Patents by Inventor Tetsuharu Fukushima

Tetsuharu Fukushima 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).

  • Publication number: 20210015346
    Abstract: A support unit for a medical camera head is described. The support unit is configured to rotate about an axis and including: an adapter configured to detachably mount a plurality of different medical scopes thereon; a light source supply system configured to supply light to the medical scope when mounted, the light source supply system being configured to pass through the axis; and an image sensor configured to capture an image from the medical scope, and wherein the axis is in the imaging direction of the image sensor.
    Type: Application
    Filed: January 11, 2019
    Publication date: January 21, 2021
    Applicant: Sony Corporation
    Inventors: Yohei KURODA, Kei TOMATSU, Tetsuharu FUKUSHIMA, Jun ARAI
  • Publication number: 20210007593
    Abstract: [Overview] [Problem to be Solved] To make it possible to appropriately rotate an endoscope. [Solution] 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 being coupled to a light source.
    Type: Application
    Filed: February 4, 2019
    Publication date: January 14, 2021
    Inventors: JUN ARAI, YOHEI KURODA, MASARU USUI, TETSUHARU FUKUSHIMA, DAISUKE NAGAO
  • Publication number: 20200400911
    Abstract: 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.
    Type: Application
    Filed: September 3, 2020
    Publication date: December 24, 2020
    Applicants: Sony Olympus Medical Solutions Inc., Sony Corporation
    Inventors: Kenji HIROSE, Tetsuharu FUKUSHIMA, Atsushi MIYAMOTO, Wataru KOKUBO, Toshimitsu TSUBOI
  • Patent number: 10856726
    Abstract: The present invention aims to make it capable of holding organs more safely. Provided is a medical support arm apparatus, including: an arm unit (510) whose driving is controlled by force control; and a retractor, provided on a front end of the arm unit (510), that holds an organ of a patient during surgery.
    Type: Grant
    Filed: February 2, 2016
    Date of Patent: December 8, 2020
    Assignee: SONY CORPORATION
    Inventors: Jun Arai, Yasuhisa Kamikawa, Kiyokazu Miyazawa, Yohei Kuroda, Yasuhiro Matsuda, Tetsuharu Fukushima
  • Publication number: 20200324419
    Abstract: [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.
    Type: Application
    Filed: June 25, 2020
    Publication date: October 15, 2020
    Applicant: Sony Corporation
    Inventors: Yohei KURODA, Tetsuharu FUKUSHIMA, Fumiyasu SUZUKI, Toshimitsu TSUBOI
  • Patent number: 10782501
    Abstract: 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.
    Type: Grant
    Filed: July 23, 2015
    Date of Patent: September 22, 2020
    Assignees: SONY OLYMPUS MEDICAL SOLUTIONS INC., SONY CORPORATION
    Inventors: Kenji Hirose, Tetsuharu Fukushima, Atsushi Miyamoto, Wataru Kokubo, Toshimitsu Tsuboi
  • Patent number: 10765485
    Abstract: 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.
    Type: Grant
    Filed: March 4, 2016
    Date of Patent: September 8, 2020
    Assignee: SONY CORPORATION
    Inventors: Yasuhiro Matsuda, Tetsuharu Fukushima, Yasuhisa Kamikawa, Atsushi Miyamoto, Wataru Kokubo
  • Patent number: 10730189
    Abstract: [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.
    Type: Grant
    Filed: May 31, 2016
    Date of Patent: August 4, 2020
    Assignee: SONY CORPORATION
    Inventors: Yohei Kuroda, Tetsuharu Fukushima, Fumiyasu Suzuki, Toshimitsu Tsuboi
  • 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
  • Publication number: 20200060523
    Abstract: Provision of a technology for controlling an arm to maintain hand-eye coordination is desirable in a case of using the arm for supporting an oblique-viewing endoscope. Provided is a medical support arm system including an articulated arm configured to support a scope that acquires an image of an observation target in an operation field, and a control unit configured to control the articulated arm on the basis of a relationship between a real link corresponding to a lens barrel axis of the scope and a virtual link corresponding to an optical axis of the scope.
    Type: Application
    Filed: February 19, 2018
    Publication date: February 27, 2020
    Applicant: Sony Corporation
    Inventors: Yasuhiro MATSUDA, Atsushi MIYAMOTO, Kenichiro NAGASAKA, Masaru USUI, Yohei KURODA, Daisuke NAGAO, Jun ARAI, Tetsuharu FUKUSHIMA
  • 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
  • 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: 20200008649
    Abstract: [Object] To make the vertical and horizontal directions of an endoscope image and the vertical and horizontal directions of the screen of a monitor coincide with each other without spoiling the effective region of the endoscope image. [Solution] A control device of an endoscope system according to the present disclosure includes: a scope rotation angle acquiring section that acquires a scope rotation angle, around an axis in an insertion direction, of a scope including an objective lens to be inserted in a body; and a rotation angle control section that controls a rotation angle, around an optical axis center, of an image sensor that captures an image provided by the scope, on the basis of the scope rotation angle.
    Type: Application
    Filed: October 12, 2017
    Publication date: January 9, 2020
    Applicants: SONY CORPORATION, SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventors: Wataru KOKUBO, Tetsuharu FUKUSHIMA, Toshiya SUGAI
  • 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: 20190365499
    Abstract: 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.
    Type: Application
    Filed: February 16, 2018
    Publication date: December 5, 2019
    Inventors: DAISUKE NAGAO, TOSHIMITSU TSUBOI, YASUHIRO MATSUDA, TETSUHARU FUKUSHIMA
  • Publication number: 20190350661
    Abstract: 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.
    Type: Application
    Filed: August 1, 2019
    Publication date: November 21, 2019
    Applicant: SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Publication number: 20190274779
    Abstract: 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.
    Type: Application
    Filed: May 23, 2019
    Publication date: September 12, 2019
    Applicant: Sony Corporation
    Inventors: Tetsuharu FUKUSHIMA, Wataru Kokubo, Toshimitsu Tsuboi, Yohel Kuroda, Yasuhisa Kamikawa
  • Publication number: 20190275679
    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: Application
    Filed: May 31, 2019
    Publication date: September 12, 2019
    Applicants: 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