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:
Dec. 03, 2013
Filed:
Aug. 04, 2009
Michifumi Yoshie, Hino, JP;
Michifumi Yoshie, Hino, JP;
Olympus Medical Systems Corp., Tokyo, JP;
Abstract
An active drive type medical apparatus includes: an active mechanism having a rotatable joint provided near the distal end of a long member; an active mechanism driving section; a position/attitude detecting section configured to detect a position/attitude of the active mechanism; an instruction input section for performing instruction input of the position/attitude of the active mechanism; and a force calculating section configured to calculate, on the basis of the instruction input of the position/attitude, a force corresponding to a net external force acting on the active mechanism, by subtracting an estimated driving force estimated in the case where the active mechanism in a no-load state is driven, from a driving force required in the case where the active mechanism is actually driven by the active mechanism driving section from the position/attitude before the instruction input to the instructed and inputted position/attitude.