Patents by Inventor YASUHISA KAMIKAWA
YASUHISA KAMIKAWA 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).
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Publication number: 20210245647Abstract: 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: ApplicationFiled: June 19, 2019Publication date: August 12, 2021Inventors: TAKASHI KITO, YUKI ITOTANI, KOJI NAKANISHI, TAKARA KASAI, KAZUO HONGO, YASUHISA KAMIKAWA, ATSUSHI SAKAMOTO
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Patent number: 11033340Abstract: To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.Type: GrantFiled: August 3, 2016Date of Patent: June 15, 2021Assignee: SONY CORPORATIONInventors: Yasuhisa Kamikawa, Tetsuharu Fukushima, Wataru Kokubo, Yasuhiro Matsuda
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Patent number: 10923980Abstract: 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: GrantFiled: August 31, 2018Date of Patent: February 16, 2021Assignee: SONY CORPORATIONInventors: Wataru Kokubo, Yasuhisa Kamikawa, Toshimitsu Tsuboi, Yohei Kuroda, Jun Arai
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Patent number: 10898293Abstract: 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: May 23, 2019Date of Patent: January 26, 2021Assignee: SONY CORPORATIONInventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Yohei Kuroda, Yasuhisa Kamikawa
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Publication number: 20200406781Abstract: 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: ApplicationFiled: December 11, 2018Publication date: December 31, 2020Inventors: YASUHISA KAMIKAWA, ANEESH CHAND, WATARU KOKUBO, KAZUO HONGO
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Patent number: 10856726Abstract: 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: GrantFiled: February 2, 2016Date of Patent: December 8, 2020Assignee: SONY CORPORATIONInventors: Jun Arai, Yasuhisa Kamikawa, Kiyokazu Miyazawa, Yohei Kuroda, Yasuhiro Matsuda, Tetsuharu Fukushima
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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
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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
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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
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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
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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
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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
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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
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Publication number: 20190328481Abstract: There is provided a control device that decides at least one medical image as a medical image to display or save from among medical images taken by a plurality of imaging devices, on a basis of imaging device status information that includes information about a position or an attitude for at least one of the plurality of imaging devices.Type: ApplicationFiled: August 14, 2017Publication date: October 31, 2019Applicant: SONY CORPORATIONInventors: Yasuhisa KAMIKAWA, Jun ARAI
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Publication number: 20190328475Abstract: There is provided a medical support system including a support arm having one or more active joints and one or more passive coupling mechanisms and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms and control the one or more active joints based on the obtained information indicating the change.Type: ApplicationFiled: October 24, 2017Publication date: October 31, 2019Applicant: SONY CORPORATIONInventors: Jun ARAI, Yasuhisa KAMIKAWA, Wataru KOKUBO, Yasuhiro MATSUDA
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Publication number: 20190328480Abstract: [Object] To make it possible to perform gravity compensation with a more compact and lightweight configuration. [Solution] There is provided a medical support arm apparatus including: an arm section including multiple joint sections, and configured such that a medical tool is provided on a front end; an actuator at least provided in a compensated joint section that is a target of gravity compensation among the joint sections, and including a torque sensor that detects a torque acting on the compensated joint section; and a gravity compensation mechanism that imparts to the compensated joint section a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section.Type: ApplicationFiled: August 3, 2017Publication date: October 31, 2019Applicant: SONY CORPORATIONInventors: Yasuhisa KAMIKAWA, Yohei KURODA, Yasuhiro MATSUDA, Jun ARAI
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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
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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
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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
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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