Title:
MEDICAL OBSERVATION DEVICE, DRIVE CONTROL METHOD, MEDICAL OBSERVATION SYSTEM, AND SUPPORT ARM DEVICE
Document Type and Number:
WIPO Patent Application WO/2017/169649
Kind Code:
A1
Abstract:
A medical observation device (10) includes an imaging unit (140), an arm unit (110), and a control unit (210). The imaging unit (140) images an object to be observed. The arm unit (110) includes a plurality of links and joint units (130) that couple the links to each other, and supports the imaging unit (140). The control unit (210) controls the torque that drives the joint units (130). If an operator applies external force to the arm unit (110) or the imaging unit (140), the torque (external torque) due to the external force will affect the joint units (130). If a torque detection unit (134) in a joint unit (130) detects external torque, the control unit (210) will output a torque command value (τ) so that a joint drive unit (131) will produce torque in the same direction as the external torque. The torque command value (τ) includes a component that cancels the torque produced, using restoring force, by a twisted cable (495) inside the joint unit (130). As a result, it is possible for the operator to rotate the joint units (130) as desired just by applying a small amount of external torque to the joint units (130).
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Inventors:
TAMURA SHIGERU (JP)
MATSUDA YASUHIRO (JP)
MATSUDA YASUHIRO (JP)
Application Number:
PCT/JP2017/009649
Publication Date:
October 05, 2017
Filing Date:
March 10, 2017
Export Citation:
Assignee:
SONY OLYMPUS MEDICAL SOLUTIONS INC (JP)
SONY CORP (JP)
SONY CORP (JP)
International Classes:
A61B90/25; G02B21/32; G03B15/00; G03B17/00; G03B17/56
Domestic Patent References:
| WO2015146850A1 | 2015-10-01 |
Foreign References:
| JPH08197482A | 1996-08-06 | |||
| US6204620B1 | 2001-03-20 |
Attorney, Agent or Firm:
KAMEYA, Yoshiaki et al. (JP)
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