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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
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
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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
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.
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公开(公告)号：US20190099238A1
公开(公告)日：2019-04-04
申请号：US16087152
申请日：2017-02-06
Applicant: SONY CORPORATION
Inventor： Jun ARAI , Yohei KURODA , Yasuhisa KAMIKAWA , Wataru KOKUBO
Abstract: To provide a jig holding apparatus and medical observation apparatus, which enable linear motion of a jig without increasing the size of a holding mechanism configured to hold the jig. A jig holding apparatus (1) includes: a holding mechanism (100) including a holding section (173) configured to detachably hold a predetermined jig (10) from a periphery of the jig (10), and a linear motion driving section (130) provided around the jig (10) held by the holding section (173) and configured to cause the jig (10) to linearly move.
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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。
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公开(公告)号：US20210129347A1
公开(公告)日：2021-05-06
申请号：US17053207
申请日：2019-06-06
Applicant: SONY CORPORATION
Inventor： Satoko NAGAKARI , Tetsuya NARITA , Kazuhito WAKANA , Kazuo HONGO , Wataru KOKUBO , Yoshinao SODEYAMA
Abstract: A controller according to the present disclosure includes a whole-slip detecting unit (210) that detects, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip in which the object is slipping on each of the plurality of regions. An occurrence timing of the whole slip is different for each of the plurality of regions, and thus a state of a partial slip in which a part of the object is slipping is able to be detected, so that it is possible to detect a slip of the object with high accuracy.
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Patent Agency Ranking
公开(公告)号：US20190328475A1
公开(公告)日：2019-10-31
申请号：US16339487
申请日：2017-10-24
Applicant: SONY CORPORATION
Inventor： Jun ARAI , Yasuhisa KAMIKAWA , Wataru KOKUBO , Yasuhiro MATSUDA
Abstract: There is provided a medical support system including a support arm having one or more active joints and one or more passive coupling mechanisms and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms and control the one or more active joints based on the obtained information indicating the change.
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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
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.
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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.
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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
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。
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公开(公告)号：US20200000535A1
公开(公告)日：2020-01-02
申请号：US16484467
申请日：2018-01-12
Applicant: Sony Corporation
Inventor： Yasuhiro MATSUDA , Jun ARAI , Takara KASAI , Yohei KURODA , Wataru KOKUBO
Abstract: There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode.In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.
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