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Manipulator

A technology for manipulators and signal detection, applied in the field of manipulators, can solve problems such as abnormal termination or interruption, failure to disclose or disclose countermeasures, etc.

Active Publication Date: 2009-10-21
OLYMPUS CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, in the above-mentioned conventional examples, appropriate countermeasures in the case of abnormality detection are not disclosed or revealed
That is, when an abnormality occurs in a device having a robot arm, the operation of the robot arm of the device can be stopped to stop the runaway state, but the operation of the device may end abnormally or be interrupted midway.

Method used

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Examples

Experimental program
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no. 1 Embodiment approach

[0026] figure 1 The endoscope processing system (or endoscope system) 1 having the first embodiment of the manipulator of the present invention is shown.

[0027] The endoscope processing system 1 has: an active endoscope (hereinafter referred to as an endoscope) 2; an active processing tool used with the endoscope 2 to perform processing (except for cases of confusion, it is simply referred to as a processing tool) ) 3; the light source device 4 that provides illumination light to the endoscope 2; the display processor 5 that performs signal processing on the signal from the imaging unit of the endoscope 2; and the display and the image signal from the display processor 5 The display device 6 of the corresponding endoscopic image.

[0028] In addition, the endoscope processing system 1 has: an endoscope active mechanism (abbreviated as an active mechanism) 7A provided on the endoscope 2; and an active mechanism for a processing tool (abbreviated as an active mechanism) provided...

no. 2 Embodiment approach

[0170] Below, refer to Picture 10 An endoscope processing system 1B having the second embodiment of the present invention will be described. Picture 10 The endoscope processing system 1B shown is in figure 1 In the endoscope processing system 1 of, the processing tool 3 is an electric energy processing tool having an energy processing unit 52a at the tip portion that performs processing using electric energy such as high-frequency electric energy.

[0171] The present embodiment has a determination unit that determines the execution / stop determination unit based on whether or not an energy output device that outputs electrical energy (hereinafter referred to as energy) of an external device as the actuator 20 is used.

[0172] In addition, for example Picture 9 As shown, the processing tool 3 has an active mechanism 7B provided with a bending portion 55 near the rear end of the front end portion.

[0173] The endoscope processing system 1B has: an energy output instruction inp...

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Abstract

A manipulator includes: a drive section which electrically drives a joint; an instruction input section which executes instruction input; a control section which generates a driving signal in response to the instruction input; a sensor which detects an operation status of the joint or the drive section in time series; a setting section which sets an allowable operation range of the drive section; a determination section which determines whether an operation status signal including a detection signal is within the allowable operation range; and a replacement section which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.

Description

Technical field [0001] The invention relates to a manipulator that drives a freely rotatable joint. Background technique [0002] Endoscopes that can be processed with processing tools according to internal observations and needs are widely used in the medical field. In order to easily insert the endoscope into a curved body, a curved portion configured to rotatably connect a plurality of joints is provided on the distal end side of the insertion portion. [0003] Because it is a manual endoscope that manually drives the bending part of the bending part (operation force is required), in order to further improve the operability, an electric drive unit such as a motor is used to drive the bending part of the electric bending endoscope, Even endoscopes with manipulators are becoming more practical. [0004] In addition, the following structure has also appeared in terms of processing tools: it is configured to have a manipulator that is configured to drive a bending portion formed b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16A61B1/00
CPCA61B5/065B25J9/1674G05B2219/42306G05B2219/42291G05B2219/37514G05B2219/37175G05B19/4062G05B2219/45118A61B1/0051G05B2219/42329G05B2219/37522
Inventor 梅本义孝高桥和彦
Owner OLYMPUS CORP