公开(公告)号：US20190192238A1

公开(公告)日：2019-06-27

申请号：US16288973

申请日：2019-02-28

Applicant: SONY CORPORATION

Inventor： Toshimitsu TSUBOI ,  Takara KASAI ,  Yasuhisa KAMIKAWA ,  Yohei KURODA ,  Wataru KOKUBO ,  Tetsuharu FUKUSHIMA ,  Yasuhiro MATSUDA ,  Atsushi MIYAMOTO

IPC: A61B34/30 ,  B25J9/16 ,  B25J9/06

Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.

公开(公告)号：US20170129103A1

公开(公告)日：2017-05-11

申请号：US15413772

申请日：2017-01-24

Applicant: SONY CORPORATION

Inventor： Wataru KOKUBO ,  Tetsuharu FUKUSHIMA ,  Masakuni NAGANO ,  Satoru SHIMIZU

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  G05B2219/40298 ,  G05B2219/40475

Abstract: Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.

公开(公告)号：US20170080574A1

公开(公告)日：2017-03-23

申请号：US15126552

申请日：2015-03-20

Applicant: SONY CORPORATION ,  SONY OLYMPUS MEDICAL SOLUTIONS INC.

Inventor： Yohei KURODA ,  Takara KASAI ,  Yasuhisa KAMIKAWA ,  Wataru KOKUBO ,  Toshimitsu TSUBOI ,  Tetsuharu FUKUSHIMA ,  Yasuhiro MATSUDA ,  Atsushi MIYAMOTO ,  Kenji HIROSE

IPC: B25J9/16 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30

CPC classification number: B25J9/1697 ,  A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/371 ,  B25J9/1641 ,  B25J9/1651 ,  G05B2219/40613 ,  G05B2219/41397 ,  H04N5/2251

Abstract: A robot arm apparatus according to the present disclosure includes: one or a plurality of a joint unit that joins a plurality of links constituting a multi-link structure; an acquisition unit that acquires an on-screen enlargement factor of a subject imaged by an imaging unit attached to the multi-link structure; and a driving control unit that controls driving of the joint unit based on a state of the joint unit and the enlargement factor.

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.

公开(公告)号：US20180264655A1

公开(公告)日：2018-09-20

申请号：US15745173

申请日：2016-05-31

Applicant: SONY CORPORATION

Inventor： Yohei KURODA ,  Tetsuharu FUKUSHIMA ,  Fumiyasu SUZUKI ,  Toshimitsu TSUBOI

IPC: B25J13/08 ,  A61B1/00 ,  A61B90/50

CPC classification number: B25J13/085 ,  A61B1/00006 ,  A61B1/00149 ,  A61B34/30 ,  A61B90/35 ,  A61B90/50 ,  A61B2090/066 ,  A61B2090/508 ,  B25J9/16

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states.[Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

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.

公开(公告)号：US20170176704A1

公开(公告)日：2017-06-22

申请号：US15328181

申请日：2015-07-23

Applicant: SONY OLYMPUS MEDICAL SOLUTIONS INC. ,  SONY CORPORATION

Inventor： Kenji HIROSE ,  Tetsuharu FUKUSHIMA ,  Atsushi MIYAMOTO ,  Wataru KOKUBO ,  Toshimitsu TSUBOI

IPC: G02B7/00 ,  G03B13/36 ,  A61B90/25 ,  G02B21/36 ,  A61B90/20 ,  H04N5/232 ,  G02B21/00

Abstract: A medical observation device includes an imaging unit configured to photograph an image of an operation site, and a holding unit configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.