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1. (WO2018159336) MEDICAL SUPPORT ARM SYSTEM AND CONTROL DEVICE
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Pub. No.: WO/2018/159336 International Application No.: PCT/JP2018/005594
Publication Date: 07.09.2018 International Filing Date: 16.02.2018
IPC:
B25J 13/00 (2006.01) ,A61B 90/50 (2016.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
[IPC code unknown for A61B 90/50]
Applicants:
ソニー株式会社 SONY CORPORATION [JP/JP]; 東京都港区港南1丁目7番1号 1-7-1, Konan, Minato-ku, Tokyo 1080075, JP
Inventors:
笠井 栄良 KASAI, Takara; JP
Agent:
亀谷 美明 KAMEYA, Yoshiaki; JP
金本 哲男 KANEMOTO, Tetsuo; JP
萩原 康司 HAGIWARA, Yasushi; JP
Priority Data:
2017-03595928.02.2017JP
Title (EN) MEDICAL SUPPORT ARM SYSTEM AND CONTROL DEVICE
(FR) SYSTÈME DE BRAS DE SUPPORT MÉDICAL ET DISPOSITIF DE COMMANDE
(JA) 医療用支持アームシステムおよび制御装置
Abstract:
(EN) [Problem] To provide a technology capable of estimating the forces of a variety of disturbances acting on a robot arm in an operating room environment. [Solution] A medical support arm system comprising: a joint state acquisition unit that obtains the state of joints in an arm; and an external force estimation unit that estimates the external force of a prescribed disturbance, on the basis of the joint state and conditions whereby the external force of the prescribed disturbance is limited in at least one prescribed direction.
(FR) Le problème décrit par la présente invention consiste à fournir une technologie capable d'estimer les forces d'une variété de perturbations agissant sur un bras de robot dans un environnement de salle d'opération. La solution selon l'invention porte sur un système de bras de support médical comprenant : une unité d'acquisition d'état de joints qui obtient l'état de joints dans un bras; et une unité d'estimation de force externe qui estime la force externe d'une perturbation prescrite, sur la base de l'état de joints et de conditions, moyennant quoi la force externe de la perturbation prescrite est limitée dans au moins une direction prescrite.
(JA) 【課題】術場環境におけるロボットアームに対する各種の外乱が作用する力の推定を実現することが可能な技術が提供されることが望まれる。 【解決手段】アーム部の関節部の状態を取得する関節状態取得部と、所定の外乱による外力が所定の1または複数の方向に限定されるという条件と前記関節部の状態とに基づいて、前記所定の外乱による外力を推定する外力推定部と、を備える、医療用支持アームシステムが提供される。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)