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：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：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.

公开(公告)号：EP3426128A1

公开(公告)日：2019-01-16

申请号：EP17710063.3

申请日：2017-02-21

申请人： Sony Corporation

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

IPC分类号： A61B1/00 ,  A61B1/313 ,  A61B1/12

公开(公告)号：EP3135444A1

公开(公告)日：2017-03-01

申请号：EP15754874.4

申请日：2015-02-12

申请人： Sony Corporation

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

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

CPC分类号： A61B34/32 ,  A61B34/30 ,  A61B90/06 ,  A61B90/361 ,  A61B2090/061 ,  A61B2090/066

摘要： [Object] To enable further improvement in user convenience.
[Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

摘要翻译： [对象]进一步提高用户便利性。 [解决方案]提供一种机器人手臂装置，其包括：臂单元，由通过一个或多个接合单元彼此连接的多个链节构成，所述臂单元可连接到成像单元; 以及驱动控制单元，其通过协同地驱动每个接合单元来控制所述臂单元的驱动。 驱动控制单元使用相对于臂单元的参考位置的相对位置信息，相对位置信息基于臂单元的状态和关于成像单元与参考位置之间的距离的距离信息来控制 以参考位置位于成像单元的光轴上的方式驱动臂单元。

公开(公告)号：EP3120979A1

公开(公告)日：2017-01-25

申请号：EP15762101.2

申请日：2015-02-13

申请人： Sony Corporation

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

IPC分类号： B25J19/06 ,  A61B34/30 ,  B25J13/00

CPC分类号： 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

摘要： [Object] To enable further improvement in safety.
[Solution] Provided is a robot arm apparatus (10) including: an arm unit (120) made up of a plurality of links joined to each other by one or a plurality of a joint unit (130); and a driving control unit (111) that drives the arm unit (120) by controlling driving of the joint unit (130). If a malfunction is detected in at least one of the joint unit (130), the driving control unit (111) controls the driving of the joint unit (130) in a state in which a certain restriction is imposed on motion of the arm unit (120), and drives the arm unit (120) to avoid the malfunction.

摘要翻译： [对象]进一步提高安全性。 [解决方案]提供一种机器人手臂装置（10），包括：臂单元（120），由通过一个或多个接头单元（130）彼此连接的多个链节构成; 以及通过控制所述关节单元（130）的驱动来驱动所述臂单元（120）的驱动控制单元（111）。 如果在至少一个联合单元（130）中检测到故障，则驱动控制单元（111）在对臂单元（130）的运动施加某种限制的状态下控制接合单元（130）的驱动 （120），并且驱动臂单元（120）以避免故障。

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.

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：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。