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1. 发明授权

US4977886A Position controlling apparatus 失效
标题翻译：位置控制装置
公开(公告)号：US4977886A
公开(公告)日：1990-12-18
申请号：US428144
申请日：1989-10-27
申请人： Sakae Takehana , Koji Fujio , Yasuhiro Ueda
发明人： Sakae Takehana , Koji Fujio , Yasuhiro Ueda
IPC分类号： A61B1/005 , A61F2/00
CPC分类号： A61B1/0058 , A61F2210/0023
摘要： The position controlling apparatus of this invention is to curve an endoscope insertable part or a catheter and is provided with an actuator having a shape memorizing alloy body. The shape memorizing alloy body is heated or cooled by a driving appartaus and the actuator is displaced by such heating or cooling. The difference between the actual displacement of the actuator driven by the driving apparatus and the objective displacement of the actuator is output by a comparing means which operates the driving apparatus on the basis of this difference. A resistance value detecting circuit detects the resistance value of the shape memorizing alloy body varying when the shape memorizing alloy body is heated or cooled. The detected value detected by the resistance value detecting circuit is input into a controlling apparatus which controls the driving apparatus on the basis of the detected value and the preset used temperature range of the shape memorizing alloy body.
摘要翻译：本发明的位置控制装置是对内窥镜可插入部件或导管进行弯曲，并具有形状记忆合金体的致动器。形状记忆合金体由驱动方式加热或冷却，致动器通过这种加热或冷却而移位。由驱动装置驱动的致动器的实际位移与致动器的目标位移之间的差异由基于该差异来操作驱动装置的比较装置输出。电阻值检测电路检测当形状记忆合金体被加热或冷却时变形的形状记忆合金体的电阻值。由电阻值检测电路检测到的检测值被输入到根据检测值和形状记忆合金体的预设使用温度范围来控制驱动装置的控制装置。

2. 发明授权

US5876325A Surgical manipulation system 失效
标题翻译：手术操纵系统
公开(公告)号：US5876325A
公开(公告)日：1999-03-02
申请号：US940613
申请日：1997-09-30
申请人： Hitoshi Mizuno , Yuuichi Ikeda , Akihiro Horii , Shuichi Takayama , Akio Nakada , Naoki Uchiyama , Yasuhiro Ueda , Koichi Umeyama , Sakae Takehana
发明人： Hitoshi Mizuno , Yuuichi Ikeda , Akihiro Horii , Shuichi Takayama , Akio Nakada , Naoki Uchiyama , Yasuhiro Ueda , Koichi Umeyama , Sakae Takehana
IPC分类号： A61B1/00 , A61B1/04 , A61B19/00
CPC分类号： A61B1/00193 , A61B1/00048 , A61B1/00149 , A61B1/00188 , A61B34/30 , A61B34/37 , A61B34/74 , A61B1/042 , A61B2034/301 , A61B2034/742 , A61B2090/502 , A61B2090/506 , G05B2219/39442
摘要： A surgical manipulator system comprising at least one surgical manipulator, at least one guide, a detector, and a drive controller. The surgical manipulator has a surgical device for performing a desired operation. The guide guides the surgical device. The detector detects a position and/or orientation relationship between the surgical device and the guide, and/or a position and/or orientation relationship between the surgical device and another surgical device. The drive controller controls the surgical manipulator such that the surgical device is guided by the guide.
摘要翻译：一种手术操纵器系统，包括至少一个手术操纵器，至少一个引导件，检测器和驱动器控制器。手术操纵器具有用于执行所需操作的手术装置。引导件引导手术装置。检测器检测手术装置和引导件之间的位置和/或取向关系，和/或手术装置与另一手术装置之间的位置和/或取向关系。驱动器控制器控制手术操纵器，使得外科装置由引导件引导。

