rotation of a gear body to another gear body. The numbers of turns of wires, the size of a main shaft, and the size of a gear body, which are positioned forwardly of the tubular member, have no adverse effect on the manner in which a wire is wound around the tubular member. The wire can be wound around the tubular member over a wide region thereof for increasing the angular displacement of the gear body. The increased angular displacement of the gear body makes it possible to increase the angular displacement and rotational torque of the gear body.
摘要翻译：工作单元包括齿轮体，该齿轮体设置在管状构件的前方，线圈围绕该管状构件缠绕并且具有基本上平行于管状构件设置的旋转轴线;以及第一齿轮和第二齿轮，用于将齿轮体的旋转传递到另一齿轮身体。位于筒状构件前方的线的匝数，主轴的尺寸以及齿轮体的尺寸对于将线缠绕在筒状构件上的方式没有不利影响。线可以在其宽的区域上缠绕在管状构件周围，以增加齿轮体的角位移。齿轮体的增大的角位移使得可以增加齿轮体的角位移和旋转扭矩。

9. 发明申请

US20080249551A1 MANIPULATOR SYSTEM AND CONTROL APPARATUS 有权
标题翻译：操纵器系统和控制装置
公开(公告)号：US20080249551A1
公开(公告)日：2008-10-09
申请号：US12061999
申请日：2008-04-03
申请人： Takamitsu SUNAOSHI , Makoto Jinno , Shigeru Omoru
发明人： Takamitsu SUNAOSHI , Makoto Jinno , Shigeru Omoru
IPC分类号： A61B17/32
CPC分类号： A61B90/96 , A61B34/70 , A61B34/71 , A61B90/90 , A61B90/98 , A61B2017/00482 , A61B2090/0811
摘要： A manipulator has an operation command unit and an exchangeable working unit. The working unit comprises an end effector operable under actions of a control apparatus, and an ID retaining section holding an ID for individualized discrimination of the working unit. The control apparatus includes an ID identification section for identifying the ID and for determining whether the working unit is connected to the operation command unit, an origin point recognition section for recognizing whether the end effector is in a prescribed origin point position or in a non-origin point position, and a warning section which generates a detachment warning when it is determined that the end effector has been detached from the operation command unit, in the event it is determined that the end effector is in a non-origin point position.
摘要翻译：操纵器具有操作指令单元和可更换工作单元。工作单元包括在控制装置的动作下操作的端部执行器，以及保持用于对工作单元进行个体化辨别的ID的ID保持部。控制装置包括ID识别部，用于识别ID并确定工作单元是否连接到操作命令单元;原点识别部分，用于识别末端执行器是否在规定的原点位置，在确定末端执行器处于非起点位置的情况下，当确定末端执行器已经从操作命令单元分离时，产生分离警告的警告部分。

10. 发明申请

US20080245175A1 MANIPULATOR AND CONTROL METHOD THEREFOR 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US20080245175A1
公开(公告)日：2008-10-09
申请号：US12061092
申请日：2008-04-02
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
IPC分类号： B25J11/00
CPC分类号： B25J9/1641 , A61B34/70 , A61B34/72 , A61B2017/2943 , G05B2219/39457 , G05B2219/41195 , G05B2219/41361 , G05B2219/45118 , Y10T74/20 , Y10T74/20207 , Y10T74/20305
摘要： A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.
摘要翻译：操纵器具有工作单元，其包括末端执行器和用于改变操纵器的定向的姿势轴，设置在作业单元上的复合机构和用于分别致动夹持器轴线，偏转轴线和滚动轴线的控制器控制三台电机的运动位置。控制器包括用于检测在夹持器轴上产生扭矩的定时的转矩产生检测器。当控制器检测到在给定电动机的操作下在夹持器轴上产生扭矩τ“g”的定时时，多个电动机的移动位置相应于相对于偏转轴和滚动轴线产生干涉扭矩，并且产生相同方向的预定位置。

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