# US 10,765,485 B2 · Medical support arm device and method of controlling medical support arm device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,765,485 B2 - Document ID: US10765485B2 - Status: Granted - Kind: B2 - Application number: 15/541,052 - Filed: 2016-03-04 - Published: 2018-01-25 - Granted: 2020-09-08 - Earliest claimed: 2015-03-23 - Assignees: Sony Corporation - Applicants: Sony Corporation - Inventors: Yasuhiro Matsuda; Tetsuharu Fukushima; Yasuhisa Kamikawa; Atsushi Miyamoto; Wataru Kokubo - Web page: https://patentgrep.com/patent/US10765485B2 ## CPC - A61B 34/30: Surgical robots - A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 1/00149: {using articulated arms} - A61B 34/74: {Manipulators with manual electric input means} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2034/743: {Keyboards} - A61B 2034/744: {Mouse} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract There is provided a medical support arm device including a multi-joint arm having a distal end configured to host a medical device, said multi-joint arm configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and pointing direction of the medical device. The multi-joint arm is configured to controllably displace at least one of a plurality of joints of the multi-joint arm while the spatial position and the pointing direction of the medical device are controlled. ## Claims ### Claim 1 A medical support arm device comprising: a multi joint arm having a distal end configured to host a medical device, said multi-joint arm configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and a pointing direction of the medical device; and control circuitry configured to set a visual field area between an operator and a display, and displace at least one of a plurality of joints of the multi-joint arm so that the multi-joint arm avoids the visual field area while the spatial position and the pointing direction of the medical device are controlled. ### Claim 2 (depends on 1) The medical support arm device according to claim 1, further comprising the medical device disposed at the distal end of the multi joint arm. ### Claim 3 (depends on 2) The medical support arm device according to claim 2, wherein the medical device includes observation optics. ### Claim 4 (depends on 3) The medical support arm device according to claim 3, wherein the observation optics include imaging circuitry that is included in at least one of a video camera or a digital still camera configured to image a part of a patient. ### Claim 5 (depends on 2) The medical support arm device according to claim 2, wherein the medical device includes a surgical tool. ### Claim 6 (depends on 1) The medical support arm device according to claim 1, wherein the control circuitry is configured to control a driving of the joints of the multi-joint arm. ### Claim 7 (depends on 6) The medical support arm device according to claim 6, wherein the control circuitry is configured to drive at least one of the plurality of joints in response to an external force being applied against the multi joint arm. ### Claim 8 (depends on 7) The medical support arm device according to claim 7, wherein the control circuitry is configured to drive at least one of the plurality of joints so that the medical device performs a pivot operation using a predetermined point in a space as a center. ### Claim 9 (depends on 6) The medical support arm device according to claim 6, wherein the control circuitry is configured to control a driving of the plurality of joints into multiple three dimensional spatial positions. ### Claim 10 (depends on 9) The medical support arm device according to claim 9, wherein the control circuitry is configured to control a driving of the plurality of joints based on a rotation angle and a movable range of the plurality of joints. ### Claim 11 (depends on 1) The medical support arm device according to claim 1, wherein: the control circuitry is further configured to acquire information on a work area of the operator, and to drive one or more of the plurality of joints so that the multi joint arm avoids the work area based on an arm state and the information on the work area, the work area being larger than the visual field area. ### Claim 12 (depends on 11) The medical support arm device according to claim 11, wherein the control circuitry is further configured to calculate the work area based on at least position information of the multi joint arm. ### Claim 13 (depends on 1) The medical support arm device according to claim 1, wherein the medical device is an endoscope that is inserted into a body cavity of a patient and images an operation site in the body cavity. ### Claim 14 (depends on 1) The medical support arm device according to claim 1, wherein the multi joint arm includes a plurality of links joined by respective of the plurality of joints, and in the multi-joint arm, a first joint of the plurality of joints is configured to rotate a link of a distal end side about a first axis of rotation substantially parallel to an extending direction of another link of a base end side linked via the first joint, and a second joint of the plurality of joints is configured to rotate the link of the distal end side about a second axis of rotation substantially orthogonal to the extending direction of the another link of the base end side linked to the second joint, the first joint and the second joint being disposed adjacent to one another. ### Claim 15 (depends on 1) The medical support arm device according to claim 1, wherein the multi-joint arm includes a plurality of links joined by the plurality of joints, respective of the plurality of joints being a joint configured rotate a link of a distal end side about a first axis of rotation substantially parallel to an extending direction of a link of a base end side linked to the joint or a joint configured to rotate the link of the distal end side about a second axis of rotation substantially orthogonal to the extending direction of the link of the base end side linked to the joint, and the joint having the second axis of rotation being disposed in at least a part of the multi-joint arm. ### Claim 16 (depends on 1) The medical support arm device according to claim 1, wherein the multi-joint arm has 7 degrees of freedom or 8 degrees of freedom. ### Claim 17 (depends on 1) The medical support arm device according to claim 1, wherein in a case that the control circuitry is to drive the plurality of joints to change the spatial position and the pointing direction of the medical device, the control circuitry is configured to set a viscosity resistance in a rotating operation of each of the joints at a different value. ### Claim 18 (depends on 17) The medical support arm device according to claim 17, wherein the viscosity resistance of a joint driven to position and orient the medical device is applied at a value greater than the viscosity resistance of another joint. ### Claim 19 (depends on 1) The medical support arm device according to claim 1, wherein at least one of axes of rotation corresponding to the joints corresponds to a driving shaft that is driven by an actuator to rotate, and wherein a remaining axis of rotation among axes of rotation corresponding to the joints corresponds to a passive shaft that is driven by rotation of the driving shaft to rotate. ### Claim 20 A medical support arm device comprising: a medical device configured to be used in a medical procedure on a patient; a multi joint arm having a distal end to which the medical device is disposed configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and a pointing direction of the medical device; and control circuitry configured to control a driving of a plurality of joint units of the multi-joint arm, set a visual field area between an operator and a display, and displace at least one of a plurality of joints of the multi-joint arm so that the multi-joint arm avoids the visual field area while the spatial position and the pointing direction of the medical device are controlled, wherein in the multi joint arm, when a spatial position and a pointing direction of the distal end of the multi joint arm is controlled, the spatial position and the orientation of the medical device are controlled, and the multi joint arm is configured to change a pointing direction and a spatial position of the multi joint arm when the spatial position and the pointing direction of the medical device are controlled. ### Claim 21 A method of controlling a medical support aim device comprising: controlling, by processing circuitry, driving of a multi joint arm to that a spatial position and a pointing direction of the multi joint arm is changeable when a spatial position and a pointing direction of a medical device are controlled when driving of a plurality of joints of the multi-joint arm are controlled, wherein movement of the multi-joint arm has a higher degree of freedom than a degree of freedom necessary for controlling the spatial position and the pointing direction of the medical device provided at a distal end of the multi-joint arm; setting a visual field area between an operator and a display; and displacing at least one of a plurality of joints of the multi-joint arm so that the multi-joint arm avoids the visual field area while the spatial position and the pointing direction of the medical device are controlled.