Patents by Inventor TAKARA KASAI

TAKARA KASAI has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11395709
    Abstract: 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.
    Type: Grant
    Filed: January 12, 2018
    Date of Patent: July 26, 2022
    Assignee: SONY CORPORATION
    Inventors: Yasuhiro Matsuda, Jun Arai, Takara Kasai, Yohei Kuroda, Wataru Kokubo
  • Publication number: 20220176568
    Abstract: An information processing device (10) includes a sensing section (140) that senses a pressure variation of a fluid filling a deformable filled section (130) that is provided to a portion of a leg of a mobile body (100) that is in either a contact state or a non-contact state at which portion the leg contacts an external environment, and a determining section (150) that determines a state of the leg of the mobile body (100) on the basis of the pressure variation of the fluid sensed by the sensing section (140).
    Type: Application
    Filed: March 4, 2020
    Publication date: June 9, 2022
    Inventors: TETSUYA NARITA, TAKARA KASAI, RYUTA HORIE
  • Patent number: 11305422
    Abstract: To accurately predict a sensor value even in the case where external force is received. A control apparatus according to the present disclosure includes a prediction section that, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, predicts a detection value of the encoder on a basis of a detection value of the torque sensor, or predict the detection value of the torque sensor on a basis of the detection value of the encoder, and a trouble determination section that compares a prediction value predicted by the prediction section with an actually measured value of the torque sensor or the encoder to perform trouble determination on the torque sensor or the encoder.
    Type: Grant
    Filed: February 2, 2017
    Date of Patent: April 19, 2022
    Assignee: SONY CORPORATION
    Inventors: Takara Kasai, Daisuke Nagao
  • Patent number: 11266294
    Abstract: Provided is an image processing device including: an image processing unit that generates image data for output from a captured image of an inside of a body cavity of a patient photographed by an endoscope. The image processing unit generates the image data in a manner that, when a lens barrel of the endoscope is moved in an optical axis direction of an objective lens during photographing, a display range in the captured image that is a range expressed in a display image displayed on a display device does not change, during the movement and after the movement, from a display range before the movement.
    Type: Grant
    Filed: February 21, 2017
    Date of Patent: March 8, 2022
    Assignee: SONY CORPORATION
    Inventors: Tomoyuki Hirayama, Daisuke Kikuchi, Yuki Sugie, Yasuhiro Matsuda, Daisuke Nagao, Takara Kasai
  • Publication number: 20210272269
    Abstract: The present technology relates to a control device, a control method, and a program that allow notification of an abnormality occurring in a robot to be given to a user in an easy-to-check manner. A control device according to one aspect of the present technology includes: an abnormality detection unit that detects an abnormality that has occurred in a predetermined part of a robot; and an attitude control unit that controls an attitude of the robot so that the predetermined part in which the abnormality has occurred is within the angle of view of a camera. The present technology can be applied to a robot capable of making autonomous motions.
    Type: Application
    Filed: June 28, 2019
    Publication date: September 2, 2021
    Inventors: HIROTAKA SUZUKI, ATSUSHI IRIE, TAKARA KASAI, MASANOBU NAKAMURA, TETSUYA NARITA, HAJIME MIHARA
  • Publication number: 20210247763
    Abstract: [Problem] It becomes possible to switch the operation controlling entity while maintaining continuity in the tasks. [Solution] A control device includes a driving control unit that drives a robot device based on one of a first-type driving instruction and a second-type driving instruction, at least one of which is sent from a distant location from the robot device; and a transition control unit that switches a driving instruction for driving the robot device from the first-type driving instruction to the second-type driving instruction. The transition control unit switches the driving instruction from the first-type driving instruction to the second-type driving instruction via a transition driving instruction generated based on the first-type driving instruction and the second-type driving instruction.
    Type: Application
    Filed: March 29, 2019
    Publication date: August 12, 2021
    Inventors: TAKARA KASAI, TAKASHI KITO, KAZUO HONGO, RYOTA KIMURA
  • Publication number: 20210245647
    Abstract: A robot (1) includes: a main body (10) including a hollow portion (110) that is a hollow space penetrating the main body (10) in an up-down direction, the main body (10) being configured to lift and support a support object (30) inserted in the hollow portion (110) by moving in the up-down direction; and a movable member (200) configured to move the main body (10) at least in the up-down direction by operating a leg (20).
    Type: Application
    Filed: June 19, 2019
    Publication date: August 12, 2021
    Inventors: TAKASHI KITO, YUKI ITOTANI, KOJI NAKANISHI, TAKARA KASAI, KAZUO HONGO, YASUHISA KAMIKAWA, ATSUSHI SAKAMOTO
  • Publication number: 20210229284
    Abstract: There is provided a control device, a control method, and a program that can prevent failure of an operation of a robot. The control device according to an aspect of the present technology includes a state transition determination section that controls an operation of a robot to perform a predetermined process before a task results in failure in a case where a state transition of the robot in performing the task follows a failure state transition that is preset as a state transition that results in the failure of the task. The present technology can be applied to a robot capable of autonomous operation.
