Robotic surgical system, patient-side apparatus, and control method of robotic surgical system
AssigneesKawasaki Jukogyo Kabushiki Kaisha, Medicaroid Corporation
InventorsYuichi Mizohata, Nobuyasu Shimomura, Ayataka Kobayashi
Life of this patent
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Abstract
A robotic surgical system includes a controller configured or programmed to change a length between a first axis and a second axis in a direction in which a shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to an amount of operation to control operation of a surgical instrument.
Claims20
A robotic surgical system comprising:
- a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end side of the manipulator arm;
- an operator-side apparatus including an operation unit to receive an operation on the surgical instrument;
- and
- a controller configured or programmed to control operation of the surgical instrument based on an amount of operation corresponding to the operation;
- wherein
- the surgical instrument includes:
- an end effector;
- a first support;
- a second support;
- and
- a shaft connected to the second support;
- the first support supports the end effector such that the end effector is rotatable about a first axis that is orthogonal to a direction in which the shaft extends;
- the second support supports the first support such that the first support is rotatable about a second axis that is spaced apart from the first axis in the direction in which the shaft extends and is orthogonal to the direction in which the shaft extends and the first axis;
- and
- the controller is configured or programmed to change a length between the first axis and the second axis in the direction in which the shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to the amount of operation to control the operation of the surgical instrument.
A patient-side apparatus comprising:
- a manipulator arm to which a surgical instrument is attached to a tip end side of the manipulator arm;
- and
- a controller configured or programmed to control operation of the surgical instrument based on an amount of operation corresponding to an operation on the surgical instrument received by an operation unit;
- wherein
- the surgical instrument includes:
- an end effector;
- a first support;
- a second support;
- and
- a shaft connected to the second support;
- the first support supports the end effector such that the end effector is rotatable about a first axis that is orthogonal to a direction in which the shaft extends;
- the second support supports the first support such that the first support is rotatable about a second axis that is spaced apart from the first axis in the direction in which the shaft extends and is orthogonal to the direction in which the shaft extends and the first axis;
- and
- the controller is configured or programmed to change a length between the first axis and the second axis in the direction in which the shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to the amount of operation to control the operation of the surgical instrument.
A control method executed by a controller of a robotic surgical system, the robotic surgical system including a patient-side apparatus including a manipulator arm to which a surgical instrument is attached to a tip end side of the manipulator arm, an operator-side apparatus including an operation unit to receive an operation on the surgical instrument, and the controller, the surgical instrument including an end effector, a first support, a second support, and a shaft connected to the second support, the first support supporting the end effector such that the end effector is rotatable about a first axis that is orthogonal to a direction in which the shaft extends, the second support supporting the first support such that the first support is rotatable about a second axis that is spaced apart from the first axis in the direction in which the shaft extends and is orthogonal to the direction in which the shaft extends and the first axis, the control method comprising:
- receiving an amount of operation corresponding to the operation on the surgical instrument received by the operation unit;
- and
- changing a length between the first axis and the second axis in the direction in which the shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to the amount of operation to control operation of the surgical instrument.
Dependencies are inferred from the claim text.