Title:
MEDICAL SUPPORT ARM SYSTEM AND CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/159336
Kind Code:
A1
Abstract:
[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.
Inventors:
KASAI TAKARA (JP)
Application Number:
PCT/JP2018/005594
Publication Date:
September 07, 2018
Filing Date:
February 16, 2018
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
B25J13/00; A61B90/50
Domestic Patent References:
| WO2015137140A1 | 2015-09-17 | |||
| WO2014069003A1 | 2014-05-08 | |||
| WO2016069660A1 | 2016-05-06 |
Attorney, Agent or Firm:
KAMEYA, Yoshiaki et al. (JP)
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