    Type: Application
    Filed: July 25, 2019
    Publication date: July 29, 2021
    Applicant: SONY CORPORATION
    Inventors: Atsushi IRIE, Hirotaka SUZUKI, Takara KASAI, Masanobu NAKAMURA, Andrew SHIN
  • Publication number: 20210232949
    Abstract: There is provided an information processing device to derive a reliable answer from answers to the question received from a plurality of robot devices. The information processing device includes a weight management unit that determines, with respect to an answer to a question obtained from each of a plurality of respondent robots that have received the question and meta information of the answer, weighting of the answer based on the meta information of the answer, and a final answer determination unit that derives, based on the weighting of the answer, a final answer to the question from the respective answers from the plurality of respondent robots.
    Type: Application
    Filed: April 1, 2019
    Publication date: July 29, 2021
    Applicant: SONY CORPORATION
    Inventors: Kazuo HONGO, Takara KASAI, Ryota KIMURA, Hiroki MATSUDA
  • Patent number: 11033338
    Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery. [Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.
    Type: Grant
    Filed: November 28, 2016
    Date of Patent: June 15, 2021
    Assignee: SONY CORPORATION
    Inventors: Yuki Sugie, Daisuke Kikuchi, Tomoyuki Hirayama, Yasuhiro Matsuda, Daisuke Nagao, Takara Kasai
  • Patent number: 11000338
    Abstract: An arm control method including determining, using a processor, whether or not there is an abnormality in an arm that operates by being driven by an actuator in a state in which the arm is fixed by a brake mechanism, to make it possible to determine whether or not there is an abnormality in an arm in a state in which the arm is fixed by a brake mechanism. Therefore, it is possible to more safely determine whether or not there is an abnormality in the arm. In addition, it is possible to more reliably prevent the arm from performing an abnormal operation.
    Type: Grant
    Filed: February 3, 2017
    Date of Patent: May 11, 2021
    Assignee: SONY CORPORATION
    Inventors: Daisuke Nagao, Takara Kasai
  • Patent number: 10675106
    Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: June 9, 2020
    Assignee: SONY CORPORATION
    Inventors: Toshimitsu Tsuboi, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Patent number: 10668625
    Abstract: A robot arm apparatus according to the present disclosure includes: one or a plurality of a joint unit that joins a plurality of links constituting a multi-link structure; an acquisition unit that acquires an on-screen enlargement factor of a subject imaged by an imaging unit attached to the multi-link structure; and a driving control unit that controls driving of the joint unit based on a state of the joint unit and the enlargement factor.
    Type: Grant
    Filed: May 31, 2019
    Date of Patent: June 2, 2020
    Assignees: SONY CORPORATION, SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventors: Yohei Kuroda, Takara Kasai, Yasuhisa Kamikawa, Wataru Kokubo, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto, Kenji Hirose
  • Publication number: 20200146762
    Abstract: 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.
    Type: Application
    Filed: January 15, 2020
    Publication date: May 14, 2020
    Inventors: TAKARA KASAI, YASUHISA KAMIKAWA, YOHEI KURODA, WATARU KOKUBO, TOSHIMITSU TSUBOI, TETSUHARU FUKUSHIMA, YASUHIRO MATSUDA, ATSUSHI MIYAMOTO
  • Patent number: 10561469
    Abstract: There is provided 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.
    Type: Grant
    Filed: February 12, 2015
    Date of Patent: February 18, 2020
    Assignee: SONY CORPORATION
    Inventors: Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Publication number: 20200046208
    Abstract: To provide a medical observation system, an apparatus for controlling an endoscope system, and a method for controlling the same. A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.
    Type: Application
    Filed: January 22, 2018
    Publication date: February 13, 2020
    Applicant: Sony Corporation
    Inventors: Takara KASAI, Yohei KURODA, Takeshi MAEDA, Seiji WADA
  • Patent number: 10556345
    Abstract: A robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of joint units, the arm unit is connectable to an imaging unit. An internal model including at least geometric information of the arm unit and focus position information of the imaging unit is updated based on internal model information acquired in a state in which the imaging unit is pointed at a reference point in a real space.
    Type: Grant
    Filed: February 12, 2015
    Date of Patent: February 11, 2020
    Assignee: SONY CORPORATION
    Inventors: Yasuhisa Kamikawa, Takara Kasai, Yohei Kuroda, Wataru Kokubo, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Publication number: 20200000535
    Abstract: 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.
    Type: Application
    Filed: January 12, 2018
    Publication date: January 2, 2020
    Applicant: Sony Corporation
    Inventors: Yasuhiro MATSUDA, Jun ARAI, Takara KASAI, Yohei KURODA, Wataru KOKUBO
  • Patent number: 10505428
    Abstract: An actuator including a reduction gear that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor, and transmits the reduced rotational velocity to an output shaft, a first absolute angle encoder that detects a rotational angle of the input shaft, and a second absolute angle encoder that detects a rotational angle of the output shaft.
    Type: Grant
    Filed: April 17, 2018
    Date of Patent: December 10, 2019
    Assignee: SONY CORPORATION
    Inventors: Wataru Kokubo, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Publication number: 20190365489
    Abstract: Provision of a technology capable of realizing estimation of forces of various types of disturbance acting on a robot arm in a surgical environment is desirable. Provided is a medical support arm system including a joint state acquisition unit configured to acquire a state of a joint unit of an arm unit, and an external force estimation unit configured to estimate an external force due to predetermined disturbance on the basis of a condition that the external force due to the predetermined disturbance is limited to one predetermined direction or a plurality of predetermined directions, and a state of the joint unit.
    Type: Application
    Filed: February 16, 2018
    Publication date: December 5, 2019
    Inventor: TAKARA KASAI