Sony Corporation

Sony Olympus Medical Solutions Inc.

Sony Group Corporation

Toshimitsu Tsuboi

Tetsuharu Fukushima

Wataru Kokubo

Atsushi Miyamoto

Yohei Kuroda

Yasuhisa Kamikawa

Yasuhiro Matsuda

Kenji Hirose

Takara Kasai

Takeo Kishida

Kenichiro Nagasaka

Yasunori Kawanami

Kenta Kawamoto

Tsutomu Sawada

Jun Arai

Masakuni Nagano

Akinori Kamoda

Kazuo Hongo

Fumiyasu Suzuki

Takafumi Yabana

Shizuka Yata

Seiji Wada

Satoru Shimizu

Yasuhiro Suto

Akichika Tanaka

Tetsuya Narita

Naoya Sazuka

Daisuke Nagao

Yoshinao Sodeyama

Takeshi Asakawa

Ryo Terasawa

Shunsuke Yajima

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

It is possible to transfer an object smoothly. An information processing device includes a control unit () that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.

Information processing device, control method, and program

Provided is an apparatus for arranging objects in such a manner as to permit the user to handle the objects more easily. The information includes a robotic arm device configured to arrange one or more objects, and circuitry configured to determine one or more characteristics of a user, determine an arrangement position of each object of the one or more objects to be arranged based on the one or more determined characteristics of the user, and initiate control of the robotic arm device to arrange each object according to the determined arrangement position of the object.

Information processing apparatus, information processing method, and information processing program

An apparatus capable of smoothly injecting contents in an object into another object, an injection method, and an injection program. The apparatus includes a robotic arm device configured to grip a first container, and circuitry configured to recognize a flowrate of contents while injecting an amount of the contents from the first container into a second container, and control a tilt of the first container using the robotic arm device to inject the contents into the second container according to the recognized flowrate of the contents.

Injection apparatus, injection method, and injection program

There is provided a robot control apparatus including a determination unit configured to determine whether or not an end condition of a task is satisfied when a robot performs the task, and a switching unit configured to perform switching to a next task corresponding to the end condition in a case where the end condition is satisfied. With this configuration, it is possible to optimally switch tasks of the robot depending on the situation.

Robot control apparatus and robot control method

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.

[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

A robot apparatus includes a grasping section that grasps an object, a recognition section that recognizes a graspable part and a handing-over area part of the object, and a grasp planning section that plans a path of the grasping section for handing over the object to a recipient by the handing-over area part. The robot apparatus further includes a grasp control section that controls grasp operation of the object by the grasping section in accordance with the planned path.

Robot apparatus and method of controlling robot apparatus

In order to realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. A motor is provided. Also, an electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.

Motor, actuator, and medical support arm apparatus

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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Tokyo, Japan

Toshimitsu Tsuboi