3. 发明授权

US4930494A Apparatus for bending an insertion section of an endoscope using a shape memory alloy 失效
标题翻译：用于使用形状记忆合金弯曲内窥镜的插入部分的装置
公开(公告)号：US4930494A
公开(公告)日：1990-06-05
申请号：US291242
申请日：1988-12-28
申请人： Sakae Takehana , Yasuhiro Ueda , Masakazu Gotanda , Tomohisa Sakurai , Hideyuki Adachi
发明人： Sakae Takehana , Yasuhiro Ueda , Masakazu Gotanda , Tomohisa Sakurai , Hideyuki Adachi
IPC分类号： A61B1/005 , A61F2/00 , A61M25/01 , F03G7/06
CPC分类号： A61M25/0158 , A61B1/00147 , A61B1/0058 , F03G7/065 , A61F2210/0014 , A61M2205/0266
摘要： The distal end of an insertion section of an endoscope is divided into a plurality of segments each including a pair of SMA coils which are arranged symmetrically with respect to an axis and memorize a close-winding shape. As the SMA coils recovers their memorized shape, the distal end of the insertion section is bent. The SMA coils are restored to the memorized shape when they are conductively heated by means of a current supply circuit. The current supply circuit comprises an input unit for inputting a target value of the bend angle for a leading segment, a sensor for detecting the distance of insertion of the insertion section, a detector circuit for detecting the bend angle of each segment, and means for controlling the amount of current supply so that the bend angle of the SMA coils agrees with a target angle. The inputted angle is set as the target angle for the leading segment, and the detected bend angle of each segment is set as the target angle for each succeeding segment. The set value is renewed each time the insertion distance of the insertion section attains a predetermined distance.
摘要翻译：内窥镜的插入部的前端被分割成多个片段，每个片段包括一对相对于轴对称设置的SMA线圈并且记忆紧绕形状。当SMA线圈恢复其记忆形状时，插入部分的远端弯曲。当SMA线圈通过电流供应电路导电加热时，SMA线圈恢复到记忆形状。电流供给电路包括用于输入前导部分的弯曲角度的目标值的输入单元，用于检测插入部分的插入距离的传感器，用于检测每个部分的弯曲角度的检测器电路，以及用于控制电流供给量，使得SMA线圈的弯曲角度与目标角度一致。将输入的角度设定为前段的目标角度，将各段的检测弯曲角度设定为每个后续段的目标角度。每当插入部的插入距离达到预定距离时，更新设定值。

4. 发明授权

US5873828A Ultrasonic diagnosis and treatment system 失效
标题翻译：超声诊断和治疗系统
公开(公告)号：US5873828A
公开(公告)日：1999-02-23
申请号：US387490
申请日：1995-02-13
申请人： Kouji Fujio , Isami Hirao , Sakae Takehana , Yasuhiro Ueda , Takashi Tsukaya , Yoshinao Oaki , Seiji Kuramoto
发明人： Kouji Fujio , Isami Hirao , Sakae Takehana , Yasuhiro Ueda , Takashi Tsukaya , Yoshinao Oaki , Seiji Kuramoto
IPC分类号： A61B1/005 , A61B1/05 , A61B8/08 , A61B8/12 , A61N7/02
CPC分类号： A61B8/0841 , A61B1/0051 , A61B1/05 , A61B8/0833 , A61B8/12 , A61B8/445 , A61N7/022 , A61B8/0808
摘要： An ultrasonic diagnosis and treatment system having a thin tube which is capable of being inserted into a body cavity, and which has at its extreme end an observing ultrasonic vibrator for emitting ultrasonic waves for observation and a treating ultrasonic vibrator for emitting strong ultrasonic waves for treatment. Observation and treatment are performed by using ultrasonic wave. The system further includes a processing device for performing an operation other than the ultrasonic treatment at least on a region observed by using ultrasonic waves. A guide for enabling the processing device to reach the region observed by using ultrasonic waves is provided on the thin tube.
摘要翻译：一种超声波诊断和治疗系统，其具有能够插入体腔的细管，并且在其最终端具有用于发射用于观察的超声波的观察超声波振动器和用于发射强超声波用于治疗的超声波振动器。使用超声波进行观察和处理。该系统还包括至少在通过使用超声波观察的区域上进行超声波处理以外的操作的处理装置。在薄管上设置有使得能够使处理装置到达通过使用超声波观察到的区域的引导件。

