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1. (WO2017169096) MEDICAL SUPPORT ARM CONTROL DEVICE, MEDICAL SUPPORT ARM DEVICE CONTROL METHOD, AND MEDICAL SYSTEM

Pub. No.:    WO/2017/169096    International Application No.:    PCT/JP2017/003842
Publication Date: Fri Oct 06 01:59:59 CEST 2017 International Filing Date: Fri Feb 03 00:59:59 CET 2017
IPC: A61B 90/50
A61B 34/32
B25J 13/00
Applicants: SONY CORPORATION
ソニー株式会社
Inventors: USUI, Masaru
薄井 優
MATSUDA, Yasuhiro
松田 康宏
ARAI, Jun
新井 淳
Title: MEDICAL SUPPORT ARM CONTROL DEVICE, MEDICAL SUPPORT ARM DEVICE CONTROL METHOD, AND MEDICAL SYSTEM
Abstract:
The purpose of the invention in the present application is to provide a control device for a medical support arm for applying restrictions on the movement of the medical support arm device. This control device (20) for a medical support arm is provided with: a position-acquiring subsection (241) for detecting the spatial position of the action point on a multi-link structure (120) configured by connecting multiple links by joint sections; a comparing part (270) for comparing a previously set allowed movement area for said action point with said spatial position; and a movement-restricting part (272) for restricting the movement of the action point on the basis of the results of the comparison. As a result of said configuration, it is possible to apply restrictions on the movement of the medical support arm device.