| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 101 | Of the servo manipulator removable device | JP2007175811 | 2007-07-04 | JP4565195B2 | 2010-10-20 | 尹智燮; 朴炳錫; 李▲ひょ▼稙; 李鍾光; 洪東憙 |
| 102 | Teleoperator systems and telepresence method | JP2007230633 | 2007-09-05 | JP4430096B2 | 2010-03-10 | グリーン，フイリツプ・エス |
| A surgical instrument system has a control section operatively coupled to an instrument manipulator assembly. The control section comprises an operator control station having an operator control input device. The instrument manipulator assembly comprises a drive system and an insertion section at least a portion of which is insertable through an aperture in a patient through a location adjacent a worksite within the patient's body. The insertion section includes an arm having a proximal end, a distal end and a longitudinal axis extending between the proximal and distal ends, at least one durable member having a proximal end and a distal end, the durable member being connected to the arm and arranged to extend distally of the arm. The insertion section also includes an end effector coupled adjacent the distal end of the steerable member. The drive system includes a plurality of actuator motors and linkages and is operatively coupled to both the insertion section and the control section so that the operator is able to use the input device to operate the insertion section in such a manner as at least to move the steerable member so as to provide the end effector with at least one degree of freedom of motion relative to the arm. | ||||||
| 103 | Minimally invasive surgery system | JP2004164564 | 2004-06-02 | JP4324511B2 | 2009-09-02 | グリーン，フイリツプ・エス |
| A surgical instrument system has a control section operatively coupled to an instrument manipulator assembly. The control section comprises an operator control station having an operator control input device. The instrument manipulator assembly comprises a drive system and an insertion section at least a portion of which is insertable through an aperture in a patient through a location adjacent a worksite within the patient's body. The insertion section includes an arm having a proximal end, a distal end and a longitudinal axis extending between the proximal and distal ends, at least one durable member having a proximal end and a distal end, the durable member being connected to the arm and arranged to extend distally of the arm. The insertion section also includes an end effector coupled adjacent the distal end of the steerable member. The drive system includes a plurality of actuator motors and linkages and is operatively coupled to both the insertion section and the control section so that the operator is able to use the input device to operate the insertion section in such a manner as at least to move the steerable member so as to provide the end effector with at least one degree of freedom of motion relative to the arm. | ||||||
| 104 | Teleoperator system and telepresence method | JP2007230632 | 2007-09-05 | JP2007325960A | 2007-12-20 | GREEN PHILIP S |
| <P>PROBLEM TO BE SOLVED: To provide a laparoscopic surgery system for enabling improved remote operation, a medical robot system, or the like. <P>SOLUTION: The laparoscopic system is equipped with surgical instruments, a servomechanism, and a controller. The controller is equipped with a housing, an outer link, an inner link, and a sensor. The outer link supporting the sensor is connected to the inner link by at least one joint so that the outer link rotates relative to the inner link and expands and contracts relative to the inner link. The inner link is connected to the housing by at least one joint so that the inner link rotates about two rotational axes which are mutually perpendicular. The servomechanism connects the controller to the surgical instruments so that movements corresponding to an end effector means, which is an insertion means, are made to a small incision site by the movements of the outer link of the controller to the housing and that the end effector means is actuated by the operation of the sensor. <P>COPYRIGHT: (C)2008,JPO&INPIT | ||||||
| 105 | manipulator | JP2000298365 | 2000-09-29 | JP4014792B2 | 2007-11-28 | 野 誠 神 |
| A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint. The attitude adjusting unit has a third joint having a third axis perpendicular to the center line of the connecting unit. The end effector control unit is formed such that the fingers of an operator gripping operating members included in the end effector control unit extend substantially in parallel to the fourth axis. | ||||||
