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公开(公告)号：US10675106B2
公开(公告)日：2020-06-09
申请号：US16288973
申请日：2019-02-28
Applicant: SONY CORPORATION
Inventor： Toshimitsu Tsuboi , Takara Kasai , Yasuhisa Kamikawa , Yohei Kuroda , Wataru Kokubo , Tetsuharu Fukushima , Yasuhiro Matsuda , Atsushi Miyamoto
Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.
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公开(公告)号：US10561469B2
公开(公告)日：2020-02-18
申请号：US15119671
申请日：2015-02-12
Applicant: SONY CORPORATION
Inventor： Takara Kasai , Yasuhisa Kamikawa , Yohei Kuroda , Wataru Kokubo , Toshimitsu Tsuboi , Tetsuharu Fukushima , Yasuhiro Matsuda , Atsushi Miyamoto
Abstract: There is provided 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.
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公开(公告)号：US10357330B2
公开(公告)日：2019-07-23
申请号：US15541077
申请日：2016-02-01
Applicant: SONY CORPORATION
Inventor： Tetsuharu Fukushima , Wataru Kokubo , Toshimitsu Tsuboi , Yohei Kuroda , Yasuhisa Kamikawa
Abstract: 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.
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公开(公告)号：US11696814B2
公开(公告)日：2023-07-11
申请号：US16485615
申请日：2018-02-16
Applicant: SONY CORPORATION
Inventor： Daisuke Nagao , Toshimitsu Tsuboi , Yasuhiro Matsuda , Tetsuharu Fukushima
CPC classification number: A61B90/50 , A61B1/00149 , A61B34/30 , A61B34/70 , A61B90/361 , A61B17/00234 , A61B2034/301 , A61B2034/305
Abstract: 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.
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公开(公告)号：US11633245B2
公开(公告)日：2023-04-25
申请号：US16743104
申请日：2020-01-15
Applicant: SONY CORPORATION
Inventor： Takara Kasai , Yasuhisa Kamikawa , Yohei Kuroda , Wataru Kokubo , Toshimitsu Tsuboi , Tetsuharu Fukushima , Yasuhiro Matsuda , Atsushi Miyamoto
Abstract: There is 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.
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Patent Agency Ranking
公开(公告)号：US10782501B2
公开(公告)日：2020-09-22
申请号：US15328181
申请日：2015-07-23
Applicant: SONY OLYMPUS MEDICAL SOLUTIONS INC. , SONY CORPORATION
Inventor： Kenji Hirose , Tetsuharu Fukushima , Atsushi Miyamoto , Wataru Kokubo , Toshimitsu Tsuboi
IPC: G02B7/00 , A61B90/20 , A61B90/25 , G02B21/00 , G02B21/36 , G03B13/36 , H04N5/232 , B25J9/16 , G05B19/423
Abstract: A medical observation device includes an imaging unit configured to photograph an image of an operation site, and a holding unit configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.
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公开(公告)号：US10668625B2
公开(公告)日：2020-06-02
申请号：US15929134
申请日：2019-05-31
Applicant: SONY CORPORATION , SONY OLYMPUS MEDICAL SOLUTIONS INC.
Inventor： Yohei Kuroda , Takara Kasai , Yasuhisa Kamikawa , Wataru Kokubo , Toshimitsu Tsuboi , Tetsuharu Fukushima , Yasuhiro Matsuda , Atsushi Miyamoto , Kenji Hirose
Abstract: 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.
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公开(公告)号：US10299868B2
公开(公告)日：2019-05-28
申请号：US15120616
申请日：2015-02-13
Applicant: SONY CORPORATION
Inventor： Toshimitsu Tsuboi , Takara Kasai , Yasuhisa Kamikawa , Yohei Kuroda , Wataru Kokubo , Tetsuharu Fukushima , Yasuhiro Matsuda , Atsushi Miyamoto
Abstract: A medical support arm apparatus including: an arm unit including a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.
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公开(公告)号：US10128714B2
公开(公告)日：2018-11-13
申请号：US15121466
申请日：2016-02-02
Applicant: SONY CORPORATION
Inventor： Wataru Kokubo , Yasuhisa Kamikawa , Toshimitsu Tsuboi , Yohei Kuroda , Jun Arai
Abstract: 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.
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公开(公告)号：US10093020B2
公开(公告)日：2018-10-09
申请号：US14961128
申请日：2015-12-07
Applicant: SONY CORPORATION
Inventor： Yasunori Kawanami , Toshimitsu Tsuboi , Tsutomu Sawada , Masakuni Nagano , Akinori Kamoda
Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
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