公开(公告)号：US20210015346A1

公开(公告)日：2021-01-21

申请号：US16979879

申请日：2019-01-11

Applicant: Sony Corporation

Inventor： Yohei KURODA ,  Kei TOMATSU ,  Tetsuharu FUKUSHIMA ,  Jun ARAI

IPC: A61B1/00 ,  A61B1/05 ,  A61B1/06 ,  A61B90/25

Abstract: A support unit for a medical camera head is described. The support unit is configured to rotate about an axis and including: an adapter configured to detachably mount a plurality of different medical scopes thereon; a light source supply system configured to supply light to the medical scope when mounted, the light source supply system being configured to pass through the axis; and an image sensor configured to capture an image from the medical scope, and wherein the axis is in the imaging direction of the image sensor.

公开(公告)号：US20180014906A1

公开(公告)日：2018-01-18

申请号：US15541077

申请日：2016-02-01

Applicant: SONY CORPORATION

Inventor： Tetsuharu FUKUSHIMA ,  Wataru KOKUBO ,  Toshimitsu TSUBOI ,  Yohei KURODA ,  Yasuhisa KAMIKAWA

IPC: H04N5/63 ,  G02B21/00 ,  B25J19/00 ,  G02B23/24 ,  G02B21/36 ,  A61B1/00

CPC classification number: A61B90/50 ,  A61B1/00149 ,  A61B1/0016 ,  A61B90/361 ,  A61B2090/508 ,  B25J19/0004 ,  G02B7/001 ,  G02B21/0012 ,  G02B21/36 ,  G02B23/2484 ,  H04N5/63 ,  H04N2201/02485

Abstract: There is provided a medical support arm device including a brake provided in at least one joint of a plurality of joints that define a deployment configuration of a multi-joint arm, and configured to release a rotation shaft of the at least one joint when electricity is supplied to the multi-joint arm and lock the rotation shaft when electricity is not supplied to the multi-joint arm. When electricity is not supplied the brake is configured to exert a brake force that supports a weight of the multi-joint arm to maintain the deployment configuration of the multi-joint arm, but also permits rotation of the rotation shaft by an external manually applied force equal to or larger than a predetermined value

公开(公告)号：US20190262090A1

公开(公告)日：2019-08-29

申请号：US16343787

申请日：2017-10-13

Applicant: Sony Corporation

Inventor： Wataru KOKUBO ,  Tetsuharu FUKUSHIMA ,  Toshimitsu TSUBOI

IPC: A61B34/00 ,  A61B90/25 ,  B25J19/00 ,  A61B1/00

Abstract: [Object] To more simply configure a joint driving actuator having a function of a brake. [Solution] A joint driving actuator according to the present disclosure includes: an ultrasonic motor configured to generate driving force for driving a joint; a torque sensor configured to detect external force applied to the joint; and an encoder configured to detect a rotational angle of the ultrasonic motor. This configuration makes it possible to more simply configure a joint driving actuator having a function of a brake.

公开(公告)号：US20180200006A1

公开(公告)日：2018-07-19

申请号：US15762600

申请日：2016-08-03

Applicant: SONY CORPORATION

Inventor： Yasuhisa KAMIKAWA ,  Tetsuharu FUKUSHIMA ,  Wataru KOKUBO ,  Yasuhiro MATSUDA

IPC: A61B34/30

CPC classification number: A61B34/30 ,  A61B90/361 ,  A61B90/37 ,  A61B90/50 ,  A61B2090/372 ,  A61B2090/5025 ,  B25J9/0018 ,  B25J9/06

Abstract: To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

公开(公告)号：US20170007336A1

公开(公告)日：2017-01-12

申请号：US15120616

申请日：2015-02-13

Applicant: SONY CORPORATION

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

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

CPC classification number: A61B34/30 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/301 ,  A61B2090/031 ,  A61B2090/035 ,  A61B2090/5025 ,  B25J9/06 ,  B25J9/1633 ,  B25J9/1674 ,  G05B2219/40344 ,  G05B2219/41114 ,  Y10S901/09

Abstract: A medical support arm apparatus including: an arm unit including 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.