5. 发明授权

US5681260A Guiding apparatus for guiding an insertable body within an inspected object 失效
标题翻译：用于引导被检查物体内的可插入物体的引导装置
公开(公告)号：US5681260A
公开(公告)日：1997-10-28
申请号：US352433
申请日：1994-12-09
申请人： Yasuhiro Ueda , Sakae Takehana , Hideyuki Adachi , Tatsuya Yamaguchi , Takeaki Nakamura , Masakazu Gotanda , Masaaki Hayashi
发明人： Yasuhiro Ueda , Sakae Takehana , Hideyuki Adachi , Tatsuya Yamaguchi , Takeaki Nakamura , Masakazu Gotanda , Masaaki Hayashi
IPC分类号： A61B1/005 , A61B1/01 , A61B1/31
CPC分类号： A61B1/041 , A61B1/00082 , A61B1/00158 , A61B1/0051 , A61B34/73 , A61B5/14539 , A61B1/06 , A61B1/31 , A61B2017/00876
摘要： A guiding apparatus for guiding an insertable body within an inspected object is provided with an insertable body to be inserted into an inspected object, a guided part provided in at least a part of the insertable body and to be magnetically guided and a guiding device provided outside the inspected object and to magnetically guide the guided part. The guiding device includes a guiding part for guiding the guided part and a driving device for moving the guiding part at least two-dimensionally, the guided part and guiding part are to generate a magnetic force acting between them and the guiding part is to guide the guided part with the magnetic force.
摘要翻译：用于将可插入物体引导到被检查物体内的引导装置设置有可插入被检体的插入体，设置在可插入体的至少一部分上并被导向的引导部，被检查物体，并且磁性引导被引导部分。引导装置包括用于引导引导部分的引导部分和用于至少二维地移动引导部分的驱动装置，被引导部分和引导部分产生作用在它们之间的磁力，引导部分引导引导部分与磁力。

6. 发明授权

US5471988A Ultrasonic diagnosis and therapy system in which focusing point of therapeutic ultrasonic wave is locked at predetermined position within observation ultrasonic scanning range 失效
标题翻译：超声波诊断治疗系统，其中治疗超声波的聚焦点锁定在观察超声波扫描范围内的预定位置
公开(公告)号：US5471988A
公开(公告)日：1995-12-05
申请号：US363621
申请日：1994-12-23
申请人： Kouji Fujio , Isami Hirao , Sakae Takehana , Yasuhiro Ueda , Takashi Tsukaya , Yoshinao Oaki , Seiji Kuramoto
发明人： Kouji Fujio , Isami Hirao , Sakae Takehana , Yasuhiro Ueda , Takashi Tsukaya , Yoshinao Oaki , Seiji Kuramoto
IPC分类号： A61B8/12 , A61B17/22 , A61B17/225 , A61B19/00
CPC分类号： A61B8/445 , A61B8/12 , A61B8/4272 , A61B90/80 , A61B17/2202 , A61B2017/00924 , A61B90/36
摘要： Provided on the side of a distal end of an insertion part are an observation ultrasonic transducer for acquiring an ultrasonic image and a therapeutic ultrasonic transducer for outputting a therapeutic ultrasonic wave so as to be focused. Positioning or the like between the observation ultrasonic transducer and the therapeutic ultrasonic transducer is so conducted that a focusing point at which the therapeutic ultrasonic wave is focused is locked to a predetermined position within a scanning range of the observation ultrasonic wave. If the position of the focusing point is locked whereby a lesion part to be treated is set to a predetermined position on an ultrasonic image, it is necessarily possible to conduct the position setting to the focusing point. It is also made possible to confirm the position of the lesion part and to acoustically observe a state of the lesion part during irradiation of the therapeutic ultrasonic wave.
摘要翻译：在插入部的前端侧设置有用于获取超声波图像的观察用超声波换能器和用于输出治疗性超声波以进行聚焦的治疗用超声波换能器。观察超声波换能器与治疗超声换能器之间的定位等进行使得将治疗超声波聚焦的聚焦点锁定在观察超声波的扫描范围内的预定位置。如果聚焦点的位置被锁定，从而将要处理的病变部分设置在超声波图像上的预定位置，则可以将位置设置传送到聚焦点。也可以确认病变部位的位置，并且在治疗超声波的照射期间声学地观察病变部的状态。

