Patents by Inventor Wataru Kokubo

Wataru Kokubo 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: 12016522
    Abstract: A medical safety control apparatus that includes processing circuitry that obtains a surgical instrument-biological tissue distance, determine whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance, in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance, issues an instruction for stopping a motion of an arm of a support arm apparatus that supports the surgical instrument, in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance, determines whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance, and in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance, issues a first instruction for restricting a motion speed of the arm
    Type: Grant
    Filed: June 28, 2021
    Date of Patent: June 25, 2024
    Assignee: SONY GROUP CORPORATION
    Inventors: Wataru Kokubo, Takeshi Maeda, Tatsumi Sakaguchi
  • Publication number: 20240167294
    Abstract: An object of the present disclosure is to provide a utility pole capable of supplying rainwater to residents. The present disclosure is a utility pole including: a cylindrical structure that has one end opened and another end closed; and a water draining mechanism that discharges water inside the cylindrical structure on a side surface on a side of the other end.
    Type: Application
    Filed: March 29, 2021
    Publication date: May 23, 2024
    Applicant: NIPPON TELEGRAPH AND TELEPHONE CORPORATION
    Inventors: Wataru KOKUBO, Hidenobu HIROTA, Tatsuya MOKI, Kenji INOUE
  • Patent number: 11981026
    Abstract: A slip detecting device according to the present disclosure includes a plurality of contact parts having different slipping characteristics when an object (600) in contact with the plurality of regions is slipping; and a sensor that detects a pressure distribution of each of the plurality of contact parts. By employing the plurality of contact parts having different slipping characteristics when the object (600) in contact with the plurality of regions, a timing at which a whole slip occurs is different between the plurality of contact parts, and thus a state of a partial slip in which a part of the object (600) is slipping is able to be detected, so that it is possible to detect a slip of the object (600) with high accuracy.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: May 14, 2024
    Assignee: SONY CORPORATION
    Inventors: Satoko Nagakari, Tetsuya Narita, Kazuhito Wakana, Kazuo Hongo, Wataru Kokubo, Yoshinao Sodeyama
  • Patent number: 11897360
    Abstract: An information processing device, an information processing method, and a program are proposed that make it possible to allow an autonomous moving body to make battery replacement more easily. The information processing device includes a controller. The controller couples, in a first region, a connection terminal to the autonomous moving body. The first region is provided for ejection of a first battery included in the autonomous moving body. The connection terminal is provided for power supply and included in a power supply apparatus disposed in the first region. The controller moves the autonomous moving body with the connection terminal coupled, from the first region to a second region in which a charged second battery is disposed.
    Type: Grant
    Filed: December 11, 2018
    Date of Patent: February 13, 2024
    Assignee: SONY CORPORATION
    Inventors: Yasuhisa Kamikawa, Aneesh Chand, Wataru Kokubo, Kazuo Hongo
  • Publication number: 20240012219
    Abstract: An object of the present disclosure is to make it possible to adjust a balance of tension applied to an optical cable fixed to a utility pole. A disclosed utility pole includes: a through hole (12) that is disposed on an upper side of a utility pole (10) and through which optical cable (21) can pass; and a cap (22) disposed in a gap between the through hole (12) and the optical cable (21), in which the cap (22) is fixed to the through hole (12).
    Type: Application
    Filed: November 6, 2020
    Publication date: January 11, 2024
    Applicant: NIPPON TELEGRAPH AND TELEPHONE CORPORATION
    Inventors: Wataru KOKUBO, Yoshiyasu SATO, Tatsuya MOKI, Hidenobu HIROTA, Kenji INOUE
  • Patent number: 11850014
    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: June 2, 2022
    Date of Patent: December 26, 2023
    Assignee: SONY GROUP CORPORATION
    Inventors: Yasuhiro Matsuda, Jun Arai, Takara Kasai, Yohei Kuroda, Wataru Kokubo
  • Patent number: 11633245
    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: Grant
    Filed: January 15, 2020
    Date of Patent: April 25, 2023
    Assignee: SONY CORPORATION
    Inventors: Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Toshimitsu Tsuboi, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Patent number: 11602404
    Abstract: A medical support system that includes a support arm including one or more active joints having an actuator, and one or more passive coupling mechanisms including a passive joint and a telescopic extension arm, the passive joint having no actuator; and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms, and control the actuator of each of the one or more active joints based on the obtained information indicating the change, and the telescopic extension arm is positioned between (1) an active joint of the one or more active joints on a first side of the telescopic extension arm, and (2) the passive joint on a second side of the telescopic extension arm, the first side being closer to an proximal end of the support arm than a distal end of the support arm.
    Type: Grant
    Filed: October 24, 2017
    Date of Patent: March 14, 2023
    Assignee: SONY CORPORATION
    Inventors: Jun Arai, Yasuhisa Kamikawa, Wataru Kokubo, Yasuhiro Matsuda
  • Patent number: 11583348
    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: August 1, 2019
    Date of Patent: February 21, 2023
    Assignee: Sony Olympus Medical Solutions Inc.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Publication number: 20220355480
    Abstract: A control device (10) includes: an acquisition unit (12) that acquires outside-world information (11B) around a mobile body (100); and a control unit (13) that performs control to switch characteristics of a contact portion (130) capable of switching characteristics of a portion where a leg portion of the mobile body (100) comes into contact with an external environment on the basis of the outside-world information (11B) such that a contact sound between the contact portion (130) and the external environment changes.
