Sony Corporation

Sony Olympus Medical Solutions Inc.

Other

Sony Group Corporation

Yamaguchi, Jinichi

Kenichiro Nagasaka

Atsushi Miyamoto

Masakuni Nagano

Toshimitsu Tsuboi

Tetsuharu Fukushima

Yasunori Kawanami

Kenji Hirose

Hiroyuki Suzuki

Wataru Kokubo

Kazuo Hongo

Keisuke Kato

Jinichi Yamaguchi

Takashi Kito

Satoru Shimizu

Yasuhiro Matsuda

Yoshihiro Kuroki

Akichika Tanaka

Hiromasa Masuda

Kenta Kawamoto

Yasuhide Hosoda

Masaya Kinoshita

Yasuhiro Suto

Yohei Kuroda

Hiroaki Morikawa

Hirokazu Shirado

Fumiyasu Suzuki

Susumu Tosaka

Goushi Koike

D Forrest Matthew

Ryuta Horie

Naoki Komine

Tomoki Tamada

Provided is a surgical imaging apparatus that includes a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.

Medical robot arm apparatus, medical robot arm control system, medical robot arm control method, and program

Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Medical support arm system, medical support arm control method, and medical support arm control device

Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device () includes a control unit (-) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.

Control device, control method, and control system

An operation system, a surgical system, a control device, a distortion generating body, a surgical instrument and the like for detecting a force acting on an end effector are provided. The surgical system includes an arm including one or more links, an end effector arranged at a tip end of the arm, a first distortion detecting unit that detects distortion generated in the end effector, a second distortion detecting unit that detects distortion generated in the link, and a processing unit that calculates a force acting on the end effector in a living body on the basis of detection results of the first distortion detecting unit and the second distortion detecting unit.

Operation system, surgical system, control device, distortion generating body, surgical instrument, and external force detecting system

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

Provided is a surgical imaging apparatus that includes a multi-link, multi joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.

Provided is a support apparatus including a drive motor, a link mechanism that, by transmitting motive power output from the drive motor, is extendable and contractable in response to the motive power, and a pair of rotating bodies that act as a variable speed mechanism that outputs the motive power to the link mechanism by a reduction ratio according to an attitude of the link mechanism. At least part of the link mechanism forms a trapezoidal link mechanism.

Support apparatus

Provided is a processing device that includes a processing unit that estimates a holding force with which an operator holds an operation body on the basis of a model that corresponds to a first robot. The first robot includes the operation body provided in a link connected to a passive articulation and a force sensor that detects a force applied to the operation body. The model regards the force sensor as a virtual articulation.

Processing device, system, and control method

A support arm device includes a first drive part that is fixed to a base part and cause a first drive shaft to perform shaft rotation, a second drive part that is fixed to the base part and cause a second drive shaft to perform shaft rotation, and an arm part including at least one parallel link and that supports a predetermined tool. The arm part is caused to change an attitude to cause the predetermined tool to perform a predetermined rotational motion by the first drive part and the second drive part being driven.

Support arm device

A haptic presentation apparatus that includes a force sensor that detects force input to an operation portion that is operated by a user, and generates an electric signal corresponding to the detected force, a vibration actuator that presents tactile sensation to the user, a vibration damping member to be interposed between the force sensor and the vibration actuator; a first mechanical part contacting the force sensor; and a second mechanical part contacting the vibration actuator, and the vibration damping member is provided between the first mechanical part and the second mechanical part, such that the vibration damping member contact neither the force sensor nor the vibration actuator.

Haptic presentation apparatus

A medical instrument according to the present disclosure includes: a contact portion configured to contact body tissue; a drive unit configured to generate drive force for causing the contact portion to contact the body tissue; and a limiter mechanism configured to impose restriction on transmission of the drive force to the contact portion, in accordance with contact force of the contact portion with respect to the body tissue. This configuration makes it possible to restrict force applied to body tissue during surgery, and to reduce failure risk, with a simple configuration.

Medical instrument and surgical system

A motor is provided to reduce a size of a device more effectively. The motor includes a stator, a rotor that is provided to oppose the stator via a clearance, and an encoder that detects a rotation state of the rotor. A hollow space is provided at an inner peripheral side in comparison with the stator and the rotor, and at least a part of the encoder is disposed in the hollow space.

Motor and method of manufacturing motor

There is provided a medical apparatus, including medical vibration detection circuitry that is detachable from a medical instrument at an attachment position of the medical instrument in a longitudinal direction and that is configured to detect vibration generated in a distinct portion of the medical instrument, the distinct portion including at least a portion disposed toward a distal end of the medical instrument from the attachment position.

Vibration detection module, vibration detection method, and surgical system

[Object] To enable to detect a force acting on a surgical instrument with a simpler configuration. [Solution] Provided is an information processing device including an acting force calculation unit that calculates, on a basis of a first detected value by a first force sensor provided on one side of a rod-shaped member, at least one of acting forces on a first point of action and a second point of action that differ from each other on an other side of the rod-shaped member.

Growing community of inventors

Tokyo, Japan

Kenichiro Nagasaka