The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 20, 2026
Filed:
Mar. 29, 2021
Kanagawa Institute of Industrial Science and Technology, Ebina, JP;
Keio University, Tokyo, JP;
Tomoyuki Shimono, Ebina, JP;
Hiroshi Asai, Ebina, JP;
Kouhei Ohnishi, Kawasaki, JP;
Takuya Matsunaga, Kawasaki, JP;
Hironao Kobayashi, Ebina, JP;
Masaya Nakamura, Tokyo, JP;
Mitsuru Yagi, Tokyo, JP;
KANAGAWA INSTITUTE OF INDUSTRIAL SCIENCE AND TECHNOLOGY, Kanagawa, JP;
KEIO UNIVERSITY, Tokyo, JP;
Abstract
A medical apparatus includes a treatment mechanism, a slave actuator, an operation control unit, and a parameter acquisition unit. The treatment mechanism is used for treating a patient. The slave actuator causes the treatment mechanism to perform the treatment. The operation control unit calculates the control parameters related to the force tactile sensation, based on the information about the position that is detected along with the treatment and controls the operation of the slave actuator for causing the treatment mechanism to perform the treatment, based on the control parameters related to the force tactile sensation. The parameter acquisition unit acquires the control parameters related to the force tactile sensation.