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

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

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。

公开(公告)号：US20200324419A1

公开(公告)日：2020-10-15

申请号：US16911404

申请日：2020-06-25

Applicant: Sony Corporation

Inventor： Yohei KURODA ,  Tetsuharu FUKUSHIMA ,  Fumiyasu SUZUKI ,  Toshimitsu TSUBOI

IPC: B25J13/08 ,  A61B34/30 ,  A61B1/00 ,  A61B90/50

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states.[Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

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

IPC: A61B90/50 ,  A61B1/00

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.

公开(公告)号：US20210015346A1

公开(公告)日：2021-01-21

申请号：US16979879

申请日：2019-01-11

Applicant: Sony Corporation

Inventor： Yohei KURODA ,  Kei TOMATSU ,  Tetsuharu FUKUSHIMA ,  Jun ARAI

IPC: A61B1/00 ,  A61B1/05 ,  A61B1/06 ,  A61B90/25

Abstract: A support unit for a medical camera head is described. The support unit is configured to rotate about an axis and including: an adapter configured to detachably mount a plurality of different medical scopes thereon; a light source supply system configured to supply light to the medical scope when mounted, the light source supply system being configured to pass through the axis; and an image sensor configured to capture an image from the medical scope, and wherein the axis is in the imaging direction of the image sensor.

公开(公告)号：US20200046208A1

公开(公告)日：2020-02-13

申请号：US16486503

申请日：2018-01-22

Applicant: Sony Corporation

Inventor： Takara KASAI ,  Yohei KURODA ,  Takeshi MAEDA ,  Seiji WADA

IPC: A61B1/00 ,  A61B1/313 ,  G06F3/16

Abstract: To provide a medical observation system, an apparatus for controlling an endoscope system, and a method for controlling the same.A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.

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

IPC: H04N5/63 ,  G02B21/00 ,  B25J19/00 ,  G02B23/24 ,  G02B21/36 ,  A61B1/00

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

公开(公告)号：US20210369092A1

公开(公告)日：2021-12-02

申请号：US16758866

申请日：2018-10-25

Applicant: Sony Corporation

Inventor： Jun ARAI ,  Yohei KURODA ,  Masaru USUI ,  Tetsuharu FUKUSHIMA

IPC: A61B1/00 ,  A61B1/04

Abstract: There is provided a medical holding apparatus including: a first actuator configured to cause a medical optical tool that guides light from a body cavity of a subject to a camera head during a surgical operation, to rotate about an optical axis of the medical optical tool and a rotation mechanism configured to support the camera head that acquires an image of the body cavity of the subject via the medical optical tool, the camera head being rotatable about the optical axis of the medical optical tool independently from the medical optical tool.

公开(公告)号：US20200060523A1

公开(公告)日：2020-02-27

申请号：US16487436

申请日：2018-02-19

Applicant: Sony Corporation

Inventor： Yasuhiro MATSUDA ,  Atsushi MIYAMOTO ,  Kenichiro NAGASAKA ,  Masaru USUI ,  Yohei KURODA ,  Daisuke NAGAO ,  Jun ARAI ,  Tetsuharu FUKUSHIMA

IPC: A61B1/00 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B34/20 ,  A61B1/313

Abstract: Provision of a technology for controlling an arm to maintain hand-eye coordination is desirable in a case of using the arm for supporting an oblique-viewing endoscope.Provided is a medical support arm system including an articulated arm configured to support a scope that acquires an image of an observation target in an operation field, and a control unit configured to control the articulated arm on the basis of a relationship between a real link corresponding to a lens barrel axis of the scope and a virtual link corresponding to an optical axis of the scope.

公开(公告)号：US20200000535A1

公开(公告)日：2020-01-02

申请号：US16484467

申请日：2018-01-12

Applicant: Sony Corporation

Inventor： Yasuhiro MATSUDA ,  Jun ARAI ,  Takara KASAI ,  Yohei KURODA ,  Wataru KOKUBO

IPC: A61B34/37 ,  B25J9/16

Abstract: There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode.In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

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

IPC: 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.