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    • 1. 发明授权
    • Position controlling apparatus
    • 位置控制装置
    • US4977886A
    • 1990-12-18
    • US428144
    • 1989-10-27
    • Sakae TakehanaKoji FujioYasuhiro Ueda
    • Sakae TakehanaKoji FujioYasuhiro Ueda
    • A61B1/005A61F2/00
    • A61B1/0058A61F2210/0023
    • 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.
    • 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。
    • 3. 发明授权
    • Apparatus for bending an insertion section of an endoscope using a shape
memory alloy
    • 用于使用形状记忆合金弯曲内窥镜的插入部分的装置
    • US4930494A
    • 1990-06-05
    • US291242
    • 1988-12-28
    • Sakae TakehanaYasuhiro UedaMasakazu GotandaTomohisa SakuraiHideyuki Adachi
    • Sakae TakehanaYasuhiro UedaMasakazu GotandaTomohisa SakuraiHideyuki Adachi
    • A61B1/005A61F2/00A61M25/01F03G7/06
    • A61M25/0158A61B1/00147A61B1/0058F03G7/065A61F2210/0014A61M2205/0266
    • 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.
    • 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。
    • 7. 发明授权
    • Endoscope for automatically adjusting an angle with a shape memory alloy
    • 用于自动调整形状记忆合金角度的内窥镜
    • US4884557A
    • 1989-12-05
    • US193294
    • 1988-05-11
    • Sakae TakehanaYasuhiro UedaTomohisa Sakurai
    • Sakae TakehanaYasuhiro UedaTomohisa Sakurai
    • A61B1/00A61B1/005A61F2/00
    • A61B1/0058A61B1/128A61F2210/0033
    • 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.
    • 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。