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US 9,539,059 B2Granted
Medical robot arm apparatus, medical robot arm control system, medical robot arm control method, and program
AssigneeSony Olympus Medical Solutions Inc.
InventorsTetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
Life of this patent
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Abstract
Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.
Claims14
A medical robot arm apparatus comprising:
- a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links;
- and
- a drive control circuit configured to control driving of the joint units based on states of the joint units,
- wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus,
- wherein the drive control circuit controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure, and
- wherein the purpose of motion is a turning movement in which the front edge unit installed at the front edge of the multi-link structure moves on a plane of a cone having a point as an apex in a state in which a direction of the front edge unit is fixed on the point in a space, and an axis of the cone is used as a pivot axis.
3 more elements
A medical robot arm apparatus comprising:
- a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links;
- and
- a drive control circuit configured to control driving of the joint units based on states of the joint units,
- wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus,
- wherein the drive control circuit controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure,
- wherein the front edge unit is an imager configured to be installed at a front edge of an arm serving as the multi-link structure and acquire an image of a photographing target, and
- wherein the purpose of motion is a turning movement in which the imager moves on a plane of a cone having a point as an apex in a state in which a photographing direction of the imager fixed on the point in a space, and an axis of the cone is used as a pivot axis.
4 more elements
A medical robot arm control system comprising:
- a medical robot arm apparatus including
- a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom with respect to a multi-link structure configured with the plurality of links, and
- a drive control circuit that controls driving of the joint units based on detected states of the plurality of joint units,
- wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus;
- wherein a control device including a whole body cooperative control circuit configured to calculate a control value for whole body cooperative control of the multi-link structure according to generalized inverse dynamics using a state of the multi-link structure acquired based on the detected states of the plurality of joint units and a purpose of motion and a constraint condition of the multi-link structure,
- wherein the drive control circuit controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure, and
- wherein the purpose of motion is a turning movement in which the front edge unit installed at the front edge of the multi-link structure moves on a plane of a cone having a point as an apex in a state in which a direction of the front edge unit is fixed on the point in a space, and an axis of the cone is used as a pivot axis.
4 more elements
A medical robot arm control method comprising:
- detecting states of a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom with respect to a multi-link structure configured with the plurality of links;
- and
- controlling, using a drive control circuit, driving of the joint units based on the detected states of the plurality of joint units,
- wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus,
- wherein the controlling controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure, and
- wherein the purpose of motion is a turning movement in which the front edge unit installed at the front edge of the multi-link structure moves on a plane of a cone having a point as an apex in a state in which a direction of the front edge unit is fixed on the point in a space, and an axis of the cone is used as a pivot axis.
3 more elements
A non-transitory computer readable medium including executable instructions, which when executed by a computer cause the computer to execute a medical robot arm control method, the method comprising:
- detecting states of a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom with respect to a multi-link structure configured with the plurality of links;
- and
- controlling driving of the joint units based on the detected states of the plurality of joint units,
- wherein a front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus,
- wherein the controlling controls the driving of the joint units based on a control value acquired based on the detected states of the plurality of joint units, a purpose of motion, and a constraint condition of the multi-link structure, and
- wherein the purpose of motion is a turning movement in which the front edge unit installed at the front edge of the multi-link structure moves on a plane of a cone having a point as an apex in a state in which a direction of the front edge unit is fixed on the point in a space, and an axis of the cone is used as a pivot axis.
3 more elements
Dependencies are inferred from the claim text.