公开(公告)号：US11229498B2

公开(公告)日：2022-01-25

申请号：US16330550

申请日：2017-08-03

Applicant: SONY CORPORATION

Inventor： Yasuhisa Kamikawa ,  Yohei Kuroda ,  Yasuhiro Matsuda ,  Jun Arai

IPC: G05B19/04 ,  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：US10369700B2

公开(公告)日：2019-08-06

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 ,  H04N5/225 ,  A61B90/00 ,  A61B90/50

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：US11419696B2

公开(公告)日：2022-08-23

申请号：US16333120

申请日：2017-08-14

Applicant: SONY CORPORATION

Inventor： Yasuhisa Kamikawa ,  Jun Arai

IPC: A61B90/00 ,  A61B90/20 ,  A61B1/002 ,  G16H30/20

Abstract: There is provided a control device that decides at least one medical image as a medical image to display or save from among medical images taken by a plurality of imaging devices, on a basis of imaging device status information that includes information about a position or an attitude for at least one of the plurality of imaging devices.

公开(公告)号：US11382715B2

公开(公告)日：2022-07-12

申请号：US16087152

申请日：2017-02-06

Applicant: SONY CORPORATION

Inventor： Jun Arai ,  Yohei Kuroda ,  Yasuhisa Kamikawa ,  Wataru Kokubo

IPC: A61B90/50 ,  A61B1/00

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.

公开(公告)号：US10923980B2

公开(公告)日：2021-02-16

申请号：US16119265

申请日：2018-08-31

Applicant: SONY CORPORATION

Inventor： Wataru Kokubo ,  Yasuhisa Kamikawa ,  Toshimitsu Tsuboi ,  Yohei Kuroda ,  Jun Arai

IPC: H02K3/34 ,  A61B90/50 ,  A61B34/00 ,  A61B34/32 ,  A61B50/13 ,  A61B90/00 ,  H02K1/27

Abstract: In order to realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. A motor is provided. Also, an electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.

公开(公告)号：US10765485B2

公开(公告)日：2020-09-08

申请号：US15541052

申请日：2016-03-04

Applicant: SONY CORPORATION

Inventor： Yasuhiro Matsuda ,  Tetsuharu Fukushima ,  Yasuhisa Kamikawa ,  Atsushi Miyamoto ,  Wataru Kokubo

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

Abstract: There is provided a medical support arm device including a multi-joint arm having a distal end configured to host a medical device, said multi-joint arm configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and pointing direction of the medical device. The multi-joint arm is configured to controllably displace at least one of a plurality of joints of the multi-joint arm while the spatial position and the pointing direction of the medical device are controlled.

公开(公告)号：US11633245B2

公开(公告)日：2023-04-25

申请号：US16743104

申请日：2020-01-15

Applicant: SONY CORPORATION

Inventor： Takara Kasai ,  Yasuhisa Kamikawa ,  Yohei Kuroda ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Yasuhiro Matsuda ,  Atsushi Miyamoto

IPC: G06F17/00 ,  A61B34/32 ,  A61B90/00 ,  A61B34/30

Abstract: 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.

公开(公告)号：US10668625B2

公开(公告)日：2020-06-02

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 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/00 ,  H04N5/225

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：US10299868B2

公开(公告)日：2019-05-28

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: A61B34/00 ,  A61B34/30 ,  B25J9/16 ,  B25J9/06 ,  A61B90/00

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.

公开(公告)号：US10128714B2

公开(公告)日：2018-11-13

申请号：US15121466

申请日：2016-02-02

Applicant: SONY CORPORATION

Inventor： Wataru Kokubo ,  Yasuhisa Kamikawa ,  Toshimitsu Tsuboi ,  Yohei Kuroda ,  Jun Arai

IPC: H02K3/34 ,  A61B90/50 ,  A61B34/00 ,  H02K1/27 ,  A61B90/00 ,  A61B50/13 ,  A61B34/32

Abstract: Provided is a motor. An electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.