Sony Corporation

Sony Olympus Medical Solutions Inc.

Sony Group Corporation

Tetsuharu Fukushima

Toshimitsu Tsuboi

Wataru Kokubo

Atsushi Miyamoto

Yohei Kuroda

Yasuhisa Kamikawa

Yasuhiro Matsuda

Kenji Hirose

Takara Kasai

Kenichiro Nagasaka

Takeo Kishida

Jun Arai

Satoru Shimizu

Masakuni Nagano

Fumiyasu Suzuki

Daisuke Nagao

Masaru Usui

Takafumi Yabana

Shizuka Yata

Kenta Kawamoto

Yasunori Kawanami

Akichika Tanaka

Kei Tomatsu

Kiyokazu Miyazawa

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

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.

Medical arm system, control device, and control method

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.

Robot arm apparatus and robot arm control method

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.

There is provided an endoscope including a main body including a coupler to which a cable is attached, a tubular section having a tubular form, a reflector having a reflection surface that reflects light introduced from the coupler to inside of the main body and introduces the light to inside of the tubular section, a first optical system that transmits the light introduced by the reflector to the inside of the tubular section to a front-end portion of the tubular section and irradiates a subject with the light from the front-end portion, and a second optical system that transmits reflected light of the subject from the front-end portion of the tubular section to the main body side. The coupler is provided to be rotatable in the main body around a central axis of the tubular section with respect to another portion. The cable is coupled to a light source.

Endoscope and arm system

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.

Medical holding apparatus, medical arm system, and drape mounting mechanism

[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.

Control apparatus, control method, and medical support arm apparatus

A medical observation device includes an imaging unit configured to photograph an image of an operation site, and a holding unit configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.

Medical observation device

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.

A joint driving actuator that includes an ultrasonic motor that generates driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration, a torque sensor that detects external force applied to the joint, and an encoder that detects a rotational angle of the ultrasonic motor, the encoder being mounted on the one arm, the stator being fixed on the side thereof, and the torque sensor being mounted on the another arm, the rotor being fixed on the side thereof.

Joint driving actuator and medical system

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.

Medical support arm apparatus and medical system

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.

Medical support arm device and medical system

The present invention aims to make it capable of holding organs more safely. Provided is a medical support arm apparatus, including: an arm unit () whose driving is controlled by force control; and a retractor, provided on a front end of the arm unit (), that holds an organ of a patient during surgery.

Medical support arm apparatus

There is provided a medical support arm device including a multi-joint arm having a distal end configured to host a medical device, said multi-joint arm configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and pointing direction of the medical device. The multi-joint arm is configured to controllably displace at least one of a plurality of joints of the multi-joint arm while the spatial position and the pointing direction of the medical device are controlled.

Growing community of inventors

Tokyo, Japan

Tetsuharu Fukushima