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公开(公告)号：US20180014906A1
公开(公告)日：2018-01-18
申请号：US15541077
申请日：2016-02-01
Applicant: SONY CORPORATION
Inventor： Tetsuharu FUKUSHIMA , Wataru KOKUBO , Toshimitsu TSUBOI , Yohei KURODA , Yasuhisa KAMIKAWA
CPC classification number: A61B90/50 , A61B1/00149 , A61B1/0016 , A61B90/361 , A61B2090/508 , B25J19/0004 , G02B7/001 , G02B21/0012 , G02B21/36 , G02B23/2484 , H04N5/63 , H04N2201/02485
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：US20190328480A1
公开(公告)日：2019-10-31
申请号：US16330550
申请日：2017-08-03
Applicant: SONY CORPORATION
Inventor： Yasuhisa KAMIKAWA , Yohei KURODA , Yasuhiro MATSUDA , Jun ARAI
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.
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公开(公告)号：US20180042464A1
公开(公告)日：2018-02-15
申请号：US15554754
申请日：2016-02-02
Applicant: SONY CORPORATION
Inventor： Jun ARAI , Yasuhisa KAMIKAWA , Kiyokazu MIYAZAWA , Yohei KURODA , Yasuhiro MATSUDA , Tetsuharu FUKUSHIMA
CPC classification number: A61B1/00149 , A61B1/00133 , A61B1/0014 , A61B1/3132 , A61B17/02 , A61B34/30 , A61B34/70 , A61B90/00 , A61B90/50 , A61B2090/064 , B25J9/1633
Abstract: 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.
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公开(公告)号：US20190099238A1
公开(公告)日：2019-04-04
申请号：US16087152
申请日：2017-02-06
Applicant: SONY CORPORATION
Inventor： Jun ARAI , Yohei KURODA , Yasuhisa KAMIKAWA , Wataru KOKUBO
Abstract: To provide a jig holding apparatus and medical observation apparatus, which enable linear motion of a jig without increasing the size of a holding mechanism configured to hold the jig. A jig holding apparatus (1) includes: a holding mechanism (100) including a holding section (173) configured to detachably hold a predetermined jig (10) from a periphery of the jig (10), and a linear motion driving section (130) provided around the jig (10) held by the holding section (173) and configured to cause the jig (10) to linearly move.
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公开(公告)号：US20190328481A1
公开(公告)日：2019-10-31
申请号：US16333120
申请日：2017-08-14
Applicant: SONY CORPORATION
Inventor： Yasuhisa KAMIKAWA , Jun ARAI
Abstract: There is provided a control device that decides at least one medical image as a medical image to display or save from among medical images taken by a plurality of imaging devices, on a basis of imaging device status information that includes information about a position or an attitude for at least one of the plurality of imaging devices.
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Patent Agency Ranking
公开(公告)号：US20190328475A1
公开(公告)日：2019-10-31
申请号：US16339487
申请日：2017-10-24
Applicant: SONY CORPORATION
Inventor： Jun ARAI , Yasuhisa KAMIKAWA , Wataru KOKUBO , Yasuhiro MATSUDA
Abstract: There is provided a medical support system including a support arm having one or more active joints and one or more passive coupling mechanisms and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms and control the one or more active joints based on the obtained information indicating the change.
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公开(公告)号：US20180200006A1
公开(公告)日：2018-07-19
申请号：US15762600
申请日：2016-08-03
Applicant: SONY CORPORATION
Inventor： Yasuhisa KAMIKAWA , Tetsuharu FUKUSHIMA , Wataru KOKUBO , Yasuhiro MATSUDA
IPC: A61B34/30
CPC classification number: A61B34/30 , A61B90/361 , A61B90/37 , A61B90/50 , A61B2090/372 , A61B2090/5025 , B25J9/0018 , B25J9/06
Abstract: 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.
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公开(公告)号：US20170007336A1
公开(公告)日：2017-01-12
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
CPC classification number: 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
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.
Abstract translation: 一种医疗支撑臂装置，包括：臂单元，包括通过一个或多个接头单元彼此连接的多个连杆; 以及驱动控制单元，其通过控制所述接合单元的驱动来驱动所述臂单元。 如果在至少一个关节单元中检测到故障，则驱动控制单元在对臂单元的运动施加某种限制的状态下控制接合单元的驱动，并且驱动臂单元以避免 故障。
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公开(公告)号：US20190275679A1
公开(公告)日：2019-09-12
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：US20190192238A1
公开(公告)日：2019-06-27
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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