Abstract translation: 一种医疗支撑臂装置，包括：臂单元，包括通过一个或多个接头单元彼此连接的多个连杆; 以及驱动控制单元，其通过控制所述接合单元的驱动来驱动所述臂单元。 如果在至少一个关节单元中检测到故障，则驱动控制单元在对臂单元的运动施加某种限制的状态下控制接合单元的驱动，并且驱动臂单元以避免 故障。

公开(公告)号：US20200324419A1

公开(公告)日：2020-10-15

申请号：US16911404

申请日：2020-06-25

Applicant: Sony Corporation

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

IPC: B25J13/08 ,  A61B34/30 ,  A61B1/00 ,  A61B90/50

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：US20200008649A1

公开(公告)日：2020-01-09

申请号：US16338693

申请日：2017-10-12

Applicant: SONY CORPORATION ,  SONY OLYMPUS MEDICAL SOLUTIONS INC.

Inventor： Wataru KOKUBO ,  Tetsuharu FUKUSHIMA ,  Toshiya SUGAI

IPC: A61B1/00 ,  G02B23/24

Abstract: [Object] To make the vertical and horizontal directions of an endoscope image and the vertical and horizontal directions of the screen of a monitor coincide with each other without spoiling the effective region of the endoscope image.[Solution] A control device of an endoscope system according to the present disclosure includes: a scope rotation angle acquiring section that acquires a scope rotation angle, around an axis in an insertion direction, of a scope including an objective lens to be inserted in a body; and a rotation angle control section that controls a rotation angle, around an optical axis center, of an image sensor that captures an image provided by the scope, on the basis of the scope rotation angle.

公开(公告)号：US20190274779A1

公开(公告)日：2019-09-12

申请号：US16420326

申请日：2019-05-23

Applicant: Sony Corporation

Inventor： Tetsuharu FUKUSHIMA ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Yohel Kuroda ,  Yasuhisa Kamikawa

IPC: A61B90/50 ,  A61B1/00 ,  H04N5/63 ,  G02B21/00 ,  G02B21/36 ,  G02B23/24 ,  B25J19/00

Abstract: There is provided a medical support arm device including a brake provided in at least one joint of a plurality of joints that define a deployment configuration of a multi-joint arm, and configured to release a rotation shaft of the at least one joint when electricity is supplied to the multi-joint arm and lock the rotation shaft when electricity is not supplied to the multi joint arm. When electricity is not supplied the brake is configured to exert a brake force that supports a weight of the multi-joint arm to maintain the deployment configuration of the multi-joint arm, but also permits rotation of the rotation shaft by an external manually applied force equal to or larger than a predetermined value

公开(公告)号：US20130144440A1

公开(公告)日：2013-06-06

申请号：US13675182

申请日：2012-11-13

Applicant: Sony Corporation

Inventor： Satoru SHIMIZU ,  Wataru KOKUBO ,  Akichika TANAKA ,  Tetsuharu FUKUSHIMA

IPC: B25J13/08

CPC classification number: B25J13/088 ,  B25J9/1664 ,  B25J11/0005 ,  B25J11/008

Abstract: A robot apparatus includes a reception arm determination unit that determines from a left arm or a right arm of a user a reception arm which is used in handing of an object; a hand location calculation unit that calculates a current location of a hand of the reception arm; and a handing operation unit that performs an object handing operation at the location of the hand of the reception arm which is calculated using the hand location calculation unit.

Abstract translation: 机器人装置包括：接收臂判定单元，其从用户的左臂或右臂判定用于处理物体的接收臂; 手位置计算单元，计算接收臂的手的当前位置; 以及处理操作单元，其在使用手位置计算单元计算的接收臂的手的位置处执行对象处理操作。

公开(公告)号：US20190275679A1

公开(公告)日：2019-09-12

申请号：US15929134

申请日：2019-05-31

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 ,  A61B90/00 ,  A61B34/30 ,  H04N5/225 ,  A61B34/00 ,  A61B34/35

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.