公开(公告)号：EP3533381A1

公开(公告)日：2019-09-04

申请号：EP17868934.5

申请日：2017-10-12

申请人： Sony Corporation ,  Sony Olympus Medical Solutions Inc.

发明人： KOKUBO, Wataru ,  FUKUSHIMA, Tetsuharu ,  SUGAI, Toshiya

IPC分类号： A61B1/045 ,  A61B1/00 ,  G02B23/24

摘要： [Object] To make the vertical and horizontal directions of an endoscope image and the vertical and horizontal directions of the screen of a monitor coincide with each other without spoiling the effective region of the endoscope image.
[Solution] A control device of an endoscope system according to the present disclosure includes: a scope rotation angle acquiring section that acquires a scope rotation angle, around an axis in an insertion direction, of a scope including an objective lens to be inserted in a body; and a rotation angle control section that controls a rotation angle, around an optical axis center, of an image sensor that captures an image provided by the scope, on the basis of the scope rotation angle.

公开(公告)号：EP3264592A1

公开(公告)日：2018-01-03

申请号：EP16755048.2

申请日：2016-01-08

申请人： Sony Corporation

发明人： KAMIKAWA, Yasuhisa ,  FUKUSHIMA, Tetsuharu ,  KOKUBO, Wataru ,  TSUBOI, Toshimitsu ,  KURODA, Yohei ,  ARAI, Jun

IPC分类号： H02P29/00 ,  A61B90/00 ,  B25J19/06

CPC分类号： B25J9/102 ,  A61B34/00 ,  A61B34/70 ,  A61B90/00 ,  A61B90/25 ,  A61B90/35 ,  A61B90/50 ,  B25J19/023 ,  B25J19/06 ,  H02P29/00 ,  H02P29/40

摘要： [Object] To enable greater compactness and also to be capable of preventing breakdown more reliably.
[Solution] Provided is an actuator, including: a motor; and a reduction gear having a breakdown torque that is less than a starting torque of the motor. A limit value in accordance with the breakdown torque of the reduction gear is set with respect to a control value for driving the motor.

摘要翻译： 为了实现更大的紧凑性并且能够更可靠地防止故障。 [解决方案]提供一种致动器，包括：电动机; 以及具有小于电动机的起动转矩的击穿转矩的减速齿轮。 根据驱动马达的控制值设定与减速机的故障转矩对应的限制值。

公开(公告)号：EP3260051A1

公开(公告)日：2017-12-27

申请号：EP16768158.4

申请日：2016-02-02

申请人： Sony Corporation

发明人： ARAI, Jun ,  KAMIKAWA, Yasuhisa ,  MIYAZAWA, Kiyokazu ,  KURODA, Yohei ,  MATSUDA, Yasuhiro ,  FUKUSHIMA, Tetsuharu

IPC分类号： A61B17/02 ,  A61B90/00

CPC分类号： A61B1/00149 ,  A61B1/00133 ,  A61B1/0014 ,  A61B1/3132 ,  A61B17/02 ,  A61B90/00 ,  A61B90/50

摘要： The present invention aims to make it capable of holding organs more safely.
Provided is a medical support arm apparatus, including: an arm unit (510) whose driving is controlled by force control; and a retractor, provided on a front end of the arm unit (510), that holds an organ of a patient during surgery.

摘要翻译： 本发明旨在使其能够更安全地保持器官。 提供一种医疗用支承臂装置，其包括：通过力量控制进行驱动控制的臂部（510） 以及设置在臂单元（510）的前端上的牵开器，其在手术期间保持患者的器官。

公开(公告)号：EP3703549A1

公开(公告)日：2020-09-09

申请号：EP18800339.6

申请日：2018-10-25

申请人： Sony Corporation

发明人： ARAI, Jun ,  KURODA, Yohei ,  USUI, Masaru ,  FUKUSHIMA, Tetsuharu

IPC分类号： A61B1/00 ,  A61B1/04

公开(公告)号：EP3135445A1

公开(公告)日：2017-03-01

申请号：EP15770077.4

申请日：2015-03-20

申请人： Sony Corporation ,  Sony Olympus Medical Solutions Inc.

发明人： KURODA, Yohei ,  KASAI, Takara ,  KAMIKAWA, Yasuhisa ,  KOKUBO, Wataru ,  TSUBOI, Toshimitsu ,  FUKUSHIMA, Tetsuharu ,  MATSUDA, Yasuhiro ,  MIYAMOTO, Atsushi ,  HIROSE, Kenji

IPC分类号： B25J19/04 ,  A61B90/00 ,  B25J13/00 ,  B25J13/08 ,  H04N5/222 ,  H04N5/225

CPC分类号： 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

摘要： 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.

