RU2007139930A - Управляющее устройство - Google Patents

Управляющее устройство Download PDF

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Publication number
RU2007139930A
RU2007139930A RU2007139930/09A RU2007139930A RU2007139930A RU 2007139930 A RU2007139930 A RU 2007139930A RU 2007139930/09 A RU2007139930/09 A RU 2007139930/09A RU 2007139930 A RU2007139930 A RU 2007139930A RU 2007139930 A RU2007139930 A RU 2007139930A
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sensor
rotary structure
biasing
pattern
mechanical connection
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RU2007139930/09A
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RU2388040C2 (ru
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Йонас НИЛЬСАГАРД (SE)
Йонас НИЛЬСАГАРД
Олле ТАКМАН (SE)
Олле ТАКМАН
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Джи Коудер Системз АБ (SE)
Джи Коудер Системз АБ
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/053—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member comprising a ball
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04759—Light-sensitive detector, e.g. photoelectric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04777—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional push or pull action on the handle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04781—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional rotation of the controlling member

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Position Input By Displaying (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Endoscopes (AREA)

Abstract

1. Управляющее устройство (1) для обеспечения по меньшей мере четырех параметров положения, содержащее: ! поворотную структуру (2); ! по меньшей мере один датчик (3, 4, 5) для измерения положения упомянутой поворотной структуры; ! смещающее устройство (6), обеспечивающее линейное смещение и сигнал, пропорциональный этому линейному смещению; ! при этом по меньшей мере один датчик (3, 4, 5) находится в воспринимающем контакте с поворотной структурой (2) для определения положения поворотной структуры (2) по первому, второму и третьему параметрам положения, при этом смещающее устройство (6) находится в механическом соединении с поворотной структурой (2) и обеспечивает измерение по четвертому параметру положения, при этом управляющее устройство выполнено с дополнительной возможностью выдавать сигнал, представляющий эти четыре параметра положения. ! 2. Устройство по п.1, в котором датчик (3, 4, 5) является бесконтактным датчиком. ! 3. Устройство по п.2, в котором бесконтактный датчик (3, 4, 5) является оптическим датчиком. ! 4. Устройство по п.3, в котором оптический датчик (3, 4, 5) выполнен с возможностью определять оптический рисунок на поворотной структуре (2). ! 5. Устройство по п.4, в котором оптический рисунок является заранее сконфигурированным рисунком, повышающим разрешающую способность при определении первого, второго и третьего параметров положения. ! 6. Устройство по п.2, в котором датчик (3, 4, 5) является датчиком для измерения магнитных свойств. ! 7. Устройство по п.6, в котором датчик (3, 4, 5) для измерения магнитных свойств выполнен с возможностью измерения магнитного рисунка на поворотной структуре (2). ! 8. Устройство по п.1, в котором датчик (3, 4, 5)

Claims (20)

