Patents by Inventor Tsuyoshi Tojo

Tsuyoshi Tojo 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: 11801103
    Abstract: A surgical system includes: a tool manipulator having a tool manipulator arm and a surgical tool; a console having a handling tool configured to receive a tool movement input of a surgeon for the surgical tool, the console being configured to transmit a tool movement command generated based on the tool movement input, the tool movement input including a translation amount and a rotation amount for the surgical tool; and a controller. The controller is configured to calculate an actual translation amount by multiplying the translation amount by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: October 31, 2023
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi Tojo, Kenji Noguchi, Tetsushi Ito, Tetsuya Nakanishi
  • Publication number: 20230032548
    Abstract: In a robotic surgical system, a controller is configured or programmed to set a temporary pivot position based on an operation on a pivot position setter and store a position adjusted by a predetermined length from the temporary pivot position as a pivot position in a storage.
    Type: Application
    Filed: July 25, 2022
    Publication date: February 2, 2023
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Ayataka KOBAYASHI, Tsuyoshi TOJO, Hirofumi YAMAMORI, Jota IDA, Hiroaki KITATSUJI
  • 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: 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: 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: 11517384
    Abstract: A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: December 6, 2022
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi Tojo, Kenji Noguchi, Tetsushi Ito, Tetsuya Nakanishi
  • Publication number: 20220370158
    Abstract: In a surgical robot, a robot controller controls an articulated robot so that an arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base.
    Type: Application
    Filed: May 23, 2022
    Publication date: November 24, 2022
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Tetsuo ICHII
  • Patent number: 11504198
    Abstract: A surgical system includes a robot main body, a slave controller, a display device that displays an endoscopic image, and an manipulation input device. The robot main body includes an entry guide having a plurality of guide bores, an entry guide support device that supports the entry guide, an instrument manipulator that has a surgical instrument provided at a distal end and is inserted into the entry guide, and an endoscope manipulator that has an endoscopic camera provided at a distal end and is inserted into the entry guide. The slave controller operates the robot main body such that the surgical instrument advances from an exit of the entry guide after the endoscopic camera advances from the exit of the entry guide and starts capturing in response to input of a body cavity insertion manipulation received by the manipulation input device.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: November 22, 2022
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi Tojo, Kenji Noguchi, Tetsushi Ito, Tetsuya Nakanishi
  • Publication number: 20210330410
    Abstract: In a surgical robot, an operation unit includes an enable switch and an operation tool configured to control a moving direction of an arm, and the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator in the operation unit.
    Type: Application
    Filed: April 26, 2021
    Publication date: October 28, 2021
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Yuji KISHIDA, Tsuyoshi TOJO, Toshihiko TAKAGI, Hiroaki KITATSUJI, Koji MUNETO
  • Publication number: 20210330409
    Abstract: In a surgical robot, a pivot position teaching button is pressed with a tip end of a medical device moved to a position corresponding to an insertion position of a trocar inserted into a body surface of a patient such that a pivot position is stored in a storage.
    Type: Application
    Filed: April 26, 2021
    Publication date: October 28, 2021
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Hiroaki KITATSUJI, Tsuyoshi TOJO, Yusuke TANIGAKE
  • Publication number: 20210330403
    Abstract: A surgical robot includes a first indicator configured to indicate a state of a system, and a plurality of second indicators configured to individually indicate states of a plurality of arms, and the state of the system includes a state of the surgical robot excluding the states of the plurality of arms and a state of a doctor-side operation device.
    Type: Application
    Filed: April 23, 2021
    Publication date: October 28, 2021
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Yuji KISHIDA, Tomohiro FUKUNO, Ryosuke HIDA, Tsuyoshi TOJO
  • Publication number: 20210315647
    Abstract: A surgical robot includes an arm base mover configured to move an arm base configured to support a plurality of arms, an imaging device provided on the arm base, the imaging device being configured to image a patient placed on a surgical table, and a display configured to display, in real time, the patient imaged by the imaging device.
