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：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.

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：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：US20210229284A1

公开(公告)日：2021-07-29

申请号：US17263854

申请日：2019-07-25

Applicant: SONY CORPORATION

Inventor： Atsushi IRIE ,  Hirotaka SUZUKI ,  Takara KASAI ,  Masanobu NAKAMURA ,  Andrew SHIN

IPC: B25J9/16

Abstract: There is provided a control device, a control method, and a program that can prevent failure of an operation of a robot. The control device according to an aspect of the present technology includes a state transition determination section that controls an operation of a robot to perform a predetermined process before a task results in failure in a case where a state transition of the robot in performing the task follows a failure state transition that is preset as a state transition that results in the failure of the task. The present technology can be applied to a robot capable of autonomous operation.

公开(公告)号：US20200046208A1

公开(公告)日：2020-02-13

申请号：US16486503

申请日：2018-01-22

Applicant: Sony Corporation

Inventor： Takara KASAI ,  Yohei KURODA ,  Takeshi MAEDA ,  Seiji WADA

IPC: A61B1/00 ,  A61B1/313 ,  G06F3/16

Abstract: To provide a medical observation system, an apparatus for controlling an endoscope system, and a method for controlling the same.A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.

公开(公告)号：US20190053857A1

公开(公告)日：2019-02-21

申请号：US16070317

申请日：2016-11-28

Applicant: SONY CORPORATION

Inventor： Yuki SUGIE ,  Daisuke KIKUCHI ,  Tomoyuki HIRAYAMA ,  Yasuhiro MATSUDA ,  Daisuke NAGAO ,  Takara KASAI

IPC: A61B34/20 ,  A61B1/045 ,  A61B1/00 ,  H04N5/232 ,  A61B1/313 ,  A61B1/04

Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery.[Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.

公开(公告)号：US20180263710A1

公开(公告)日：2018-09-20

申请号：US15761507

申请日：2016-11-18

Applicant: SONY CORPORATION

Inventor： Tatsumi SAKAGUCHI ,  Takara KASAI

IPC: A61B34/20 ,  A61B90/20 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B34/70 ,  A61B90/14 ,  A61B90/20 ,  A61B90/25 ,  A61B90/361 ,  A61B90/37 ,  A61B90/50 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/3612 ,  A61B2090/365 ,  A61B2090/371

Abstract: A surgical information processing apparatus, including circuitry that obtains position information of a surgical imaging device, the position information indicating displacement of the surgical imaging device from a predetermined position, in a registration mode, obtain first image information from the surgical imaging device regarding a position of a surgical component, determines the position of the surgical component based on the first image information and the position information, and in an imaging mode, obtains second image information from the surgical imaging device of the surgical component based on the determined position.

公开(公告)号：US20210232949A1

公开(公告)日：2021-07-29

申请号：US17054915

申请日：2019-04-01

Applicant: SONY CORPORATION

Inventor： Kazuo HONGO ,  Takara KASAI ,  Ryota KIMURA ,  Hiroki MATSUDA

IPC: G06N5/04 ,  G06F16/2452 ,  G06F16/28 ,  B25J9/00

Abstract: There is provided an information processing device to derive a reliable answer from answers to the question received from a plurality of robot devices. The information processing device includes a weight management unit that determines, with respect to an answer to a question obtained from each of a plurality of respondent robots that have received the question and meta information of the answer, weighting of the answer based on the meta information of the answer, and a final answer determination unit that derives, based on the weighting of the answer, a final answer to the question from the respective answers from the plurality of respondent robots.

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

IPC: A61B34/37 ,  B25J9/16

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.