Operation device for surgical manipulator and robotically-assisted surgical system
AssigneesKawasaki Jukogyo Kabushiki Kaisha, Medicaroid Corporation
InventorWataru Doi
Life of this patent
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Abstract
An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.
Claims20
A remote operation device for a surgical manipulator, the remote operation device comprising an input device as a master input device that is configured to operate the surgical manipulator as a slave robot, wherein:
- the input device includes:
- an arm unit including a plurality of first joints and a plurality of first motors that are respectively configured to drive the plurality of first joints,
- a wrist unit connected to a distal end of the arm unit and including a plurality of second joints and a plurality of second motors that are respectively configured to drive the plurality of second joints;
- and
- an operation unit that is provided at a distal end of the wrist unit and is configured to be operated by an operator,
- the arm unit includes a plurality of first speed reducers respectively arranged in first power transmission paths from the respective first motors to the respective first joints,
- the wrist unit includes a plurality of second speed reducers respectively arranged in second power transmission paths from the respective second motors to the respective second joints,
- first reduction ratios of the respective first speed reducers and second reduction ratios of the respective second speed reducers, respectively, are 0.5 or more and 30 or less, and
- the first reduction ratios of the respective first speed reducers are smaller than the second reduction ratios of the respective second speed reducers.
A robotically-assisted surgical system comprising:
- a surgical manipulator having a distal end to which a surgical tool is detachably attached,
- a remote operation device including an input device as a master input device that is configured to operate the surgical manipulator as a slave robot, wherein:
- the input device includes:
- an arm unit including a plurality of first joints and a plurality of first motors that are respectively configured to drive the plurality of first joints,
- a wrist unit connected to a distal end of the arm unit and including a plurality of second joints and a plurality of second motors that are respectively configured to drive the plurality of second joints;
- and
- an operation unit that is provided at a distal end of the wrist unit and is configured to be operated by an operator,
- the arm unit includes a plurality of first speed reducers respectively arranged in first power transmission paths from the respective first motors to the respective first joints,
- the wrist unit includes a plurality of second speed reducers respectively arranged in second power transmission paths from the respective second motors to the respective second joints,
- first reduction ratios of the respective first speed reducers and second reduction ratios of the respective second speed reducers, respectively, are 0.5 or more and 30 or less, and
- the first reduction ratios of the respective first speed reducers are smaller than the second reduction ratios of the respective second speed reducers.
Dependencies are inferred from the claim text.