Canon Kabushiki Kaisha

The Brigham and Women's Hospital, Inc.

Canon U.s.a., Inc.

Kosuke Fujimoto

Yasumichi Arimitsu

Toshinobu Tokita

Nobuhiko Hata

Shinji Yamamoto

Junichi Tokuda

Kemal Tuncali

Sang-Eun Song

Hiroshi Ito

Hiroyuki Seki

Kenichi Kataoka

Ichiro Okumura

Yasushi Murayama

Takao Mori

Isao Hayashi

Makoto Shihoh

Masaaki Naoi

Yoshihiro Shigemura

Brian Ninni

Satoru Kitajima

Mitsuo Nishimura

Katsumasa Nishikawa

A vibration actuator capable of reducing variations of pressure force and reaction force acting on a vibrator and a contact member has a specific construction. Vibrator devices respectively have vibrators, each of which includes an elastic member and an electro-mechanical energy conversion element. A contact member contacts the vibrators and is movable in a predetermined direction relatively to the vibrators. A restraint member fixes a first vibrator device among the vibrator devices to restrict a degree of freedom in the predetermined direction. A flexible member connects a second vibrator device among the vibrator devices to the first vibrator device. The flexible member has predetermined rigidity in the predetermined direction and has rigidity, which is lower than the predetermined rigidity, in directions other than the predetermined direction.

Vibration actuator, and drive device, multi-axis stage unit, and articulated robot that use vibration actuator

A vibration-type actuator that can suppress variation in pressing force and reaction force on vibration bodies and contact bodies includes vibration body units, each including a vibration body including an elastic body and an electro-mechanical energy conversion element, and a contact body contacting with the vibration bodies, with the contact body and the vibration bodies moving relatively in a predetermined direction. A first vibration body unit, from among the vibration body units, includes a restriction unit configured to fix the first vibration body unit and restrict a degree of freedom in the predetermined direction, and a second vibration body unit, from among the vibration body units, includes a supporting guide unit configured to support the second vibration body unit while the second vibration body unit is movable in a direction orthogonal to the predetermined direction.

Vibration-type actuator with vibration body and contact body relatively moving, apparatus, multi-axis stage unit, and articulated robot

An apparatus () includes a needle placement manipulator () and an attachment () for the manipulator. The manipulator includes a needle holder and a rotary mechanism. The rotary mechanism () has a remote center of motion (RCM:) and is configured to position a needle holder () such that the axis of the needle holder traces a conical region of coverage (), the conical region of coverage having the apex thereof at the RCM and the base thereof in a direction towards a subject of needle placement (). The attachment supports the guide mechanism and is configured to be mounted onto the subject of needle placement. The attachment includes a guide portion () configured to change an inclination of the rotary mechanism with respect to the subject of needle placement such that the axis of the needle holder intersects an insertion target () located outside of the conical region of coverage.

Placement manipulator and attachment for positioning a puncture instrument

A needle placement manipulator includes, a needle holder configured to hold a needle, a guide system configured to position the needle holder to a predetermined direction with respect to a subject of needle placement, an attachment including an attaching portion to which the guide system is attached and a setting portion on which an RF-coil is set. A base surface of the setting portion is configured to be disposed on the subject.

Needle placement manipulator with attachment for RF-coil

A positioning apparatus is provided that is configured to perform a biopsy or therapy support by puncture using a needle or other needle-shaped equipment. This positioning apparatus is exemplified by an apparatus that includes a first rotation member, a guide for guiding a needle or other needle-shaped equipment in a longitudinal direction, a second rotation member with a different rotation axis, and a friction applying unit configured to apply friction force to the first rotation member directly or indirectly and generates friction torque.

Placement apparatus

A vibrational wave driving apparatus in the present invention includes an elastic member attached to an electromechanical energy transducing member, a pair of electrodes provided on the electromechanical energy transducing member, a wiring unit connecting the pair of electrodes and a voltage applying unit, and a driven body configured to be pressure contacted with the elastic member. The driven body is relatively driven by mechanical vibration of the elastic member generated when an alternating voltage is applied to the pair of electrodes. The wiring unit includes a pair of wiring portions connected to the pair of electrodes, respectively. The pair of wiring portions includes a pair of film-like bases and a pair of conductors formed on surfaces of the pair of film-like bases. The pair of wiring portions is arranged such that the pair of conductors overlaps each other through insulating layers.

Vibrational wave driving apparatus

A needle placement manipulator includes, a pair of rotary guides arranged at a slanted angle with respect to each other, a needle holder which holds a needle along a needle holder axis, and a base body on which the guides are supported. The needle holder axis and each axis of the rotary guides cross at a single point located at or below the base body. The base body is configured to be attached to a patient or to an RF-coil.