| 106 | Robot remote control device and the robotic device | JP2000356783 | 2000-11-22 | JP3648526B2 | 2005-05-18 | 重秋 井野; 勝之 馬場; 陽一 高本 |
| 107 | Parallel control arm with two branches | JP2001583988 | 2001-05-17 | JP2004520176A | 2004-07-08 | アラン・リワン; フロリアン・ゴスラン |
| 本発明は、２つの平行ブランチ（２，３）を備えて構成されたロボットアームに関するものである。 ２つの平行ブランチ（２，３）は、複数の軽量セグメント（５，６，７）から形成されているとともに、リストホルダ（８）を介することによってリスト部（４）により互いに連結されている。 リストホルダ（８）の配向は、駆動トレイン（１２〜１６）によって実質的に一定に維持されるようになっている。 この制御アームの動作空間は、広いものであり、極端な配置にしない限りにおいては運動不規則性を引き起こすことがない。 並進移動と回転移動との良好な結合解除性がもたらされている。 | ||||||
| 108 | Collision-free control system for multi-axis can be controlled manipulator | JP51396293 | 1993-02-17 | JP3532919B2 | 2004-05-31 | スフェン プロエム |
| 109 | Controller for humanoid robot | JP2002295349 | 2002-10-08 | JP2004130406A | 2004-04-30 | IKEDA TAKAO |
| PROBLEM TO BE SOLVED: To provide a controller for a humanoid robot which inputs natural motion to the humanoid robot with simple work. SOLUTION: This controller 10 for inputting motion to the humanoid robot is provided with movable parts 12, 14, 16, 18, 20, 22 having the same movable range corresponding to the joint parts of the humanoid robot, and detectors 34, 36, 46, 48 for detecting the angles and operating speed of the movable parts. COPYRIGHT: (C)2004,JPO | ||||||
| 110 | Robot remote control system | JP2001367779 | 2001-11-30 | JP2003170375A | 2003-06-17 | BABA KATSUYUKI; INO SHIGEAKI; TAKAMOTO YOICHI |
| PROBLEM TO BE SOLVED: To provide a robot remote control system for a remotely controlled robot device to perform skillful operations and a heavy weight removal operation. SOLUTION: This robot remote control system 1 comprises a remote instruction device 4 for generating control data for the robot device 2, a first computer device for inputting and processing the control data, and a first mobile body communication device for transmitting the control data to a base station 19 connected to a public network 20. The robot device 2 comprises a second mobile body communication device for receiving the control data transmitted from a base station 21 connected to the public network 20 and a second computer device for processing the control data for controlling a mechanism part 10. The mechanism part comprises one to two large operating arms, one to two small operating arms and a traveling system controlled by the second computer. The second computer device controls the one to two large operating arms, one to two small operating arms and the traveling system based on the control data for the robot device 2. COPYRIGHT: (C)2003,JPO | ||||||
| 111 | Coupling surgical instrument for performing minimally invasive surgery with improved dexterity and sensitivity | JP54259997 | 1997-05-20 | JP2002504863A | 2002-02-12 | サリスバリー，ジェイ．ケニス; ジェイ． マドハニ，アクヒル |
| (57)【要約】 本発明は、最低侵襲性外科手術手順の動作を向上させる連結外科手術用器具（１２）である。 器具（１２）は、高度の巧緻性、低い摩擦、低い慣性、および良好な力反映を有する。 独特なケーブルおよびプーリー駆動システムにより、摩擦が減少し力反映が向上する。 独特なリスト機構により、標準的な腹腔鏡器具（１２）に比べて外科手術の巧緻性が向上する。 システムを最適化することにより、必要なアクチュエータ数が減少し、これにより最小サイズで十分に機能的な連結外科手術用器具が製造される。 | ||||||
| 112 | Dual-arm manipulator operating device | JP1322898 | 1998-01-08 | JPH11198067A | 1999-07-27 | YOSHINO RYUTARO |
| PROBLEM TO BE SOLVED: To provide an operating device for a master-slave type dual-arm manipulator that allows the feedback of working reaction to the operator by means of opposed master arms, prevents any interference between the articulated links of the master arms and involves a power assist mechanism. SOLUTION: A right-hand master arm 14a and a left-hand master arm 14b are each constituted of a vertical link 22a, 22b and a horizontal link 23a, 23b articulated with the vertical link 22a, 22b for gravitational movement. The horizontal links 23a and 23b are thus positioned in the direction of gravity independently of each other. Those links are each provided with an actuator such as an electric motor, which detects the operating force of the operator for later power assistance. COPYRIGHT: (C)1999,JPO | ||||||
| 113 | Method of remote operation with a sense of realism | JP52914295 | 1995-05-03 | JPH10504763A | 1998-05-12 | グリーン，フイリツプ・エス |
| (57)【要約】 遠隔手術システムのような、遠隔作業サイトの作業スペースに置かれた対象物をオペレーター(14)が操作する遠隔操作システム(12)において、遠隔サイトには、作業スペースの対象物を操作するためのエンドエフェクター(39)を備えたマニピュレーター、マニピュレーターを遠隔制御するためのハンドコントロール(22)をオペレーターステーションに備えたコントローラー、イメージ取得装置(19)、及び可視リアルタイムイメージを再生するためのイメージ出力装置(20)が設けられ、改良として、イメージ取得装置(19)に接続された位置センサーがエンドエフェクター(39)に関する位置を感知し、プロセッサー(23)が可視リアルタイムイメージを透視イメージに変換し、このイメージに対してハンドコントロール(22)によりエンドエフェクター(39)を操作する。 その結果、オペレーターはあたかも本当の臨場感を伴って作業スペースを見ているように、エンドエフェクターやマニピュレーターを操作できる。 本発明によるイメージ変換は、平行移動、回転(25)及び透視補正(29)を含む。 | ||||||
| 114 | Master input device for microgripper system | JP9614595 | 1995-03-29 | JPH08257959A | 1996-10-08 | SUZUKI YOSHIHIKO |