摘要翻译： 根据本公开的机器人手臂装置包括：一个或多个联接单元，其连接构成多链路结构的多个链路; 获取单元，其获取由附接到所述多重链接结构的成像单元成像的被摄体的屏幕上放大因子; 以及驱动控制单元，其基于接合单元的状态和放大因子来控制接合单元的驱动。

公开(公告)号：EP3768143A1

公开(公告)日：2021-01-27

申请号：EP19701911.0

申请日：2019-01-11

申请人： Sony Corporation

发明人： KURODA, Yohei ,  TOMATSU, Kei ,  FUKUSHIMA, Tetsuharu ,  ARAI, Jun

IPC分类号： A61B1/04 ,  A61B90/50 ,  A61B90/35 ,  A61B90/25 ,  A61B1/00 ,  A61B90/00 ,  G02B23/24 ,  A61B34/30 ,  H04N5/225

公开(公告)号：EP3326763A1

公开(公告)日：2018-05-30

申请号：EP16832589.2

申请日：2016-05-31

申请人： Sony Corporation

发明人： KURODA, Yohei ,  FUKUSHIMA, Tetsuharu ,  SUZUKI, Fumiyasu ,  TSUBOI, Toshimitsu

IPC分类号： B25J13/00 ,  A61B1/00

CPC分类号： B25J13/085 ,  A61B1/00 ,  A61B1/00006 ,  A61B90/50 ,  B25J9/16 ,  B25J13/00

摘要： [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：EP3112096A1

公开(公告)日：2017-01-04

申请号：EP15755551.7

申请日：2015-02-12

申请人： Sony Corporation

发明人： KAMIKAWA, Yasuhisa ,  KASAI, Takara ,  KURODA, Yohei ,  KOKUBO, Wataru ,  TSUBOI, Toshimitsu ,  FUKUSHIMA, Tetsuharu ,  MATSUDA, Yasuhiro ,  MIYAMOTO, Atsushi

IPC分类号： B25J13/00 ,  A61B34/30 ,  B25J13/08 ,  H04N5/225

CPC分类号： B25J9/1692 ,  A61B34/30 ,  A61B90/361 ,  A61B2017/00725 ,  A61B2034/102 ,  B25J9/1697 ,  G05B2219/39016 ,  G05B2219/39029 ,  G05B2219/39045 ,  G05B2219/39057 ,  G05B2219/40613

摘要： [Object] To calibrate an internal model more efficiently and more precisely
[Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit. An internal model including at least geometric information about the arm unit and focus position information about the imaging unit is updated using internal model information acquired in a state in which the imaging unit is pointed at a reference point in real space.

摘要翻译： [对象]更有效和更精确地校准内部模型[解决方案]提供了一种机器人手臂装置，包括：由多个连杆组成的臂单元，所述多个连杆由一个或多个接头单元连接，所述臂单元可连接 到成像单元。 使用在成像单元指向实际空间中的参考点的状态下获取的内部模型信息来更新包括关于臂单元的至少几何信息和关于成像单元的聚焦位置信息的内部模型。

公开(公告)号：EP3357447A1

公开(公告)日：2018-08-08

申请号：EP16850881.0

申请日：2016-08-03

申请人： Sony Corporation

发明人： KAMIKAWA, Yasuhisa ,  FUKUSHIMA, Tetsuharu ,  KOKUBO, Wataru ,  MATSUDA, Yasuhiro

IPC分类号： A61B50/28 ,  A61B34/30 ,  B25J9/06

CPC分类号： A61B34/30 ,  A61B50/28 ,  A61B90/361 ,  A61B90/37 ,  A61B2090/372 ,  B25J9/06

摘要： To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

公开(公告)号：EP3273899A1

公开(公告)日：2018-01-31

申请号：EP16713114.3

申请日：2016-03-04

申请人： Sony Corporation

发明人： MATSUDA, Yasuhiro ,  FUKUSHIMA, Tetsuharu ,  KAMIKAWA, Yasuhisa ,  MIYAMOTO, Atsushi ,  KOKUBO, Wataru

IPC分类号： A61B90/50 ,  A61B90/00 ,  A61B34/30 ,  B25J9/16

CPC分类号： A61B34/30 ,  A61B1/00149 ,  A61B34/74 ,  A61B90/36 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/743 ,  A61B2034/744

摘要： 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.