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    CONTROL SYSTEM, CONTROL METHOD, AND SURGICAL ARM SYSTEM
    2.
    发明申请
    CONTROL SYSTEM, CONTROL METHOD, AND SURGICAL ARM SYSTEM 审中-公开

    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.

    MEDICAL SUPPORT ARM APPARATUS, MEDICAL SYSTEM, AND SURGICAL MICROSCOPE SYSTEM
    3.
    发明申请
    MEDICAL SUPPORT ARM APPARATUS, MEDICAL SYSTEM, AND SURGICAL MICROSCOPE SYSTEM 审中-公开

    公开(公告)号：US20190328480A1

    公开(公告)日：2019-10-31

    申请号：US16330550

    申请日：2017-08-03

    Applicant: SONY CORPORATION

    Inventor： Yasuhisa KAMIKAWA ,  Yohei KURODA ,  Yasuhiro MATSUDA ,  Jun ARAI

    IPC: 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.

    IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD, AND PROGRAM
    5.
    发明申请
    IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD, AND PROGRAM 有权
    图像处理设备和图像处理方法及程序

    公开(公告)号：US20130308025A1

    公开(公告)日：2013-11-21

    申请号：US13851390

    申请日：2013-03-27

    Applicant: SONY CORPORATION

    Inventor： Kenichiro HOSOKAWA ,  Masashi UCHIDA ,  Takahiro NAGANO ,  Yasuhiro MATSUDA

    IPC: H04N5/335

    CPC classification number: H04N5/335 ,  H04N5/23229 ,  H04N9/045

    Abstract: There is provided an image processing device including a characteristic estimation portion that, from one of image information obtained from an image sensor and information attached to the image information, estimates a characteristic of the image sensor that is used to generate the image information, and a processing portion that processes the image information in accordance with the characteristic of the image sensor estimated by the characteristic estimation portion.

    Abstract translation: 提供了一种图像处理装置，包括：特征估计部，从图像传感器获得的图像信息和附加到图像信息的信息之一估计用于生成图像信息的图像传感器的特性，以及 处理部分，其根据由特征估计部分估计的图像传感器的特性处理图像信息。

    MEDICAL SUPPORT ARM APPARATUS
    6.
    发明申请
    MEDICAL SUPPORT ARM APPARATUS 审中-公开

    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

    IPC: A61B34/00 ,  A61B34/30 ,  A61B34/20

    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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