Patents by Inventor Nobuyasu Shimomura

Nobuyasu Shimomura has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 12161437
    Abstract: A surgical robot includes robot arms, an arm base, and a control device. Each of the robot arms includes a base portion, a tip portion that can hold a medical instrument, and links. The link adjacent to the base portion is connected to the base portion through a rotational joint. The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion of a first link is located between a second portion of the base portion and a third portion of the tip portion.
    Type: Grant
    Filed: December 4, 2020
    Date of Patent: December 10, 2024
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Tsuyoshi Tojo, Nobuyasu Shimomura, Tetsuo Ichii
  • Patent number: 11977365
    Abstract: A skill transfer mechanical apparatus includes an operating part, a controller, a motion information detector and an operation apparatus. The controller includes a basic motion instructing module, a learning module, a motion correcting instruction generator, a motion correcting instruction, and a motion information storing module. The learning module carries out machine learning of the motion correcting instruction stored in the motion correcting instruction storing module by using the motion information stored in the motion information storing module, and after the machine learning is finished, accepts an input of the motion information during the operation of the operating part, and outputs the automatic motion correcting instruction. The operating part moves the working part according to an automatic motion instruction based on the basic motion instruction and the automatic motion correcting instruction, and the manual motion correction.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: May 7, 2024
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Masayuki Kamon, Shigetsugu Tanaka
  • Patent number: 11890072
    Abstract: A robotic surgical system includes a controller configured or programmed to change a length between a first axis and a second axis in a direction in which a shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to an amount of operation to control operation of a surgical instrument.
    Type: Grant
    Filed: October 13, 2021
    Date of Patent: February 6, 2024
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Yuichi Mizohata, Nobuyasu Shimomura, Ayataka Kobayashi
  • Publication number: 20240004368
    Abstract: A robot system includes a robot that includes a motor, a first storage unit that is provided to correspond to the motor and stores identification information of the motor, a second storage unit that is provided separately from the first storage unit and stores the identification information of the motor, and a control unit that detects whether or not the motor attached to the robot is a motor to which the identification information has been assigned in advance, by comparing the identification information of the motor stored in the first storage unit and the identification information of the motor stored in the second storage unit.
    Type: Application
    Filed: June 29, 2022
    Publication date: January 4, 2024
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kawasaki Robotics (USA), INC.
    Inventors: Haruhiko TAN, Masahiko SUMITOMO, Junichi SUGAHARA, Nobuyasu SHIMOMURA, Avish Ashok BHARWANI
  • Patent number: 11826900
    Abstract: A manipulation device and a manipulation system of a simpler configuration. A manipulation device includes an input part configured to receive an input of an operational instruction by an operator in order to operate a manipulating target, and a speaker configured to receive a signal based on vibration detected at the manipulating target and generate vibration based on the received signal. The vibration generated by the speaker is transmitted to the operator through at least a part of the input part.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: November 28, 2023
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu Shimomura, Masayuki Kamon, Hideyuki Ryu
  • Patent number: 11738468
    Abstract: A robot system includes a robot configured to perform a work to a workpiece, and a user interface configured to remotely manipulate the robot. The robot includes a robotic arm, a robot hand attached to the robotic arm and configured to perform the work to the workpiece, and an acceleration sensor attached to the robot hand. The robot system further includes a speaker configured to output an acceleration signal from the acceleration sensor as perceptual information.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: August 29, 2023
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Masayuki Kamon, Hideyuki Ryu
  • Patent number: 11701770
    Abstract: A robot system includes a manipulating force detector configured to detect a manipulating force given to an operation end by an operator, a reaction-force detector configured to detect a reaction force given to a work end or a workpiece held by the work end, a system controller configured to generate an operating command of a master arm and generate an operating command of a slave arm based on the manipulating force and the reaction force, a master-side control part configured to control the master arm, and a slave-side control part configured to control the slave arm. The system controller has an exaggerated expresser configured to exaggeratedly present an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: July 18, 2023
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Masayuki Kamon, Jun Fujimori, Hiroki Kinoshita, Takuya Shitaka, Hiroki Takahashi
  • Publication number: 20230012535
    Abstract: A surgical robot includes robot arms, an arm base, and a control device. Each of the robot arms includes a base portion, a tip portion that can hold a medical instrument, and links. The link adjacent to the base portion is connected to the base portion through a rotational joint. The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion of a first link is located between a second portion of the base portion and a third portion of the tip portion.
    Type: Application
    Filed: December 4, 2020
    Publication date: January 19, 2023
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Nobuyasu SHIMOMURA, Tetsuo ICHII
  • Publication number: 20230014033
    Abstract: A surgical robot includes: a surgical instrument; a manipulator that supports a surgical instrument without holding a trocar and includes an instrument interface to which the surgical instrument is attached, an arm including rotational joints, and a prismatic joint; and a controller. The controller may store a center of motion of the surgical instrument and control motion of the manipulator such that with the shaft inserted through the trocar and the tool located in a body cavity of the patient, a relationship T1?L is established in a case of L?T0, wherein: L represents an intra-body cavity length of the surgical instrument; T0 represents a maximum possible linear movement amount of the prismatic joint from an origin position along the axial direction; and T1 represents a first linear movement amount of the prismatic joint from the origin position to a current position along the axial direction.