    Type: Application
    Filed: April 8, 2021
    Publication date: October 14, 2021
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Yuji KISHIDA, Takeshi KURIHARA
  • Patent number: 10716638
    Abstract: Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: July 21, 2020
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi Tojo, Nobuyasu Shimomura
  • Patent number: 10702351
    Abstract: A robot system is provided, which includes a robot body including, robot arm and an end effector attached to robot arm, and operating device, having operating part and configured to output, when operating part is operated, operational information according to operation, a motion controller configured to control operation of robot body according to the operational information outputted from the operating device, a velocity detector configured to detect a velocity at a tip end of the end effector, a virtual reaction-force information generating module configured to output force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector, as virtual reaction-force information, and a force applying device configured to give a force to the operating part in order to make an operator perceive a force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module.
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: July 7, 2020
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventor: Tsuyoshi Tojo
  • Publication number: 20190328470
    Abstract: A surgical system includes: a tool manipulator having a tool manipulator arm configured to perform translational motion and rotational motion of a distal end with respect to a proximal end and a surgical tool linked to the distal end of the tool manipulator arm; a console having a handling tool configured to receive a tool movement command of a surgeon for the surgical tool, the tool movement command including a translation amount of the translational motion and a rotation amount of the rotational motion for the surgical tool; and a controller configured to control the tool manipulator.
    Type: Application
    Filed: April 29, 2019
    Publication date: October 31, 2019
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Kenji NOGUCHI, Tetsushi ITO, Tetsuya NAKANISHI
  • Publication number: 20190328471
    Abstract: A surgical system includes a robot main body, a slave controller, a display device that displays an endoscopic image, and an manipulation input device. The robot main body includes an entry guide having a plurality of guide bores, an entry guide support device that supports the entry guide, an instrument manipulator that has a surgical instrument provided at a distal end and is inserted into the entry guide, and an endoscope manipulator that has an endoscopic camera provided at a distal end and is inserted into the entry guide. The slave controller operates the robot main body such that the surgical instrument advances from an exit of the entry guide after the endoscopic camera advances from the exit of the entry guide and starts capturing in response to a body cavity insertion command received by the manipulation input device.
    Type: Application
    Filed: April 29, 2019
    Publication date: October 31, 2019
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Kenji NOGUCHI, Tetsushi ITO, Tetsuya NAKANISHI
  • Publication number: 20190328472
    Abstract: A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.
    Type: Application
    Filed: April 29, 2019
    Publication date: October 31, 2019
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Kenji NOGUCHI, Tetsushi ITO, Tetsuya NAKANISHI
  • Publication number: 20180256271
    Abstract: A robot system is provided, which includes a robot body including, robot arm and an end effector attached to robot arm, and operating device, having operating part and configured to output, when operating part is operated, operational information according to operation, a motion controller configured to control operation of robot body according to the operational information outputted from the operating device, a velocity detector configured to detect a velocity at a tip end of the end effector, a virtual reaction-force information generating module configured to output force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector, as virtual reaction-force information, and a force applying device configured to give a force to the operating part in order to make an operator perceive a force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module.
    Type: Application
    Filed: June 24, 2016
    Publication date: September 13, 2018
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventor: Tsuyoshi TOJO
  • Publication number: 20180243908
    Abstract: Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and
    Type: Application
    Filed: June 24, 2016
    Publication date: August 30, 2018
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Nobuyasu SHIMOMURA
  • Patent number: 9597645
    Abstract: A drug container is arranged in a horizontal state where a central axis extends along a horizontal direction, and the drug container is rotated about the central axis. In such a way, a drug solution in the drug container is moved along an inner surface of the drug container, and the drug container is reciprocally vibrated along the central axis in a state where the drug container is rotated, to stir the drug solution.
    Type: Grant
    Filed: July 2, 2013
    Date of Patent: March 21, 2017
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Yuki Takenaka, Akinobu Okuda, Tsuyoshi Tojo, Tohru Nakamura