US 12,076,195 B2
Medical holding apparatus
Yoshiyuki Kamata, Tokyo (JP)
Assigned to SONY OLYMPUS MEDICAL SOLUTIONS INC., Tokyo (JP)
Appl. No. 16/980,848
Filed by Sony Olympus Medical Solutions Inc., Tokyo (JP)
PCT Filed Feb. 1, 2019, PCT No. PCT/JP2019/003748
§ 371(c)(1), (2) Date Sep. 15, 2020,
PCT Pub. No. WO2019/181239, PCT Pub. Date Sep. 26, 2019.
Claims priority of application No. 2018-054142 (JP), filed on Mar. 22, 2018.
Prior Publication US 2021/0015582 A1, Jan. 21, 2021
Int. Cl. A61B 90/25 (2016.01); A61B 90/00 (2016.01); B25J 13/08 (2006.01); G02B 21/00 (2006.01); G02B 21/24 (2006.01)
CPC A61B 90/25 (2016.02) [B25J 13/085 (2013.01); A61B 2090/067 (2016.02); G02B 21/0012 (2013.01); G02B 21/24 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A medical holding apparatus comprising:
an arm including a plurality of links mutually coupled through one of joints, the arm having at least six degrees of freedom due to rotational motion about a rotation axis, the arm being configured to function as a balanced arm with a counterweight and support a medical imaging device; and
an arm control circuit configured to control motion of the arm, wherein
at least three of the joints in the arm each are provided with an angular sensor that detects a rotation angle of the rotation axis and an actuator that gives the joint an assist force of assisting the rotational motion, and
the arm control circuit is configured to
control, based on respective detected results of the angular sensors, the respective assist forces of the actuators such that an amount of force in operation to move the medical imaging device supported by the arm remains in a predetermined range of force, and
increase the amount of force in operation in conjunction with a deviation of a field of view of the medical imaging device from a predetermined range of fields of views.