Patents by Inventor Yohei Kuroda

Yohei Kuroda 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: 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: 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: 20200129265
    Abstract: To realize torque control based on an estimated external force and to cope with more various situations. Provided is a medical support arm system including: a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and configured to support a medical unit; and a control device including an external force estimation unit configured to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit configured to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.
    Type: Application
    Filed: April 12, 2018
    Publication date: April 30, 2020
    Inventors: YASUHIRO MATSUDA, FUMIYASU SUZUKI, ATSUSHI MIYAMOTO, YOHEI KURODA, KENICHIRO NAGASAKA
  • Publication number: 20200073110
    Abstract: [Object] To provide a surgical loupe that can adjust a convergence angle more easily. [Solution] A surgical loupe including: two optical systems that cause images of light from a surgical field which is an observation target to be formed on eyes of a wearer; and a drive unit for adjusting a convergence angle formed by optical axes of the two optical systems.
    Type: Application
    Filed: October 10, 2017
    Publication date: March 5, 2020
    Inventors: TAKESHI MAEDA, YOHEI KURODA
  • 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
  • Publication number: 20200046208
    Abstract: To provide a medical observation system, an apparatus for controlling an endoscope system, and a method for controlling the same. A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.
    Type: Application
    Filed: January 22, 2018
    Publication date: February 13, 2020
    Applicant: Sony Corporation
    Inventors: Takara KASAI, Yohei KURODA, Takeshi MAEDA, Seiji WADA
  • 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: 20200000535
    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: January 12, 2018
    Publication date: January 2, 2020
    Applicant: Sony Corporation
    Inventors: Yasuhiro MATSUDA, Jun ARAI, Takara KASAI, Yohei KURODA, Wataru KOKUBO
  • 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: 20190328480
    Abstract: [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: Application
    Filed: August 3, 2017
    Publication date: October 31, 2019
    Applicant: SONY CORPORATION
    Inventors: Yasuhisa KAMIKAWA, Yohei KURODA, Yasuhiro MATSUDA, Jun ARAI
  • 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
  • Patent number: 10412084
    Abstract: In this information processing system including a server, a communication terminal communicable with the server via the Internet, and a peripheral device capable of performing short-range wireless communication with the communication terminal, the peripheral device transmits, to the server, device identification information which is information capable of uniquely identifying the peripheral device. On the basis of the transmitted device identification information, the server determines whether the peripheral device is a peripheral device whose connection to the communication terminal is permissible, and when such connection is permissible, the server transmits connection permission information indicating that the connection to the communication terminal is permitted. Then, the peripheral device executes a setting process for enabling the connection to the communication terminal on the basis of the connection permission information.
    Type: Grant
    Filed: July 7, 2016
    Date of Patent: September 10, 2019
    Assignee: Nintendo Co., Ltd.
    Inventors: Yohei Kojima, Ryoji Kuroda, Tatsuhiro Shirai, Jumpei Wada
  • Patent number: 10369700
    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: March 20, 2015
    Date of Patent: August 6, 2019
    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
  • Patent number: 10357330
    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. 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: Grant
    Filed: February 1, 2016
    Date of Patent: July 23, 2019
    Assignee: Sony Corporation
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Yohei Kuroda, Yasuhisa Kamikawa
  • Patent number: 10341313
    Abstract: This first communication section transmits, to an authentication server, an encryption key, identification information capable of uniquely identifying a peripheral device, and signature information of the identification information. A second communication section receives data based on an authentication process performed in the authentication server on the basis of the identification information and the signature information transmitted by the first communication section, then, encrypts second data transmission request information, and transmits the encrypted request information to the authentication server. A third communication section receives second data which is encrypted and transmitted from the authentication server in response to the request information transmitted by the second communication section, then decrypts the second data, and transmits the decrypted second data to the authentication server.
    Type: Grant
    Filed: July 7, 2016
    Date of Patent: July 2, 2019
    Assignee: Nintendo Co., Ltd.
    Inventors: Yohei Kojima, Ryoji Kuroda, Tatsuhiro Shirai, Jumpei Wada
  • Publication number: 20190192238
    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: Application
    Filed: February 28, 2019
    Publication date: June 27, 2019
    Applicant: SONY CORPORATION
    Inventors: Toshimitsu TSUBOI, Takara KASAI, Yasuhisa KAMIKAWA, Yohei KURODA, Wataru KOKUBO, Tetsuharu FUKUSHIMA, Yasuhiro MATSUDA, Atsushi MIYAMOTO