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    ROBOT ARM APPARATUS, ROBOT ARM CONTROL METHOD, AND PROGRAM
    1.
    发明申请
    ROBOT ARM APPARATUS, ROBOT ARM CONTROL METHOD, AND PROGRAM 审中-公开
    机器人ARM设备，机器人ARM控制方法和程序

    公开(公告)号：US20170007342A1

    公开(公告)日：2017-01-12

    申请号：US15119671

    申请日：2015-02-12

    申请人： SONY CORPORATION

    发明人： TAKARA KASAI ,  YASUHISA KAMIKAWA ,  YOHEI KURODA ,  WATARU KOKUBO ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

    IPC分类号： A61B34/32 ,  A61B90/00 ,  A61B34/30

    摘要： [Object] To enable further improvement in user convenience. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

    摘要翻译： [对象]进一步提高用户便利性。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由通过一个或多个接合单元彼此连接的多个链节构成，所述臂单元可连接到成像单元; 以及驱动控制单元，其通过协同地驱动每个接合单元来控制所述臂单元的驱动。 驱动控制单元使用相对于臂单元的参考位置的相对位置信息，相对位置信息基于臂单元的状态和关于成像单元与参考位置之间的距离的距离信息来控制 以参考位置位于成像单元的光轴上的方式驱动臂单元。

    ROBOT ARM APPARATUS AND ROBOT ARM CONTROL METHOD
    3.
    发明申请
    ROBOT ARM APPARATUS AND ROBOT ARM CONTROL METHOD 审中-公开

    公开(公告)号：US20200146762A1

    公开(公告)日：2020-05-14

    申请号：US16743104

    申请日：2020-01-15

    申请人： SONY CORPORATION

    发明人： TAKARA KASAI ,  YASUHISA KAMIKAWA ,  YOHEI KURODA ,  WATARU KOKUBO ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

    IPC分类号： A61B34/32 ,  A61B90/00 ,  A61B34/30

    摘要： There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

    ROBOT ARM APPARATUS, CALIBRATION METHOD, AND PROGRAM
    4.
    发明申请
    ROBOT ARM APPARATUS, CALIBRATION METHOD, AND PROGRAM 审中-公开
    机器人ARM设备，校准方法和程序

    公开(公告)号：US20170066131A1

    公开(公告)日：2017-03-09

    申请号：US15119631

    申请日：2015-02-12

    申请人： SONY CORPORATION

    发明人： YASUHISA KAMIKAWA ,  TAKARA KASAI ,  YOHEI KURODA ,  WATARU KOKUBO ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

    IPC分类号： B25J9/16 ,  A61B34/30

    摘要： [Object] To calibrate an internal model more efficiently and more precisely. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit. An internal model including at least geometric information about the arm unit and focus position information about the imaging unit is updated using internal model information acquired in a state in which the imaging unit is pointed at a reference point in real space.

    摘要翻译： [对象]更高效，更准确地校准内部模型。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由由一个或多个接合单元连接的多个链节构成，所述臂单元可连接到成像单元。 使用在成像单元指向实际空间中的参考点的状态下获取的内部模型信息来更新包括关于臂单元的至少几何信息和关于成像单元的聚焦位置信息的内部模型。

    ENDOSCOPE AND ARM SYSTEM
    5.
    发明申请
    ENDOSCOPE AND ARM SYSTEM 有权

    公开(公告)号：US20210007593A1

    公开(公告)日：2021-01-14

    申请号：US16980011

    申请日：2019-02-04

    申请人： SONY CORPORATION

    发明人： JUN ARAI ,  YOHEI KURODA ,  MASARU USUI ,  TETSUHARU FUKUSHIMA ,  DAISUKE NAGAO

    IPC分类号： A61B1/07 ,  A61B1/00 ,  A61B1/06

    摘要： [Overview] [Problem to be Solved] To make it possible to appropriately rotate an endoscope.
    [Solution] There is provided an endoscope including: a main body including a coupler to which a cable is attached; a tubular section having a tubular form; a reflector having a reflection surface that reflects light introduced from the coupler to inside of the main body and introduces the light to inside of the tubular section; a first optical system that transmits the light introduced by the reflector to the inside of the tubular section to a front-end portion of the tubular section and irradiates a subject with the light from the front-end portion; and a second optical system that transmits reflected light of the subject from the front-end portion of the tubular section to the main body side. The coupler is provided to be rotatable in the main body around a central axis of the tubular section with respect to another portion. The cable being coupled to a light source. The tubular section is fixed to the main body and extends from the main body.