Sony Corporation

Sony Olympus Medical Solutions Inc.

Sony Group Corporation

Wataru Kokubo

Tetsuharu Fukushima

Toshimitsu Tsuboi

Yasuhisa Kamikawa

Atsushi Miyamoto

Yohei Kuroda

Yasuhiro Matsuda

Takara Kasai

Kenji Hirose

Tomohiro Yamada

Kunihito Sawai

Jun Arai

Nobuhiko Ooguchi

Kenichiro Nagasaka

Satoru Shimizu

Shingo Tsurumi

Seiichi Takamura

Kazuo Hongo

Masakuni Nagano

Takeshi Maeda

Tatsumi Sakaguchi

Tetsuya Narita

Katsunori Kitaru

Yoshinao Sodeyama

Satoko Nagakari

Kazuhito Wakana

Hisao Ohtani

Takeshi Kunishima

Takafumi Arai

Atsushi Ishihara

Yoshiaki Iwai

Toshihiro Kusunoki

Akichika Tanaka

Akira Kadonaga

Nobuhiko Ohguchi

Kenichi Hirano

Hirokazu Shirado

Aneesh Chand

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

A controller according to the present disclosure includes a whole-slip detecting unit () that detects, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip in which the object is slipping on each of the plurality of regions. An occurrence timing of the whole slip is different for each of the plurality of regions, and thus a state of a partial slip in which a part of the object is slipping is able to be detected, so that it is possible to detect a slip of the object with high accuracy.

Controller, control method, and program

A medical safety control apparatus that includes processing circuitry that obtains a surgical instrument-biological tissue distance, determine whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance, in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance, issues an instruction for stopping a motion of an arm of a support arm apparatus that supports the surgical instrument, in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance, determines whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance, and in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance, issues a first instruction for restricting a motion speed of the arm.

Medical safety control apparatus, medical safety control method, and medical support system

A slip detecting device according to the present disclosure includes a plurality of contact parts having different slipping characteristics when an object () in contact with the plurality of regions is slipping; and a sensor that detects a pressure distribution of each of the plurality of contact parts. By employing the plurality of contact parts having different slipping characteristics when the object () in contact with the plurality of regions, a timing at which a whole slip occurs is different between the plurality of contact parts, and thus a state of a partial slip in which a part of the object () is slipping is able to be detected, so that it is possible to detect a slip of the object () with high accuracy.

Slip detecting device

An information processing device, an information processing method, and a program are proposed that make it possible to allow an autonomous moving body to make battery replacement more easily. The information processing device includes a controller. The controller couples, in a first region, a connection terminal to the autonomous moving body. The first region is provided for ejection of a first battery included in the autonomous moving body. The connection terminal is provided for power supply and included in a power supply apparatus disposed in the first region. The controller moves the autonomous moving body with the connection terminal coupled, from the first region to a second region in which a charged second battery is disposed.

Information processing device, information processing method, and program

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.

Control system, control method, and surgical arm system

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

A medical support system that includes a support arm including one or more active joints having an actuator, and one or more passive coupling mechanisms including a passive joint and a telescopic extension arm, the passive joint having no actuator; and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms, and control the actuator of each of the one or more active joints based on the obtained information indicating the change, and the telescopic extension arm is positioned between (1) an active joint of the one or more active joints on a first side of the telescopic extension arm, and (2) the passive joint on a second side of the telescopic extension arm, the first side being closer to an proximal end of the support arm than a distal end of the support arm.

Medical support arm apparatus

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.

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 () includes: a holding mechanism () including a holding section () configured to detachably hold a predetermined jig () from a periphery of the jig (), and a linear motion driving section () provided around the jig () held by the holding section () and configured to cause the jig () to linearly move.

Jig-holding device and medical observation device

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

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Tokyo, Japan

Wataru Kokubo