公开(公告)号：EP3825077A1

公开(公告)日：2021-05-26

申请号：EP19838444.8

申请日：2019-07-08

申请人： Sony Corporation

发明人： MATSUDA, Yasuhiro ,  NAGASAKA, Kenichiro ,  MASUDA, Hiromasa ,  HONGO, Kazuo

IPC分类号： B25J13/08 ,  B25J19/06

摘要： Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device (200) includes a control unit (210-1) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.

公开(公告)号：EP3513916A1

公开(公告)日：2019-07-24

申请号：EP17850571.5

申请日：2017-08-03

申请人： Sony Corporation

发明人： KAMIKAWA, Yasuhisa ,  KURODA, Yohei ,  MATSUDA, Yasuhiro ,  ARAI, Jun

IPC分类号： B25J13/08 ,  A61B34/30 ,  A61B90/50 ,  B25J19/00

摘要： [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：EP3437584A1

公开(公告)日：2019-02-06

申请号：EP17773645.1

申请日：2017-02-02

申请人： Sony Corporation

发明人： USUI, Masaru ,  MATSUDA, Yasuhiro ,  ARAI, Jun

IPC分类号： A61B90/50 ,  A61B34/32 ,  B25J13/00

摘要： An object of the invention of the present application is to provide a medical supporting arm control apparatus that restricts an operation of a medical supporting arm apparatus.
A medical supporting arm control apparatus (20) according to the present disclosure includes: a position acquisition section (241) configured to detect a spatial position of an operating point on a multi-link structure (120) configured by coupling a plurality of links by a joint section; a comparison section (270) configured to compare a movable region of the operating point with the spatial position, the movable region being set in advance; and an operation restriction section (272) configured to restrict an operation of the operating point on a basis of a result of the comparison. According to this configuration, it is possible to restrict the operation of the medical supporting arm apparatus.

公开(公告)号：EP3420878A1

公开(公告)日：2019-01-02

申请号：EP16891631.0

申请日：2016-11-28

申请人： Sony Corporation

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

IPC分类号： A61B1/00 ,  A61B1/04

摘要： [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.