7. 发明授权

US4884557A Endoscope for automatically adjusting an angle with a shape memory alloy 失效
标题翻译：用于自动调整形状记忆合金角度的内窥镜
公开(公告)号：US4884557A
公开(公告)日：1989-12-05
申请号：US193294
申请日：1988-05-11
申请人： Sakae Takehana , Yasuhiro Ueda , Tomohisa Sakurai
发明人： Sakae Takehana , Yasuhiro Ueda , Tomohisa Sakurai
IPC分类号： A61B1/00 , A61B1/005 , A61F2/00
CPC分类号： A61B1/0058 , A61B1/128 , A61F2210/0033
摘要： An endoscope includes a bending member having a shape memory alloy. A pair of heating current supplying wires and a pair of resistance detecting wires are connected at one end to the ends of the shape memory alloy. The other end of the heating current supplying wire is connected to a current supply circuit, and the other end of the resistance detecting wire is connected to a resistance detector. The resistance detector is constituted by a bridge circuit having a branch opened and the shape memory alloy is connected in the opened branch via the resistance detecting wires. A controller controls the current supply circuit according to the detected resistance. The current supply is effected by supplying a current pulse, and the amount of heating current and the bending degree can be controlled by controlling the pulse width of the current pulse. Since no heating current is supplied to the resistance detecting wires, the resistance thereof is not changed even when the shape memory alloy is heated by passing a heating current therethrough. Therefore, it is possible to precisely detect variation in the resistance of only the shape memory alloy member and measure the bending degree of the bending member.
摘要翻译：内窥镜包括具有形状记忆合金的弯曲构件。一对加热电流供应线和一对电阻检测线在一端连接到形状记忆合金的端部。加热电流供给线的另一端与电流供给电路连接，电阻检测线的另一端与电阻检测器连接。电阻检测器由具有分支开口的桥接电路构成，并且形状记忆合金经由电阻检测线连接在开启的分支中。控制器根据检测到的电阻来控制电流供应电路。通过提供电流脉冲来实现电流供应，并且可以通过控制电流脉冲的脉冲宽度来控制加热电流和弯曲程度。由于没有向电阻检测线供应加热电流，所以即使形状记忆合金通过加热电流而被加热，其电阻也不会改变。因此，可以精确地检测形状记忆合金构件的电阻的变化并测量弯曲构件的弯曲度。

8. 发明授权

US5531664A Bending actuator having a coil sheath with a fixed distal end and a free proximal end 失效
标题翻译：弯曲致动器具有具有固定远端和自由近端的线圈护套
公开(公告)号：US5531664A
公开(公告)日：1996-07-02
申请号：US280564
申请日：1994-07-25
申请人： Hideyuki Adachi , Sakae Takehana , Yasuhiro Ueda , Yasuo Hirata , Kazuhiro Takahashi
发明人： Hideyuki Adachi , Sakae Takehana , Yasuhiro Ueda , Yasuo Hirata , Kazuhiro Takahashi
IPC分类号： A61B1/005 , A61B1/00 , A61B1/12
CPC分类号： A61B1/0058 , A61B1/0052 , A61B1/0055 , A61B1/0057
摘要： A bending drive member to bend a bending member is arranged to extend in the direction of length of an elongate tube having flexibility, and attached to near the distal end of the tube with the distal end of the bending drive member being restricted in its position. The bending member drive member comprises a shape memory member formed by bundling together a plurality of wire-like shape memory materials each having a length, that spans from the position of one end to the other end, reversibly changed upon heating/cooling. The length of the shape memory member is changed dependent on a drive signal from a unit with a capability of heating. A non-compressive coil sheath through which the bending drive member extends is fixed at a distal end thereof to the elongate tube while the proximal end of the coil sheath is a free end with respect to the elongate tube.
摘要翻译：用于弯曲弯曲构件的弯曲驱动构件被布置成沿着具有柔性的细长管的长度方向延伸，并且在弯曲驱动构件的远端被限制在其位置的情况下附接到管的远端附近。弯曲构件驱动构件包括通过将多个线状形状记忆材料捆扎在一起而形成的形状记忆部件，每个线状形状记忆材料具有从一端位置到另一端的长度，在加热/冷却时可逆地改变。形状记忆部件的长度根据来自具有加热能力的部件的驱动信号而变化。弯曲驱动构件延伸穿过的非压缩线圈护套固定在其远端处于细长管上，而线圈护套的近端相对于细长管是自由端。

