Medical observation apparatus, driving control method, medical observation system, and support arm apparatus
AssigneesSony Olympus Medical Solutions Inc., Sony Corporation
InventorsShigeru Tamura, Yasuhiro Matsuda
Life of this patent
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Abstract
A medical observation apparatus includes an imaging device that captures an observation target, an arm that supports the imaging device and includes multiple links joined to each other by multiple joints, and driving circuitry. The driving circuitry is configured to determine a control torque in at least one joint to be controlled from among the multiple joints and to control driving of the at least one joint based on the control torque such that an external torque acting on the at least one joint according to an operation on the arm is within a fixed range.
Claims20
A medical observation apparatus comprising:
- an imaging device that captures a magnified image of an observation target;
- an arm that supports the imaging device and includes multiple links joined to each other by multiple joints;
- and
- circuitry configured to:
- determine a control torque for at least one joint to be controlled from among the multiple joints;
- determine a torque command value based on the control torque and an external torque, wherein the torque command value increases as magnification of the observation target increases;
- and
- control driving of the at least one joint based on the torque command value such that the external torque acting on the at least one joint according to an operation on the arm is within a fixed range.
A driving control method comprising:
- controlling, by a processor, driving of at least one joint to be controlled by determining a control torque for the at least one joint from among multiple joints in an arm that supports an imaging device that captures a magnified image of an observation target, the arm including multiple links joined to each other by the joints,
- receiving a detected external torque acting on the at least one joint,
- determining a torque command value based on the control torque and the detected external torque, wherein the torque command value increases as magnification of the observation target increases, and
- controlling the driving of the at least one joint based on the torque command value such that the detected external torque acting on the at least one joint according to an operation on the arm is contained in a fixed range.
A medical observation system comprising:
- a medical observation apparatus that captures a magnified image of an observation target;
- and
- a display that displays an image of the observation target captured by the medical observation apparatus, wherein
- the medical observation apparatus includes
- an imaging device that captures an observation target;
- an arm that supports the imaging device and includes multiple links joined to each other by multiple joints;
- and
- circuitry configured to:
- determine a control torque for at least one joint to be controlled from among the multiple joints;
- determine a torque command value based on the control torque and an external torque, wherein the torque command value increases as magnification of the observation target increases;
- and
- control driving of the at least one joint based on the torque command value such that an external torque acting on the at least one joint according to an operation on the arm is within a fixed range.
A support arm apparatus comprising:
- an arm including multiple links joined to each other by multiple joints;
- and
- circuitry configured to
- determine a control torque for at least one joint to be controlled from among the multiple joints,
- receive a detected external torque acting on the at least one joint,
- determine a torque command value based on the control torque, the detected external torque, and a disturbance estimate value of the at least one joint or on a restoring force of the at least one joint, and
- control driving of the at least one joint based on the torque command value such that the detected external torque acting on the at least one joint according to an operation on the arm is within a fixed range.
Dependencies are inferred from the claim text.