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

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/50 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00 ,  A61B17/00

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.

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

IPC: G06F17/00 ,  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：US11266294B2

公开(公告)日：2022-03-08

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 ,  A61B1/313 ,  A61B90/00 ,  G02B23/24 ,  G06T7/593 ,  A61B18/14 ,  A61B17/32 ,  A61B34/30 ,  A61B34/20 ,  G03B13/36 ,  A61B1/12 ,  A61B18/00

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：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

IPC: B25J9/16 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/00 ,  H04N5/225

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.

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

IPC: A61B34/00 ,  A61B34/30 ,  B25J9/16 ,  B25J9/06 ,  A61B90/00

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.

公开(公告)号：US09966816B2

公开(公告)日：2018-05-08

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: H02K29/00 ,  H02K7/116 ,  H02P6/16 ,  B25J9/06 ,  B25J13/08 ,  B25J9/12 ,  B25J9/16 ,  H02K11/215 ,  G01D5/04 ,  G01D5/14 ,  G01D5/245

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.

公开(公告)号：US11033338B2

公开(公告)日：2021-06-15

申请号：US16070317

申请日：2016-11-28

Applicant: SONY CORPORATION

Inventor： Yuki Sugie ,  Daisuke Kikuchi ,  Tomoyuki Hirayama ,  Yasuhiro Matsuda ,  Daisuke Nagao ,  Takara Kasai

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/04 ,  A61B1/045 ,  A61B1/313 ,  H04N5/232

Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery.
[Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.

公开(公告)号：US10556345B2

公开(公告)日：2020-02-11

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: G06F19/00 ,  B25J9/16 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61B34/10

Abstract: A robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of joint units, the arm unit is connectable to an imaging unit. An internal model including at least geometric information of the arm unit and focus position information of the imaging unit is updated based on internal model information acquired in a state in which the imaging unit is pointed at a reference point in a real space.

公开(公告)号：US12128560B2

公开(公告)日：2024-10-29

申请号：US17279990

申请日：2019-09-12

Applicant: SONY CORPORATION

Inventor： Yoshinao Sodeyama ,  Tetsuya Narita ,  Yasuhiro Matsuda ,  Kazuo Hongo ,  Toshimitsu Tsuboi

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1612 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1661 ,  B25J9/1697 ,  B25J13/085

Abstract: It is possible to transfer an object smoothly. An information processing device includes a control unit (12, 11) that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.

公开(公告)号：US11229498B2

公开(公告)日：2022-01-25

申请号：US16330550

申请日：2017-08-03

Applicant: SONY CORPORATION

Inventor： Yasuhisa Kamikawa ,  Yohei Kuroda ,  Yasuhiro Matsuda ,  Jun Arai

IPC: G05B19/04 ,  A61B90/25 ,  A61B90/50 ,  B25J15/00 ,  B25J19/00

Abstract: [Object] To make it possible to perform gravity compensation with a more compact and lightweight configuration.
[Solution] There is provided a medical support arm apparatus including: an arm section including multiple joint sections, and configured such that a medical tool is provided on a front end; an actuator at least provided in a compensated joint section that is a target of gravity compensation among the joint sections, and including a torque sensor that detects a torque acting on the compensated joint section; and a gravity compensation mechanism that imparts to the compensated joint section a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section.