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：US20210394365A1

公开(公告)日：2021-12-23

申请号：US17281739

申请日：2019-09-30

Applicant: SONY CORPORATION

Inventor： Kazuo HONGO ,  Toshimitsu TSUBOI ,  Shunsuke YAJIMA

IPC: B25J9/16 ,  A61F4/00

Abstract: [Object]
Provided is an apparatus for arranging objects in such a manner as to permit the user to handle the objects more easily. The information includes a robotic arm device configured to arrange one or more objects, and circuitry configured to determine one or more characteristics of a user, determine an arrangement position of each object of the one or more objects to be arranged based on the one or more determined characteristics of the user, and initiate control of the robotic arm device to arrange each object according to the determined arrangement position of the object.

公开(公告)号：US20210394362A1

公开(公告)日：2021-12-23

申请号：US17279990

申请日：2019-09-12

Applicant: SONY CORPORATION

Inventor： Yoshinao SODEYAMA ,  Tetsuya NARITA ,  Yasuhiro MATSUDA ,  Kazuo HONGO ,  Toshimitsu TSUBOI

IPC: B25J9/16 ,  B25J13/08

Abstract: It is possible to transfer an object smoothly. An information processing device includes a control unit (12, 11) that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.

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：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：US20190036407A1

公开(公告)日：2019-01-31

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 ,  A61B34/00 ,  A61B90/50 ,  A61B50/13 ,  A61B90/00 ,  A61B34/32 ,  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：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.