    Type: Application
    Filed: December 4, 2020
    Publication date: January 19, 2023
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Nobuyasu SHIMOMURA, Tetsuo ICHII
  • Publication number: 20230000572
    Abstract: A controller of a surgical system is configured to: set a center point; set a reference point on a reference line that is an extension of a rotation axis of a proximal end roll joint or that is offset from the extension in a direction normal to the extension; and position joints of a manipulator arm such that a shaft passes through the center point and that a reference plane passes through the reference point, the reference plane including a rotation axis of a distal end roll joint that coincides with a central axis of the shaft and crossing a rotation axis of a pivotal joint.
    Type: Application
    Filed: December 3, 2020
    Publication date: January 5, 2023
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Nobuyasu SHIMOMURA, Tetsuo ICHII
  • Patent number: 11478919
    Abstract: A robot system includes a slave unit including a slave-side force detector configured to detect a direction and a magnitude of a reaction force acting on a workpiece held by a work end of a slave arm, a master unit including a master-side force detector configured to detect a direction and a magnitude of an operating force applied by an operator to an operation end of a master arm, and a system controller configured to generate a slave operational command and a master operational command based on the operating force and the reaction force. The system controller includes a regulator configured to correct a moving direction of the work end so that the movement of the work end in a pressing direction of an object is regulated when the reaction force exceeds an acceptable value set beforehand.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: October 25, 2022
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu Shimomura, Masayuki Kamon, Jun Fujimori, Hiroki Kinoshita, Takuya Shitaka, Hiroki Takahashi
  • Patent number: 11389966
    Abstract: A power supply apparatus includes: a power supply portion connected to a power receiving portion of an electrical apparatus and configured to supply electric power to the power receiving portion; an arm including a tip end at which the power supply portion is provided, the arm further including at least one of a linear motion joint portion and a rotational joint portion; and a controller. The controller controls at least one of the linear motion joint portion and the rotational joint portion to move the arm such that the power supply portion is connected to the power receiving portion.
    Type: Grant
    Filed: May 15, 2018
    Date of Patent: July 19, 2022
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS GMBH
    Inventors: Masayuki Kamon, Nobuyasu Shimomura, Noboru Takagi
  • Publication number: 20220110702
    Abstract: A robotic surgical system includes a controller configured or programmed to change a length between a first axis and a second axis in a direction in which a shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to an amount of operation to control operation of a surgical instrument.
    Type: Application
    Filed: October 13, 2021
    Publication date: April 14, 2022
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Yuichi MIZOHATA, Nobuyasu SHIMOMURA, Ayataka KOBAYASHI
  • Patent number: 11197730
    Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: December 14, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon, Shigetsugu Tanaka
  • Publication number: 20210331597
    Abstract: A power supply apparatus includes: a power supply portion connected to a power receiving portion of an electrical apparatus and configured to supply electric power to the power receiving portion; an arm including a tip end at which the power supply portion is provided, the arm further including at least one of a linear motion joint portion and a rotational joint portion; and a controller. The controller controls at least one of the linear motion joint portion and the rotational joint portion to move the arm such that the power supply portion is connected to the power receiving portion.
    Type: Application
    Filed: May 15, 2018
    Publication date: October 28, 2021
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS GMBH
    Inventors: Masayuki KAMON, Nobuyasu SHIMOMURA, Noboru TAKAGI
  • Patent number: 11110592
    Abstract: A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: September 7, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu Shimomura, Masayuki Kamon, Jun Fujimori, Hiroki Kinoshita, Takuya Shitaka, Hiroki Takahashi
  • Publication number: 20210162603
    Abstract: A manipulation device and a manipulation system of a simpler configuration. A manipulation device includes an input part configured to receive an input of an operational instruction by an operator in order to operate a manipulating target, and a speaker configured to receive a signal based on vibration detected at the manipulating target and generate vibration based on the received signal. The vibration generated by the speaker is transmitted to the operator through at least a part of the input part.
    Type: Application
    Filed: May 16, 2018
    Publication date: June 3, 2021
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu SHIMOMURA, Masayuki KAMON, Hideyuki RYU
  • Publication number: 20210114229
    Abstract: A robot system includes a robot configured to perform a work to a workpiece, and a user interface configured to remotely manipulate the robot. The robot includes a robotic arm, a robot hand attached to the robotic arm and configured to perform the work to the workpiece, and an acceleration sensor attached to the robot hand. The robot system further includes a speaker configured to output an acceleration signal from the acceleration sensor as perceptual information.
    Type: Application
    Filed: May 16, 2018
    Publication date: April 22, 2021
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Masayuki KAMON, Hideyuki RYU
  • Patent number: 10980605
    Abstract: A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: April 20, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon
  • Publication number: 20210003993
    Abstract: A skill transfer mechanical apparatus includes an operating part, a controller, a motion information detector and an operation apparatus. The controller includes a basic motion instructing module, a learning module, a motion correcting instruction generator, a motion correcting instruction, and a motion information storing module. The learning module carries out machine learning of the motion correcting instruction stored in the motion correcting instruction storing module by using the motion information stored in the motion information storing module, and after the machine learning is finished, accepts an input of the motion information during the operation of the operating part, and outputs the automatic motion correcting instruction. The operating part moves the working part according to an automatic motion instruction based on the basic motion instruction and the automatic motion correcting instruction, and the manual motion correction.
    Type: Application
    Filed: November 28, 2018
    Publication date: January 7, 2021
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Masayuki KAMON, Shigetsugu TANAKA