| PURPOSE: To simultaneously perform by one hand the operation of opening or closing the fingers of a microgripper and the operation of moving the entire microgripper. CONSTITUTION: A joystick device 30 supplies a movement control signal to a moving device in accordance with the tilted position of a joystick 31 and the rotating position of a rotary dial 33, the moving device moving an entire microgripper. Projecting pieces 51 are hinged to the joystick 31. A potentiometer 52 outputs a signal corresponding to the position of the projecting pieces 51 as a signal corresponding to a finger drive signal. | ||||||
| 115 | Manipiyure - other control device | JP29483286 | 1986-12-12 | JPH0829509B2 | 1996-03-27 | IWAMOTO TARO; AOKI RITSU; NAKAJIMA YOSHIO; YAMAMOTO HIROSHI |
| 116 | JPH07503669A - | JP51396293 | 1993-02-17 | JPH07503669A | 1995-04-20 | |
| 117 | Method and device for recording | JP26184191 | 1991-10-09 | JPH0596796A | 1993-04-20 | YOSHIOKA KIYOHARU; HINOHARA MAKOTO; KURIYAMA HIROYUKI; YAMADA OSAMU; HAMANO MUNEJI |
| PURPOSE:To obtain recording method and device in which a test pattern printed on recording paper is read, and a line feed amount of a recording medium can be adjusted by a line feed amount correction value calculated based on the read data. CONSTITUTION:A test pattern is recorded on a recording medium by a printer 2. The recording medium with the test pattern recorded thereon is photoelectrically read by a reading part 3, whereby a shift of a line feed amount in the test pattern is detected. Based on the detected shift amount, a recording medium line feed amount correction value is calculated and stored in a correction value memory 68. A recording device is so operated that an image is recorded on a recording medium while a recording medium line feed amount is corrected by controlling a pulse number to be outputted to a paper feed motor 35 on the basis of the correction value stored in the memory 68. | ||||||
| 118 | Control device for manipulator of master slave method | JP22973588 | 1988-09-16 | JPH0283177A | 1990-03-23 | AONUMA YOSHINORI |
| PURPOSE:To unreasonably pull no substance gripped by a slave arm by displacing the slave arm by following to a master arm with maintaining the positional deviation of the master arm and slave arm, and after releasing the slave arm performing positional setting by opening a shift function switch. CONSTITUTION:A master arm 22 is hung down prior to its actuation and on the other hand a slave arm 14 is taken to grip the substance of an electric wire, etc. In this state, since a control command signal Sc of form the master arm 22 is fed to a servo valve 24 as an operating signal with maintaining the positional deviation of the master arm 22 and slave arm 14 by inputting a shift function switch 38, the slave arm 14 is displaced by following the master arm 22. When the slave arm 14 is thus released from the body of an electric wire, etc., gripped thereby, positional setting is performed by opening the shift function switch 38 and the breakdown of the gripping body by its unreasonable pull is evaded. | ||||||
| 119 | Master-slave manipulator | JP2764388 | 1988-02-10 | JPH01205986A | 1989-08-18 | KAWAI SEIJI |
| PURPOSE:To eliminate the oscillation of a servo system and to enhance the control accuracy by providing a converter for converting a torque-force signal indicating a torque and a force acting upon an arm into a new torque-force signal in consideration with a frictional resistance of a master side actuator. CONSTITUTION:The value of a torque-force signal which is obtained when a master side actuator Mm is started overcoming its inherent frictional resistance is used as a torque-force signal start value, and the value of a converted torque-force signal value at this time is used as a converted torque-force signal value. When it exceeds an inputted torque-force signal start value, a converted torque-force signal which is obtained by multiplying a torque-force signal with a predetermined number by converters Vm, Vs is outputted. Further, when the value of a torque-force signal is below an intermediate value between zero and the start value, the value of the converted torque-force signal is set to zero. Further, the value of a torque-force signal is between the intermediate value and the start value, the value of the converted torque-force signal is set to a corresponding value in the range from zero and the start value, in proportion to the torque-force signal value. | ||||||
| 120 | JPS63503414A - | JP50349687 | 1987-05-14 | JPS63503414A | 1988-12-08 | |
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