1. Управляющее устройство (1) для обеспечения по меньшей мере четырех параметров положения, содержащее:
поворотную структуру (2);
по меньшей мере один датчик (3, 4, 5) для измерения положения упомянутой поворотной структуры;
смещающее устройство (6), обеспечивающее линейное смещение и сигнал, пропорциональный этому линейному смещению;
при этом по меньшей мере один датчик (3, 4, 5) находится в воспринимающем контакте с поворотной структурой (2) для определения положения поворотной структуры (2) по первому, второму и третьему параметрам положения, при этом смещающее устройство (6) находится в механическом соединении с поворотной структурой (2) и обеспечивает измерение по четвертому параметру положения, при этом управляющее устройство выполнено с дополнительной возможностью выдавать сигнал, представляющий эти четыре параметра положения.
2. Устройство по п.1, в котором датчик (3, 4, 5) является бесконтактным датчиком.
3. Устройство по п.2, в котором бесконтактный датчик (3, 4, 5) является оптическим датчиком.
4. Устройство по п.3, в котором оптический датчик (3, 4, 5) выполнен с возможностью определять оптический рисунок на поворотной структуре (2).
5. Устройство по п.4, в котором оптический рисунок является заранее сконфигурированным рисунком, повышающим разрешающую способность при определении первого, второго и третьего параметров положения.
6. Устройство по п.2, в котором датчик (3, 4, 5) является датчиком для измерения магнитных свойств.
7. Устройство по п.6, в котором датчик (3, 4, 5) для измерения магнитных свойств выполнен с возможностью измерения магнитного рисунка на поворотной структуре (2).
8. Устройство по п.1, в котором датчик (3, 4, 5) является датчиком для измерения импеданса, использующим токосъемники.
9. Устройство по п.1, в котором часть смещающего устройства (6) установлена в отверстии, проходящем по меньшей мере частично сквозь поворотную структуру (2).
10. Устройство по п.9, в котором отверстие в поворотной структуре проходит, по существу, через центральную часть поворотной структуры (2).
11. Устройство по п.1, в котором первый объект (7) находится в механическом соединении со смещающим устройством (6).
12. Устройство по п.11, в котором первый объект (7), находящийся в механическом соединении со смещающим устройством, является рукояткой, приводимой в действие пользователем.
13. Устройство по п.12, в котором рукоятка содержит по меньшей мере одно устройство (525, 526, 527) интерфейса, выдающее функциональные сигналы.
14. Устройство по п.11, в котором первый объект (7) является приемным устройством для приема второго объекта и содержит зажимное устройство, удерживающее второй объект.
15. Устройство по п.11, где первый объект (7), находящийся в механическом соединении со смещающим узлом, является медицинским имитационным устройством, выполненным с возможностью принимать медицинский прибор или имитацию медицинского прибора для использования внутри тела млекопитающего.
16. Устройство по п.15, в котором медицинский прибор или имитация медицинского прибора является по меньшей мере одним из ряда, содержащего: эндоскоп, лапароскоп, ректоскоп, катетер, стент и ларингоскоп.
17. Устройство по п.1, дополнительно содержащее по меньшей мере один пружинный механизм, прикрепленный к поворотной структуре (2), обеспечивающий возможность линейного перемещения этой поворотной структуры (2) в плоскости, перпендикулярной смещающему устройству (6).
18. Устройство по п.11, в котором по меньшей мере один датчик (3, 4, 5) и смещающее устройство (6) измеряют абсолютное положение первого объекта (7), прикрепленного к смещающему узлу (6).
19. Устройство по п.1, в котором четыре параметра включают в себя угловые отклонения в двух измерениях, угол поворота вокруг оси, перпендикулярной этим двум измерениям, и параметр линейного смещения в направлении оси, перпендикулярной этим двум измерениям.
20. Устройство по п.1, дополнительно содержащее систему силовой обратной связи, применяемую по меньшей мере к одной поворотной структуре (2) и/или к смещающему устройству (6).
RU2007139930/09A 2005-03-30 2006-03-17 Управляющее устройство RU2388040C2 (ru)

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SE0500698 2005-03-30
SE0500698-6 2005-03-30

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US (1) US20080278448A1 (ru)
EP (1) EP1864204B1 (ru)
JP (1) JP5102759B2 (ru)
CN (1) CN100559337C (ru)
AU (1) AU2006229582B2 (ru)
BR (1) BRPI0609553A2 (ru)
CA (1) CA2601997C (ru)
DK (1) DK1864204T3 (ru)
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WO (1) WO2006104440A1 (ru)

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CN101151587A (zh) 2008-03-26
CN100559337C (zh) 2009-11-11
AU2006229582A1 (en) 2006-10-05
US20080278448A1 (en) 2008-11-13
JP2008537218A (ja) 2008-09-11
EP1864204B1 (en) 2012-07-25
AU2006229582B2 (en) 2011-02-17
DK1864204T3 (da) 2012-10-22
CA2601997A1 (en) 2006-10-05
RU2388040C2 (ru) 2010-04-27
BRPI0609553A2 (pt) 2010-04-13
JP5102759B2 (ja) 2012-12-19

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