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).
-
Patent number: 10782501Abstract: 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: GrantFiled: July 23, 2015Date of Patent: September 22, 2020Assignees: SONY OLYMPUS MEDICAL SOLUTIONS INC., SONY CORPORATIONInventors: Kenji Hirose, Tetsuharu Fukushima, Atsushi Miyamoto, Wataru Kokubo, Toshimitsu Tsuboi
-
Patent number: 10765485Abstract: 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: GrantFiled: March 4, 2016Date of Patent: September 8, 2020Assignee: SONY CORPORATIONInventors: Yasuhiro Matsuda, Tetsuharu Fukushima, Yasuhisa Kamikawa, Atsushi Miyamoto, Wataru Kokubo
-
Patent number: 10730189Abstract: [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: GrantFiled: May 31, 2016Date of Patent: August 4, 2020Assignee: SONY CORPORATIONInventors: Yohei Kuroda, Tetsuharu Fukushima, Fumiyasu Suzuki, Toshimitsu Tsuboi
-
Patent number: 10675106Abstract: 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: GrantFiled: February 28, 2019Date of Patent: June 9, 2020Assignee: SONY CORPORATIONInventors: Toshimitsu Tsuboi, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
-
Patent number: 10668625Abstract: 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: GrantFiled: May 31, 2019Date of Patent: June 2, 2020Assignees: 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: 20200146762Abstract: 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: ApplicationFiled: January 15, 2020Publication date: May 14, 2020Inventors: TAKARA KASAI, YASUHISA KAMIKAWA, YOHEI KURODA, WATARU KOKUBO, TOSHIMITSU TSUBOI, TETSUHARU FUKUSHIMA, YASUHIRO MATSUDA, ATSUSHI MIYAMOTO
-
Publication number: 20200060523Abstract: 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: ApplicationFiled: February 19, 2018Publication date: February 27, 2020Applicant: Sony CorporationInventors: Yasuhiro MATSUDA, Atsushi MIYAMOTO, Kenichiro NAGASAKA, Masaru USUI, Yohei KURODA, Daisuke NAGAO, Jun ARAI, Tetsuharu FUKUSHIMA
-
Patent number: 10561469Abstract: 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: GrantFiled: February 12, 2015Date of Patent: February 18, 2020Assignee: SONY CORPORATIONInventors: Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
-
Patent number: 10556345Abstract: 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: GrantFiled: February 12, 2015Date of Patent: February 11, 2020Assignee: SONY CORPORATIONInventors: Yasuhisa Kamikawa, Takara Kasai, Yohei Kuroda, Wataru Kokubo, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
-
Publication number: 20200008649Abstract: [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: ApplicationFiled: October 12, 2017Publication date: January 9, 2020Applicants: SONY CORPORATION, SONY OLYMPUS MEDICAL SOLUTIONS INC.Inventors: Wataru KOKUBO, Tetsuharu FUKUSHIMA, Toshiya SUGAI
-
Patent number: 10505428Abstract: 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: GrantFiled: April 17, 2018Date of Patent: December 10, 2019Assignee: SONY CORPORATIONInventors: Wataru Kokubo, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
-
Publication number: 20190365499Abstract: 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: ApplicationFiled: February 16, 2018Publication date: December 5, 2019Inventors: DAISUKE NAGAO, TOSHIMITSU TSUBOI, YASUHIRO MATSUDA, TETSUHARU FUKUSHIMA
-
Publication number: 20190350661Abstract: 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: ApplicationFiled: August 1, 2019Publication date: November 21, 2019Applicant: SONY OLYMPUS MEDICAL SOLUTIONS INC.Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
-
Publication number: 20190275679Abstract: 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: ApplicationFiled: May 31, 2019Publication date: September 12, 2019Applicants: 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: 20190274779Abstract: 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: ApplicationFiled: May 23, 2019Publication date: September 12, 2019Applicant: Sony CorporationInventors: Tetsuharu FUKUSHIMA, Wataru Kokubo, Toshimitsu Tsuboi, Yohel Kuroda, Yasuhisa Kamikawa
-
Patent number: 10405931Abstract: 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: GrantFiled: December 1, 2016Date of Patent: September 10, 2019Assignee: SONY OLYMPUS MEDICAL SOLUTIONS INC.Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
-
Publication number: 20190262090Abstract: [Object] To more simply configure a joint driving actuator having a function of a brake. [Solution] A joint driving actuator according to the present disclosure includes: an ultrasonic motor configured to generate driving force for driving a joint; a torque sensor configured to detect external force applied to the joint; and an encoder configured to detect a rotational angle of the ultrasonic motor. This configuration makes it possible to more simply configure a joint driving actuator having a function of a brake.Type: ApplicationFiled: October 13, 2017Publication date: August 29, 2019Applicant: Sony CorporationInventors: Wataru KOKUBO, Tetsuharu FUKUSHIMA, Toshimitsu TSUBOI
-
Patent number: 10369700Abstract: 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: GrantFiled: March 20, 2015Date of Patent: August 6, 2019Assignees: 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
-
Patent number: 10357330Abstract: 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.Type: GrantFiled: February 1, 2016Date of Patent: July 23, 2019Assignee: Sony CorporationInventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Yohei Kuroda, Yasuhisa Kamikawa
-
Publication number: 20190192238Abstract: 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: ApplicationFiled: February 28, 2019Publication date: June 27, 2019Applicant: SONY CORPORATIONInventors: Toshimitsu TSUBOI, Takara KASAI, Yasuhisa KAMIKAWA, Yohei KURODA, Wataru KOKUBO, Tetsuharu FUKUSHIMA, Yasuhiro MATSUDA, Atsushi MIYAMOTO