公开(公告)号：US20190125485A1

公开(公告)日：2019-05-02

申请号：US16083581

申请日：2017-02-02

Applicant: SONY CORPORATION

Inventor： Masaru USUI ,  Yasuhiro MATSUDA ,  Jun ARAI

IPC: A61B90/50 ,  A61B90/00 ,  A61B34/20 ,  B25J9/16

Abstract: An object of the invention of the present application is to provide a medical supporting arm control apparatus that restricts an operation of a medical supporting arm apparatus.A medical supporting arm control apparatus (20) according to the present disclosure includes: a position acquisition section (241) configured to detect a spatial position of an operating point on a multi-link structure (120) configured by coupling a plurality of links by a joint section; a comparison section (270) configured to compare a movable region of the operating point with the spatial position, the movable region being set in advance; and an operation restriction section (272) configured to restrict an operation of the operating point on a basis of a result of the comparison. According to this configuration, it is possible to restrict the operation of the medical supporting arm apparatus.

公开(公告)号：US20210369351A1

公开(公告)日：2021-12-02

申请号：US16758864

申请日：2018-10-24

Applicant: Sony Corporation

Inventor： Yohei KURODA ,  Jun ARAI ,  Masaru USUI ,  Takeshi MAEDA

IPC: A61B34/20 ,  A61B1/00 ,  A61B34/30 ,  B25J9/16

Abstract: [Problem] To prevent sight of an observation target from being lost from a visual field of a monitor.
[Solution] A surgical arm system includes: an articulated arm in which a plurality of joints is rotatably connected by a plurality of links and which is capable of supporting an oblique-viewing endoscope at a tip; and a control system which controls the articulated arm to change a position and a posture of the oblique-viewing endoscope. The control system controls at least one of a rotation speed and a movement speed of the oblique-viewing endoscope in a visual field imaged through the oblique-viewing endoscope based on a position of the observation target in the visual field.

公开(公告)号：US20210369092A1

公开(公告)日：2021-12-02

申请号：US16758866

申请日：2018-10-25

Applicant: Sony Corporation

Inventor： Jun ARAI ,  Yohei KURODA ,  Masaru USUI ,  Tetsuharu FUKUSHIMA

IPC: A61B1/00 ,  A61B1/04

Abstract: There is provided a medical holding apparatus including: a first actuator configured to cause a medical optical tool that guides light from a body cavity of a subject to a camera head during a surgical operation, to rotate about an optical axis of the medical optical tool and a rotation mechanism configured to support the camera head that acquires an image of the body cavity of the subject via the medical optical tool, the camera head being rotatable about the optical axis of the medical optical tool independently from the medical optical tool.

公开(公告)号：US20200060523A1

公开(公告)日：2020-02-27

申请号：US16487436

申请日：2018-02-19

Applicant: Sony Corporation

Inventor： Yasuhiro MATSUDA ,  Atsushi MIYAMOTO ,  Kenichiro NAGASAKA ,  Masaru USUI ,  Yohei KURODA ,  Daisuke NAGAO ,  Jun ARAI ,  Tetsuharu FUKUSHIMA

IPC: A61B1/00 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B34/20 ,  A61B1/313

Abstract: Provision of a technology for controlling an arm to maintain hand-eye coordination is desirable in a case of using the arm for supporting an oblique-viewing endoscope.Provided is a medical support arm system including an articulated arm configured to support a scope that acquires an image of an observation target in an operation field, and a control unit configured to control the articulated arm on the basis of a relationship between a real link corresponding to a lens barrel axis of the scope and a virtual link corresponding to an optical axis of the scope.