发明名称 |
Medical robot arm apparatus, medical robot arm control system, medical robot arm control method, and program |
摘要 |
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. |
申请公布号 |
US9539059(B2) |
申请公布日期 |
2017.01.10 |
申请号 |
US201414434635 |
申请日期 |
2014.09.19 |
申请人 |
Sony Olympus Medical Solutions Inc. |
发明人 |
Fukushima Tetsuharu;Kokubo Wataru;Tsuboi Toshimitsu;Miyamoto Atsushi;Nagasaka Kenichiro;Hirose Kenji |
分类号 |
G05B15/02;A61B19/00;A61B1/00;A61B1/04 |
主分类号 |
G05B15/02 |
代理机构 |
Oblon, McClelland, Maier & Neustadt, L.L.P. |
代理人 |
Oblon, McClelland, Maier & Neustadt, L.L.P. |
主权项 |
1. A medical robot arm apparatus comprising:
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 circuit configured to control driving of the joint units based on states of the joint units, wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus, wherein the drive control circuit controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure, and wherein the purpose of motion is a turning movement in which the front edge unit installed at the front edge of the multi-link structure moves on a plane of a cone having a point as an apex in a state in which a direction of the front edge unit is fixed on the point in a space, and an axis of the cone is used as a pivot axis. |
地址 |
Tokyo JP |