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1. 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.

2. 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.

3. 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。

4. 发明申请

US20120143655A1 CHECKOUT APPARATUS AND WORKING STATE MEASUREMENT APPARATUS 审中-公开
标题翻译：检查装置和工作状态测量装置
公开(公告)号：US20120143655A1
公开(公告)日：2012-06-07
申请号：US13340825
申请日：2011-12-30
申请人： Takamitsu Sunaoshi , Kiminori Toya , Hideki Nukada , Hideichi Nakamoto
发明人： Takamitsu Sunaoshi , Kiminori Toya , Hideki Nukada , Hideichi Nakamoto
IPC分类号： G06Q10/06
CPC分类号： G07G1/14 , G06Q10/06395 , G07G1/0054 , G07G1/0072
摘要： According to one embodiment, a checkout apparatus includes a counter, a scanner, a register terminal, and a recognition unit. The counter is embedded at least one weight meter and to be put at least one of target objects. The scanner reads codes attached to the target objects. The register terminal settles payment for the target objects. The recognition unit identifies the target objects by referring to working property category information pieces indicating a category in scan work for the target objects, based on the codes read by the scanner, and obtains signals that represent states each including one of steady work and unsteady work for an operator, based on a time history of a weight of the target objects.
摘要翻译：根据一个实施例，结帐装置包括计数器，扫描器，寄存器终端和识别单元。该计数器嵌入至少一个重量计，并放置至少一个目标物体。扫描仪读取附加到目标对象的代码。注册终端结算目标对象的付款。识别单元根据由扫描仪读取的代码参照目标对象的扫描工作中的类别的工作属性类别信息，来识别目标对象，并获得表示状态的信号，每个状态包括稳定工作和不稳定工作之一对于操作者，基于目标对象的权重的时间历史。

5. 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。

6. 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。

7. 发明申请

US20080103491A1 MANIPULATOR FOR MEDICAL USE 有权
标题翻译：用于医疗用途的操纵器
公开(公告)号：US20080103491A1
公开(公告)日：2008-05-01
申请号：US11874522
申请日：2007-10-18
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： A61B17/00
CPC分类号： A61B17/29 , A61B34/70 , A61B34/71 , A61B34/72 , A61B2017/00017 , A61B2017/00199 , A61B2017/00398 , A61B2017/0046 , A61B2017/00464 , A61B2017/00477 , A61B2034/742 , A61B2090/0811
摘要： In a manipulator, an actuator block contains motors and rotary shafts extending from the motors. A working unit of the manipulator contains a connecting portion, attachable to and detachable from the actuator block. The connecting portion has pulleys connectable to ends of the rotary shafts, and has a locking plate movable by alignment pins. The locking plate has slits, which are engaged with plate-shaped portions formed on the upper ends of the pulleys. A coil spring is placed between the locking plate and a top plate.
摘要翻译：在机械手中，执行器块包含电动机和从电动机延伸的旋转轴。操纵器的工作单元包含连接部分，该连接部分可附接到致动器块和从致动器块拆卸。连接部具有可连接到旋转轴的端部的滑轮，并且具有可通过对准销移动的锁定板。锁定板具有狭缝，其与形成在滑轮的上端的板状部分接合。螺旋弹簧被放置在锁定板和顶板之间。

8. 发明申请

US20060079866A1 Medical manipulator 有权
公开(公告)号：US20060079866A1
公开(公告)日：2006-04-13
申请号：US11289334
申请日：2005-11-30
申请人： Makoto Jinno , Takamitsu Sunaoshi
发明人： Makoto Jinno , Takamitsu Sunaoshi
IPC分类号： A61B17/00
CPC分类号： A61B17/00234 , A61B34/70 , A61B34/72 , A61B90/50 , A61B2017/00017 , A61B2017/00477
摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than a back drive torque of the second power transmission unit.

9. 发明申请

US20060074408A1 Medical manipulator 有权
标题翻译：医疗机械手
公开(公告)号：US20060074408A1
公开(公告)日：2006-04-06
申请号：US11289294
申请日：2005-11-30
申请人： Makoto Jinno , Takamitsu Sunaoshi
发明人： Makoto Jinno , Takamitsu Sunaoshi
IPC分类号： A61B17/00
CPC分类号： A61B17/00234 , A61B34/70 , A61B34/72 , A61B90/50 , A61B2017/00017 , A61B2017/00477
摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than aback drive torque of the second power transmission unit.
摘要翻译：医疗机械手包括执行操作的工作单元（10），产生指令的操作单元（20），基于操作单元给出的指令驱动工作单元的驱动单元（50），动力传递用于将驱动单元的驱动力发送到工作单元的机构（60），以及用于基于由操作单元给出的指令来控制动力传递机构的控制单元（40）。动力传递机构包括与驱动单元互锁的第一动力传递单元（61）和与作业单元互锁且能够可拆卸地连接到第一动力传递单元的第二动力传递单元（63）。第一动力传递单元的后驱动扭矩大于第二动力传递单元的驱动扭矩。

10. 发明申请

US20060069451A1 Manipulator and its control apparatus and method 有权
标题翻译：机械手及其控制装置及方法
公开(公告)号：US20060069451A1
公开(公告)日：2006-03-30
申请号：US11270746
申请日：2005-11-10
申请人： Takamitsu Sunaoshi
发明人： Takamitsu Sunaoshi
IPC分类号： G05B19/18
CPC分类号： A61B34/37 , A61B34/30 , A61B34/70 , G06F19/00 , G16H40/63
摘要： A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit ; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes: a function of determining a non-mater/slave operative mode or a master/slave operative mode; a function of calculating a difference between the orientation of the master unit and the orientation of the slave unit; and a function of comparing the absolute value of the difference with a preset reference value; and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in the master/slave operative mode, the transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.
摘要翻译：一种以主/从操作模式操作的操纵器，包括：主单元，命令操作; 具有工作单元的从单元; 检测器，检测主单元的取向和从单元的方向; 以及响应于来自所述主单元的命令来控制所述从单元的控制装置，其中所述控制装置包括：确定非主/从操作模式或主/从操作模式的功能; 计算主单元的取向与从单元的取向之间的差的功能; 以及将差分的绝对值与预设的参考值进行比较的功能; 并且根据比较的结果，在主/从操作模式中确定正常的主/从操作模式或过渡主/从操作模式，过渡主/从操作模式是非主模式的过渡模式 /从站操作模式到主/从操作模式。

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