US 12,262,963 B2
Medical robot arm apparatus, medical robot arm control system, medical robot arm control method, and program
Tetsuharu Fukushima, Tokyo (JP); Wataru Kokubo, Tokyo (JP); Toshimitsu Tsuboi, Tokyo (JP); Atsushi Miyamoto, Kanagawa (JP); Kenichiro Nagasaka, Tokyo (JP); and Kenji Hirose, Tokyo (JP)
Assigned to Sony Olympus Medical Solutions Inc., Tokyo (JP)
Filed by Sony Olympus Medical Solutions Inc., Tokyo (JP)
Filed on Aug. 12, 2021, as Appl. No. 17/400,119.
Application 17/400,119 is a continuation of application No. 14/800,418, filed on Jul. 15, 2015, granted, now 11,129,682.
Application 14/800,418 is a continuation in part of application No. PCT/JP2014/074917, filed on Sep. 19, 2014.
Claims priority of application No. 2013-197003 (JP), filed on Sep. 24, 2013.
Prior Publication US 2021/0369363 A1, Dec. 2, 2021
Int. Cl. B25J 9/16 (2006.01); A61B 1/04 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G05B 15/02 (2006.01); A61B 1/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 1/04 (2013.01); A61B 90/06 (2016.02); A61B 90/361 (2016.02); B25J 9/1633 (2013.01); G05B 15/02 (2013.01); A61B 1/00149 (2013.01); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02); B25J 9/1697 (2013.01); G05B 2219/39237 (2013.01); G05B 2219/40599 (2013.01); G05B 2219/40613 (2013.01); G05B 2219/41397 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A surgical imaging system comprising:
a multi-link structure including a plurality of joints that interconnect a plurality of links to provide the multi-link structure with a plurality of degrees of freedom;
a video camera disposed on a distal end of the multi-link structure and configured to capture a three-dimensional (3D) image having a resolution of at least 3840×2160 pixels (4K resolution);
at least one actuator that drives at least one of the plurality of joints;
at least one display having a resolution of at least 3840×2160 pixels (4K resolution) that displays the 3D image captured by the video camera; and
circuitry configured to:
control the at least one actuator to control a movement speed of the video camera at a set target speed, and maintain the video camera at a fixed distance from an observation part during a movement of the video camera at different view angles.