Robotic surgical system, control device of robotic surgical system, and control method of robotic surgical system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsMasataka Tanabe, Tomohiro Hayashida, Yuto Shintani
Life of this patent
Estimating the term…
Abstract
A robotic surgical system includes a controller configured or programmed to calculate an operation speed signal, to calculate a first filtered signal, to calculate a limited signal, to calculate a second filtered signal, and calculate an output position signal based on the second filtered signal.
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 a manipulator to receive an operation for operating the surgical instrument;
- and
- a controller configured or programmed to output an output position signal indicating a position of the surgical instrument based on an input position signal indicating the position of the surgical instrument corresponding to the received operation, the controller being configured or programmed to control operation of the surgical instrument;
- wherein
- the controller is configured or programmed to:
- calculate an operation speed signal that is a signal relating to an operation speed of the surgical instrument based on the input position signal of the operator-side apparatus;
- apply an inverse notch filter that amplifies a component of a first frequency band corresponding to vibrational movements of the manipulator of the calculated operation speed signal to the operation speed signal to calculate a first filtered signal;
- limit the first filtered signal to calculate a limited signal;
- apply a notch filter that reduces the component of the first frequency band to the limited signal to calculate a second filtered signal;
- and
- calculate the output position signal based on the second filtered signal.
A control device 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, and an operator-side apparatus including a manipulator to receive an operation for operating the surgical instrument, the control device comprising:
- a controller configured or programmed to output an output position signal indicating a position of the surgical instrument based on an input position signal indicating the position of the surgical instrument corresponding to the received operation, the controller being configured or programmed to control operation of the surgical instrument;
- wherein
- the controller is configured or programmed to:
- calculate an operation speed signal that is a signal relating to an operation speed of the surgical instrument based on the input position signal of the operator-side apparatus;
- apply an inverse notch filter that amplifies a component of a first frequency band corresponding to vibrational movements of the manipulator of the calculated operation speed signal to the operation speed signal to calculate a first filtered signal;
- limit the first filtered signal to calculate a limited signal;
- apply a notch filter that reduces the component of the first frequency band to the limited signal to calculate a second filtered signal;
- and
- calculate the output position signal based on the second filtered signal.
A control method 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 a manipulator to receive an operation for operating the surgical instrument, and a controller, the control method comprising:
- receiving an operation on the surgical instrument;
- calculating an operation speed signal that is a signal relating to an operation speed of the surgical instrument based on an input position signal indicating a position of the surgical instrument corresponding to the received operation;
- applying an inverse notch filter that amplifies a component of a first frequency band of the calculated operation speed signal to the operation speed signal to calculate a first filtered signal;
- limiting the first filtered signal to calculate a limited signal;
- applying a second filter that reduces the component of the first frequency band to the limited signal to calculate a second filtered signal;
- and
- calculating an output position signal indicating the position of the surgical instrument based on the second filtered signal.
Dependencies are inferred from the claim text.