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US 12,478,443 B2Granted
Robotic surgical system, patient-side apparatus, and control method for robotic surgical system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorTsuyoshi Tojo
Life of this patent
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Abstract
A robotic surgical system includes a controller configured or programmed to perform an arm interference avoidance control to move a second manipulator arm relative to a first manipulator arm such that a reference line moves along an outer edge of an approach prohibited range of a first manipulator arm when a second manipulator arm approaches within the approach prohibited range.
Claims20
A robotic surgical system comprising:
- a patient-side apparatus including first and second manipulator arms having tip end sides to which first and second surgical instruments are attached, respectively;
- an operator-side apparatus including an operation unit to receive operations for the first and second surgical instruments;
- and
- a controller configured or programmed to perform a control to operate the first and second surgical instruments based on the received operations;
- wherein
- the first and second manipulator arms include first links to which the first and second surgical instruments are attached, respectively, and second links connected to the first links, respectively;
- and
- the controller is configured or programmed to perform operations comprising:
- setting an approach prohibited range in which approach to the first surgical instrument attached to the first manipulator arm is prohibited;
- setting a reference line orthogonal to a direction in which the second surgical instrument extends, the reference line passing through the second link of the second manipulator arm;
- and
- performing an arm interference avoidance control to move the second manipulator arm relative to the first manipulator arm such that the reference line moves along an outer edge of the approach prohibited range when the second manipulator arm approaches within the approach prohibited range of the first manipulator arm.
9 more elements
A patient-side apparatus comprising:
- first and second manipulator arms having tip end sides to which first and second surgical instruments are attached, respectively;
- and
- a controller configured or programmed to perform a control to operate the first and second surgical instruments based on operations for the first and second surgical instruments received by an operation unit operable to receive the operations;
- wherein
- the first and second manipulator arms include first links to which the first and second surgical instruments are attached, respectively, and second links connected to the first links, respectively;
- and
- the controller is configured or programmed to perform operations comprising:
- setting an approach prohibited range in which approach to the first surgical instrument attached to the first manipulator arm is prohibited;
- setting a reference line orthogonal to a direction in which the second surgical instrument extends, the reference line passing through the second link of the second manipulator arm;
- and
- performing an arm interference avoidance control to move the second manipulator arm relative to the first manipulator arm such that the reference line moves along an outer edge of the approach prohibited range when the second manipulator arm approaches within the approach prohibited range of the first manipulator arm.
8 more elements
A control method for a robotic surgical system, the control method comprising:
- receiving operations for first and second surgical instruments attached to tip end sides of first and second manipulator arms, respectively;
- and
- performing a control to operate the first and second surgical instruments based on the received operations;
- wherein
- the performing the control to operate the first and second surgical instruments includes:
- setting an approach prohibited range in which approach to the first surgical instrument is prohibited;
- setting a reference line orthogonal to a direction in which the second surgical instrument extends, the reference line passing through a second link connected to a first link of the second manipulator arm to which the second surgical instrument is attached;
- and
- performing an arm interference avoidance control to move the second manipulator arm relative to the first manipulator arm such that the reference line moves along an outer edge of the approach prohibited range when the second manipulator arm approaches within the approach prohibited range of the first manipulator arm.
6 more elements
Dependencies are inferred from the claim text.