Hitachi, Ltd.

Technology Research Association of Medical and Welfare Apparatus

Kouji Nishizawa

Kazutoshi Kan

Yasuhiro Nemoto

Masakatsu Fujie

Fujio Tajima

Toshikazu Kawai

In the operation input device of the prior art, the input of a position and the input of an attitude are mixed up and both the position and attitude may be changed by the result of the input of a change in attitude. Therefore, the intention of an operator cannot be reflected accurately. To solve the above problem, an operation input device of the present invention has a first movement detection unit for detecting the position and attitude of a first operation input unit and a second movement detection unit, connected to the first movement detection unit, for detecting the position and attitude of a second operation input unit to separate a part for inputting a position from a part for inputting an attitude.

Operation input device, telecontrol system and telecontrol method

A manipulator for medical use having a reduced size and improved controllability. The manipulator includes a surgical tool portion, a grip portion provided on the surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion. The surgical tool can be separated from, and connected to, the driver portion. The surgical tool portion has two rotating members disposed in opposing relation to each other. A driving arrangement is provided for driving one of the rotating members and causing it to revolute the other rotating member, but not rotate by itself. An arrangement is also provided for keeping a distance between rotation centers of the two rotating members constant.

Medical manipulator having a plurality of joints

There is provided an operating instrument insertion apparatus capable of easily inserting an operating instrument into the tissue. The operating instrument insertion apparatus includes a hollow tubular member for receiving an operating instrument therein, and a plurality of scoop-like members provided at a distal end of the hollow tubular member. The plurality of scoop-like members can be opened in such a manner that distal ends of the scoop-like members are moved away from each other in a direction transverse to an axial direction of said hollow tubular member, and the plurality of scoop-like members can be closed in such a manner that the distal ends of the scoop-like members are moved toward each other in this transverse direction, wherein the scoop-shape members in the opened condition cooperate so that an outside diameter formed thereby is no greater than an outside diameter of the hollow tube member.

Operating instrument insertion apparatus and operation supporting apparatus

A forceps, comprising: a pair of forceps members, being able to open or close at one end, so as to put an object between them, and being supported at the other end thereof; a driving wire for transferring tension thereon to the forceps members for bringing them to open and close; and a driver portion for giving the tension onto the driving wire, wherein: one of the forceps members is built up with a member (A) , being able to open or close at one end, so as to put the object between them, while being supported to freely rotate at the other end, and the other member with a member (B) , being able to put the object between them, but being supported fixedly at the other end; the driving wire is wound around a rotary portion at the other end of the member (A) , and a portion of the wound portion thereof is fixed onto the rotary portion; and a tension for open and close operation is given from the driver portion to one end of the driving wire . Also, this forceps is inserted into inside of a manipulator, to be used therewith.

Forceps and manipulator with using thereof

There is provided an operating instrument insertion apparatus capable of easily inserting an operating instrument into the tissue. The operating instrument insertion apparatus includes a hollow tubular member for receiving an operating instrument therein, and a plurality of scoop-like members provided at a distal end of the hollow tubular member. The plurality of scoop-like members can be opened in such a manner that distal ends of the scoop-like members are moved away from each other in a direction transverse to a direction of insertion of the scoop-like members into the tissue, and the plurality of scoop-like members can be closed in such a manner that the distal ends of the scoop-like members are moved toward each other in this transverse direction.

A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented, thereby reflecting the operator's intention accurately and correctly, includes a master manipulator for conducting an operation input therewith, a controller for processing the operation input, and a slave manipulator for operating upon drive instruction from the controller, wherein the master manipulator includes a plurality of force detectors, and the controller decides a driver shaft, by comparing an output from a pattern producing means for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.

Growing community of inventors

Tsuchiura, Japan

Kouji Nishizawa