    Type: Application
    Filed: September 17, 2020
    Publication date: November 10, 2022
    Inventors: SATOKO NAGAKARI, YASUHISA KAMIKAWA, WATARU KOKUBO, ATSUSHI SAKAMOTO
  • Publication number: 20220287787
    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: June 2, 2022
    Publication date: September 15, 2022
    Applicant: Sony Group Corporation
    Inventors: Yasuhiro MATSUDA, Jun ARAI, Takara KASAI, Yohei KURODA, Wataru KOKUBO
  • 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
  • Patent number: 11382715
    Abstract: To provide a jig holding apparatus and medical observation apparatus, which enable linear motion of a jig without increasing the size of a holding mechanism configured to hold the jig. A jig holding apparatus (1) includes: a holding mechanism (100) including a holding section (173) configured to detachably hold a predetermined jig (10) from a periphery of the jig (10), and a linear motion driving section (130) provided around the jig (10) held by the holding section (173) and configured to cause the jig (10) to linearly move.
    Type: Grant
    Filed: February 6, 2017
    Date of Patent: July 12, 2022
    Assignee: SONY CORPORATION
    Inventors: Jun Arai, Yohei Kuroda, Yasuhisa Kamikawa, Wataru Kokubo
  • Publication number: 20220106001
    Abstract: There is achieved a traveling robot configured to travel by switching between leg driving and wheel driving while suppressing a decrease in velocity in switching between the leg driving and the wheel driving. The traveling robot includes a drive unit, a clutch configured to switch a transmission destination of a driving force from the drive unit, a leg and a wheel that are configured to be driven by the driving force from the drive unit, and a control unit. The control unit executes, in drive switching between leg driving and wheel driving, travel velocity control before the drive switching such that a travel velocity after the drive switching is substantially equal to a travel velocity before the drive switching. The control unit sets, in the drive switching between the leg driving and the wheel driving, a sliding movement state in which the wheel is caused to slide in a non-driven state.
    Type: Application
    Filed: December 24, 2019
    Publication date: April 7, 2022
    Inventors: NORIAKI TAKASUGI, WATARU KOKUBO, MASAYA KINOSHITA, YASUNORI KAWANAMI
  • Patent number: 11287599
    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: September 3, 2020
    Date of Patent: March 29, 2022
    Assignees: SONY OLYMPUS MEDICAL SOLUTIONS INC., SONY CORPORATION
    Inventors: Kenji Hirose, Tetsuharu Fukushima, Atsushi Miyamoto, Wataru Kokubo, Toshimitsu Tsuboi
  • Publication number: 20210369363
    Abstract: Provided is a surgical imaging apparatus that includes a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.
    Type: Application
    Filed: August 12, 2021
    Publication date: December 2, 2021
    Applicant: Sony Olympus Medical Solutions Inc.
    Inventors: Tetsuharu FUKUSHIMA, Wataru KOKUBO, Toshimitsu TSUBOI, Atsushi MIYAMOTO, Kenichiro NAGASAKA, Kenji HIROSE
  • Publication number: 20210322125
    Abstract: A medical safety control apparatus that includes processing circuitry that obtains a surgical instrument-biological tissue distance, determine whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance, in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance, issues an instruction for stopping a motion of an arm of a support arm apparatus that supports the surgical instrument, in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance, determines whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance, and in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance, issues a first instruction for restricting a motion speed of the arm
    Type: Application
    Filed: June 28, 2021
    Publication date: October 21, 2021
    Applicant: Sony Group Corporation
    Inventors: Wataru KOKUBO, Takeshi MAEDA, Tatsumi SAKAGUCHI
  • Patent number: 11129682
    Abstract: Provided is a surgical imaging apparatus that includes a multi-link, multi joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.
    Type: Grant
    Filed: July 15, 2015
    Date of Patent: September 28, 2021
    Assignee: SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Patent number: 11109927
    Abstract: A joint driving actuator that includes an ultrasonic motor that generates driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration, a torque sensor that detects external force applied to the joint, and an encoder that detects a rotational angle of the ultrasonic motor, the encoder being mounted on the one arm, the stator being fixed on the side thereof, and the torque sensor being mounted on the another arm, the rotor being fixed on the side thereof.
    Type: Grant
    Filed: October 13, 2017
    Date of Patent: September 7, 2021
    Assignee: SONY CORPORATION
    Inventors: Wataru Kokubo, Tetsuharu Fukushima, Toshimitsu Tsuboi
  • Publication number: 20210260776
    Abstract: A slip detecting device according to the present disclosure includes a plurality of contact parts having different slipping characteristics when an object (600) in contact with the plurality of regions is slipping; and a sensor that detects a pressure distribution of each of the plurality of contact parts. By employing the plurality of contact parts having different slipping characteristics when the object (600) in contact with the plurality of regions, a timing at which a whole slip occurs is different between the plurality of contact parts, and thus a state of a partial slip in which a part of the object (600) is slipping is able to be detected, so that it is possible to detect a slip of the object (600) with high accuracy.
    Type: Application
    Filed: June 11, 2019
    Publication date: August 26, 2021
    Applicant: SONY CORPORATION
    Inventors: Satoko NAGAKARI, Tetsuya NARITA, Kazuhito WAKANA, Kazuo HONGO, Wataru KOKUBO, Yoshinao SODEYAMA