9. 发明授权

US5490015A Actuator apparatus 失效
标题翻译：执行机构
公开(公告)号：US5490015A
公开(公告)日：1996-02-06
申请号：US184246
申请日：1994-01-19
申请人： Koichi Umeyama , Tatsuya Yamaguchi , Yasuhiro Ueda , Sakae Takehana , Hiroki Moriyama , Kazuhiro Yoshida , Yutaka Fujisawa , Ichiro Takahashi , Masami Hamada , Keiichi Arai , Yutaka Tatsuno , Kenji Yoshino , Tomoki Funakubo
发明人： Koichi Umeyama , Tatsuya Yamaguchi , Yasuhiro Ueda , Sakae Takehana , Hiroki Moriyama , Kazuhiro Yoshida , Yutaka Fujisawa , Ichiro Takahashi , Masami Hamada , Keiichi Arai , Yutaka Tatsuno , Kenji Yoshino , Tomoki Funakubo
IPC分类号： G02B7/08 , G02B23/24 , H01L41/09 , G02B7/02
CPC分类号： H02N2/025 , G02B23/2476 , G02B7/08
摘要： An actuator apparatus for driving a focus adjusting lens of a focus adjusting mechanism of an endoscope comprises a moving member put in slidable frictional engagement with a base of the endoscope, the moving member having coupling means for coupling with the movable portion within the endoscope, a piezoelectric element coupled to the moving member, the piezoelectric element and the moving member alone constituting a body of the actuator apparatus, and actuator control circuit for causing quick deformation in the piezoelectric element, enabling the piezoelectric element to apply an impulse force to the moving member, thereby moving the moving member against a frictional engagement force acting between the base and the moving member.
摘要翻译：用于驱动内窥镜的焦点调节机构的调焦透镜的致动器装置包括：与内窥镜的基部滑动摩擦接合的移动部件，具有用于与内窥镜内的可动部联接的联接装置的移动部件，耦合到移动构件的压电元件，仅构成致动器装置的主体的压电元件和移动构件以及用于在压电元件中引起快速变形的致动器控制电路，使得压电元件能够向移动构件施加脉冲力从而抵抗作用在基座和移动构件之间的摩擦接合力移动移动构件。

10. 发明授权

US5179934A Endoscope 失效
标题翻译：内窥镜
公开(公告)号：US5179934A
公开(公告)日：1993-01-19
申请号：US655678
申请日：1991-02-14
申请人： Mitsugu Nagayoshi , Atsushi Miyazaki , Hirofumi Miyanaga , Sakae Takehana , Hideyuki Adachi , Yasuhiro Ueda , Eiichi Fuse , Yoshisada Aoki
发明人： Mitsugu Nagayoshi , Atsushi Miyazaki , Hirofumi Miyanaga , Sakae Takehana , Hideyuki Adachi , Yasuhiro Ueda , Eiichi Fuse , Yoshisada Aoki
IPC分类号： A61B1/005 , A61B1/05 , A61M25/01
CPC分类号： A61B1/00183 , A61B1/0053 , A61B1/05 , A61M25/0138 , A61M25/0155
摘要： An endoscope comprises an insertion section, and this insertion section has a distal end portion, a proximal end portion, and a bendable portion located between the distal and proximal end portions. A fluid-pressure actuator is coupled to the insertion section, so as to bend the bendable portion. The fluid-pressure actuator is made up of an extensible body and an expansion-restricting member. The extensible body defines an internal space and has an extension axis along which it extends or contracts. The expansion-restricting member causes the extensible body to extend in the direction of the extension axis when a fluid is supplied into the internal space, and causes the extensible body to contract in the direction of the extensible axis when the fluid is discharged from the internal space. The bendable portion of the insertion section is bent in accordance with the extension or contraction of the extensible body.
摘要翻译：内窥镜包括插入部，该插入部具有远端部，近端部和位于远端部与近端部之间的弯曲部。流体压力致动器联接到插入部分，以便弯曲可弯曲部分。流体压力致动器由可扩展体和膨胀限制构件构成。可伸缩体定义了一个内部空间，并具有一个延伸轴线，它延伸或收缩。膨胀限制构件使得当流体被供应到内部空间中时，可延伸体在延伸轴线的方向上延伸，并且当流体从内部排出时使可延伸体在可延伸轴线的方向上收缩空间。插入部的弯曲部根据伸缩体的伸缩而弯曲。

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