Joint driving actuator and medical system
AssigneeSony Corporation
InventorsWataru Kokubo, Tetsuharu Fukushima, Toshimitsu Tsuboi
Life of this patent
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Abstract
A joint driving actuator that includes an ultrasonic motor that generates driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration, a torque sensor that detects external force applied to the joint, and an encoder that detects a rotational angle of the ultrasonic motor, the encoder being mounted on the one arm, the stator being fixed on the side thereof, and the torque sensor being mounted on the another arm, the rotor being fixed on the side thereof.
Claims12
A joint driving actuator comprising:
- an ultrasonic motor configured to generate driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration;
- a torque sensor configured to detect external force applied to the joint;
- and
- an encoder configured to detect a rotational angle of the ultrasonic motor, wherein
- the encoder is mouthed on the one arm the stator being fixed on the side thereof, and
- the torque sensor is mounted on the another arm, the rotor being fixed on the side thereof.
A medical system comprising:
- a multi joint arm that includes a plurality of joint portions and a plurality of links configured to rotatably connect the plurality of joint portions, and is configured to be able to support, at a distal end, an imaging apparatus configured to observe a surgical region;
- and
- a control system configured to control the multi joint arm to change a position and a posture of the imaging apparatus with respect to the surgical region, wherein
- at least one of the plurality of joint portions includes
- an ultrasonic motor configured to generate driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration,
- a torque sensor configured to detect external force applied to the joint, and
- an encoder configured to detect a rotational angle of the ultrasonic motor,
- the encoder is mounted on the one arm, the stator being fixed on the side thereof, and
- the torque sensor is mounted on the another arm, the rotor being fixed on the side thereof.
Dependencies are inferred from the claim text.