US 11,696,814 B2
Medical arm system, control device, and control method
Daisuke Nagao, Kanagawa (JP); Toshimitsu Tsuboi, Tokyo (JP); Yasuhiro Matsuda, Tokyo (JP); and Tetsuharu Fukushima, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 16/485,615
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Feb. 16, 2018, PCT No. PCT/JP2018/005465
§ 371(c)(1), (2) Date Aug. 13, 2019,
PCT Pub. No. WO2018/159328, PCT Pub. Date Sep. 7, 2018.
Claims priority of application No. 2017-036842 (JP), filed on Feb. 28, 2017; and application No. 2017-036843 (JP), filed on Feb. 28, 2017.
Prior Publication US 2019/0365499 A1, Dec. 5, 2019
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 1/00 (2006.01); A61B 17/00 (2006.01)
CPC A61B 90/50 (2016.02) [A61B 1/00149 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 90/361 (2016.02); A61B 17/00234 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A medical arm system, comprising:
a multi-joint arm that includes:
a plurality of links connected by joints; and
a distal end to which an endoscope is connectable; and
a control unit configured to:
set, as a movable region of the endoscope connected to the multi-joint arm, a region distant by a specific distance from an organ in a body cavity of a body;
set a boundary of the movable region as a virtual plane in the body cavity; and
control the multi-joint arm to constrain a specific point of the endoscope on the virtual plane.