Needle placement manipulator with two rotary guides

An apparatus system for controlling liquid in a fluid channel in a micro-fluid device has an ultrasonic oscillator for conveying liquid. The ultrasonic oscillator oscillates with amplitude modulation. The apparatus system has a holding section for holding the micro-fluid device on the ultrasonic oscillator to allow a micro-fluid device to be removably fitted to it. A liquid conveying method and a liquid conveying unit showing an improved liquid conveying efficiency are provided.

Liquid conveying apparatus and liquid conveying method using micro-fluid device

A liquid control apparatus controls movement of liquid in a microfluidic device having a sample introducing port, a sample delivering port, and a flow channel for holding liquid. The apparatus includes a vibration wave generating section for generating a vibration wave to be applied to the microfluidic device, and a signal supplying section for supplying drive signals so as to make the vibration wave generating section oscillate in different oscillation modes. The signal supplying section is capable of generating drive signals in a plurality of drive signal supply modes for realizing at least three of a transfer mode for moving liquid in a predetermined direction, a stop mode for stopping the movement of liquid, a mixing and/or agitation mode for mixing and/or agitating liquid, and a localization mode for localizing a predetermined substance in liquid, and for supplying the drive signals to the vibration wave generating section in a selected supply mode. In addition, the microfluidic device is held on the vibration wave generating section, and the transfer mode is carried out by using a resonance frequency to cause the microfluidic device to resonate.

Liquid control apparatus

A foreign substance removing apparatus that can provide the desired vibration amplitude to a light transmitting member, without using a large driving voltage. The foreign substance removing apparatus removes foreign substances adhered to a surface of an optical member disposed in a light ray incident path and includes a piezoelectric element fixed to a first plane of the optical member, a circular disk fixed to a second plane, opposite from the first plane, of the optical member so as to face the piezoelectric element, and a driving unit for applying an AC voltage to the piezoelectric element to cause the optical member to elastically vibrate in a direction perpendicular to the planes thereof, thereby removing the foreign substances adhered to the surface of the optical member.

Foreign substance removing apparatus

A microfluidic valve device includes a microfluidic chip including a substrate having a channel, a valve disposed within the channel and configured to change a conductance of the channel, with the valve having an inner channel formed therein, and an oscillator configured to generate a traveling wave. The valve is moved by generating the traveling wave to open and close the channel.

Microfluidic device

An image forming apparatus includes first and second image bearing members on which toner images are to be formed, a conveying member, and a conveying member position index detecting device for detecting a conveying member position index provided on the conveying member. The apparatus also includes an image bearing member position index detecting device for detecting image bearing member position indices provided on the second image bearing member, an adjusting device for adjusting a rotational speed of the second image bearing member, and a controller for controlling the adjusting device so as to adjust a position of an image bearing member position index correspondingly to the conveying member position index, on the basis of detection results of the conveying member position index detecting device and the image bearing member position index detecting device.

Image forming apparatus with image bearing member adjustment

This invention provides a vibration wave driving apparatus which makes it possible to reduce the localized abrasion of a contact member, and reduce the deterioration of performance due to long-term driving. This vibration wave driving apparatus has a contact member which is provided with fixed portions fixed to the lengthwise opposite end portions of the vibration expanding portion of the vibration member, and a connecting portion integrally connecting the two fixed portions together and having opposite ends fixed beam structure divided into a plurality.

Vibration wave driving apparatus

A vibration wave driving apparatus includes a vibration member in which an electro-mechanical energy conversion element is fixed to an elastic member, and a contact member pressed against a sliding part provided in the vibration member, so as to be kept in contact therewith. The vibration wave driving apparatus is configured to supply alternating signals in a predetermined driving frequency band to the electro-mechanical energy conversion element, thereby generating a predetermined natural vibration mode in the elastic member to drive the contact member. In the apparatus, the natural vibration mode is generated in the elastic member, a natural frequency of another vibration mode different from the natural vibration mode is detected, and a stiffness of the support member is altered if the natural frequency of the other vibration mode detected is included in the driving frequency band.

Vibration wave driving apparatus, and method of setting shape of support member supporting elastic member forming vibration member of vibration wave driving apparatus

A control apparatus and a control method for a vibration type driving apparatus are disclosed which can maintain output performance even when low-speed driving is continued for a long time. The vibration type driving apparatus comprises a vibrating body and an electro-mechanical energy conversion element, and a contact body in contact with the vibrating body. By applying a plurality of driving signals to the electro-mechanical energy conversion element to excite a traveling vibration on the vibrating body, the vibrating body and the contact body are relatively moved. The control apparatus and the control method controls the driving signals such that the largest displacement of the traveling vibration fluctuates and a position where the largest displacement reaches the peak is changed in a direction of the relative movement of the vibrating body and the contact body.

Control apparatus capable of low-speed driving of vibration type driving apparatus, actuating apparatus using the control apparatus, control method capable of low-speed driving of vibration type driving apparatus, and storage medium storing program including program codes capable of realizing the control method

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Kawasaki, Japan

Kosuke Fujimoto