Patents by Inventor Toshimitsu Tsuboi

Toshimitsu Tsuboi 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: 10299868
    Abstract: A medical support arm apparatus including: an arm unit including 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 13, 2015
    Date of Patent: May 28, 2019
    Assignee: SONY CORPORATION
    Inventors: Toshimitsu Tsuboi, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Patent number: 10272565
    Abstract: Provided is an actuator, including: a motor; and a reduction gear having a breakdown torque that is less than a starting torque of the motor. A limit value in accordance with the breakdown torque of the reduction gear is set with respect to a control value for driving the motor.
    Type: Grant
    Filed: January 8, 2016
    Date of Patent: April 30, 2019
    Assignee: SONY CORPORATION
    Inventors: Yasuhisa Kamikawa, Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Yohei Kuroda, Jun Arai
  • Publication number: 20190036407
    Abstract: In order to realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. A motor is provided. Also, an electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.
    Type: Application
    Filed: August 31, 2018
    Publication date: January 31, 2019
    Inventors: Wataru KOKUBO, Yasuhisa KAMIKAWA, Toshimitsu TSUBOI, Yohei KURODA, Jun ARAI
  • Publication number: 20190009409
    Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
    Type: Application
    Filed: September 12, 2018
    Publication date: January 10, 2019
    Inventors: YASUNORI KAWANAMI, TOSHIMITSU TSUBOI, TSUTOMU SAWADA, MASAKUNI NAGANO, AKINORI KAMODA
  • Patent number: 10128714
    Abstract: Provided is a motor. An electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.
    Type: Grant
    Filed: February 2, 2016
    Date of Patent: November 13, 2018
    Assignee: SONY CORPORATION
    Inventors: Wataru Kokubo, Yasuhisa Kamikawa, Toshimitsu Tsuboi, Yohei Kuroda, Jun Arai
  • Patent number: 10093020
    Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
    Type: Grant
    Filed: December 7, 2015
    Date of Patent: October 9, 2018
    Assignee: SONY CORPORATION
    Inventors: Yasunori Kawanami, Toshimitsu Tsuboi, Tsutomu Sawada, Masakuni Nagano, Akinori Kamoda
  • Publication number: 20180264655
    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: May 31, 2016
    Publication date: September 20, 2018
    Applicant: SONY CORPORATION
    Inventors: Yohei KURODA, Tetsuharu FUKUSHIMA, Fumiyasu SUZUKI, Toshimitsu TSUBOI
  • Publication number: 20180241283
    Abstract: Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
    Type: Application
    Filed: April 17, 2018
    Publication date: August 23, 2018
    Inventors: WATARU KOKUBO, TAKARA KASAI, YASUHISA KAMIKAWA, YOHEI KURODA, TOSHIMITSU TSUBOI, TETSUHARU FUKUSHIMA, YASUHIRO MATSUDA, ATSUSHI MIYAMOTO
  • Patent number: 9966816
    Abstract: [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
    Type: Grant
    Filed: February 19, 2015
    Date of Patent: May 8, 2018
    Assignee: SONY CORPORATION
    Inventors: Wataru Kokubo, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Publication number: 20180036877
    Abstract: [Object] To enable greater compactness and also to be capable of preventing breakdown more reliably. [Solution] Provided is an actuator, including: a motor; and a reduction gear having a breakdown torque that is less than a starting torque of the motor. A limit value in accordance with the breakdown torque of the reduction gear is set with respect to a control value for driving the motor.
    Type: Application
    Filed: January 8, 2016
    Publication date: February 8, 2018
    Inventors: YASUHISA KAMIKAWA, TETSUHARU FUKUSHIMA, WATARU KOKUBO, TOSHIMITSU TSUBOI, YOHEI KURODA, JUN ARAI
  • Publication number: 20180014906
    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: February 1, 2016
    Publication date: January 18, 2018
    Applicant: SONY CORPORATION
    Inventors: Tetsuharu FUKUSHIMA, Wataru KOKUBO, Toshimitsu TSUBOI, Yohei KURODA, Yasuhisa KAMIKAWA
  • Publication number: 20170358967
    Abstract: [Object] To realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. [Solution] Provided is a motor. An electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.
    Type: Application
    Filed: February 2, 2016
    Publication date: December 14, 2017
    Inventors: WATARU KOKUBO, YASUHISA KAMIKAWA, TOSHIMITSU TSUBOI, YOHEI KURODA, JUN ARAI
  • Publication number: 20170176704
    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: July 23, 2015
    Publication date: June 22, 2017
    Applicants: SONY OLYMPUS MEDICAL SOLUTIONS INC., SONY CORPORATION
    Inventors: Kenji HIROSE, Tetsuharu FUKUSHIMA, Atsushi MIYAMOTO, Wataru KOKUBO, Toshimitsu TSUBOI
  • Publication number: 20170079729
    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: December 1, 2016
    Publication date: March 23, 2017
    Applicant: SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventors: Tetsuharu FUKUSHIMA, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Publication number: 20170080574
    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: March 20, 2015
    Publication date: March 23, 2017
    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
  • Publication number: 20170066131
    Abstract: [Object] To calibrate an internal model more efficiently and more precisely. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit. An internal model including at least geometric information about the arm unit and focus position information about the imaging unit is updated using internal model information acquired in a state in which the imaging unit is pointed at a reference point in real space.
    Type: Application
    Filed: February 12, 2015
    Publication date: March 9, 2017
    Inventors: YASUHISA KAMIKAWA, TAKARA KASAI, YOHEI KURODA, WATARU KOKUBO, TOSHIMITSU TSUBOI, TETSUHARU FUKUSHIMA, YASUHIRO MATSUDA, ATSUSHI MIYAMOTO
  • Publication number: 20170007336
    Abstract: A medical support arm apparatus including: an arm unit including 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: Application
    Filed: February 13, 2015
    Publication date: January 12, 2017
    Applicant: SONY CORPORATION
    Inventors: Toshimitsu TSUBOI, Takara KASAI, Yasuhisa KAMIKAWA, Yohei KURODA, Wataru KOKUBO, Tetsuharu FUKUSHIMA, Yasuhiro MATSUDA, Atsushi MIYAMOTO
  • Publication number: 20170007342
    Abstract: [Object] To enable further improvement in user convenience. [Solution] 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: February 12, 2015
    Publication date: January 12, 2017
    Inventors: TAKARA KASAI, YASUHISA KAMIKAWA, YOHEI KURODA, WATARU KOKUBO, TOSHIMITSU TSUBOI, TETSUHARU FUKUSHIMA, YASUHIRO MATSUDA, ATSUSHI MIYAMOTO
  • Patent number: 9539059
    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: Grant
    Filed: September 19, 2014
    Date of Patent: January 10, 2017
    Assignee: Sony Olympus Medical Solutions Inc.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Publication number: 20160365771
    Abstract: [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
    Type: Application
    Filed: February 19, 2015
    Publication date: December 15, 2016
    Inventors: WATARU KOKUBO, TAKARA KASAI, YASUHISA KAMIKAWA, YOHEI KURODA, TOSHIMITSU TSUBOI, TETSUHARU FUKUSHIMA, YASUHIRO MATSUDA, ATSUSHI MIYAMOTO