公开(公告)号：US20220400938A1

公开(公告)日：2022-12-22

申请号：US17620747

申请日：2020-06-19

Applicant: Sony Group Corporation

Inventor： Jun ARAI

IPC: A61B1/045 ,  A61B1/00

Abstract: A medical observation system includes: a plurality of types of sensor units that measure information regarding an internal environment; an acquisition unit (131) that acquires individual sensor values of the plurality of types of sensor units; a comparison unit (132) that compares the individual sensor values of the plurality of types of sensor units acquired by the acquisition unit (131); and a determination unit (134) that determines a sensor unit to be used for observing the internal environment among the plurality of types of sensor units based on a comparison result obtained by the comparison unit (132).

公开(公告)号：US20240346826A1

公开(公告)日：2024-10-17

申请号：US18681549

申请日：2022-03-25

Applicant: Sony Group Corporation

Inventor： Yuhei TAKI ,  Yohei KURODA ,  Jun ARAI ,  Kohei AMANO ,  Takeo INAGAKI ,  Ryouhei YASUDA

IPC: G06V20/50 ,  A61B1/00 ,  A61B1/313 ,  G06F3/01 ,  G06V10/22 ,  H04N23/695

CPC classification number: G06V20/50 ,  A61B1/00009 ,  A61B1/0004 ,  A61B1/00045 ,  A61B1/3132 ,  G06F3/013 ,  G06V10/235 ,  H04N23/695 ,  G06V2201/034

Abstract: A medical observation system includes: an imaging unit that acquires an operative field image including an abdominal cavity environment; a display unit that displays the operative field image acquired by the imaging unit; a gaze information acquisition unit that acquires information regarding gaze of a user on the abdominal cavity environment of the operative field image displayed by the display unit; a target candidate recognition unit that recognizes a tracking target candidate from the operative field image acquired by the imaging unit; a reliability acquisition unit that acquires recognition reliability of the tracking target candidate recognized by the target candidate recognition unit; and a target determination unit that determines a tracking target in the abdominal cavity environment from the tracking target candidate on the basis of the information regarding the tracking target candidate, the recognition reliability, and the information regarding the gaze.

公开(公告)号：US20230210630A1

公开(公告)日：2023-07-06

申请号：US17999707

申请日：2021-06-30

Applicant: Sony Group Corporation

Inventor： Kazuo HONGO ,  Jun ARAI

IPC: A61B90/50 ,  A61B34/00

CPC classification number: A61B90/50 ,  A61B34/71

Abstract: A medical arm device to support a medical instrument has a tip part with a structure in which three rotation axes are disposed in order of a rotation axis around a longitudinal axis of the medical instrument, a yaw axis that rotates the medical instrument left and right with respect to a tip of a link, and a pitch axis that rotates the medical instrument up and down with respect to the tip of the link, and a first wire for rotation transmission of the yaw axis, a second wire for rotation transmission of the roll axis, a first rerouting pulley that reroutes the first wire between the pitch axis and the yaw axis, a second rerouting pulley that reroutes the second wire between the pitch axis and the yaw axis, and a third rerouting pulley that reroutes the second wire between the yaw axis and the roll axis.

公开(公告)号：US20220192777A1

公开(公告)日：2022-06-23

申请号：US17606463

申请日：2020-07-03

Applicant: Sony Group Corporation

Inventor： Yohei KURODA ,  Masaru USUI ,  Jun ARAI

IPC: A61B90/00 ,  A61B34/10 ,  G06T7/00 ,  G06V10/82

Abstract: A method and system for processing medical images including acquiring a first medical image using a medical imaging device, analyzing a state of the first medical image using image information of the first medical image which includes depth information, and automatically determining and displaying, without user intervention, a second medical image, which corresponds to the first medical image and has a smaller angle of view than the first medical image, based on the analyzing including analyzing of the depth information. Further, there is a method of training a neural network. The training includes collecting a set of training information which includes image quality information, camera position information, and surgical tool information, training the neural network based on the set of training information, the neural network used for changing a view based on current camera position information and current surgical tool information.

公开(公告)号：US20250009446A1

公开(公告)日：2025-01-09

申请号：US18708608

申请日：2022-11-08

Applicant: Sony Group Corporation

Inventor： Shunsuke YAJIMA ,  Jun ARAI

IPC: A61B34/30

Abstract: A control system of an aspect according to the present disclosure includes a robot including an actuator, and an estimation section that estimates external force received by the robot on the basis of state information of the robot, in which the actuator includes an encoder on an output shaft side, a speed reducer that has backdrivability, that is coupled to the encoder on the output shaft side, and that is a load element, a motor coupled to the speed reducer, and an encoder on an input shaft side which encoder is coupled to the motor.

公开(公告)号：US20210361381A1

公开(公告)日：2021-11-25

申请号：US17395548

申请日：2021-08-06

Applicant: Sony Group Corporation

Inventor： Masaru USUI ,  Yasuhiro MATSUDA ,  Jun ARAI

IPC: A61B90/50 ,  B25J13/00 ,  A61B34/32 ,  B25J9/16 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/20 ,  A61B90/00

Abstract: A medical supporting arm control apparatus that includes a memory, and processing circuitry that obtains a current spatial position of an operating point in a multi-link structure configured by coupling a plurality of links by a joint section, by detecting a current rotational angle of the joint section, compares a movable region of the operating point stored in the memory with the obtained current spatial position, the movable region being set in advance, and restricts an operation of the operating point on a basis of a result of the comparison.

公开(公告)号：US20230218365A1

公开(公告)日：2023-07-13

申请号：US18000823

申请日：2021-05-18

Applicant: Sony Group Corporation

Inventor： Jun ARAI ,  Kei TOMATSU ,  Kazuo HONGO

IPC: A61B90/50 ,  A61B90/00

CPC classification number: A61B90/50 ,  A61B90/361

Abstract: Provided is a medical arm device that avoids interference with a surgeon.
A medical arm device includes a first arm part including a tip part that supports a medical instrument such as an endoscope, and a second arm part that supports the first arm part, and includes at least two horizontal rotation axes and an inter-axis distance changing unit that changes a distance between the two horizontal rotation axes. The tip part includes a structure in which joint members corresponding to rotation axes of three degrees of freedom that determine an attitude of the medical instrument are directly connected, and a rotation axis around a longitudinal axis of the medical instrument, a yaw axis in a case where the rotation axis around the longitudinal axis is a roll axis, and a pitch axis are disposed in order from a most tip part.

公开(公告)号：US20220287787A1

公开(公告)日：2022-09-15

申请号：US17830350

申请日：2022-06-02

Applicant: Sony Group Corporation

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

IPC: A61B34/37 ,  B25J9/16 ,  B25J9/00

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.