公开(公告)号：US20180241283A1

公开(公告)日：2018-08-23

申请号：US15954737

申请日：2018-04-17

Applicant: SONY CORPORATION

Inventor： WATARU KOKUBO ,  TAKARA KASAI ,  YASUHISA KAMIKAWA ,  YOHEI KURODA ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

IPC: H02K7/116 ,  H02P6/16 ,  G01D5/04 ,  G01D5/245 ,  G01D5/14 ,  H02K11/215 ,  B25J13/08 ,  B25J9/16 ,  B25J9/12 ,  B25J9/06

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

Abstract: 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.

公开(公告)号：US20170007342A1

公开(公告)日：2017-01-12

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

IPC: A61B34/32 ,  A61B90/00 ,  A61B34/30

Abstract: [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.

Abstract translation: [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，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：US20160365771A1

公开(公告)日：2016-12-15

申请号：US15121602

申请日：2015-02-19

Applicant: SONY CORPORATION

Inventor： WATARU KOKUBO ,  TAKARA KASAI ,  YASUHISA KAMIKAWA ,  YOHEI KURODA ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

IPC: H02K7/116 ,  H02P6/16 ,  B25J9/06 ,  G01D5/245 ,  B25J9/16 ,  B25J13/08 ,  G01D5/04 ,  G01D5/14 ,  H02K11/215 ,  B25J9/12

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

Abstract: [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.

Abstract translation: [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），其包括：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，并且将减速齿轮 到输出轴（350）的旋转速度; 第一绝对角度编码器（330），其检测输入轴的旋转角度; 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：US20200146762A1

公开(公告)日：2020-05-14

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

IPC: A61B34/32 ,  A61B90/00 ,  A61B34/30

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.

公开(公告)号：US20190059696A1

公开(公告)日：2019-02-28

申请号：US16080120

申请日：2017-02-21

Applicant: SONY CORPORATION

Inventor： TOMOYUKI HIRAYAMA ,  DAISUKE KIKUCHI ,  YUKI SUGIE ,  YASUHIRO MATSUDA ,  DAISUKE NAGAO ,  TAKARA KASAI

IPC: A61B1/00 ,  A61B90/50

Abstract: Provided is an image processing device including: an image processing unit that generates image data for output from a captured image of an inside of a body cavity of a patient photographed by an endoscope. The image processing unit generates the image data in a manner that, when a lens barrel of the endoscope is moved in an optical axis direction of an objective lens during photographing, a display range in the captured image that is a range expressed in a display image displayed on a display device does not change, during the movement and after the movement, from a display range before the movement.

公开(公告)号：US20170066131A1

公开(公告)日：2017-03-09

申请号：US15119631

申请日：2015-02-12

Applicant: SONY CORPORATION

Inventor： YASUHISA KAMIKAWA ,  TAKARA KASAI ,  YOHEI KURODA ,  WATARU KOKUBO ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

IPC: B25J9/16 ,  A61B34/30

Abstract: [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.

Abstract translation: [对象]更高效，更准确地校准内部模型。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由由一个或多个接合单元连接的多个链节构成，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。