Title:
MEDICAL ARM SYSTEM, CONTROL DEVICE, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/196338
Kind Code:
A1
Abstract:
A medical arm system including: an arm unit configured to support a medical instrument, and to adapt a position and a posture of the medical instrument with respect to a point of action on the medical instrument; and a control unit configured to control an operation of the arm unit to adapt the position and the posture of the medical instrument with respect to the point of action and, one or more acquisition units configured to acquire environment information of a space surrounding the point of action, wherein the control unit is configured to generate or to update mapping information mapping the space surrounding the point of action on a basis of the environment information acquired by the one or more acquisition units and arm state information representing the position and the posture of the medical instrument with respect to the point of action according to a state of the arm unit.
Inventors:
NAGAO DAISUKE (JP)
KURODA YOHEI (JP)
KURODA YOHEI (JP)
Application Number:
PCT/JP2020/012495
Publication Date:
October 01, 2020
Filing Date:
March 19, 2020
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
A61B34/30; A61B1/00; A61B34/00; A61B34/20; A61B90/00; B25J9/16; G06K9/46; G06T17/00
Domestic Patent References:
| WO2018159328A1 | 2018-09-07 | |||
| WO2018159338A1 | 2018-09-07 |
Foreign References:
| KR20150033473A | 2015-04-01 | |||
| US20190000585A1 | 2019-01-03 | |||
| US20140243596A1 | 2014-08-28 | |||
| US20150320514A1 | 2015-11-12 |
Other References:
MURA MARCO ET AL: "Vision-based haptic feedback for capsule endoscopy navigation: a proof of concept", JOURNAL OF MICRO-BIO ROBOTICS, SPRINGER BERLIN HEIDELBERG, BERLIN/HEIDELBERG, vol. 11, no. 1, 26 May 2016 (2016-05-26), pages 35 - 45, XP035981976, ISSN: 2194-6418, [retrieved on 20160526], DOI: 10.1007/S12213-016-0090-2
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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