The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 16, 2023
Filed:
Sep. 19, 2019
Sony Olympus Medical Solutions Inc., Tokyo, JP;
Kenji Hirose, Tokyo, JP;
SONY OLYMPUS MEDICAL SOLUTIONS INC., Tokyo, JP;
Abstract
A medical holding device includes: an arm configured by coupling a plurality of links to each other by joints, the arm having at least seven or more degrees of freedom by rotational operations on rotation axes, and being configured to support a medical instrument; and an arm controller configured to control an operation of the arm. The arm has six degrees of freedom realized by rotational operations of six passive rotation axes that passively rotate and one or more degrees of freedom realized by rotational operations of one or more active rotation axes that actively rotate, and the arm controller is configured to rotate the active rotation axis so as to avoid a predetermined state of a posture of the arm.