| 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 surgical imaging apparatus that includes a multi-link, multi joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera. |
| 申请公布号 |
US2015313679(A1) |
申请公布日期 |
2015.11.05 |
| 申请号 |
US201514800418 |
申请日期 |
2015.07.15 |
| 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 |
A61B19/00;A61B1/04;A61B1/00 |
主分类号 |
A61B19/00 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1: A surgical imaging apparatus comprising:
a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry configured to: detect a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and control the at least one actuator based on the joint force so as to position the video camera. |
| 地址 |
Tokyo JP |
