# US 10,945,799 B2 · Manipulator system

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- Number: US 10,945,799 B2
- Document ID: US10945799B2
- Status: Granted
- Kind: B2
- Application number: 16/189,464
- Filed: 2018-11-13
- Published: 2019-03-21
- Granted: 2021-03-16
- Earliest claimed: 2016-12-27
- Assignees: Olympus Corporation
- Applicants: Olympus Corporation
- Inventors: Toru Wada
- Web page: https://patentgrep.com/patent/US10945799B2

## CPC

- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)}
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- B25J 9/1674: {characterised by safety, monitoring, diagnostic}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2018/00208: {actively driven, e.g. by a motor}
- A61B 2018/00672: {lower}
- A61B 2018/00678: {upper}
- A61B 2018/00708: {switching the power on or off}
- A61B 2018/00827: {Current}
- A61B 2018/00898: {Alarms or notifications created in response to an abnormal condition}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus}
- G05B 2219/45118: Endoscopic, laparoscopic manipulator
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A manipulator system includes arithmetic logic units for calculating an operation quantity per unit time of a power source mounted on a surgical instrument as a first operation quantity and calculating an operation quantity per unit time of the power source as a second operation quantity. A determining unit is used for outputting a shutoff signal for de-energizing the power source if the first operation quantity is smaller than a first threshold value and the second operation quantity is larger than a second threshold value. A cutoff unit is configured to cut off the drive signal output from the output unit to the power source in response to the shutoff signal output for de-energizing the power source from the determining unit.

## Claims

### Claim 1

A manipulator system comprising:
a power source configured to generate drive power for operating a surgical instrument;
a first sensor configured to detect a first detected value corresponding to a drive quantity of the power source;
a second sensor configured to detect a second detected value corresponding to a drive quantity of the power source; and
a computer comprising one or more processors configured to:
calculate an operation quantity of the power source per unit time as a first operation quantity based on the first detected value;
calculate an operation quantity of the power source per unit time as a second operation quantity based on the second detected value;
generate a control signal for operating the surgical instrument based on a signal output from an operation input device operable by a user for entering an input;
generate a drive signal for energizing the power source based on the control signal generated;
determine whether the first operation quantity is smaller than a first threshold value and the second operation quantity is larger than a second threshold value;
output a shutoff signal for de-energizing the power source in response to determining that the first operation quantity is smaller than the first threshold value and the second operation quantity is larger than the second threshold value; and
cut off output of the drive signal to the power source in response to the shutoff signal output for de-energizing the power source.

### Claim 2 (depends on 1)

The manipulator system of claim 1,
wherein the computer is configured to:
determine whether the absolute value of the difference between the first operation quantity calculated based on the first detected value and the second operation quantity calculated based on the second detected value is larger than a third threshold value in response to determining that the first operation quantity is now smaller than the first threshold value or the second operation quantity is not larger than the second threshold value; and
output the shutoff signal in response to determining that the absolute value of the difference between the first operation quantity and the second operation quantity is larger than the third threshold value.

### Claim 3 (depends on 1)

The manipulator system of claim 1,
wherein the power source is configured to:
be detachably attached to the surgical instrument; and
transmit the drive power to the surgical instrument when the power source is attached to the surgical instrument.

### Claim 4 (depends on 1)

The manipulator system of claim 1,
wherein the power source comprises:
a connect/disconnect sensor configured to:
detect that the surgical instrument and the power source are attached to one another; and
output a connect signal to the computer in response to detecting that the surgical instrument and the power source are attached to one another.

### Claim 5 (depends on 4)

The manipulator system of claim 4,
wherein the computer is configured to:
output the shutoff signal in response to:
receiving the connect signal output from the connect/disconnect sensor of the power source; and
determining that the first operation quantity is smaller than the first threshold value and the second operation quantity is larger than the second threshold value.

### Claim 6 (depends on 1)

The manipulator system of claim 1,
wherein the first threshold value is equal to or smaller than the second threshold value.

### Claim 7 (depends on 1)

The manipulator system of claim 1,
wherein the surgical instrument comprises an electrode for treating a tissue,
wherein the computer is configured to:
selective turn on and off supply of an electric current to the electrode in accordance with an input from a switch;
calculate a result of comparison between the absolute value of the difference between the first operation quantity calculated based on the first detected value and the second operation quantity calculated based on the second detected value with a third threshold value in response to the supply of the electric current to the electrode being turned off;
output the shutoff signal based on the result of comparison; and
output the shutoff signal in response to determining that the first operation quantity is smaller than the first threshold value and the second operation quantity is larger than the second threshold value, and the supply of the electric current to the electrode being turned on.

### Claim 8

A manipulator system comprising:
an elongated member comprising at least one joint;
an operation input device operable by a user for entering an input;
a drive unit configured to output drive power for actuating the at least one joint in response to the input from the operation input device;
a transmitted member configured to be rotated by the drive power output from the drive unit and transmitted thereto;
a first sensor attached to the drive unit, and configured to detect over time an angular displacement of the drive unit when the drive unit actuates the at least one joint and to output a first detected value representing the angular displacement detected;
a second sensor attached to the transmitted member, and configured to detect over time an angular displacement of the transmitted member when the drive unit actuates the at least one joint and to output a second detected value representing the angular displacement detected; and
a computer comprising one or more processors configured to:
calculate a first difference representing a change over time in the angular displacement based on the first detected value;
calculate a second difference representing a change over time in the angular displacement based on the second detected value;
determine whether the first difference is smaller than a first threshold value and the second difference is larger than a second threshold value; and
control the drive unit to de-energize the drive unit in response to determining that the first difference is smaller than the first threshold value and the second difference is larger than the second threshold value.