公开(公告)号：US20190328480A1

公开(公告)日：2019-10-31

申请号：US16330550

申请日：2017-08-03

Applicant: SONY CORPORATION

Inventor： Yasuhisa KAMIKAWA ,  Yohei KURODA ,  Yasuhiro MATSUDA ,  Jun ARAI

IPC: A61B90/25 ,  A61B90/50 ,  B25J15/00 ,  B25J19/00

Abstract: [Object] To make it possible to perform gravity compensation with a more compact and lightweight configuration.[Solution] There is provided a medical support arm apparatus including: an arm section including multiple joint sections, and configured such that a medical tool is provided on a front end; an actuator at least provided in a compensated joint section that is a target of gravity compensation among the joint sections, and including a torque sensor that detects a torque acting on the compensated joint section; and a gravity compensation mechanism that imparts to the compensated joint section a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section.

公开(公告)号：US20180042464A1

公开(公告)日：2018-02-15

申请号：US15554754

申请日：2016-02-02

Applicant: SONY CORPORATION

Inventor： Jun ARAI ,  Yasuhisa KAMIKAWA ,  Kiyokazu MIYAZAWA ,  Yohei KURODA ,  Yasuhiro MATSUDA ,  Tetsuharu FUKUSHIMA

IPC: A61B1/00 ,  A61B90/50

CPC classification number: A61B1/00149 ,  A61B1/00133 ,  A61B1/0014 ,  A61B1/3132 ,  A61B17/02 ,  A61B34/30 ,  A61B34/70 ,  A61B90/00 ,  A61B90/50 ,  A61B2090/064 ,  B25J9/1633

Abstract: The present invention aims to make it capable of holding organs more safely.Provided is a medical support arm apparatus, including: an arm unit (510) whose driving is controlled by force control; and a retractor, provided on a front end of the arm unit (510), that holds an organ of a patient during surgery.