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：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：EP3258877A1

公开(公告)日：2017-12-27

申请号：EP16707237.0

申请日：2016-02-01

申请人： Sony Corporation

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

IPC分类号： A61B90/50

CPC分类号： A61B90/50 ,  A61B1/00149 ,  A61B1/0016 ,  A61B90/361 ,  A61B2090/508 ,  B25J19/0004 ,  G02B21/0012 ,  G02B21/36 ,  G02B23/2484 ,  H04N5/63

摘要： 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：EP3109980A1

公开(公告)日：2016-12-28

申请号：EP15757822.0

申请日：2015-02-19

申请人： Sony Corporation

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

IPC分类号： H02K11/00 ,  B25J17/00 ,  G01D5/244 ,  H02K7/116 ,  H02P6/16

CPC分类号： H02K7/116 ,  B25J9/06 ,  B25J9/126 ,  B25J9/1641 ,  B25J13/088 ,  G01D5/04 ,  G01D5/145 ,  G01D5/2451 ,  G05B2219/39191 ,  H02K11/215 ,  H02P6/16

摘要： [Object] To detect a rotational angle accurately and also to drive more safely.
[Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.

摘要翻译： [对象]准确地检测旋转角度，并且更安全地驱动。 [解决方案]提供一种致动器（300），包括：减速齿轮（320），其以一定的减小比率减小接合到电动机（360）的旋转轴的输入轴的旋转速度，并且将减小的齿轮 到输出轴（350）的旋转速度; 检测输入轴的旋转角度的第一绝对角度编码器（330）; 以及检测输出轴的旋转角度的第二绝对角度编码器（340）。

公开(公告)号：EP3733047A1

公开(公告)日：2020-11-04

申请号：EP19750752.8

申请日：2019-01-29

申请人： Sony Corporation

发明人： NEISHI, Hideo ,  TSUBOI, Toshimitsu ,  OKI, Tomoyuki ,  SHIRAKI, Hisakazu

IPC分类号： A61B1/045 ,  A61B90/20

摘要： [Problem to be Solved] Proposed is a surgery system, an image processor, and an image processing method that make it possible to know distribution of tissue inside a biological organ more exactly.
[Solution] A surgery system including a surgical camera and an image processor. The surgical camera performs imaging of a biological organ to acquire an image of the biological organ. The image processor specifies element tissue included in a three-dimensional region being a portion of the biological organ during surgery on the basis of three-dimensional distribution information of element tissue included in the biological organ and superimposes a representation of the specified element tissue on the image of the biological organ.

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：EP3098946A1

公开(公告)日：2016-11-30

申请号：EP16751454.6

申请日：2016-02-02

申请人： Sony Corporation

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

IPC分类号： H02K3/34

CPC分类号： H02K3/345 ,  A61B34/32 ,  A61B34/74 ,  A61B50/13 ,  A61B90/361 ,  A61B90/37 ,  A61B90/50 ,  H02K1/272 ,  H02K3/34

摘要： [Object] To realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety.
[Solution] Provided is a motor. 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.

摘要翻译： 实现能够更加紧凑地构造并且还能够确保更高安全性的可移动机构。 [解决方案]提供电机。 电活性部分设置有绝缘结构，使得电活性部分与电活性部分附近的一个或多个导体之间的绝缘性能满足关于医疗电气设备的一定安全标准。

公开(公告)号：EP2704091A1

公开(公告)日：2014-03-05

申请号：EP12776263.1

申请日：2012-02-20

申请人： Sony Corporation

发明人： SHIRADO, Hirokazu ,  TANAKA, Akichika ,  TSUBOI, Toshimitsu ,  IWAI, Yoshiaki

IPC分类号： G06Q50/10 ,  G06Q50/22

CPC分类号： G06Q10/06398 ,  G06Q10/06 ,  G06Q50/22

摘要： A service through remote control of a robot operated in an everyday living space is suitably provided.
A server of a service provider matches up a user and an operator on the basis of subjective evaluations on services received from the user and operational skill parameters received from the robot. The server selects operators to be assigned to the user for subsequent remote control services and performs scheduling of the operators to realize team building among the operators. The service provider also pays remuneration or reward to the operators.

摘要翻译： 适当地提供通过远程控制在日常生活空间中操作的机器人的服务。 服务提供商的服务器基于从用户接收的服务和从机器人接收到的操作技能参数的主观评估来匹配用户和操作者。 服务器选择要为用户分配后续的远程控制服务的运营商，并对运营商进行调度，实现运营商之间的团队建设。 服务提供商还向运营商支付报酬或报酬。

公开(公告)号：EP3590405A1

公开(公告)日：2020-01-08

申请号：EP18760984.7

申请日：2018-02-16

申请人： Sony Corporation

发明人： NAGAO, Daisuke ,  TSUBOI, Toshimitsu ,  MATSUDA, Yasuhiro ,  FUKUSHIMA, Tetsuharu

IPC分类号： A61B1/00 ,  B25J13/00 ,  G02B23/24

摘要： Proposed is a mechanism capable of securing both convenience and safety in regard to surgery performed by inserting an endoscope into a human body.
A medical arm system including: a multi-joint arm which has a plurality of links connected by joints and a distal end to which an endoscope is connectable; and a control unit which sets a virtual plane in a body cavity of a patient and controls the multi-joint arm so as to constrain a predetermined point of the endoscope in the body cavity on the virtual plane.