Patent application number | Description | Published |
20080245175 | MANIPULATOR AND CONTROL METHOD THEREFOR - 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 τ | 10-09-2008 |
20080262654 | MANIPULATOR SYSTEM - A manipulator comprises an actuator block and a working unit attachable to and detachable from the actuator block. The actuator block has a motor, the working unit has a connecting shaft and an end working portion disposed at the distal end thereof, and the end working portion is rotated in conjunction with the motor. The working unit further has a two-dimensional code holding an identification signal, and the actuator block further has an infrared camera for recognizing the identification signal in the code and supplying it to a controller, is the camera being not in contact with the code. The controller controls the working unit based on the supplied identification signal. | 10-23-2008 |
20090030428 | OPERATING MECHANISM, MEDICAL MANIPULATOR, AND SURGICAL ROBOT SYSTEM - A medical manipulator includes an operation command unit having motors and a working unit detachably mounted on the operation command unit. The operation command unit includes a grip handle for being gripped by a human hand, and a trigger lever movable toward and away from the grip handle. The trigger lever comprises a pulling member which can be pulled toward the grip handle by a finger held against the pulling member, and a pushing member which can be pushed away from the grip handle by the finger held against the pushing member, the pushing member being disposed in facing relation to the pulling member. The pushing member has a hemispherical cavity defined in a surface thereof which faces the pulling member. | 01-29-2009 |
20090036901 | MEDICAL MANIPULATOR SYSTEM - A medical manipulator system includes a medical manipulator, an operating unit for inputting operation commands, motors for driving a working unit, a controller for driving the motors based on operation commands supplied from the operating unit, and an LED that displays an operational state. The controller carries out controls for distinguishing between an operational mode in which the operation command is validated and the motors are driven, and a stopped mode in which the motors are halted regardless of whether the operation command is present or not. An illumination state of the LED is switched dependent on whether the system is in the operational mode or the stopped mode. The LED is disposed in the center of an upper surface of a bridge, which interconnects a grip handle and an actuator block. | 02-05-2009 |
20090062814 | MEDICAL MANIPULATOR SYSTEM - A medical manipulator system includes a manipulator, an operating unit for entering operation commands, motors for actuating a working unit, and a controller for energizing the motors based on operation commands supplied from the operating unit. When an activation resetting switch and a resetting switch are operated according to a predetermined procedure, the controller performs a resetting process to return the motors to an origin. The controller is capable of controlling three manipulators. The activation resetting switch is shared by the three manipulators, and there are three resetting switches corresponding to the three manipulators. | 03-05-2009 |
20090112229 | MANIPULATOR FOR MEDICAL USE - A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator. | 04-30-2009 |
20090171374 | MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM - The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis. | 07-02-2009 |
20090192519 | SURGICAL SYSTEM - A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications. | 07-30-2009 |
20090198253 | MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM - A manipulator includes a yaw axis and a pitch axis disposed as joints on a distal end of a joint shaft and which are actuatable by motors, a needle variable in orientation by the joints, a coaxial connector disposed at a position closer to a proximal end of the manipulator than the joint shaft, and a coaxial cable providing within the joint shaft at least a portion of an electrical connection between the coaxial connector and the needle. A small board providing an impedance matching circuit, and which includes a coil and a capacitor, is interposed between the coaxial connector and the coaxial cable. | 08-06-2009 |
20090240263 | Intracoelomic suturing and ligating method - A manipulator includes a composite input unit that is manually operable by the fingers, a connector shaft extending from an operating unit, and a working unit mounted on the distal end of the connector shaft. The working unit comprises a rolling mechanism, a tilting mechanism, and an opening and closing mechanism. The composite input unit includes a shuttle ring for actuating the rolling mechanism. The manipulator also includes a gripper for gripping a curved needle. The gripper is placed near a DVC, whereupon the rolling mechanism is actuated to roll the gripper and to pierce a living body with the curved needle, until the point of the curved needle projects outside of the living body. | 09-24-2009 |
20100262162 | MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM - The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis. | 10-14-2010 |
20100331859 | MEDICAL ROBOT SYSTEM FOR SUPPORTING AN ORGAN IN A POSITION SUITABLE FOR A MEDICAL TREATMENT - Provided is a medical robot system which includes a medical manipulator capable of handling organs such as a uterine of different shapes and sizes. The medical robot system includes a robot arm, a medical manipulator which is detachably provided in the robot arm and supports an organ to a predetermined position, and a controller unit operable by an operator to control the robot arm and the medical manipulator. The medical manipulator also includes a first arm portion in a base side thereof, a second arm portion in a front side thereof for supporting the organ, and a connection portion connecting the first arm portion with the second arm portion. The control unit adjusts a relative direction of the second arm portion and the first arm portion and a length of the second arm portion in a telescopic manner thereby being suitable for organs of various shapes and sizes. | 12-30-2010 |
20130150866 | METHOD OF PERFORMING A SURGICAL PROCEDURE - A method of performing a surgical procedure on an affected region in a body cavity includes steps of introducing the distal end, and first and second bendable joints, of a rod-shaped member into the body cavity having the affected region, engaging a body portion in the body cavity, other than the affected region, with the manipulating element, manipulating the body portion other than the affected region using the manipulating element, so as to increase a spacing around the affected region in the body cavity, and bending at least one of said first and second joints so as to increase a spacing between the rod-shaped member and the affected region in the body cavity. | 06-13-2013 |